Work machines and display systems

Abstract

To easily grasp an attitude of a ripper device.SOLUTION: A work machine comprises: a work machine main body; a ripper device disposed at a rear of the work machine main body; and an imaging device attached to the work machine main body to take an image of the ripper device. The ripper device includes: a shank 11; a ripper point 13 attached to a tip of the shank 11; a beam 17 that supports the shank 11; and a ripper arm 14 that connects the work machine main body and the beam 17. The imaging device images the ripper device from the side, and includes at least a part of the shank 11, at least a part of the beam 17, and at least a part of the ripper arm 14 in the imaging range.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to work machines and display systems. [Background technology]

[0002] Japanese Patent Application Laid-Open Publication No. 2017-82415 (Patent Document 1) discloses a display system for displaying information related to a work vehicle. An imaging unit is mounted on the vehicle body of the work vehicle and captures an image of a ripper point. An image generation unit generates a display image including an image of the ripper point captured by the imaging unit and information about the rotation of the crawler belt. A display unit displays the display image. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-82415 Summary of the Invention [Problem to be solved by the invention]

[0004] With the technology described in the above document, an operator can accurately grasp the position of the ripper point by looking at the displayed image and can determine whether shoe slip, in which the tracks spin freely, is occurring. However, in order to perform appropriate ripping work, it is necessary for the operator to be able to more easily grasp the position of the ripper device.

[0005] The present disclosure proposes a work machine that allows the attitude of a ripper device to be easily grasped, and a display system that displays a captured image of the ripper device. [Means for solving the problem]

[0006] A work machine according to the present disclosure includes a work machine main body, a ripper device disposed rearward of the work machine main body, and an imaging device mounted on the work machine main body and capturing an image of the ripper device. The ripper device includes a shank, a ripper point attached to the tip of the shank, a beam supporting the shank, and a ripper arm connecting the work machine main body and the beam. The imaging device captures an image of the ripper device from the side. The imaging device captures an image of at least a portion of the shank, at least a portion of the beam, and at least a portion of the ripper arm within its imaging range. [Effects of the Invention]

[0007] According to the present disclosure, the posture of the ripper device can be easily grasped. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view showing a schematic configuration of a work machine based on an embodiment. [Figure 2] FIG. 2 is a rear view of the work machine shown in FIG. [Figure 3] FIG. [Figure 4] FIG. 2 is a schematic diagram showing a first example of a captured image captured by an imaging device. [Figure 5] FIG. 10 is a schematic diagram showing a second example of a captured image captured by the imaging device. [Figure 6] FIG. 10 is a schematic diagram showing a third example of a captured image captured by the imaging device. [Figure 7] 1 is a block diagram illustrating an outline of the configuration of a display system based on an embodiment. [Figure 8] FIG. 2 is a schematic diagram illustrating an example of a display image displayed on a display device. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment will be described with reference to the drawings. In the following description, the same components are denoted by the same reference numerals. The names and functions of the components are also the same. Therefore, detailed description thereof will not be repeated.

[0010] [Work machinery] First, the configuration of a bulldozer 100 will be described as an example of a work machine according to an embodiment. Fig. 1 is a side view schematically showing the configuration of a work machine according to an embodiment. Fig. 2 is a rear view of the work machine shown in Fig. 1.

[0011] As shown in Figures 1 and 2, the bulldozer 100 mainly comprises a main body 1 (corresponding to the work machine main body in the embodiment), an excavating blade 2, and a running body 3. The excavating blade 2 is attached to the main body 1. The excavating blade 2 is provided in front of the main body 1. The running body 3 is a track-type running body having a pair of left and right tracks 3C spaced apart in the vehicle width direction. The main body 1 is disposed between the pair of left and right tracks 3C. The bulldozer 100 travels when the tracks 3C are driven.

[0012] The main body 1 has a cab 9 and an engine room 8. The cab 9 is located at the upper rear of the main body 1. The engine room 8 is located in front of the cab 9. The engine room 8 is located between the cab 9 and the excavating blade 2.

[0013] In the embodiment, the direction in which the bulldozer 100 travels straight is referred to as the fore-and-aft direction of the bulldozer 100. In the fore-and-aft direction of the bulldozer 100, the side where the excavating blade 2 protrudes from the main body 1 is referred to as the front direction. In the fore-and-aft direction of the bulldozer 100, the side opposite the front direction is referred to as the rear direction. The left-and-right direction of the bulldozer 100 is the direction perpendicular to the fore-and-aft direction in a plan view. Looking forward, the right and left sides of the left-and-right direction are the right direction and the left direction, respectively. The up-and-down direction of the bulldozer 100 is the direction perpendicular to the plane defined by the fore-and-aft direction and the left-and-right direction. In the up-and-down direction, the side with the ground facing is the bottom side, and the side with the sky facing is the top side.

