Work machine and work system

Abstract

To provide a work machine and a work system allowing an angular field of an imaging device that is not blocked by an attachment to be widened.SOLUTION: A work system is provided with: a machine body; an attachment 30 rotatably attached on the machine body; and an attachment imaging device 76 attachment on the attachment 30. At least a part of the attachment imaging device 76 is placed at a ventral side further than a ventral surface 32b of an arm 32 and at an outer side in a width direction further than an end surface of the arm 32 in the width direction when a direction from a rear surface of the arm 32 to a ventral surface is defined as the ventral side.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a work machine and a work system equipped with an imaging device. [Background technology]

[0002] Patent Document 1 discloses a pair of cameras that are attached to a boom and positioned to take stereo images from above with a field of view that can capture the overall condition of the bucket in an upward facing position. Patent Document 2 discloses a camera that is attached to an arm and captures images of the work area from almost directly above. Patent Document 3 discloses a camera that is attached to an arm and captures images of the inside of a dug hole. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-241300 A [Patent Document 2] International Publication No. 2013 / 099491 [Patent Document 3] JP 2016-186205 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the cameras in Patent Documents 1 to 3 are all attached to the ventral surface or side surface of the attachment. Therefore, when the camera is attached to the ventral surface of the attachment, the angle of view of the camera is blocked by the ventral surface of the attachment. Also, when the camera is attached to the side surface of the attachment, the angle of view of the camera is blocked by the side surface of the attachment.

[0005] Therefore, if multiple cameras are provided in order to widen the angle of view of the camera that is not blocked by the attachment, this will result in increased costs.

[0006] An object of the present invention is to provide a work machine and a work system that can widen the angle of view of an imaging device that is not obstructed by an attachment. [Means for solving the problem]

[0007] The present invention is characterized in that it comprises a machine body, an attachment rotatably attached to the machine body, and an imaging device attached to the attachment, and when the direction from the back surface of the attachment toward the ventral surface is defined as the ventral side, at least a part of the imaging device is positioned closer to the ventral surface of the attachment and widthwise outer than the widthwise end face of the attachment. Effect of the Invention

[0008] According to the present invention, at least a part of the imaging device is disposed on the ventral side of the attachment and on the widthwise outer side of the end faces of the attachment. By disposing the imaging device in this manner, the angle of view of the imaging device blocked by the attachment can be narrowed compared to a case in which the entire imaging device is disposed on the ventral side of the attachment and on the widthwise inner side of the end faces of the attachment. This makes it possible to widen the angle of view of the imaging device that is not blocked by the attachment. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a working system. [Diagram 2] FIG. [Diagram 3] FIG. 3 is an enlarged view of a main part A in FIG. [Figure 4] FIG. [Diagram 5] 5 is a cross-sectional view of FIG. 4 taken along line B-B. [Figure 6] FIG. 2 is a side view of the working machine, showing the arm in an upright position. [Figure 7]13 is a diagram showing an image captured by the attachment imaging device with the arm in an upright position. FIG. [Figure 8] FIG. 2 is a side view of the working machine, showing a state in which the arm is retracted. [Figure 9] FIG. 13 is a diagram showing an image captured by the attachment imaging device when the arm is retracted. [Figure 10] FIG. 2 is a side view of the work machine, showing a state in which the arm is pushed. [Figure 11] 13 is a diagram showing an image captured by the attachment imaging device when the arm is pressed. FIG. [Figure 12] 11 is a side view of the working machine, showing a state in which the arm is pushed further than the state shown in FIG. 10. [Figure 13] 11 is a diagram showing an image captured by the attachment imaging device when the arm is pressed further than in the state shown in FIG. 10. FIG. [Figure 14] FIG. 2 illustrates multiple monitors. [Figure 15] FIG. 2 is a functional configuration diagram of the work system. [Figure 16] FIG. 2 is a diagram showing a monitor provided in the simulator. [Figure 17] FIG. 17 is an enlarged view of a main part D in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0011] (Working system configuration) A work system 100 according to an embodiment of the present invention has an operation device 1 and a work machine 20, as shown in Fig. 1 which is a diagram showing the work system 100. The operation device 1 is a device for operating the work machine 20, and is, for example, a cockpit constituting a remote operation device (remote operation means). An operator remotely operates the work machine 20 by operating the operation device 1. Here, there may be multiple work machines 20 to which the operation device 1 is connected. In this case, the operator remotely operates the multiple work machines 20 in turn by switching the work machine 20 to which it is connected.

[0012] (Work machine configuration) 1, the work machine 20 is a machine that performs work using an attachment 30, such as a hydraulic excavator. The work machine 20 has a machine body 24 equipped with a lower traveling body 21 and an upper rotating body 22, the attachment 30, and a cylinder 40.

[0013] The lower traveling structure 21 is a part that allows the work machine 20 to travel, and is equipped with, for example, crawlers 21a (see FIG. 7). The upper rotating structure 22 is attached to the upper part of the lower traveling structure 21 so as to be able to rotate via a rotating device 25. A cab (operator's compartment) 23 is provided at the front of the upper rotating structure 22. An operating device (not shown) for operating the work machine 20 is provided inside the cab 23.

[0014] The attachment 30 is attached to the upper rotating body 22 so as to be rotatable in the vertical direction. The attachment 30 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is attached to the upper rotating body 22 so as to be rotatable (raised and lowered) in the vertical direction. The arm 32 is attached to the boom 31 so as to be rotatable in the vertical direction. The bucket 33 is a tip attachment that is the tip of the attachment 30, and is attached to the arm 32 so as to be rotatable in the front-to-rear direction of the upper rotating body 22. The bucket 33 is a part that performs tasks such as excavating, leveling, and scooping soil and sand.

