JP7813631B2 - Work machines and display systems - Google Patents

Description

This disclosure relates to a work machine and a display system.

JP 2017-82415 A (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 the 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 track. A display unit displays the display image.

Japanese Patent Application Laid-Open No. 2017-82415

The technology described in the above document allows an operator to accurately grasp the position of the ripper point by looking at the displayed image and determine whether shoe slip, which causes the tracks to spin freely, has occurred. However, to perform ripping work properly, it is necessary for the operator to be able to more easily grasp the position of the ripper device.

This disclosure proposes a work machine that allows the posture of the ripper device to be easily grasped, and a display system that displays captured images of the ripper device.

A work machine according to the present disclosure includes a work machine body, a ripper device disposed behind the work machine body, and an imaging device attached to the work machine body and capturing images of the ripper device. The ripper device includes a shank, a ripper point attached to the tip of the shank, a beam that supports the shank, and a ripper arm that connects the work machine body and the beam. The imaging device captures images of the ripper device from the side. The imaging range of the imaging device includes at least a portion of the shank, at least a portion of the beam, and at least a portion of the ripper arm.

This disclosure makes it easy to grasp the position of the ripper device.

1 is a side view showing a schematic configuration of a work machine based on an embodiment. FIG. 2 is a rear view of the work machine shown in FIG. 1 . FIG. FIG. 2 is a schematic diagram showing a first example of a captured image captured by the imaging device. FIG. 10 is a schematic diagram showing a second example of a captured image captured by the imaging device. FIG. 10 is a schematic diagram showing a third example of a captured image captured by the imaging device. 1 is a block diagram illustrating an outline of the configuration of a display system based on an embodiment. FIG. 2 is a schematic diagram illustrating an example of a display image displayed on a display device.

The following describes the embodiments with reference to the accompanying drawings. In the following description, identical components are designated by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions of them will not be repeated.

[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 the work machine according to an embodiment. Fig. 2 is a rear view of the work machine shown in Fig. 1.

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 positioned between the pair of left and right tracks 3C. The bulldozer 100 travels when the tracks 3C are driven.

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

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.

In Figure 1, the front-to-back direction is indicated by arrow X, the left-to-right direction is indicated by arrow Y, and the up-to-down direction is indicated by arrow Z.

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

The excavating blade 2 is supported on both the left and right sides by frames 4. The frames 4 are rectangular prism-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 running body 3.

The digging 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 digging blade 2. The other end of the tilt cylinder 5 is rotatably supported on the upper surface of the frame 4. As the tilt cylinder 5 expands and contracts hydraulically, the upper end of the digging blade 2 moves back and forth around the support part where the frame 4 is attached to the digging blade 2. This changes the pitch angle of the digging blade 2.

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.

A front grill 23 is attached to the main body 1. The front grill 23 is located at the front end of the main body 1. The front grill 23 is positioned so as to cover an opening formed at the front end of the main body 1. The excavating blade 2 is positioned in front of the front grill 23 with a gap between them.

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

As shown in Figure 1, the height of the fuel tank 26 decreases toward the rear when viewed from the side. The fuel tank 26 has a tapered surface that slopes downward toward the rear.

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 located 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 located rearward relative to the main body 1.

Figure 3 is a perspective view of the ripper device 10. As shown in Figures 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 and 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.

The shank 11 is supported by a beam 17. The beam 17 has a holder 17H in its left-right center position that houses the shank 11. The shank 11 has multiple through holes 12h formed in it. By inserting the shank 11 into the holder 17H and passing a retaining pin 17P through one of the multiple through holes 12h, the shank 11 is fixed to the beam 17, and the beam 17 and shank 11 operate as a single unit.

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. The shank 11 is rotatable integrally with the beam 17 around the connecting pin 14P relative to the ripper arm 14.

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 located 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 makes with respect to the ripper arm 14 is called the tilt angle of the shank 11.

The extension and contraction of the tilt cylinder 15 changes the angle of the shank 11 relative to the current terrain, which is the work target of the ripper device 10. The extension and contraction of the tilt cylinder 15 changes the angle of the shank 11 relative to the horizontal direction. The extension and contraction of the tilt cylinder 15 changes the angle of the shank 11 relative to the vehicle body direction. The tilt angle of the shank 11 may be defined as the angle relative to the current terrain, the angle relative to the horizontal direction, or the angle relative to the vehicle body direction.

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 Figures 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 and 16P have left connecting pins 15PL and 16PL and right connecting pins 15PR and 16PR.

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

Returning to Figures 1 and 2, the engine 21, which is the drive source for the bulldozer 100, is housed within the engine compartment 8. The power generated by the engine 21 is transmitted to the drive wheels of the running 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 digging blade 2, and the tilt cylinder 15 and lift cylinder 16 that drive the ripper device 10.