[0014] In FIG. 1, the front-rear direction is indicated by an arrow X, the left-right direction is indicated by an arrow Y, and the up-down direction is indicated by an arrow Z.

[0015] The bulldozer 100 is equipped with an excavation blade 2 (first work implement) at the front of the main body 1 as a work implement. The excavation blade 2 is a work implement for performing work such as excavating and leveling the ground surface. The excavation blade 2 is an example of a front work implement that is arranged at the front of the main body 1. The excavation blade 2 has a cutting edge 2C at its lower end. The cutting edge 2C forms the cutting edge of the excavation blade 2. The excavation blade 2 has a left side end 2CL at the left end of the cutting edge 2C. The excavation blade 2 has a right side end 2CR at the right end of the cutting edge 2C. The excavation blade 2 has a left lower end 2E1 and a right lower end 2E2.

[0016] The excavating blade 2 is supported on both the left and right sides by frames 4. The frames 4 are rectangular pillar-shaped members. One end of the frame 4 is attached to the back of the excavating blade 2 by a rotatable support. The other end of the frame 4 is rotatably supported on the side of the traveling body 3.

[0017] The excavating blade 2 is driven by a tilt cylinder 5 and a lift cylinder 6. One end of the tilt cylinder 5 is rotatably supported on the back surface of the excavating blade 2. The other end of the tilt cylinder 5 is rotatably supported on the upper surface of the frame 4. When the tilt cylinder 5 is hydraulically extended and retracted, the upper end of the excavating blade 2 moves back and forth around the support part where the frame 4 is attached to the excavating blade 2. This changes the pitch angle of the excavating blade 2.

[0018] One end of the lift cylinder 6 is rotatably supported on the back of the excavation blade 2. The middle part of the lift cylinder 6 is supported on the side of the main body 1. When the lift cylinder 6 expands and contracts due to hydraulic pressure, the excavation blade 2 moves up and down around the other end of the frame 4.

[0019] A front grill 23 is attached to the main body 1. The front grill 23 is disposed at the front end of the main body 1. The front grill 23 is disposed so as to cover an opening formed at the front end of the main body 1. The excavating blade 2 is disposed in front of the front grill 23 with a gap therebetween.

[0020] A fuel tank 26 is disposed at the rear end of the main body 1. The fuel tank 26 is disposed behind the cab 9. The fuel tank 26 stores fuel to be supplied to the engine 21 therein.

[0021] 1, the height of the fuel tank 26 decreases toward the rear in a side view. The fuel tank 26 has a tapered surface that slopes downward toward the rear.

[0022] The bulldozer 100 is equipped with another work machine, a ripper device 10 (second work machine) located behind the main body 1. The ripper device 10 is a work machine for penetrating and crushing hard materials such as rocks. The ripper device 10 is attached to the main body 1. The ripper device 10 is provided rearward relative to the main body 1. In the fore-and-aft direction of the bulldozer 100, the side where the ripper device 10 protrudes from the main body 1 is the rear direction. The ripper device 10 is located behind the fuel tank 26 with a gap between them. The ripper device 10 is an example of a rear work machine that is located rearward relative to the main body 1.

[0023] FIG. 3 is a perspective view of the ripper device 10. As shown in FIGS. 1 to 3, the ripper device 10 has a shank 11 and a ripper point 13. The ripper point 13 is attached to the tip (lower end) of the shank 11. The ripper device 10 thrusts the ripper point 13 into rocks or the like, and cuts or crushes the rocks using the traction force of the traveling body 3. The ripper point 13 is detachable from the shank 11. The ripper device 10 is configured so that the ripper point 13 can be replaced.

[0024] The shank 11 is supported by a beam 17. The beam 17 has a holder 17H that houses the shank 11 at a central position in the left-right direction. A plurality of through holes 12h are formed in the shank 11. By inserting the shank 11 into the holder 17H and passing a retaining pin 17P through one of the plurality of through holes 12h, the shank 11 is fixed to the beam 17, and the beam 17 and shank 11 operate as a single unit.

[0025] The ripper arm 14 connects the main body 1 and the beam 17. One end of the ripper arm 14 is rotatably attached to the main body frame 1F of the main body 1. The beam 17 is rotatably attached to the other end of the ripper arm 14 via a connecting pin 14P relative to the ripper arm 14. The shank 11 is provided to the ripper arm 14 so as to be rotatable integrally with the beam 17 around the connecting pin 14P.

[0026] The ripper device 10 is driven by a tilt cylinder 15 and a lift cylinder 16. The tilt cylinder 15 and the lift cylinder 16 are provided above the ripper arm 14. The tilt cylinder 15 is disposed above the lift cylinder 16. The lift cylinder 16 moves the beam 17 and the shank 11 up and down. The lift cylinder 16 moves the ripper point 13 up and down. The tilt cylinder 15 reciprocates the ripper point 13 in a direction approaching the main body 1 (i.e., forward) and a direction away from the main body 1 (i.e., rearward). The tilt cylinder 15 changes the angle of the shank 11 relative to the ripper arm 14. The angle that the shank 11 forms with respect to the ripper arm 14 is called the tilt angle of the shank 11.