[0015] The work object held by the bucket 33 is not limited to soil and sand, but may be stones or waste (industrial waste, etc.). The end attachment is not limited to the bucket 33, but may be a lifting magnet for holding scrap iron or the like, a nibbler for clamping the object, or a breaker for crushing the object.

[0016] The cylinder 40 is capable of hydraulically rotating the attachment 30. The cylinder 40 is a hydraulic telescopic cylinder. Note that the cylinder 40 may be an electric cylinder. The cylinder 40 includes a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.

[0017] The boom cylinder 41 rotates the boom 31 relative to the upper rotating body 22. A base end of the boom cylinder 41 is rotatably attached to the upper rotating body 22. A tip end of the boom cylinder 41 is rotatably attached to the boom 31.

[0018] The arm cylinder 42 rotates the arm 32 relative to the boom 31. A base end of the arm cylinder 42 is rotatably attached to the boom 31. A tip end of the arm cylinder 42 is rotatably attached to the arm 32.

[0019] The bucket cylinder 43 rotates the bucket 33 relative to the arm 32. A base end of the bucket cylinder 43 is rotatably attached to the arm 32. A tip end of the bucket cylinder 43 is rotatably attached to a link member 34 that is rotatably attached to the bucket 33.

[0020] The work machine 20 also has a sensor 50. The sensor 50 has a turning angle sensor 52, a tilt angle sensor 60, and a tilt angle sensor 55.

[0021] The turning angle sensor 52 detects the 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 inclination angle sensor 60 detects the attitude of the attachment 30. The inclination angle sensor 60 includes a boom inclination angle sensor 61, an arm inclination angle sensor 62, and a bucket inclination angle sensor 63.

[0023] The boom inclination angle sensor 61 is attached to the boom 31 and detects the attitude of the boom 31. The boom inclination angle sensor 61 is a sensor that acquires the inclination angle of the boom 31 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the boom inclination angle sensor 61 may be a rotation angle sensor that detects the rotation angle of the boom foot pin (boom base end) or a stroke sensor that detects the stroke amount of the boom cylinder 41.

[0024] The arm inclination angle sensor 62 is attached to the arm 32 and detects the posture of the arm 32. The arm inclination angle sensor 62 is a sensor that obtains the inclination angle of the arm 32 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the arm inclination angle sensor 62 may be a rotation angle sensor that detects the rotation angle of the arm connecting pin (base end of the arm) or a stroke sensor that detects the stroke amount of the arm cylinder 42.

[0025] The bucket inclination angle sensor 63 is attached to the link member 34 and detects the attitude of the bucket 33. The bucket inclination angle sensor 63 is a sensor that obtains the inclination angle of the bucket 33 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the bucket inclination angle sensor 63 may be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket base end) or a stroke sensor that detects the stroke amount of the bucket cylinder 43.

[0026] The inclination angle sensor 55 is provided on the upper rotating body 22 and detects the inclination angle of the upper rotating body 22 with respect to the horizontal plane. The inclination angle sensor 55 is, for example, an inclination (acceleration) sensor or an IMU (Inertial Measurement Unit).

[0027] The work machine 20 also has an imaging device 70. The imaging device 70 captures images of the surroundings of the work machine 20. The imaging device 70 may capture two-dimensional images or three-dimensional images. The imaging device 70 may include a monocular camera or a stereo camera. The imaging device 70 may include a TOF (Time Of Flight) sensor that detects distance based on the time from when a wave is emitted until the reflected wave returns, or may include a sensor that detects distance based on the frequency of the reflected wave. The imaging device 70 may include a device that detects three-dimensional information using light (e.g., laser light), and may include, for example, LiDAR (Light Detection and Ranging). The imaging device 70 may include a device that detects three-dimensional information using radio waves (e.g., millimeter wave radar, etc.). Only one imaging device 70 may be provided, or multiple imaging devices 70 may be provided. In this embodiment, multiple imaging devices 70 are provided and are monocular cameras. The imaging device 70 has a front imaging device 71, an upper imaging device 72, a lower imaging device 73, a side imaging device 75, and an attachment imaging device 76.

[0028] Fig. 2 shows a view of the work machine 20 viewed diagonally from above. Fig. 3 shows an enlarged view of a main part A in Fig. 2. As shown in Fig. 3, the front imaging device 71, the upper imaging device 72, and the lower imaging device 73 are provided in the cab 23, for example, in the upper part of the cab 23. In this embodiment, the front imaging device 71, the upper imaging device 72, and the lower imaging device 73 are each attached to a bracket 78 provided at the front end of the roof panel on the upper part of the cab 23.

[0029] The front imaging device 71 faces the front of the upper rotating body 22. The front imaging device 71 captures an image of the front of the upper rotating body 22. The imaging range of the front imaging device 71 includes the attachment 30.

[0030] The upper imaging device 72 is disposed above the front imaging device 71. The upper imaging device 72 faces diagonally upward from the upper rotating body 22. The upper imaging device 72 images an area diagonally upward from the upper rotating body 22. The imaging range of the upper imaging device 72 includes the boom 31.

[0031] The lower imaging device 73 is disposed below the front imaging device 71. The lower imaging device 73 faces diagonally downward from the upper rotating body 22. The lower imaging device 73 images an image diagonally downward from the upper rotating body 22. The imaging range of the lower imaging device 73 includes the front of the cab 23. Depending on the rotation angle of the upper rotating body 22 relative to the lower traveling body 21, the imaging range of the lower imaging device 73 may include the lower traveling body 21, for example, including a crawler.

