US20230304265A1 - Work machine and display system - Google Patents
Work machine and display system Download PDFInfo
- Publication number
- US20230304265A1 US20230304265A1 US18/116,966 US202318116966A US2023304265A1 US 20230304265 A1 US20230304265 A1 US 20230304265A1 US 202318116966 A US202318116966 A US 202318116966A US 2023304265 A1 US2023304265 A1 US 2023304265A1
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- US
- United States
- Prior art keywords
- camera
- image
- ripper
- imaging device
- shank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7604—Combinations of scraper blades with soil loosening tools working independently of scraper blades
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00Â -Â E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/30—Auxiliary apparatus, e.g. for thawing, cracking, blowing-up, or other preparatory treatment of the soil
- E02F5/32—Rippers
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00Â -Â E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00Â -Â E02F7/00
- E02F9/28—Small metalwork for digging elements, e.g. teeth scraper bits
- E02F9/2875—Ripper tips
Definitions
- the present disclosure relates to a work machine and a display system.
- Japanese Patent Application Laying-Open No. 2017-082415 discloses a display system for displaying information of a work vehicle.
- An imaging unit is mounted on the body of the work vehicle and images a ripping tip.
- An image generation unit generates a display image including an image of the ripping tip captured by the imaging unit and information of rotation of a crawler belt.
- a display unit displays a display image.
- a work machine allowing an attitude of a ripper apparatus to be easily grasped and a display system that displays a captured image of the ripper apparatus.
- a work machine comprises a body, a ripper apparatus that is disposed behind the body, and an imaging device that is mounted on the body and images the ripper apparatus.
- the ripper apparatus includes a shank, a ripping tip that is attached to an end of the shank, a beam that supports the shank, and a ripper arm that interconnects the body and the beam.
- the imaging device images the ripper apparatus sideways. The imaging device captures an image in a range including at least a portion of the shank, at least a portion of the beam, and at least a portion of the ripper arm.
- FIG. 1 is a side view schematically showing a configuration of a work machine according to an embodiment.
- FIG. 2 is a rear view of the work machine shown in FIG. 1 .
- FIG. 3 is a perspective view of a ripper apparatus.
- FIG. 4 is a schematic diagram showing a first example of an image captured by an imaging device.
- FIG. 5 is a schematic diagram showing a second example of an image captured by the imaging device.
- FIG. 7 is a block diagram generally showing a configuration of a display system according to an embodiment.
- FIG. 8 is a schematic diagram showing an example of an image displayed on a display device.
- FIG. 1 is a side view schematically showing a configuration of a work machine according to an embodiment.
- FIG. 2 is a rear view of the work machine shown in FIG. 1 .
- crawler dozer 100 mainly comprises a body 1 , which corresponds to the body of the work machine in the embodiment, an excavating blade 2 , and a travel unit 3 .
- Excavating blade 2 is mounted to body 1 .
- Excavating blade 2 is provided frontward of body 1 .
- Travel unit 3 is a crawler belt type travel unit having a pair of right and left crawler belts 3 C separated from each other in the vehicular widthwise direction.
- Body 1 is disposed between the paired right and left crawler belts 3 C.
- Crawler dozer 100 travels as crawler belts 3 C are driven.
- Body 1 has a cab 9 and an engine compartment 8 .
- Cab 9 is disposed at an upper rear portion of body 1 .
- Engine compartment 8 is disposed frontward of cab 9 .
- Engine compartment 8 is disposed between cab 9 and excavating blade 2 .
- a direction in which crawler dozer 100 travels straight forward/backward is referred to as a forward/backward direction of crawler dozer 100 .
- a side on which excavating blade 2 projects from body 1 is defined as a forward direction.
- a side opposite to the forward direction is referred to as a backward direction.
- a rightward/leftward direction of crawler dozer 100 is a direction orthogonal to the forward/backward direction in a plan view. When looking in the forward direction, a right side and a left side in the rightward/leftward direction are a rightward direction and a rightward direction, respectively.