[0027] The extension and contraction of the tilt cylinder 15 changes the angle that the shank 11 makes with respect to the current terrain, which is the work object of the ripper device 10. The extension and contraction of the tilt cylinder 15 changes the angle that the shank 11 makes with respect to the horizontal direction. The extension and contraction of the tilt cylinder 15 changes the angle that the shank 11 makes with respect to the vehicle body direction. The tilt angle of the shank 11 may be defined as the angle that it makes with respect to the current terrain, the angle that it makes with respect to the horizontal direction, or the angle that it makes with respect to the vehicle body direction.

[0028] The base end of the tilt cylinder 15 is rotatably attached to the main body frame 1F of the main body 1. The tip of the tilt cylinder 15 is rotatably connected to the beam 17 via a connecting pin 15P. The base end of the lift cylinder 16 is rotatably attached to the main body frame 1F of the main body 1. The tip of the lift cylinder 16 is rotatably connected to the beam 17 via a connecting pin 16P. As shown in FIGS. 2 and 3, the beam 17 has a pair of left and right connecting portions, a left connecting portion 17L and a right connecting portion 17R. The tilt cylinder 15 has a left tilt cylinder 15L and a right tilt cylinder 15R. The lift cylinder 16 has a left lift cylinder 16L and a right lift cylinder 16R. The connecting pins 15P, 16P have left connecting pins 15PL, 16PL and right connecting pins 15PR, 16PR.

[0029] The left tilt cylinder 15L is connected to the upper end of the left coupling portion 17L via a left coupling pin 15PL. The left lift cylinder 16L is connected to the left coupling portion 17L via a left coupling pin 16PL. The right tilt cylinder 15R is connected to the upper end of the right coupling portion 17R via a right coupling pin 15PR. The right lift cylinder 16R is connected to the right coupling portion 17R via a right coupling pin 16PR.

[0030] 1 and 2, the engine room 8 houses an engine 21, which is the drive source of the bulldozer 100. The power generated by the engine 21 is transmitted to the drive wheels of the traveling body 3 via a drive train inside the main body 1. Rotation of the drive wheels drives the tracks 3C, causing the bulldozer 100 to travel. The power of the engine 21 is also transmitted to a hydraulic pump. The hydraulic pump supplies pressurized oil to each actuator, such as the tilt cylinder 5 and lift cylinder 6 that drive the excavating blade 2, and the tilt cylinder 15 and lift cylinder 16 that drive the ripper device 10.

[0031] The engine 21 is covered from above by an engine hood 22. The engine hood 22 forms a ceiling of the engine compartment 8. The engine hood 22 separates the outside of the engine compartment 8 from the inside.

[0032] A work platform 30 is disposed above the fuel tank 26. The work platform 30 is disposed behind the cab 9. The work platform 30 is a foothold for workers performing work behind the cab 9. Work that a worker can perform on the work platform 30 includes, for example, cleaning the windows of the cab 9, replacing the filter of the fuel tank 26, and maintaining the breather. A guardrail 31 is attached to the work platform 30 to prevent unexpected falls.

[0033] An access passage 40 is provided along the left edge of the main body 1 to enable access from the ground to the work platform 30. A guardrail 41 is attached to the access passage 40 to prevent accidental falls.

[0034] A tip-over protective structure 90 is attached to the bulldozer 100. The tip-over protective structure 90 is standardized as ISO3471. In the rear view shown in FIG. 2, the tip-over protective structure 90 is omitted for clarity. The tip-over protective structure 90 is formed in a three-sided frame shape.

[0035] The rollover protective structure 90 has a left pillar 91, a beam 93, and a right pillar (not shown). The left pillar 91 is located on the left side of the cab 9. The right pillar is located on the right side of the cab 9. The beam 93 is located above the cab 9. The beam 93 has a left end connected to the upper end of the left pillar 91 and a right end connected to the upper end of the right pillar. The beam 93 is supported by the left pillar 91 and the right pillar. The beam 93 extends in the left-right direction between the left pillar 91 and the right pillar.

[0036] A plurality of cameras are attached to the bulldozer 100. The plurality of cameras includes a first camera 51, a second camera 52, a third camera 53, a fourth camera 54 (not shown in FIGS. 1 and 2), a fifth camera 55, a sixth camera 56 (not shown in FIGS. 1 and 2), a seventh camera 57, and an eighth camera 58.

