JP6813268B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle provided with a head-up display.

Conventionally, various work vehicles are known. Such a work vehicle has a main body and a work machine connected to the main body.

Japanese Patent Application Laid-Open No. 2007-8284 (Patent Document 1) discloses a hydraulic excavator as an example of a work vehicle. In this hydraulic excavator, one display surface portion is formed near the center of the windshield by attaching a film having a transmittance different from that of the windshield to the windshield of the driver's cab. Further, visual information projected from a projector provided in the driver's cab is projected on the display surface portion.

Japanese Unexamined Patent Publication No. 2007-8284

In Patent Document 1, as described above, a film having a transmittance different from that of the windshield is attached to the central portion of the windshield. Therefore, the central portion of the windshield is inferior to the peripheral portion of the windshield to which the film is not attached, in terms of the actual view of the work site and the visibility of the work machine.

Further, in the case of a configuration in which information is displayed in the central portion of the windshield, the information may interfere with the operation of the working machine by the operator.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a work vehicle having excellent visibility such as an actual scene of a work site.

According to a certain aspect of the present invention, the work vehicle is provided along the work machine, the driver's cab having the front pillar located on the work machine side, and the front pillar, and is superposed on the actual view of the work site for the first work. A second display unit that displays support information and a second display unit that is provided along the front pillar at a position different from the first display unit and displays the second work support information by superimposing the actual view of the work site. It includes a display unit and a display control unit that controls the display on the first display unit and the second display unit.

According to the above configuration, the first display unit that displays the first work support information by superimposing it on the actual scene of the work site and the second display unit that displays the second work support information by superimposing it on the actual scene of the work site. The display unit of is arranged along the front pillar. Therefore, it is possible to reduce the decrease in visibility in front of the driver's cab due to the first display unit and the second display unit. Therefore, the work vehicle has excellent visibility such as an actual view of the work site. Further, since the first display unit and the second display unit are arranged along the front pillar on the work machine side, the first display unit and the second display unit are on the front pillar on the side opposite to the work machine. It is possible to reduce the amount of movement of the operator's line of sight when operating the work equipment, as compared with the configuration in which the work equipment is arranged along the above. Further, since the first display unit and the second display unit are installed at different positions from each other, the operator can confirm various information on the two display units. The first work support information and the second work support information may be the same information.

Preferably, the first display unit is provided above the second display unit. The work equipment includes a bucket. When the position of the bucket is higher than the predetermined position, the display control unit does not display the second work support information on the second display unit, but instead displays the first work support information on the first display unit. Display information. When the position of the bucket is lower than the predetermined position, the display control unit does not display the first work support information on the first display unit, but instead displays the second work support information on the second display unit. Display information.

According to the above configuration, when the operator confirms the work support information, the second work support information is displayed only on the second display unit when the bucket is at a position higher than the predetermined position. The amount of movement of the operator's line of sight can be reduced as compared with the above. Further, when the operator confirms the work support information, the operator compares the configuration in which the first work support information is displayed only on the first display unit when the bucket is at a position lower than a predetermined position. The amount of movement of the line of sight can be reduced.

Preferably, each of the first display and the second display has a combiner and a mounting member that attaches the combiner to the front pillars.

According to the above configuration, each of the first display unit and the second display unit can be realized by using a combiner.

Preferably, each of the first display unit and the second display unit has a function of adjusting the inclination angle of the display surface with respect to the horizontal plane.

According to the above configuration, it is possible to tilt each display surface of the first display unit and the second display unit back and forth with respect to the operator. Therefore, the vertical angle of each display surface can be adjusted to an angle suitable for the operator.

Preferably, the angle between the display surface of the first display unit and the horizontal plane is larger than the angle between the display surface of the second display unit and the horizontal plane.

According to the above configuration, the display surface of the second display unit below the first display unit is in a state of lying down from the display surface of the first display unit. Therefore, the angle between the display surface of the first display unit and the horizontal plane is smaller than the angle between the display surface of the second display unit and the horizontal plane, and the first display unit and the second display unit are used. The visibility of the displayed contents on the display unit can be improved.

Preferably, the first work support information and the second work support information are the same information.
According to the above configuration, when the same work support information is displayed on the first display unit and the second display unit at the same time, the operator confirms the work support information with the first display unit and All you have to do is check the display of the second display, which has the least movement of the line of sight. Further, when the same work support information is not displayed on the first display unit and the second display unit at the same time (the work support information is displayed on either of the first display unit and the second display unit at the same time). In the case), the power consumption can be reduced.