The engine 21 is covered from above by an engine hood 22. The engine hood 22 forms the ceiling of the engine compartment 8. The engine hood 22 separates the interior and exterior of the engine compartment 8.

A work platform 30 is located above the fuel tank 26. The work platform 30 is located behind the cab 9. The work platform 30 provides a foothold for workers performing work behind the cab 9. Work performed by workers on the work platform 30 includes, for example, cleaning the windows of the cab 9, replacing the filter in the fuel tank 26, and maintaining the breather. A guardrail 31 is attached to the work platform 30 to prevent unexpected falls.

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

A tip-over protective structure 90 is attached to the bulldozer 100. The tip-over protective structure 90 is standardized as ISO 3471. In the rear view shown in Figure 2, the tip-over protective structure 90 is omitted for clarity. The tip-over protective structure 90 is formed as a three-sided frame.

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.

Multiple cameras are attached to the bulldozer 100. The multiple cameras include 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.

The first camera 51 captures images 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.

The second camera 52 captures images 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.

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 protection structure 90. The third camera 53 is attached to the main body 1 via the tip-over protection structure 90. The third camera 53 is fixed facing downward and forward.

Although not shown in Figures 1 and 2, the fourth camera 54 is attached to the right pillar of the tip-over protection structure 90. The fourth camera 54 is attached to the main body 1 via the tip-over protection structure 90. The fourth camera 54 is fixed facing downward and forward. The fourth camera 54 captures an image of the right 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 this embodiment.

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 fall protection structure 90. The fifth camera 55 is attached to the main body 1 via the fall protection 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.

Although not shown in Figures 1 and 2, the sixth camera 56 is attached to the right pillar of the fall protection structure 90. The sixth camera 56 is attached to the main body 1 via the fall protection structure 90. The sixth camera 56 is fixed and faces 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-back direction, with the fourth camera 54 on the front side and the sixth camera 56 on the rear side.

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.

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

The eighth camera 58 images the ripper device 10. The eighth camera 58 is fixed facing diagonally rearward to the right so that it can image 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 images the ripper device 10 from the left. The eighth camera 58 images the ripper device 10 from a direction that includes left-right components. The eighth camera 58 images the ripper device 10 from diagonally front to the left.

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 this embodiment.

Figures 4 to 6 are schematic diagrams showing examples of images captured by the eighth camera 58 (imaging device). As shown in Figures 4 to 6, the eighth camera 58 includes within its imaging range 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. The image captured by the eighth camera 58 includes information such as the tilt angle of the shank 11, the angle of the beam 17 relative to the ripper arm 14, the distance of the ripper arm 14 from the ground, and the angle the ripper arm 14 makes with respect to the ground.

The eighth camera 58 also includes at least a portion of the tilt cylinder 15 (left tilt cylinder 15L) within 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 within 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 information regarding the tilt angle of the shank 11.

The eighth camera 58 also includes at least a portion of the lift cylinder 16 (left lift cylinder 16L) within its imaging range. 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 from the ground of the ripper arm 14, the angle the ripper arm 14 makes with respect to the ground, etc.

In 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.

In the image 58IMG2 captured by the eighth camera 58 shown in Figure 5, the length of the lift cylinder 16 (left lift cylinder 16L) has increased compared to Figure 4. The ripper arm 14, beam 17, and shank 11 are in a lower position than shown in Figure 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.

In image 58IMG3 captured by the eighth camera 58 shown in Figure 6, the lift cylinder 16 (left lift cylinder 16L) is at its maximum length. The ripper arm 14, beam 17, and shank 11 are at the lowest position within their vertical movable range. The ripper point 13 is not included in the image because it is underground, but it is present within the imaging range of the eighth camera 58. Compared to Figure 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.

[Display system]
The display system according to the embodiment will be described below. Fig. 7 is a block diagram showing an outline of the configuration of the display system according to 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.

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 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.

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 lift cylinder 6. The tilt cylinder 5 and lift cylinder 6 receive control signals from the operation controller 63 and extend and retract as appropriate, changing the pitch angle of the excavating blade 2 and moving the excavating blade 2 up and down.

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 lift cylinder 16. When the tilt cylinder 15 and lift cylinder 16 receive control signals from the operation controller 63, they extend and retract appropriately, causing the beam 17 and shank 11 to move up and down, and the ripper point 13 at the tip of the shank 11 to move up and down and back and forth.

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

The bulldozer 100 has a transmitter/receiver 62. The video controller 60 transmits signals to the remote control station 101 and receives signals from the remote control station 101 via the transmitter/receiver 62. The video controller 60 transmits captured image data output from the first through eighth cameras 51 through 58 to the remote control station 101 via the transmitter/receiver 62.