[0037] The first camera 51 captures an image in front of the main body 1. The imaging range of the first camera 51 includes the area in front of the main body 1. The captured image output by the first camera 51 may include the terrain in front of the main body 1. The first camera 51 corresponds to the front imaging device in the embodiment. The first camera 51 is attached to the top surface of the cab 9. The first camera 51 protrudes upward from the top surface of the cab 9. The first camera 51 is attached to the main body 1 via the cab 9. The first camera 51 is fixed and faces forward.

[0038] The second camera 52 captures an image behind the main body 1. The imaging range of the second camera 52 includes the area behind the main body 1. The captured image output by the second camera 52 may include the terrain behind the main body 1. The second camera 52 corresponds to the rear imaging device in the embodiment. The second camera 52 is attached to a protrusion 9c that protrudes rearward from the cab 9. The second camera 52 is attached to the main body 1 via the cab 9. The second camera 52 is fixed facing downward and rearward.

[0039] The third camera 53 captures an image of the left side end 2CL of the cutting edge 2C of the excavation blade 2. The imaging range of the third camera 53 includes the lower left end 2E1 of the excavation blade 2. The captured image output by the third camera 53 may include the lower left end 2E1 of the excavation blade 2. The imaging range of the third camera 53 includes the point where the lower left end 2E1 of the excavation blade 2 penetrates the ground surface. The third camera 53 corresponds to the left blade imaging device in the embodiment. The third camera 53 is attached to the left column 91 of the tip-over protective structure 90. The third camera 53 is attached to the main body 1 via the tip-over protective structure 90. The third camera 53 is fixed facing downward and forward.

[0040] Although not shown in Figures 1 and 2, the fourth camera 54 is attached to the right pillar of the tip-over protective structure 90. The fourth camera 54 is attached to the main body 1 via the tip-over protective structure 90. The fourth camera 54 is fixed facing downward and forward. The fourth camera 54 captures an image of the right side end 2CR of the cutting edge 2C of the excavation blade 2. The imaging range of the fourth camera 54 includes the lower right end 2E2 of the excavation blade 2. The captured image output by the fourth camera 54 may include the lower right end 2E2 of the excavation blade 2. The imaging range of the fourth camera 54 includes the point where the lower right end 2E2 of the excavation blade 2 penetrates the ground surface. The fourth camera 54 corresponds to the right blade imaging device in the embodiment.

[0041] The fifth camera 55 captures images to the left of the main body 1. The imaging range of the fifth camera 55 includes the left side of the main body 1. The captured image output by the fifth camera 55 may include the terrain to the left of the main body 1. The fifth camera 55 corresponds to the left imaging device in the embodiment. The fifth camera 55 is attached to the left pillar 91 of the rollover protective structure 90. The fifth camera 55 is attached to the main body 1 via the rollover protective structure 90. The fifth camera 55 is fixed facing downward and to the left. The third camera 53 and the fifth camera 55 are arranged next to each other in the front-to-back direction, with the third camera 53 on the front side and the fifth camera 55 on the rear side.

[0042] Although not shown in FIGS. 1 and 2, the sixth camera 56 is attached to the right pillar of the rollover protective structure 90. The sixth camera 56 is attached to the main body 1 via the rollover protective structure 90. The sixth camera 56 is fixed facing downward and to the right. The sixth camera 56 captures images to the right of the main body 1. The imaging range of the sixth camera 56 includes the right of the main body 1. The captured image output by the sixth camera 56 may include the terrain to the right of the main body 1. The sixth camera 56 corresponds to the right imaging device in the embodiment. The fourth camera 54 and the sixth camera 56 are arranged next to each other in the front-to-rear direction, with the fourth camera 54 on the front side and the sixth camera 56 on the rear side.

[0043] The seventh camera 57 captures an image of the ripper point 13, which corresponds to the lower end of the ripper device 10. The imaging range of the seventh camera 57 includes the ripper point 13. The captured image output by the seventh camera 57 may include the ripper point 13. The seventh camera 57 corresponds to the ripper point imaging device in the embodiment. The seventh camera 57 is attached to the rear surface of the main body 1. The seventh camera 57 is attached to the main body 1 near the center of the rear surface of the main body 1 in the left-right direction. The seventh camera 57 is fixed facing downward and rearward.

[0044] The eighth camera 58 is attached to the rear surface of the main body 1. The eighth camera 58 is disposed away from the center of the main body 1 in the left-right direction. The eighth camera 58 is disposed to the left of the center of the main body 1 in the left-right direction. The eighth camera 58 is disposed above the left crawler 3C. The eighth camera 58 is disposed diagonally forward and left of the ripper device 10. The eighth camera 58 is disposed leftward relative to the ripper device 10 in the left-right direction. The eighth camera 58 is disposed forward of the shank 11 of the ripper device 10 and to the left of the shank 11. The eighth camera 58 is disposed diagonally forward and leftward of the ripper point 13 in a plan view.