Preferably, the display control unit displays the first work support information and the second work support information at the same time.

According to the above configuration, the operator can confirm the work support information by the first display unit and the second display unit. The work support information displayed on the first display unit and the work support information displayed on the second display unit may be the same or different.

Preferably, each of the first display and the second display is slidably attached to the front pillar along the front pillar.

According to the above configuration, the operator can set the mounting position of each of the first display unit and the second display unit to his / her favorite height.

Preferably, each of the first display unit and the second display unit is detachably attached to the front pillar with respect to the front pillar.

According to the above configuration, for example, a configuration having only one display unit may be used. In addition, it is superior in terms of maintenance of the display unit as compared with a configuration in which the front pillar is not removable.

Preferably, the width of the display area of the first display unit and the width of the display area of the second display unit are respectively set to the mounting position of the first display unit on the front pillar and the front pillar of the second display unit. It is narrower than the distance from the mounting position of.

According to the above configuration, the width of the display area of the first display unit and the width of the display area of the second display unit are each the mounting position of the first display unit on the front pillar and the width of the second display unit. Compared to a configuration that is wider than the distance from the front pillar mounting position, the visibility of the front can be improved when viewed from the driver's cab.

Preferably, each of the first display unit and the second display unit does not have a frame surrounding the outer edge of the display surface.

According to the above configuration, the display areas of the first display unit and the second display unit can be widened as compared with the configuration having the bezel.

According to the above invention, it is possible to provide a work vehicle having excellent visibility such as an actual scene of a work site.

It is a figure explaining the appearance of the work vehicle based on the embodiment. It is a figure for demonstrating the structure of a driver's cab. It is a block diagram which showed the structure of the control system provided in the work vehicle. It is the figure which showed the mounting position of a display unit. It is a figure for demonstrating the angle adjustment function of a combiner. It is a figure for demonstrating the detail of the mounting position of a display unit. It is a figure for demonstrating the 1st display example. It is a figure for demonstrating the 2nd display example. It is a figure for demonstrating the 3rd display example. It is a figure for demonstrating the slide of a display unit.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are designated by the same reference numerals. Their names and functions are the same. Therefore, the detailed description of them will not be repeated. In the following description, "upper", "lower", "front", "rear", "left", and "right" are terms based on the operator seated in the driver's seat.

<A. Overall configuration>
FIG. 1 is a diagram for explaining the appearance of the work vehicle 101 based on the embodiment. As shown in FIG. 1, as a work vehicle 101 based on the embodiment, a hydraulic excavator will be described as an example in this example.

The work vehicle 101 mainly includes a traveling body 1, a turning body 3, and a working machine 4. The main body of the work vehicle 101 is composed of a traveling body 1 and a turning body 3. A working machine 4 is attached to the main body. The traveling body 1 has a pair of left and right tracks. The swivel body 3 is rotatably attached to the traveling body 1 via a swivel mechanism above the traveling body 1. The swivel body 3 has a driver's cab 8 and the like.

The work machine 4 is pivotally supported in the swivel body 3 so as to be operable in the vertical direction, and performs work such as excavation of earth and sand. The working machine 4 includes a boom 5, an arm 6, and a bucket 7. The working machine 4 is provided on the right side of the driver's cab 8.

The base of the boom 5 is movably connected to the swivel body 3. The arm 6 is movably connected to the tip of the boom 5. The bucket 7 is movably connected to the tip of the arm 6. The bucket 7 can move up and down with respect to the driver's cab 8. Further, the bucket 7 can move in the front-rear direction with respect to the driver's cab 8. The bucket 7 has a cutting edge 7A.

<B. Driver's cab display system>
FIG. 2 is a diagram for explaining the configuration of the driver's cab 8. More specifically, FIG. 2 is a diagram for explaining a display system 40 provided in the driver's cab 8.

As shown in FIG. 2, the driver's cab 8 includes a window 9, a windshield 2 provided on the window 9, two front pillars 91 and 92, and a display device 70. The display device 70 includes a projector 71, a lens optical system 72, and two display units 73 and 74. The window 9 includes a window 9A and a window 9B below the window 9A. The windshield 2 includes a windshield 2A provided on the window 9A and a windshield 2B provided on the window 9B.