[0032] Returning to FIG. 1, the side imaging devices 75 are attached to the left and right ends of the machine body 24. The left and right direction of the machine body 24 is the direction perpendicular to the paper surface of FIG. 1. In this embodiment, the side imaging devices 75 are attached to both ends of the machine body 24 in the left and right direction. The side imaging devices 75 are attached to the upper rotating body 21, but may be attached to the lower traveling body 21. In this embodiment, the side imaging devices 75 face forward of the upper rotating body 21, but may face rearward of the upper rotating body 21.

[0033] As shown in Fig. 2, the side imaging device 75 on the right side in the left-right direction of the upper rotating body 21 (left side in Fig. 2) is attached to the right end of a housing (guard) constituting the upper rotating body 22. The side imaging device 75 on the left side in the left-right direction of the upper rotating body 22 (right side in Fig. 2) is attached to the left end of the upper part of the cab 23. The side imaging device 75 images an image diagonally below the machine body 24. The imaging range of the side imaging device 75 includes the side surface of the front end part of the machine body 24 and the space outward from this side surface. In the height direction of the upper rotating body 22, the mounting position of the right side imaging device 75 is lower than the mounting position of the left side imaging device 75.

[0034] The attachment imaging device (imaging device) 76 is attached to the attachment 30. In this 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 face the bucket 33. The attachment imaging device 76 captures an image of the bucket 33. The imaging range of the attachment imaging device 76 includes the bucket 33.

[0035] 4, which is a side view of the arm 32, the attachment imaging device 76 is attached to a bracket 78. The bracket 78 is attached to the abdominal surface 32b of the arm 32, and extends in the width direction of the arm 32. The portion of the bracket 78 to which the attachment imaging device 76 is attached protrudes outward from the end face of the arm 32 in the width direction.

[0036] As shown in FIG. 5, which is a cross-sectional view of FIG. 4 taken along the line B--C, the attachment 30 (arm 32) is hollow and has a rectangular cross-sectional shape, and has a back surface 32c, a ventral surface 32b, and a side surface. The back surface 32c and the ventral surface 32b are surfaces that face each other in a direction perpendicular to the width direction of the arm 32. The side surfaces are surfaces that are arranged to face each other at the left and right ends of the arm 32 in the width direction, and are end surfaces in the width direction of the arm 32. The back surface 32c and the ventral surface 32b are connected to the ends of the left and right sides. As shown in FIG. 1, the ventral surface 32b is a surface that can face the cab 23. The direction from the back surface 32c of the attachment 30 (arm 32) toward the ventral surface 32b is defined as the ventral side. At least a part of the attachment imaging device 76 is disposed on the ventral side of the ventral surface 32b of the arm 32. At least a part of the attachment imaging device 76 is disposed on the outer side in the width direction of the end surfaces of the arm 32 in the width direction. At least a part of the attachment imaging device 76 is disposed on the ventral side of the ventral surface 32b of the arm 32 and on the widthwise outer side of the end faces in the widthwise direction of the arm 32. In this embodiment, the entire attachment imaging device 76 is disposed on the ventral side of the ventral surface 32b of the arm 32. In this embodiment, the entire attachment imaging device 76 is disposed on the widthwise outer side of the end faces in the widthwise direction of the arm 32.

[0037] Note that the arm 32 may have a protruding portion that protrudes outward in the width direction from the side surface of the arm 32. For example, this protruding portion may be an attachment portion of the link member 34 to the arm 32, or an attachment portion of the bucket 33 (see FIG. 1) to the arm 32. Such a protruding portion is not included in the "end surface in the width direction of the arm 32."

[0038] As shown in Fig. 5, the center C of the imaging range of the attachment imaging device 76 is located outside the end face of the arm 32 in the width direction of the arm 32. As shown in Fig. 4, the center C of the imaging range of the attachment imaging device 76 is located on the ventral surface side of the ventral surface 32b of the arm 32. The imaging direction of the attachment imaging device 76 faces the bucket 33.

[0039] By arranging the attachment imaging device 76 as described above, it is possible to narrow the angle of view of the attachment imaging device 76 that is blocked by the arm 32, compared to a case in which the entire attachment imaging device 76 is arranged closer to the ventral surface 32b of the arm 32 and on the widthwise inner side of the end face in the widthwise direction of the arm 32. This makes it possible to widen the angle of view of the attachment imaging device 76 that is not blocked by the arm 32.

[0040] Furthermore, the center C of the imaging range of the attachment imaging device 76 is located outside, in the width direction of the arm 32, the end face in the width direction of the arm 32. By arranging the attachment imaging device 76 in this manner, the angle of view of the attachment imaging device 76 blocked by the arm 32 can be narrowed.

[0041] In addition, the attachment imaging device 76 is attached to the arm 32. Thereby, by orienting the imaging direction of the attachment imaging device 76 toward the bucket 33, the attachment imaging device 76 can capture an image of the bucket 33.

[0042] FIG. 6 is a side view of the work machine 20 with the arm 32 in an upright position. FIG. 7 shows an image captured by the attachment imaging device 76 with the arm 32 in an upright position. As shown in FIG. 7, the attachment imaging device 76 captures an image of the bucket 33. The imaging range of the attachment imaging device 76 includes the bucket 33 and a space on the farther side of the machine body 24 than the bucket 33, and when a dump truck 110 is positioned in front of the work machine 20, the rear end of the dump truck 110 is reflected on the farther side of the imaging range of the attachment imaging device 76 (upper side in FIG. 7). When the arm 32 is in an upright position, the imaging range of the attachment imaging device 76 includes a space on the nearer side of the machine body 24 than the bucket 33, and the lower part of the upper revolving body 22 and the front end of the crawler 21a are reflected on the nearer side of the imaging range of the attachment imaging device 76 (lower side in FIG. 7).