[0045] The eighth camera 58 captures an image of the ripper device 10. The eighth camera 58 is fixed facing diagonally rearward to the right so that it can capture an image of the ripper device 10. The optical axis of the eighth camera 58 extends diagonally rearward to the right from the eighth camera 58. The eighth camera 58 captures an image of the ripper device 10 from the left. The eighth camera 58 captures an image of the ripper device 10 from a direction that includes left and right components. The eighth camera 58 captures an image of the ripper device 10 from diagonally front to the left.

[0046] The imaging range of the eighth camera 58 includes at least a portion of the ripper device 10. The captured image output by the eighth camera 58 may include at least a portion of the ripper device 10. The eighth camera 58 corresponds to the imaging device in the embodiment.

[0047] 4 to 6 are schematic diagrams showing examples of images captured by eighth camera 58 (imaging device). As shown in Figs. 4 to 6, eighth camera 58 includes in its imaging range at least a portion of shank 11, at least a portion of beam 17, and at least a portion of ripper arm 14. The image captured by eighth camera 58 includes information regarding the tilt angle of shank 11, the angle of beam 17 relative to ripper arm 14, the distance of ripper arm 14 from the ground, the angle of ripper arm 14 relative to the ground, etc.

[0048] The eighth camera 58 further includes at least a portion of the tilt cylinder 15 (left tilt cylinder 15L) in its imaging range. The left tilt cylinder 15L has a cylinder tube 15Ls and a rod 15Lr. The rod 15Lr is supported by the cylinder tube 15Ls so as to be able to move back and forth in the longitudinal direction of the cylinder tube 15Ls. The eighth camera 58 includes at least a portion of the cylinder tube 15Ls and at least a portion of the rod 15Lr in its imaging range. The image captured by the eighth camera 58 includes information regarding the amount of extension and contraction of the left tilt cylinder 15L, and therefore includes information regarding the tilt angle of the shank 11.

[0049] The eighth camera 58 also includes within its imaging range at least a portion of the lift cylinder 16 (left lift cylinder 16L). The image captured by the eighth camera 58 includes information regarding the amount of extension and contraction of the left lift cylinder 16L, and therefore includes information regarding the distance of the ripper arm 14 from the ground, the angle the ripper arm 14 makes with respect to the ground, and the like.

[0050] In the image 58IMG1 captured by the eighth camera 58 shown in Figure 4, the length of the lift cylinder 16 (left lift cylinder 16L) is at its minimum. The ripper arm 14, beam 17, and shank 11 are at the uppermost position within their vertical movable range. The ripper point 13 is positioned away from the ground and is in the air.

[0051] In the captured image 58IMG2 of the eighth camera 58 shown in FIG. 5, the length of the lift cylinder 16 (left lift cylinder 16L) has increased compared to FIG. 4. The ripper arm 14, beam 17, and shank 11 are in a lower position than those shown in FIG. 4 and are closer to the ground. The shank 11 is hidden by the beam 17 and is not included in the captured image, but is present within the imaging range of the eighth camera 58. The ripper point 13 is still positioned away from the ground, and is in the air.

[0052] In the image 58IMG3 captured by the eighth camera 58 shown in FIG. 6, the length of the lift cylinder 16 (left lift cylinder 16L) is at its maximum. The ripper arm 14, beam 17, and shank 11 are at the lowest position within their vertical movable ranges. The ripper point 13 is not included in the captured image because it is underground, but it is present within the imaging range of the eighth camera 58. Compared to FIG. 5, the length by which the rod 15Lr of the tilt cylinder 15 (left tilt cylinder 15L) protrudes from the cylinder tube 15Ls has increased, and the length of the left tilt cylinder 15L has increased. Due to the extension of the left tilt cylinder 15L, the angle of the beam 17 and shank 11 relative to the ripper arm 14 has changed, and the ripper point 13 has moved forward underground.

[0053] [Display System] The display system of the embodiment will be described below. Fig. 7 is a block diagram showing an outline of the configuration of the display system based on the embodiment. As shown in Fig. 7, the display system includes the bulldozer 100 described with reference to Figs. 1 to 3 and a remote control station 101.

[0054] The bulldozer 100 has a video controller 60. The first to eighth cameras 51 to 58 are electrically connected to the video controller 60. The video controller 60 receives input of image data captured by each of the first to eighth cameras 51 to 58. The video controller 60 has an encoder 61 that compresses and encrypts the captured image data.

[0055] The bulldozer 100 has an operation controller 63. The operation controller 63 controls the operation of the bulldozer 100 based on a program stored in a memory (not shown). The operation controller 63 controls the operation of the excavating blade 2 by outputting control signals to the blade actuators, i.e., the tilt cylinder 5 and the lift cylinder 6. The tilt cylinder 5 and the lift cylinder 6 receive control signals from the operation controller 63 and extend and retract as appropriate, thereby changing the pitch angle of the excavating blade 2 and moving the excavating blade 2 up and down.