The front pillar 91 is the front pillar on the left side when viewed from the operator seated in the driver's seat of the driver's cab 8. The front pillar 92 is a front pillar on the right side when viewed from the operator. Further, the front pillar 92 is located closer to the working machine 4 than the front pillar 91. The front pillars 91 and 92 are also referred to as "A pillars".

The windshields 2A and 2B are installed between the front pillar 91 and the front pillar 92. Although FIG. 2 shows a case where the windshield 2 is composed of two pieces of glass, the windshield 2 may be composed of one piece of glass.

Next, the details of the display system 40 will be described.
The projector 71 is a projector. The lens optical system 72 is installed between the projector 71 and the display units 73 and 74. The lens optical system 72 has a plurality of lenses. In the lens optical system 72, some of the plurality of lenses are movable in the optical axis direction.

Although details will be described later, the display units 73 and 74 function as a head-up display that directly displays an image in the operator's field of view. The display units 73 and 74 superimpose the work support information on the actual scene of the work site. Specifically, each of the display units 73 and 74 has a combiner (see combiners 731 and 741 in FIG. 4) and a mounting member for mounting the combiner on the front pillar 92 (mounting members 732 and 742 in FIG. 4). See) and. The mounting positions of the display units 73 and 74 will be described later.

Each combiner consists of a half mirror that reflects some light and transmits the rest of the light. Each combiner reflects the image projected by the projector 71 toward the operator in the driver's cab 8 and transmits the light from the outside of the driver's cab 8 to the inside of the driver's cab 8.

Therefore, in the display device 70, the operator can grasp the image projected on each combiner as a virtual image displayed on the actual view in front of the driver's cab 8.

<C. Control system configuration>
FIG. 3 is a block diagram showing a configuration of a control system included in the work vehicle 101. As shown in FIG. 3, the work vehicle 101 includes an operation device 10, a work machine controller 20, a work machine drive device 30, and a display system 40.

(C1. Operating device 10)
The operation device 10 includes operation members 11L and 11R, an operation detection unit 12, a travel operation member 13, and a travel operation detection unit 14.

The operating members 11L and 11R are used for operating the working machine 4 and the swivel body 3. Specifically, the operating member 11R is used by the operator to operate the boom 5 and the bucket 7. The operating member 11L is used by the operator to operate the swivel body 3 and the arm 6.

The operation detection unit 12 detects the operator's operation on the operation members 11L and 11R.
The travel operation member 13 is used by the operator to operate the travel of the work vehicle 101. The travel operation detection unit 14 detects the operator's operation on the travel operation member 13. The work vehicle 101 moves at a speed corresponding to the amount of operation of the traveling operation member 13.

(C2. Working machine controller 20)
The work machine controller 20 has a storage unit 21 and a calculation unit 22. The storage unit 21 is composed of a memory such as a RAM (Random Access Memory) and a ROM (Read Only Memory). The arithmetic unit 22 is composed of an arithmetic processing unit such as a CPU (Central Processing Unit).

The work equipment controller 20 mainly controls the operation of the work equipment 4 and the rotation of the swivel body 3. Specifically, the work equipment controller 20 generates a control signal for operating the work equipment 4 and the swivel body 3 in response to the operation of the operation members 11L and 11R. The work machine controller 20 outputs the generated control signal to the work machine drive device 30.

(C3. Working machine drive device 30)
The work equipment drive device 30 has a proportional solenoid valve 31. The proportional solenoid valve 31 operates based on a control signal from the work equipment controller 20. The proportional solenoid valve 31 supplies the hydraulic oil at a flow rate corresponding to the control signal to the hydraulic cylinder and the swivel motor. As a result, the working machine 4 operates and the swivel body 3 swivels.

(C4. Display system 40)
The display system 40 includes a bucket position detection unit 41, a display control unit 43, and a display device 70.

The bucket position detection unit 41 includes a bucket angle sensor 411, an arm angle sensor 412, and a boom angle sensor 413.

The bucket angle sensor 411 detects the relative angle of the bucket 7 from a predetermined reference position. The arm angle sensor 412 detects the relative angle of the arm 6 from a predetermined reference position. The boom angle sensor 413 detects the relative angle of the boom 5 from a predetermined reference position.