[0043] FIG. 8 is a side view of the working machine 20 with the arm 32 retracted. Retracting the arm 32 means moving the arm 32 toward the machine body 24. In the state shown in FIG. 8, the arm 32 has moved closer to the machine body 24 than when the arm 32 is upright. FIG. 9 shows an image captured by the attachment imaging device 76 with the arm 32 retracted. By retracting the arm 32, the attachment imaging device 76 approaches the machine body 24 and moves away from the dump truck 110. Therefore, as shown in FIG. 9, the area of ​​the lower part of the upper rotating body 22 and the front end of the crawler 21a included in the imaging range of the attachment imaging device 76 becomes larger. In FIG. 9, the dump truck 110 is no longer reflected on the back side of the imaging range of the attachment imaging device 76 (upper side in FIG. 9), and the upper rotating body 22 is reflected up to its upper end on the front side of the imaging range of the attachment imaging device 76 (lower side in FIG. 9).

[0044] FIG. 10 is a side view of the work machine 20, showing a state in which the arm 32 is pushed. Pushing the arm means moving the arm 32 to the opposite side of the machine body 24 (the side moving away from the machine body 24). In the state shown in FIG. 10, the arm 32 has moved to the opposite side of the machine body 24 compared to the state in which the arm 32 is upright. FIG. 11 shows an image captured by the attachment imaging device 76 when the arm 32 is pushed. By pushing the arm 32, the attachment imaging device 76 moves away from the machine body 24 and approaches the dump truck 110. Therefore, as shown in FIG. 11, the imaging range of the attachment imaging device 76 no longer includes the lower part of the upper rotating body 22 and the front end of the crawler 21a, and the dump truck 110 included in the imaging range of the attachment imaging device 76 becomes larger.

[0045] Fig. 12 is a side view of the work machine 20, showing a state in which the arm 32 has been pushed further from the state shown in Fig. 10. Fig. 13 shows an image captured by the attachment imaging device 76 in this state. By pushing the arm 32 further, the attachment imaging device 76 approaches the bed 111 of the dump truck 110. Therefore, as shown in Fig. 13, the imaging range of the attachment imaging device 76 includes the bed 111 of the dump truck 110, and the bucket 33 is positioned above the bed 111. In this state, the work object is released from the bucket 33, and the work object is loaded onto the bed 111, which is the loading target.

[0046] In this way, the imaging direction of the attachment imaging device 76 faces towards the bucket 33. This allows the attachment imaging device 76 to capture images of the bucket 33 and the space behind the bucket 33. Therefore, the operator remotely operating the work machine 20 can grasp the sense of distance between the bucket 33 and an object located beyond the bucket 33 from the image captured by the attachment imaging device 76. In addition, the operator remotely operating the work machine 20 can confirm the work status of the bucket 33 from the image captured by the attachment imaging device 76, and can easily adjust the positional relationship between the bucket 33 and the loading target.

[0047] As shown in Fig. 7, the imaging range of the attachment imaging device 76 includes the tip end portion (predetermined portion) 32a of the arm 32. This tip end portion 32a is a portion of the arm 32 that is closer to the tip end than the position where the attachment imaging device 76 is attached to the arm 32. As shown in Figs. 9, 11, and 13, this tip end portion 32a continues to be located at the same position in the imaging range even if the posture of the arm 32 changes. Since the attachment imaging device 76 is attached to the arm 32, the position of the tip end portion 32a included in the imaging range does not change even if the posture of the arm 32 changes. On the other hand, the portion of the imaging range of the attachment imaging device 76 excluding the tip end portion 32a changes depending on the object located at the end of the bucket 33 when the posture of the arm 32 changes.

[0048] In this way, the image captured by the attachment imaging device 76 includes an image of the tip side portion 32a located at the same position in the imaging range regardless of the posture of the arm 32, and an image of the portion excluding the tip side portion 32a that changes as the posture of the arm 32 changes (an image that reflects the bucket 33 and an object located beyond the bucket 33). Therefore, the operator who remotely operates the work machine 20 can compare both images captured by the attachment imaging device 76, and can easily grasp the sense of distance between the object imaged by the attachment imaging device 76 and the tip side portion 32a.

[0049] (Configuration of the operation device) 1, the operation device 1 has an input device 2, an output device 3, and a driver's seat 4. The driver's seat 4 has a seat and a backrest for an operator to sit on and operate the operation device 1. The input device 2, the output device 3, and the driver's seat 4 are arranged on a common housing (not shown).

[0050] The input device 2 is operated by an operator. The input device 2 is equivalent to an operating device provided in the cab 23 of the work machine 20, and is arranged around the driver's seat 4. The input device 2 has, for example, a pair of left and right travel levers and a pair of left and right travel pedals in front of the driver's seat 4. The travel levers and travel pedals are used to remotely control the travel direction and travel speed of the crawlers of the lower traveling body 21.

[0051] The input device 2 also has, for example, a pair of left and right operating levers. These are disposed on the left and right frames of the driver's seat 4, respectively. The operating levers are used to remotely operate the attachment 30. The input device 2 also has various switches, such as a key switch. These are disposed on the right frame of the driver's seat 4, for example. The key switch is used to start and stop the engine.