[0056] The operation controller 63 controls the operation of the ripper device 10 by outputting control signals to the ripper actuators, i.e., the tilt cylinder 15 and the lift cylinder 16. When the tilt cylinder 15 and the lift cylinder 16 receive control signals from the operation controller 63 and extend and retract as appropriate, the beam 17 and the shank 11 move up and down, and the ripper point 13 at the tip of the shank 11 moves in the up and down and forward and backward directions.

[0057] The operation controller 63 controls the travel of the bulldozer 100 by outputting control signals to the transmission 64 and the steering device 66 .

[0058] The bulldozer 100 has a transmitting / receiving device 62. The video controller 60 transmits signals to the remote control station 101 and receives signals from the remote control station 101 via the transmitting / receiving device 62. The video controller 60 transmits data of captured images output from the first to eighth cameras 51 to 58 to the remote control station 101 via the transmitting / receiving device 62.

[0059] The remote control station 101 is located outside the bulldozer 100. The remote control station 101 has a display control device 110, a transmitting / receiving device 112, an input device 114, and a display device 120. The display control device 110, the transmitting / receiving device 112, the input device 114, and the display device 120 are located in the remote control station 101, which is located away from the bulldozer 100.

[0060] The display control device 110 controls the display device 120. The display control device 110 receives signals from the bulldozer 100 via the transmission / reception device 112, and transmits signals to the bulldozer 100. The display control device 110 receives input of data of images captured by the first to eighth cameras 51 to 58 from the bulldozer 100 via the transmission / reception device 112. The display control device 110 has a decoder 111 that decompresses data compressed and encrypted by the encoder 61.

[0061] The display control device 110 displays captured images output from one or more of the first to eighth cameras 51 to 58 on the display device 120. In the embodiment described below, captured images output from four of the eight cameras are displayed on the display device 120. The input device 114 is a switch for selecting captured images to be displayed on the display device 120 while the vehicle is traveling or stopped, during dozing work, and during ripping work. The display control device 110 receives input from the input device 114 operated by the operator and displays the selected captured images on the display device 120.

[0062] The remote control station 101 also has an operation panel 140. The operation panel 140 has a blade operation lever 141, a ripper operation lever 142, and a steering lever 143. The blade operation lever 141, the ripper operation lever 142, and the steering lever 143 are operated by an operator. The operation of the operation panel 140 is input to the operation controller 63 of the bulldozer 100. Upon receiving the operation input of the operation panel 140, the operation controller 63 outputs control signals to the blade actuator, the ripper actuator, the transmission 64, or the steering device 66 in accordance with the input, thereby operating these actuators.

[0063] The input device 114 and the operation panel 140 are placed at the hand of an operator who views the display device 120. The operator can operate the input device 114 and the operation panel 140 while viewing the display device 120, thereby remotely controlling the bulldozer 100.

[0064] Fig. 8 is a schematic diagram showing an example of a display image displayed on the display device 120. The display control device 110 sets a plurality of divided display sections on the display device 120. The display device 120 shown in Fig. 8 has set thereon a front display section 121, a rear display section 122, a ripper point display section 127, and a ripper device display section 128 as a plurality of divided display sections. The display device 120 shown in Fig. 8 displays a display image to be displayed during a ripping operation by the ripper device 10.

[0065] The front display unit 121 displays a captured image output from the first camera 51 (front image capture device) whose imaging range includes the area in front of the main body 1. The rear display unit 122 displays a captured image output from the second camera 52 (rear image capture device) whose imaging range includes the area behind the main body 1. The ripper point display unit 127 displays a captured image output from the seventh camera 57 (ripper point image capture device) whose imaging range includes the ripper point 13. The ripper device display unit 128 displays a captured image output from the eighth camera 58 (image capture device) whose imaging range includes at least a portion of the ripper device 10.

[0066] The display control device 110 sets the ripper point display unit 127, the rear display unit 122, and the ripper device display unit 128 in this order from left to right. The display control device 110 sets the front display unit 121 above the row of the ripper point display unit 127, the rear display unit 122, and the ripper device display unit 128.

[0067] The front display unit 121 is set to have a horizontally elongated rectangular shape. The rear display unit 122 is set to have the same horizontally elongated rectangular shape as the front display unit 121. The front display unit 121 and the rear display unit 122 are set to have the same area. The display control device 110 sets the front display unit 121 and the rear display unit 122 side by side, with the front display unit 121 on top and the rear display unit 122 on the bottom. The display control device 110 sets the front display unit 121 and the rear display unit 122 so that they are center-aligned.

[0068] The display control device 110 sets the ripper point display unit 127 on the left side of the vertical arrangement of the front display unit 121 and the rear display unit 122. The ripper point display unit 127 is set in the shape of a horizontally elongated rectangle with a smaller area than the rear display unit 122.