The bucket position detection unit 41 detects the position of the bucket 7 with respect to the work vehicle body based on the detected information on the three relative angles. Specifically, the position of the bucket 7 in the vehicle body coordinate system is detected. The bucket position detection unit 41 detects, for example, the position of the cutting edge 7A of the bucket 7 as the position of the bucket 7.

The display control unit 43 causes the display units 73 and 74 to display various images such as information (work support information) for supporting the operation (work) of the work machine 4 by the operator. The display control unit 43 causes the display units 73 and 74 to display work support information (for example, a light bar indicating the distance between the design terrain and the cutting edge 7A) using the detected position of the bucket 7. The display control unit 43 will be described in more detail as follows.

The display control unit 43 has an image generation unit 431. The image generation unit 431 generates an image to be displayed on the display units 73 and 74. The image generation unit 431 generates an image showing a vehicle speed meter, an engine tachometer, a fuel gauge, an oil temperature gauge, and the like. Further, the image generation unit 431 generates an image representing a plurality of work support information.

Specifically, the image generation unit 431 is connected to a controller (not shown) that controls the power system of the work vehicle 101. The image generation unit 431 receives information detected by various sensors, information on control contents by the controller, and the like. The image generation unit 431 generates an image to be displayed on the display units 73 and 74 based on the received information.

As described above, the display device 70 includes a projector 71, a lens optical system 72, and display units 73 and 74.

<D. Display unit>
FIG. 4 is a diagram showing the mounting positions of the display units 73 and 74. With reference to FIG. 4, the display unit 73 and the display unit 74 are provided along the front pillars at different positions from each other. Each of the display unit 73 and the display unit 74 is installed along the front pillar 92 so that the display unit 73 is located above the display unit 74.

Specifically, the display unit 73 includes a combiner 731 and a mounting member 732. The combiner 731 is attached to the front pillar 92 by the attachment member 732. The display unit 74 includes a combiner 741 and a mounting member 742. The combiner 741 is attached to the front pillar 92 by the attachment member 742. Further, the combiners 731 and 741 do not have a frame surrounding the outer edge.

More specifically, the mounting member 732 is mounted on the front pillar 92 at a position above the mounting member 742. As a result, the combiner 731 can be arranged above the combiner 741 along the front pillar 92.

As described above, the two display units 73 and 74, which are head-up displays, are installed side by side in the vertical direction along the front pillar 92. Therefore, the head-up display can reduce the decrease in visibility in front of the driver's cab 8. In particular, the visibility of the central portion of the windshield 2 does not deteriorate. Therefore, the work vehicle 101 is excellent in visibility such as an actual view of the work site.

Further, since the head-up display is arranged along the front pillar 92 closer to the work machine 4 than the front pillar 91, the work is performed as compared with the configuration in which the head-up display is arranged along the front pillar 91 on the left side. It is possible to reduce the amount of movement of the operator's line of sight when operating the machine 4. Further, since the display unit 73 and the display unit 74 are installed side by side in the vertical direction, the operator can confirm various information on the two display units 73 and 73.

FIG. 5 is a diagram for explaining the angle adjusting function of the combiners 731 and 741. As shown in FIG. 5, each of the display units 73 and 74 has a function of adjusting the inclination angle of the display surface with respect to the horizontal plane (an angle adjustment function capable of tilting each display surface in the front-rear direction). Specifically, the mounting members 732 and 742 have a mechanism for rotating the combiners 731 and 741 in the directions of the arrows in the figure. As shown by the arrow, the display unit 73 can rotate the upper end and the lower end of the combiner 731 in the front-rear direction with respect to the operator. Similarly, the display unit 74 can also rotate the upper and lower ends of the combiner 741 in the front-rear direction with respect to the operator, as shown by the arrows.

In this way, the display units 73 and 74 can adjust the vertical angle of the combiners 731 and 741. Therefore, the vertical angle of each display surface can be adjusted to an angle suitable for the operator.

By the way, it is preferable that the angle between the display surface of the display unit 73 and the horizontal plane is set to be larger than the angle between the display surface of the display unit 74 and the horizontal plane. Specifically, the angle θ1 between the main surface of the upper combiner 731 and the horizontal plane H is set to be larger than the angle θ2 between the main surface of the lower combiner 741 and the horizontal plane H (θ1> θ2). It is preferable to have. The "main surface" is a surface on which an image from the lens optical system 72 is projected.