[0052] A seat tilt device (not shown) is provided at the driver's seat 4. The seat tilt device is a device that changes the tilt angle of the driver's seat 4 with respect to a horizontal plane. This seat tilt device reproduces the tilt of the upper rotating body 22 detected by the tilt angle sensor 55 at the driver's seat 4. In addition, a device may be installed that turns the driver's seat 4 to the right when it is detected that the upper rotating body 22 is turning right based on the rotation angle of the upper rotating body 22 detected by the rotation angle sensor 52, and turns the driver's seat 4 to the left when it is detected that the upper rotating body 22 is turning left.

[0053] The output device 3 has a plurality of monitors (display devices) 11 arranged in front of the driver's seat 4, and a speaker. The speaker outputs sound picked up by a microphone mounted on the work machine 20.

[0054] FIG. 14 shows multiple monitors 11. In this embodiment, the number of monitors 11 is seven. The main monitor 11a is disposed in the center of the seven monitors 11. The main monitor 11a displays an image captured by the front imaging device 71. The upper central monitor 11b is disposed above the main monitor 11a. The upper central monitor 11b displays an image captured by the upper imaging device 72 and an image captured by the attachment imaging device 76 side by side. The lower central monitor 11c is disposed below the main monitor 11a. The lower central monitor 11c displays an image captured by the lower imaging device 73.

[0055] A right monitor 11d is disposed to the right of the main monitor 11a. The right monitor 11d displays an image captured by the side imaging device 75. A left monitor 11e is disposed to the left of the main monitor 11a. The left monitor 11e displays an image captured by the side imaging device 75.

[0056] An upper right monitor 11f is disposed to the right of the upper central monitor 11b. The upper right monitor 11f displays information such as the communication status and work status of the work machine 40, and an analysis report of the work site status. An upper left monitor 11g is disposed to the left of the upper central monitor 11b. The upper left monitor 11g displays an image captured by an overhead camera set up at the work site.

[0057] By displaying the image captured by the imaging device 70 on the monitor 11, it is possible to improve the operability of the operator who is seated in the driver's seat 4 and remotely operates the work machine 20 while looking at the monitor 11. Note that the number and display contents of the monitors 11a to 11g are not limited to this.

[0058] Here, the main monitor 11a, the upper central monitor 11b, and the lower central monitor 11c have horizontally long screens. The main monitor 11a, the upper central monitor 11b, and the lower central monitor 11c are, for example, 27-inch monitors. On the other hand, the right monitor 11d, the left monitor 11e, the upper right monitor 11f, and the upper left monitor 11g have vertically long screens. The right monitor 11d, the left monitor 11e, the upper right monitor 11f, and the upper left monitor 11g are, for example, 15.6-inch monitors.

[0059] The length of the short side of the main monitor 11a is equal to the length of the long side of the right monitor 11d and the left monitor 11e, and the length of the short side of the upper central monitor 11b is equal to the length of the long side of the upper right monitor 11f and the upper left monitor 11g.

[0060] The driver's seat 4 and the monitor 11 are arranged in consideration of the operator's effective visual field. The effective visual field is a region of the visual field that can be recognized relatively clearly within the range of a human's visual field (a target can be seen only by moving one's eyes without moving one's head), and is the center of the visual field and the region around it. For example, the effective visual field is an area that extends about 30 degrees to the right from the center of the visual field, about 30 degrees to the left from the center of the visual field, about 20 degrees upward from the center of the visual field, and about 20 degrees downward from the center of the visual field. Since human eyes are arranged side by side, the width in the horizontal direction in the effective visual field is larger than the width in the vertical direction. Note that peripheral vision, which is the range outside the effective visual field, is an area that is difficult to recognize.

[0061] The driver's seat 4 and the monitor 11 are arranged so that the monitor 11 falls within the effective visual field of the operator when the operator sitting in the driver's seat 4 turns his / her gaze forward. Specifically, the relative positions of the driver's seat 4 and the monitor 11 in the left-right direction and the front-rear direction are arranged so that the left and right ends and the top and bottom ends of the monitor 11 fall within the effective visual field of the operator sitting on the seat of the driver's seat 4. For example, the relative positions of the monitor 11 and the driver's seat 4 in the left-right direction are adjusted and arranged so that the center position of the monitor 11, which is equidistant from the left and right ends in the left-right direction, coincides or matches with the line of sight on an extension line extended forward from the center position in the width direction of the seat or backrest of the driver's seat 4. Then, the relative positions of the monitor 11 and the driver's seat 4 in the front-rear direction are adjusted and arranged so that the left and right ends of the monitor 11 fall within the effective visual field of the operator sitting on the seat of the driver's seat 4. In addition, the monitor 11 and the driver's seat 4 are positioned with their relative positions adjusted in the vertical direction so that the upper and lower ends of the monitor 11 are within the effective visual field of the operator sitting on the seat of the driver's seat 4. This reduces the burden on the operator who watches the monitor 11.

[0062] Furthermore, since the driver's seat 4 and the monitor 11 adjusted in this manner are mounted on a common housing, it is possible to maintain the relative positions of the driver's seat 4 and the monitor 11. Note that the configuration may be such that at least one of the relative positions of the driver's seat 4 and the monitor 11 in the left-right direction, the front-rear direction, and the up-down direction is adjustable with the driver's seat 4 and the monitor 11 mounted on the housing.