[0069] The display control device 110 sets the ripper device display unit 128 to the right of the vertical arrangement of the front display unit 121 and the rear display unit 122. The ripper device display unit 128 is set to have a vertically long rectangular shape. The ripper device display unit 128 is set to be longer vertically than the rear display unit 122 and the ripper point display unit 127. The ripper device display unit 128 is set to the right of the rear display unit 122. An image of the ripper device 10 is located to the right of the image of the rear of the main body 1 displayed on the rear display unit 122. In the ripper device display unit 128, the ripper device 10 is displayed so as to protrude to the right from the left edge of the ripper device display unit 128 adjacent to the rear display unit 122.

[0070] The display control device 110 sets various icons 131, an inclinometer 132, and an inclination indicator 133 in the upper right corner of the display device 120. The inclinometer 132 and the inclination indicator 133 display the pitch angle and roll angle of the bulldozer 100 with respect to a horizontal plane. The display positions of the inclinometer 132 and the inclination indicator 133 are not limited to the upper right corner of the display device 120. The inclinometer 132 and the inclination indicator 133 may be displayed superimposed on the captured image. The display control device 110 sets a camera position indicator 134 in the upper left corner of the display device 120. The camera position indicator displays the position of the camera that captures the captured image currently displayed on the display device 120.

[0071] [Action and effect] Although some of the description overlaps with the above description, the characteristic configuration and effects of this embodiment can be summarized as follows.

[0072] 1 to 3, the ripper device 10 includes a shank 11, a ripper point 13 attached to the tip of the shank 11, a beam 17 supporting the shank 11, and a ripper arm 14 connecting the main body 1 and the beam 17. The eighth camera 58 captures an image of the ripper device 10 from the side. As shown in FIGS. 4 to 6, the eighth camera 58 has an imaging range that includes at least a portion of the shank 11, at least a portion of the beam 17, and at least a portion of the ripper arm 14.

[0073] The image captured by the eighth camera 58 includes the ripper device 10 as seen from the side. By viewing the image captured by the eighth camera 58, the operator can easily understand the posture and movement of the ripper device 10. When the ripper point 13 is in the air and is included in the captured image, the operator can understand the current position and movement of the ripper point 13 by looking at the ripper point 13 in the captured image. Even when the ripper point 13 is underground and an image of the ripper point 13 is not captured, the operator can easily estimate the current position and movement of the ripper point 13 by checking the posture of the ripper arm 14 and the relative position and relative movement of the beam 17 with respect to the ripper arm 14.

[0074] 4 to 6, eighth camera 58 may include at least a portion of tilt cylinder 15 within its imaging range. Eighth camera 58 may include cylinder tube 15Ls and rod 15Lr of left tilt cylinder 15L within its imaging range. When ripper point 13 is underground and an image of ripper point 13 is not being captured, the operator can easily estimate the current position and movement of ripper point 13 by checking the length that rod 15Lr protrudes from cylinder tube 15Ls of left tilt cylinder 15L and any changes in that length.

[0075] 4 to 6, the eighth camera 58 may include within its imaging range at least a portion of the lift cylinder 16. The eighth camera 58 may also include within its imaging range the cylinder tube and rod of the left lift cylinder 16L. By checking the posture of the ripper arm 14 and the beam 17 as well as the length of the rod protruding from the cylinder tube of the left lift cylinder 16L, the operator can easily ascertain the current position of the ripper point 13.

[0076] As shown in FIGS. 1 to 2 and 4 to 6, the eighth camera 58 may capture an image of the ripper device 10 from the left. When an operator in the cab 9 looks back to see the ripper device 10, the operator will see the ripper device 10 from a direction that includes a left-right component because the driver's seat in the cab 9 is located to the left of the center of the main body 1 in the left-right direction. Specifically, the operator will see the ripper device 10 from the left. By locating the eighth camera 58 on the left side of the ripper device 10, which is the same as the viewpoint position of the operator in the cab 9, the image captured by the eighth camera 58 can be made to match the operator's perception. The operator can easily grasp the posture of the ripper device 10 by looking at the captured image.

[0077] 1 and 2, bulldozer 100 may further include a seventh camera 57 whose imaging range includes ripper point 13, and a second camera 52 whose imaging range includes the area behind main body 1. By viewing the image captured by seventh camera 57, the operator can grasp the position of ripper point 13 relative to the ground. By viewing the image captured by second camera 52, the operator can grasp the terrain behind main body 1 and whether or not there are any obstacles.

[0078] As shown in Fig. 7, the display system includes the bulldozer 100 and a display device 120. As shown in Fig. 8, the display device 120 simultaneously displays an image captured by the seventh camera 57, an image captured by the second camera 52, and an image captured by the eighth camera 58. The operator can grasp the situation behind the main body 1 by looking at the rear display section 122 in the display image displayed on the display device 120, can grasp the position of the ripper point 13 by looking at the ripper point display section 127, and can grasp the attitude of the ripper device 10 by looking at the ripper device display section 128. The operator can obtain sufficient information from the display device 120 and can perform ripping work efficiently and safely.