According to this configuration, the display surface (main surface of the combiner 741) of the display unit 74 below the display unit 73 is in a state of lying down on the display surface (main surface of the combiner 731) of the display unit 73. Therefore, compared to the case where the angle θ1 between the display surface of the display unit 73 and the horizontal plane H is smaller than the angle θ2 between the display surface of the display unit 74 and the horizontal plane H (θ1 <θ2), the display unit 73, The visibility of the display contents (work support information, etc.) in 74 can be improved.

FIG. 6 is a diagram for explaining the details of the mounting positions of the display units 73 and 74. As shown in FIG. 6, the display unit 73 is installed at a distance d from the display unit 74. Specifically, the mounting position of the display unit 73 on the front pillar 92 and the mounting position of the display unit 74 on the front pillar 92 are separated by a distance d.

Further, in the work vehicle 101, the width W of the display surfaces of the display units 73 and 74 is narrower than the distance d. Specifically, the width W of the combiners 731 and 741 is shorter than the distance (distance d) between the mounting position of the display unit 73 and the mounting position of the display unit 74. According to such a configuration, the width W is wider than the distance (distance d) between the mounting position of the display unit 73 and the mounting position of the display unit 74 (W> d), and is the center of the windshield 2. The visibility of the part can be improved.

Further, as described above, since each of the combiners 731 and 741 does not have a frame surrounding the outer edge of the display surface, the display area is wider than that of a hardware configuration having a frame surrounding the outer edge of the display surface. can do.

The working machine 4, the driver's cab 8, the front pillar 92, the display unit 73, the display unit 74, the combiner 731, 741, and the mounting members 732 and 742 are the "working machine", the "driver's cab", and the "front" of the present invention, respectively. This is an example of a “pillar”, a “first display unit”, a “second display unit”, a “combiner”, and a “mounting member”.

<E. Display example>
The display system 40 has a plurality of display modes. The display system 40 accepts the selection of the display mode from the operator. The display system 40 controls the display contents of the display units 73 and 74 according to the received display mode.

Hereinafter, the display contents displayed by the display units 73 and 74 when having a plurality of such display modes will be described.

(E1. First display example)
FIG. 7 is a diagram for explaining a first display example. As shown in the states (A) and (B) of FIG. 7, the display control unit 43 causes the display unit 73 and the display unit 74 to simultaneously display work support information.

Specifically, when the first display mode is set, as shown in the state (A) of FIG. 7, the display control unit 43 causes the display unit 73 and the display unit 74 to display the same work support information. .. For example, the display control unit 43 causes the display unit 73 to display the first work support information, and causes the display unit 74 to display the second work support information which is the same information as the first work support information. Further, when the second display mode is set, as shown in the state (B) of FIG. 7, the display control unit 43 causes the display unit 73 and the display unit 74 to display different work support information. For example, the display control unit 43 causes the display unit 73 to display the first work support information, and causes the display unit 74 to display the second work support information, which is information different from the first work support information.

In the state (A) of FIG. 7, as the first work support information and the second work support information which is the same information as the first work support information, the facing compass (upper images in the display units 73 and 74) ) And the cross section of the design terrain and the cutting edge (lower images in the display units 73 and 74) are shown as an example. The facing compass indicates whether or not the work vehicle 101 is in a state of facing the design terrain data.

Further, in the state (B) of FIG. 7, as the second work support information, which is information different from the first work support information, a light bar (image on the left side of the display unit 74) and a design terrain are displayed. An example in which the distance information (the image on the right side of the display unit 74) indicating the distance to the cutting edge 7A is displayed is shown. The light bar is a graphic representation of the distance between the design terrain and the cutting edge 7A.

As described above, when the first display mode is set, the display control unit 43 causes the display unit 73 and the display unit 74 to simultaneously display the same work support information. According to this configuration, when confirming the work support information, the operator can obtain the information only by confirming the display of the display unit 73 and the display unit 74, whichever has the smaller amount of line-of-sight movement.

Further, as described above, when the second display mode is set, the display control unit 43 causes the display unit 73 and the display unit 74 to simultaneously display different work support information. According to this configuration, the display system 40 can display more types of work support information than when the first display mode is set. Therefore, the operator can simultaneously view more information than when the first display mode is set.

(E2. Second display example)
FIG. 8 is a diagram for explaining a second display example. As shown in the states (A) and (B) of FIG. 8, the display control unit 43 causes either one of the display unit 73 and the display unit 74 to display the work support information.