[0063] In addition, by arranging the horizontally long monitors 11a, 11b, and 11c vertically in the center of the monitors 11, and arranging the vertically long monitors 11d, 11e, 11f, and 11g on the left and right of the horizontally long monitors 11a, 11b, and 11c, it becomes easier to fit the entire multiple monitors 11 within the effective visual field of a human being. This reduces the burden on the operator who views the monitors 11.

[0064] The upper central monitor 11b, the main monitor 11a, and the lower central monitor 11c are arranged in this order from top to bottom. The upper central monitor 11b displays an image above the upper revolving body 22, the main monitor 11a displays an image in front of the upper revolving body 22, and the lower central monitor 11c displays an image below the upper revolving body 22. Therefore, when the operator looks at the three monitors 11 arranged in the vertical direction, the operator can easily grasp the situation from above to below the upper revolving body 22. This reduces the burden on the operator who looks at the monitors 11. The images displayed on the monitors 11a, 11b, and 11c are images including the space in front of the work machine 20 that the operator looks at through the front window of the cab 23 when he gets into the cab 23 and operates the work machine 20, and these images are displayed on the monitors 11a, 11b, and 11c arranged to be aligned with the center position in the left-right direction of the effective field of view, so that the burden on the operator who looks at the monitors 11 can be further reduced.

[0065] The left monitor 11e, the main monitor 11a, and the right monitor 11d are arranged in this order from left to right. The left monitor 11e displays an image of the left side of the upper rotating body 22, the main monitor 11a displays an image of the front side of the upper rotating body 22, and the right monitor 11d displays an image of the right side of the upper rotating body 22. Therefore, when an operator looks at the three monitors 11 arranged in the left-right direction, the operator can easily grasp the situation from the left to the right side of the upper rotating body 22. This reduces the burden on the operator who looks at the monitors 11.

[0066] Moreover, the main monitor 11a displays an image captured by the front imaging device 71, and the upper central monitor 11b displays an image captured by the attachment imaging device 76. By viewing the main monitor 11a, the operator can grasp the situation of the attachment 30 in the up-down direction. By viewing the upper central monitor 11b, the operator can grasp the situation of the attachment 30 in the front-rear direction. Then, when the operator views the image captured by the front imaging device 71 and the image captured by the attachment imaging device 76, the operator can easily grasp the position of the attachment 30. This can improve the operability of the operator.

[0067] Furthermore, the images displayed on monitors 11d, 11e, 11f, and 11g are less frequently attended by the operator operating the work machine 20 compared to images including the space in front of the work machine 20 displayed on monitors 11a, 11b, and 11c, but are images that need to be viewed as appropriate depending on the operating conditions of the work machine 20. For this reason, by arranging monitors 11a, 11b, and 11c in the center of the effective field of vision and arranging monitors 11d, 11e, 11f, and 11g to the left and right of the center of the effective field of vision, it is possible to suitably improve the operability of the operator operating the work machine 20.

[0068] It should be noted that the work machine 20 may not be remotely operated, but may be operated by an operator in the cab 23. In this case, the image captured by the imaging device 70 may be displayed on a display or the like provided in the cab 23.

[0069] In addition, the images displayed in a vertical line in the center of the horizontal direction of the monitor 11 may not necessarily include all images captured by the front imaging device 71, the upper imaging device 72, and the lower imaging device 73. For example, images captured by the front imaging device 71 and the upper imaging device 72, or images captured by the front imaging device 71 and the lower imaging device 73 may be displayed in a vertical line on the monitor 11. In this case, the monitor 11c may not be arranged. In addition, the input device 2 may be provided with a switch for switching between displaying images captured by the front imaging device 71 and the upper imaging device 72, or displaying images captured by the front imaging device 71 and the lower imaging device 73, on the two monitors 11a and 11b. In this way, when the monitor 11c is not arranged, the operator's workability can be suitably improved by the amount that the field of view does not need to be directed downward.

[0070] (Functional configuration of the working system) As shown in FIG. 15, which is a functional configuration diagram of the work system 100, the work machine 20 has a work machine controller 81, a work machine communication device 82, and a storage device 83.

[0071] The work machine side communication device 82 is capable of communicating with a later-described operation device side communication device 8 of the operation device 1. The storage device 83 stores, for example, work content taught by remote control using the operation device 1.

[0072] The information detected by the sensor 50 is input to the work machine controller 81. Specifically, information relating to the swing angle (posture) of the upper swing body 22 relative to the lower traveling body 21 detected by the swing angle sensor 52 is input to the work machine controller 81. Information relating to the posture of the boom 31 detected by the boom inclination angle sensor 61 is also input to the work machine controller 81. Information relating to the posture of the arm 32 detected by the arm inclination angle sensor 62 is also input to the work machine controller 81. Information relating to the posture of the bucket 33 detected by the bucket inclination angle sensor 63 is also input to the work machine controller 81. Information relating to the inclination angle of the upper swing body 22 relative to the horizontal plane detected by the inclination angle sensor 55 is also input to the work machine controller 81.

[0073] Furthermore, image data captured by the imaging device 70 is input to the work machine controller 81 .

[0074] In this embodiment, the work machine 20 is remotely operated. The work machine controller 81 controls the lower structure 21, the swing device 25 and the attachment 30 in accordance with operation instructions sent from the operation device 1.