The remote control station 101 is located outside the bulldozer 100. The remote control station 101 has a display control device 110, a transmission/reception device 112, an input device 114, and a display device 120. The display control device 110, the transmission/reception device 112, the input device 114, and the display device 120 are located in the remote control station 101, which is separate from the bulldozer 100.

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 image data 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.

The display control device 110 displays captured images output from one or more of the first to eighth cameras 51-58 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 operations, and during ripping operations. 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.

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, ripper operation lever 142, and steering lever 143 are operated by an operator. Operations on the operation panel 140 are input to the operation controller 63 of the bulldozer 100. The operation controller 63 receives the operation input from the operation panel 140 and outputs control signals to the blade actuator, ripper actuator, transmission 64, or steering device 66 in accordance with the input, thereby operating these actuators.

The input device 114 and operation panel 140 are located within reach of the operator, who views the display device 120. The operator can operate the input device 114 and operation panel 140 while viewing the display device 120 to remotely control the bulldozer 100.

Figure 8 is a schematic diagram showing an example of a display image displayed on the display device 120. The display control device 110 sets multiple divided display sections on the display device 120. The display device 120 shown in Figure 8 has multiple divided display sections set as follows: a front display section 121, a rear display section 122, a ripper point display section 127, and a ripper device display section 128. The display device 120 shown in Figure 8 displays a display image to be displayed during ripping work by the ripper device 10.

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

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

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.

The display control device 110 sets the ripper point display unit 127 to the left of the vertical arrangement of the front display unit 121 and the rear display unit 122. The ripper point display unit 127 is set to have a horizontally elongated rectangular shape with a smaller area than the rear display unit 122.

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 that it protrudes to the right from the left edge of the ripper device display unit 128 adjacent to the rear display unit 122.

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 inclination indicator 133 display the pitch angle and roll angle of the bulldozer 100 relative to the horizontal plane. The display positions of the inclinometer 132 and inclination indicator 133 are not limited to the upper right corner of the display device 120. The inclinometer 132 and inclination indicator 133 may be 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 capturing the captured image currently displayed on the display device 120.

[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.

As shown in Figures 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 images of the ripper device 10 from the side. As shown in Figures 4 to 6, the eighth camera 58 includes within its imaging range 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.

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 grasp 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 grasp 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 not captured in an image, the operator can easily infer the current position and movement of the ripper point 13 by checking the posture of the ripper arm 14 and the relative position and movement of the beam 17 in relation to the ripper arm 14.

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

As shown in Figures 4 to 6, the eighth camera 58 may include at least a portion of the lift cylinder 16 within its imaging range. The eighth camera 58 may also include the cylinder tube and rod of the left lift cylinder 16L within its imaging range. By checking the posture of the ripper arm 14 and 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 determine the current position of the ripper point 13.

As shown in Figures 1-2 and 4-6, the eighth camera 58 may capture images of the ripper device 10 from the left. When the 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 placing the eighth camera 58 on the left side of the ripper device 10, the same position as the viewpoint of the operator in the cab 9, the image captured by the eighth camera 58 can be made to match the operator's perception. By looking at the captured image, the operator can easily grasp the posture of the ripper device 10.

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

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 images captured by the seventh camera 57, the second camera 52, and 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, grasp the position of the ripper point 13 by looking at the ripper point display section 127, and grasp the posture 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 to perform ripping work efficiently and safely.

As shown in FIG. 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 located in the center of the left and right of the display device 120, and the ripper device display unit 128 is located to the right of the rear display unit 122, and an image of the ripper device 10 captured from the left is displayed on the ripper device display unit 128. In this way, the image displayed on the display device 120 can be made to match the operator's perception.

As shown in FIG. 7, the display device 120 may be located 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.

In the explanation of the embodiments so far, a bulldozer 100 equipped with an excavating blade 2 and a 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 behind the main body 1, and the eighth camera 58 may be configured to include the winch in its imaging range.

The display device 120 does not have to be located outside the bulldozer 100. For example, in a bulldozer 100 where the cab 9 is the driver's cabin in which the operator sits, the display device 120 of the embodiment may be located inside 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 remotely controlled unmanned work machines, 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 position of the ripper device 10 without having to look behind.

The work machine is not limited to the bulldozer 100. For example, the concepts of the present disclosure may be applied to other types of work machines, such as a motor grader equipped with 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 designed exclusively for remote control, the work machine does not need to be equipped with a cab 9.

The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications that are equivalent in meaning to and within the scope of the claims.

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 Image captured by eighth camera, 60 video 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 (7)

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. 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. The work machine according to claim 1 or 2 , wherein the imaging device images the ripper device from the left. 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. 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; 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. The display system according to claim 5 , wherein the display device is disposed outside the work machine.