Specifically, when the third display mode is set, as shown in the state (A) of FIG. 8, the display control unit 43 works only on the display unit 73 among the display unit 73 and the display unit 74. Display support information. Further, when the fourth display mode is set, as shown in the state (B) of FIG. 8, the display control unit 43 supports work only on the display unit 74 among the display unit 73 and the display unit 74. Display information.

As shown in the states (A) and (B) of FIG. 8, the work support information displayed on the display unit 73 and the fourth display mode are displayed when the third display mode is set. The work support information displayed on the display unit 74 when it is set is the same (specifically, information of the same type).

As described above, when the third display mode or the fourth display mode is set, the display control unit 43 transmits the work support information to be displayed to either the display unit 73 or the display unit 74. Display it. According to such a configuration, the display system 40 can reduce the power consumption consumed by the display system 40.

(E3. Third display example)
FIG. 9 is a diagram for explaining a third display example. As shown in the states (A) and (B) of FIG. 9, the display control unit 43 determines whether the work support information is displayed on the display unit 73 or displayed on the display unit 74 according to the position of the bucket 7. decide.

When the position of the bucket 7 is higher than the predetermined position, the display control unit 43 causes only the display unit 73 of the display unit 73 and the display unit 74 to display the work support information. Further, when the position of the bucket 7 is lower than the predetermined position, the display control unit 43 causes only the display unit 74 of the display unit 73 and the display unit 74 to display the work support information. The position of the bucket 7 is typically specified as the position of the cutting edge 7A of the bucket 7.

Specifically, the display control unit 43 lowers the display unit that displays the work support information from the display unit 73 when the position of the bucket 7 changes from a position higher than the predetermined position to a position lower than the predetermined position. Switch to the display unit 74. Further, the display control unit 43 displays the display unit that displays the work support information above the display unit 74 when the position of the bucket 7 changes from a position lower than the predetermined position to a higher position. Switch to unit 73.

According to such a configuration, when the operator confirms the work support information, the operator's work support information is displayed only on the display unit 74 when the bucket is at a position higher than a predetermined position. The movement of the line of sight can be reduced. Further, when the operator confirms the work support information, the movement of the operator's line of sight should be reduced as compared with the configuration in which the work support information is displayed only on the display unit 73 when the bucket is at a position lower than the predetermined position. Can be done.

<F. Modification example>
(1) Each of the display unit 73 and the display unit 74 may be slidably attached to the front pillar 92 along the extending direction of the front pillar 92.

FIG. 10 is a diagram for explaining the slides of the display units 73 and 74. As shown in FIG. 10, the operator can slide the combiner 731 along the extending direction of the front pillar 92 by sliding the mounting member 732 of the display unit 73 along the extending direction of the front pillar 92. Further, the operator can slide the combiner 741 along the extending direction of the front pillar 92 by sliding the mounting member 742 of the display unit 74 along the extending direction of the front pillar 92.

According to such a configuration, the operator can set the mounting positions of the display unit 73 and the display unit 74 to his / her favorite height.

In the case of such a configuration, when the mounting positions of the display units 73 and 74 change, it is necessary to change the projection position of the image such as work support information according to the change. Such control of the projection position may be performed based on an operator operation, or may be performed automatically.

When the projection position is automatically controlled, the display control unit 43 acquires the information on the mounting positions of the display units 73 and 74 (specifically, the coordinates of the combiners 731 and 741), and based on the acquired information. The display system 40 may be configured to control the projection position of an image such as work support information. Information on the mounting position (for example, height information) may be acquired based on the analysis of image data obtained by imaging with a camera (not shown), or by a sensor (not shown). Information on the above mounting position may be acquired. The method of acquiring information on the mounting positions of the display units 73 and 74 is not particularly limited.

(2) It is preferable that each of the display unit 73 and the display unit 74 is detachably attached to the front pillar 92 with respect to the front pillar 92. According to such a configuration, for example, a configuration having only one display unit can be used. Further, it is superior in terms of maintenance of the display unit as compared with a configuration in which the front pillar 92 is not removable.

(3) In the above-described embodiment, the configuration in which the work vehicle 101 includes two display units has been described as an example. Specifically, the configuration in which the display system 40 includes two combiners 731 and 741 has been described as an example. However, the number of display systems and the number of combiners are not limited to two and may be three or more.