[0075] The work machine controller 81 may automatically control the work machine 20. That is, the work machine 20 may be operated automatically. In this case, the work machine controller 81 controls the upper rotating body 22 and the attachment 30 so that the upper rotating body 22 and the attachment 30 perform a series of operations. The work machine controller 81 automatically operates the swing device 25 and the attachment 30 based on the detection value of the sensor 50. In this case, the monitor 11 displays an image captured by the imaging device 70 of the automatically operated work machine 20. As the input device 2, an interruption device for interrupting the automatic operation of the work machine 20 based on the operation of an operator who monitors the automatically operated work machine 20 by watching the monitor 11, and a resumption device for resuming the interrupted automatic operation may be installed. In addition, the operation device 1 may be equipped with a device for switching between a state in which the work machine 20 is automatically operated and a state in which it is remotely operated according to an operation instruction sent from the operation device 1, and further, the state in which the work machine 20 is operated by an operator in the cab 23 may also be configured to be switchable by the device.

[0076] The series of operations performed by the work machine 20 is, for example, to dig up soil from a soil pit (not shown) with the bucket 33 (excavation), rotate the upper rotating body 22 toward the dump truck while holding the soil (lifting rotation), dump the soil onto the bed of the dump truck (discharging), and rotate the upper rotating body 22 toward the soil pit (return rotation), etc. The series of operations may be taught by operation using an operating device provided in the cab 23 or by remote operation using the operating device 1.

[0077] The operation device 1 includes a controller 7 , an input device 2 , an operation device side communication device 8 , a monitor 11 , and a speaker 12 .

[0078] The operation device side communication device 8 is capable of communicating with a work machine side communication device 82 of the work machine 20.

[0079] The controller 7 sends operation instruction signals from the input device 2 to a work machine controller 81 of the work machine 20. The controller 7 receives video data captured by the imaging device 70 from the work machine 20 and displays it on the monitor 11. The controller 7 also receives audio data picked up by a microphone mounted on the work machine 20 from the work machine 20 and outputs it from the speaker 12.

[0080] In remote operation, by using the image captured by the attachment imaging device 76, the workability of the operator remotely operating the work machine 20 can be improved.

[0081] The work machine 20 may be placed in a virtual space, and the work of the work machine 20 may be simulated in the virtual space. In other words, a simulator may simulate the work of the work machine 20 operating in accordance with an operation instruction signal from the input device 2. Even in this case, the workability of the operator operating the work machine 20 in the virtual space can be improved by displaying on the monitor 11 an image virtually captured by the attachment imaging device 76 in the virtual space.

[0082] Here, the monitor 90 of the simulator is shown in FIG. 16. As shown in FIG. 16, the monitor 90 of the simulator has, for example, two monitors 91 and 92 arranged vertically. For example, the upper monitor 91 displays the image of the upper central monitor 11b, the image of the upper right monitor 11f, and the image of the upper left monitor 11g. Also, the upper monitor 91 displays the upper half of the image of the main monitor 11a, the upper half of the image of the right monitor 11d, and the upper half of the image of the left monitor 11e. For example, the lower monitor 92 displays the lower half of the image of the main monitor 11a, the lower half of the image of the right monitor 11d, the lower half of the image of the left monitor 11e, and the image of the lower central monitor 11c. That is, in the simulator, the entire image of the seven monitors 11 shown in FIG. 14 may be split into two and displayed on the two monitors 91 and 92.

[0083] 17, which is an enlarged view of a main part D in FIG. 16, in the simulator, a shadow 95 may be displayed in the image captured by the imaging device 70. This shadow 95 allows the user to grasp the sense of distance to the ground.

[0084] (effect) As described above, according to the working machine 20 of this embodiment, at least a part of the attachment imaging device 76 is disposed on the ventral side of the ventral surface of the attachment 30 and on the widthwise outer side of the end surfaces of the attachment 30. By disposing the attachment imaging device 76 in this manner, the angle of view of the attachment imaging device 76 blocked by the attachment 30 can be narrowed compared to a case in which the entire attachment imaging device 76 is disposed on the ventral side of the ventral surface of the attachment 30 and on the widthwise inner side of the end surfaces of the attachment 30. This makes it possible to widen the angle of view of the attachment imaging device 76 that is not blocked by the attachment 30. In addition, one attachment imaging device 76 can image both the ventral side of the ventral surface of the attachment 30 and the widthwise outer side of the end surfaces of the attachment 30. This makes it possible to reduce the cost of the device for imaging the surroundings of the attachment 30.

[0085] Furthermore, the center of the imaging range of the attachment imaging device 76 is located outside, in the width direction of the attachment 30, the end faces in the width direction of the attachment 30. By arranging the attachment imaging device 76 in this manner, the angle of view of the attachment imaging device 76 blocked by the attachment 30 can be narrowed.

[0086] In addition, the attachment imaging device 76 is attached to the arm 32. This allows the attachment imaging device 76 to capture an image of the periphery of the arm 32. For example, by directing the imaging direction of the attachment imaging device 76 toward the bucket 33, the attachment imaging device 76 can capture an image of the bucket 33.

[0087] The imaging direction of the attachment imaging device 76 faces the bucket 33. This allows the attachment imaging device 76 to capture an image of the bucket 33 and the space behind the bucket 33. Therefore, the operator who operates the work machine 20 or the operator who remotely operates the work machine 20 can grasp the sense of distance between the bucket 33 and an object located beyond the bucket 33 from the image captured by the attachment imaging device 76. Furthermore, the operator who operates the work machine 20 or the operator who remotely operates the work machine 20 can confirm the working status of the bucket 33 from the image captured by the attachment imaging device 76. Furthermore, even if the operator does not look at the information captured by the attachment imaging device 76, information including the bucket 33 and the space behind the bucket 33 can be captured by the attachment imaging device 76. Therefore, this information can be used for controlling the work machine 20, etc.