[0079] 8, the image captured by the seventh camera 57, the image captured by the second camera 52, and the image captured by the eighth camera 58 may be displayed side by side from left to right on the display device 120. The rear display unit 122 is disposed in the center of the left and right of the display device 120, and the ripper device display unit 128 is disposed to the right of the rear display unit 122, and the ripper device 10 imaged from the left is displayed on the ripper device display unit 128. In this manner, the image displayed on the display device 120 can be made to match the operator's perception.

[0080] 7, the display device 120 may be disposed outside the bulldozer 100. The operator can remotely monitor the bulldozer 100 by looking at the display device 120 from outside the bulldozer 100. The operator can also remotely operate the bulldozer 100 while looking at the display device 120.

[0081] In the explanation of the embodiments so far, the bulldozer 100 equipped with the excavating blade 2 and the ripper device 10 has been described as an example of a work machine. The bulldozer 100 may be equipped with another type of rear work implement instead of the ripper device 10. For example, the bulldozer 100 may be equipped with a winch at the rear of the main body 1, and the eighth camera 58 may be configured to include the winch in its imaging range.

[0082] The display device 120 does not have to be arranged outside the bulldozer 100. For example, in a bulldozer 100 in which the cab 9 is a driver's cabin in which an operator sits, the display device 120 of the embodiment may be arranged in the driver's cabin, and the video controller 60 mounted on the bulldozer 100 may display captured images on the display device 120. The display system of the embodiment is not limited to being applied only to unmanned work machines for remote control, but may also be applied to manned work machines in which an operator on board the work machine operates the work machine. By looking at the display device 120, the operator on board the work machine can grasp the posture of the ripper device 10 without having to look behind.

[0083] The work machine is not limited to the bulldozer 100. For example, the concept of the present disclosure may be applied to other types of work machines, such as a motor grader that has a blade between the front and rear wheels and a ripper device at the rear of the main body. If the work machine is an unmanned work machine that is exclusively for remote control, the work machine does not need to be equipped with a cab 9.

[0084] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined not by the above description but by the claims, and it is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0085] 1 main body, 1F main body frame, 2 excavation blade, 3 traveling body, 9 cab, 10 ripper device, 11 shank, 12h through hole, 13 ripper point, 14 ripper arm, 14P, 15P, 16P connecting pin, 15 tilt cylinder, 15L left tilt cylinder, 15Lr rod, 15Ls cylinder tube, 15R right tilt cylinder, 16 lift cylinder, 16L left lift cylinder, 16R right lift cylinder, 17 beam, 17H holder, 17L left connecting part, 17P holding pin, 17R right connecting part, 51 first camera, 52 second camera, 53 third camera, 54 fourth camera, 55 fifth camera, 56 sixth camera, 57 seventh camera, 58 eighth camera, 58IMG1 to 58IMG3 captured image of eighth camera, 60 Image controller, 61 encoder, 62, 112 transmitter / receiver, 63 operation controller, 100 bulldozer, 101 remote control station, 110 display control device, 111 decoder, 120 display device, 121 front display unit, 122 rear display unit, 127 ripper point display unit, 128 ripper device display unit.

Claims

1. A work machine body; a ripper device disposed behind the work machine body; an imaging device attached to the work machine body for imaging the ripper device, The ripper device includes a shank, a ripper point attached to a tip of the shank, a beam supporting the shank, and a ripper arm connecting the work machine body and the beam, The imaging device images the ripper device from the side, and includes at least a portion of the shank, at least a portion of the beam, and at least a portion of the ripper arm in an imaging range, The ripper device further includes a tilt cylinder that reciprocates the ripper point in a direction approaching the work machine body and a direction away from the work machine body, The imaging device includes at least a portion of the tilt cylinder within an imaging range of the work machine.

2. The ripper device further includes a lift cylinder that moves the ripper point up and down, The work machine according to claim 1 , wherein the imaging device includes at least a portion of the lift cylinder within an imaging range.

3. The work machine according to claim 1 or 2, wherein the imaging device images the ripper device from the left.

4. a ripper point imaging device attached to the work machine body and including the ripper point in an imaging range; The work machine according to any one of claims 1 to 3, further comprising: a rear image capturing device attached to the work machine body, the rear of the work machine body being included in an image capturing range.

5. A work machine according to claim 4; a display device that simultaneously displays an image captured by the ripper point imaging device, an image captured by the rear imaging device, and an image captured by the imaging device;

6. The display system according to claim 5 , wherein the image captured by the ripper point imaging device, the image captured by the rear imaging device, and the image captured by the imaging device are displayed side by side from left to right on the display device.

7. 7. The display system according to claim 5, wherein the display device is disposed outside the work machine.

Images