(4) In the above description, the configuration in which the display units 73 and 74 are provided with the combiners 731 and 741, respectively, has been described as an example, but the present invention is not limited thereto.

For example, the operator may visually recognize the image projected on the film instead of the virtual image. Specifically, instead of the display unit 73, a first film that transmits external light incident on the driver's cab 8 is used, and instead of the display unit 74, a second film that transmits external light incident on the driver's cab 8 is transmitted. The film may be used.

Each of the first film and the second film is installed along the front pillar 92 so that the first film is located above the second film. In this case, the first film and the second film function as a head-up display. The first film and the second film are examples of the "first display unit" and "second display unit" of the present invention.

In such a configuration, the operator of the driver's cab 8 can see the actual view of the work site including the work machine 4 through the first film or the second film. Therefore, even in such a configuration, the head-up display does not reduce the visibility of the central portion of the windshield. Therefore, the work vehicle 101 is excellent in visibility such as an actual view of the work site.

Further, the operator may directly visually recognize the image displayed on the display instead of the virtual image. Specifically, instead of the display unit 73, a transparent first display (for example, a transmissive liquid crystal display) that transmits external light incident on the cab 8 is used, and instead of the display unit 74, the cab is used. A transparent second display that transmits external light incident on 8 may be used.

Each of the first display and the second display is installed along the front pillar 92 so that the first display is located above the second display. In this case, the first display and the second display function as head-up displays. The first display and the second display are examples of the "first display unit" and the "second display unit" of the present invention.

In this case as well, as in the case of using the combiner 731, 741, the first film and the second film, the head-up display does not reduce the visibility of the central portion of the windshield. Therefore, the work vehicle 101 is excellent in visibility such as an actual view of the work site.

The embodiments disclosed this time are examples, and are not limited to the above contents. The scope of the present invention is indicated by the scope of claims, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 traveling body, 2 windshield, 3 swivel body, 4 working machine, 5 boom, 6 arm, 7 bucket, 7A cutting edge, 8 cab, 10 operating device, 20 working machine controller, 40 display system, 43 display control unit, 70 Display device, 71 projector, 72 lens optics, 73,74 display unit, 91,92 front pillar, 101 work vehicle, 731,741 combiner, 732,742 mounting member, H horizontal plane, L center line.

Claims (9)

A work machine including a bucket and
A driver's cab having a windshield and a front pillar located on the working machine side,
A first display unit that is attached to the front pillar at intervals from the windshield and displays the first work support information by superimposing it on the actual scene of the work site.
A second display unit that is attached to the front pillar at a position different from the first display unit at a distance from the windshield and displays the second work support information by superimposing it on the actual scene of the work site. When,
E Bei a display control unit for controlling the display on said first display section and the second display section,
The first display unit is provided above the second display unit, and is provided above the second display unit.
The display control unit
When the position of the bucket is higher than a predetermined position, the first work support is displayed on the first display unit without displaying the second work support information on the second display unit. Display information,
When the position of the bucket is lower than the predetermined position, the second work is performed on the second display unit without displaying the first work support information on the first display unit. A work vehicle that displays support information . The first of each of the display unit and the second display unit includes a combiner, and a mounting member for mounting said combiner to the front pillar, the work vehicle according to claim 1. The work vehicle according to claim 1 or 2 , wherein each of the first display unit and the second display unit has a function of adjusting an inclination angle of the display surface with respect to a horizontal plane. The work vehicle according to claim 1 or 2 , wherein the angle between the display surface of the first display unit and the horizontal plane is larger than the angle between the display surface of the second display unit and the horizontal plane. The work vehicle according to any one of claims 1 to 4 , wherein the first work support information and the second work support information are the same information. The first display unit and the second display unit are each slidably attached to the front pillar along the extending direction of the front pillar, according to any one of claims 1 to 5. Work vehicle. The work vehicle according to any one of claims 1 to 6 , wherein each of the first display unit and the second display unit is detachably attached to the front pillar with respect to the front pillar. .. Each of the width of the display area of the first display unit and the width of the display area of the second display unit is the mounting position of the first display unit on the front pillar and the width of the second display unit. The work vehicle according to any one of claims 1 to 7 , which is narrower than the distance from the mounting position on the front pillar. The work vehicle according to any one of claims 1 to 8 , wherein each of the first display unit and the second display unit does not have a frame surrounding the outer edge of the display surface.

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