[0088] Furthermore, the tip end portion (predetermined portion) 32a of the arm 32 included in the imaging range of the attachment imaging device 76 is located at the same position in the imaging range regardless of the attitude of the attachment 30. Therefore, an operator who operates the work machine 20 or an operator who remotely operates the work machine 20 can grasp the sense of distance between the object imaged by the attachment imaging device 76 and the tip end portion 32a from the image captured by the attachment imaging device 76.

[0089] The machine also has a front imaging device 71 that images the area in front of the machine body 24. An operator who operates the work machine 20 or an operator who remotely operates the work machine 20 can grasp the situation of the attachment 30 in the up-down direction from the image captured by the front imaging device 71. Therefore, by using the image captured by the front imaging device 71, the workability of the operator who operates the work machine 20 or the operator who remotely operates the work machine 20 can be improved. In particular, when the bucket 33 and the space behind the bucket 33 are imaged by the attachment imaging device 76, the operator who operates the work machine 20 or the operator who remotely operates the work machine 20 can grasp the situation of the attachment 30 in the fore-aft direction from the image captured by the attachment imaging device 76. Therefore, in this case, by using the image captured by the forward imaging device 71 and the image captured by the attachment imaging device 76, the operator operating the work machine 20 or the operator remotely operating the work machine 20 can grasp the position of the attachment 30 in more detail than when only the image captured by the attachment imaging device 76 is used.

[0090] Furthermore, according to the work system 100 of this embodiment, the image captured by the attachment imaging device 76 is displayed on the monitor 11. By using the image captured by the attachment imaging device 76, it is possible to improve the operability of the operator who operates the work machine 20 and the operator who remotely operates the work machine 20.

[0091] Furthermore, the work machine 20 is remotely operated. By using the images captured by the attachment imaging device 76, the operability of the operator who remotely operates the work machine 20 can be improved.

[0092] Furthermore, the work of the work machine 20 is simulated in the virtual space. By using the image captured by the attachment imaging device 76, the workability of the operator who operates the work machine 20 in the virtual space can be improved.

[0093] Although the embodiments of the present invention have been described above, they are merely illustrative examples and do not limit the present invention, and the specific configurations and the like can be appropriately modified in design. Furthermore, the actions and effects described in the embodiments of the invention are merely a list of the most preferable actions and effects resulting from the present invention, and the actions and effects of the present invention are not limited to those described in the embodiments of the present invention.

[0094] For example, a bird's-eye view of the work machine 20 may be displayed on the monitor 11 (e.g., the upper right monitor 11f) shown in Fig. 14. This bird's-eye view may be captured by a camera set up at the work site or by an aircraft such as a drone. Moreover, this bird's-eye view may be created by a known method from images captured by a plurality of cameras mounted on the machine body 24 and capturing images of the front, rear, left and right of the machine body 24.

[0095] Furthermore, in the operation device 1, a projection device such as a projector and a screen may be used instead of the multiple monitors 11. In this case, an image from the projection device is projected onto the screen. [Explanation of symbols]

[0096] 1 Operating device 2 Input Devices 3 Output Device 4 Driver's seat 7 Controller 8 Control device side communication device 11 Monitor (display device) 12 Speaker 20 Work Machinery 21 Undercarriage 22 Upper rotating body 23 Cab 24 Machine body 25 Swivel 30 Attachment 31 Boom 32 Arm 32a Tip side part (designated part) 32b ventral surface 33 Bucket 34 Link member 40 Cylinder 41 Boom cylinder 42 Arm Cylinder 43 Bucket Cylinder 50 Sensors 52 Rotation angle sensor 55 Inclination Angle Sensor 60 Inclination Sensor 61 Boom tilt angle sensor 62 Arm inclination angle sensor 63 Bucket tilt angle sensor 70 Imaging Device 71 Front imaging device 72 Upward Imaging Device 73 Downward Imaging Device 75 Side imaging device 76 Attachment imaging device (imaging device) 78 Bracket 81 Work machine side controller 82 Work machine communication device 83 Storage device 90,91,92 Monitor 95 Shadow 100 Working Systems 110 Dump Truck 111 Cargo Bed

Claims

1. The machine body, an attachment rotatably attached to the machine body; An imaging device attached to the attachment; having When the direction from the back surface of the attachment to the ventral surface is defined as the ventral side, A work machine, characterized in that at least a part of the imaging device is arranged on the ventral side of the ventral surface of the attachment and widthwise outward of a widthwise end face of the attachment.

2. 2. The work machine according to claim 1, wherein the center of the imaging range of the imaging device is located outside, in the width direction of the attachment, an end face of the attachment in the width direction.

3. The attachment comprises: A boom attached to the machine body so as to be rotatable in the vertical direction; an arm attached to the boom so as to be rotatable in the vertical direction; a tip attachment rotatably attached to the arm; having The work machine according to claim 1 , wherein the imaging device is attached to the arm.

4. 2. The work machine according to claim 1, wherein the imaging direction of the imaging device is directed toward the tip of the attachment.

5. an imaging range of the imaging device includes a predetermined portion of the attachment; 2. The work machine according to claim 1, wherein the predetermined portion is located at the same position within the image capture range regardless of the attitude of the attachment.

6. 2. The work machine according to claim 1, further comprising a front imaging device attached to the machine body for imaging an image in front of the machine body.

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

8. 8. A work system according to claim 7, further comprising a remote control means for remotely controlling the work machine.

9. the work machine is disposed in a virtual space; 8. A work system according to claim 7, further comprising a calculation means for simulating work by said work machine in said virtual space.

Images