- An upward/downward direction of crawler dozer 100 is a direction orthogonal to a plane defined by the forward/backward direction and the rightward/leftward direction.
- a side on which the ground is present is a downward side
- a side on which the sky is present is an upward side.
- the forward/backward direction is indicated by an arrow X
- the rightward/leftward direction is indicated by an arrow Y
- the upward/downward direction is indicated by an arrow Z.
- Crawler dozer 100 includes, as a work implement, excavating blade 2 (a first work implement) located frontward of body 1 .
- Excavating blade 2 is a work implement for performing work such as excavation of ground surface and grading.
- Excavating blade 2 is an example of a frontward work implement disposed frontward of body 1 .
- Excavating blade 2 has a lower end with a cutting edge 2 C.
- Cutting edge 2 C constitutes an edge of excavating blade 2 .
- Excavating blade 2 has a left side end portion 2 CL at a left end portion of cutting edge 2 C.
- Excavating blade 2 has a right side end portion 2 CR at a right end portion of cutting edge 2 C.
- Excavating blade 2 has a left lower end 2 E 1 and a right lower end 2 E 2 .
- Excavating blade 2 has right and left sides both supported by a frame 4 .
- Frame 4 is a member in the form of a quadrangular prism.
- Frame 4 has one end attached to a rear surface of excavating blade 2 by a rotatable support.
- Frame 4 has the other end rotatably supported on a side surface of travel unit 3 .
- Excavating blade 2 is driven by a tilt cylinder 5 and a lift cylinder 6 .
- One end of tilt cylinder 5 is supported on a back surface of excavating blade 2 rotatably.
- the other end of tilt cylinder 5 is supported on an upper surface of frame 4 rotatably.
- Tilt cylinder 5 is extended/contracted by hydraulic pressure to cause an upper end of excavating blade 2 to move in the forward/backward direction about the support with which frame 4 is attached to excavating blade 2 . Accordingly, the pitch angle of excavating blade 2 changes.
- Lift cylinder 6 is supported on a back surface of excavating blade 2 rotatably. An intermediate portion of lift cylinder 6 is supported on a side surface of body 1 . Lift cylinder 6 is extended/contracted by hydraulic pressure to cause excavating blade 2 to move in the upward/downward direction about the other end of frame 4 .
- a front grille 23 is attached to body 1 .
- Front grille 23 is disposed at a front end of body 1 .
- Front grille 23 is disposed to cover an opening formed at the front end of body 1 .
- Excavating blade 2 is disposed frontward of and spaced from front grille 23 .
- a fuel tank 26 is disposed at a rear end of body 1 .
- Fuel tank 26 is disposed rearward of cab 9 .
- fuel to be supplied to engine 21 is stored.
- fuel tank 26 is smaller in height toward the rear as seen in side view. Fuel tank 26 has a tapered surface inclined downward toward the rear.
- Crawler dozer 100 includes a ripper apparatus (a second work implement) 10 as another work implement located rearward of body 1 .
- Ripper apparatus 10 is a work implement for ripping through and thereby breaking a hard material such as rock.
- Ripper apparatus 10 is mounted to body 1 .
- Ripper apparatus 10 is provided rearward of body 1 .
- a side on which ripper apparatus 10 projects from body 1 in the forward/backward direction of crawler dozer 100 is the backward direction.
- Ripper apparatus 10 is disposed rearward of and spaced from fuel tank 26 .
- Ripper apparatus 10 is an example of a rearward work implement disposed rearward of body 1 .
- FIG. 3 is a perspective view of ripper apparatus 10 .
- ripper apparatus 10 includes a shank 11 and a ripping tip 13 .
- Ripping tip 13 is attached to an end (or a lower end) of shank 11 .
- Ripper apparatus 10 causes ripping tip 13 to pierce a rock or the like to cut or crush the rock by traction force of travel unit 3 .
- Ripping tip 13 is removable from shank 11 .
- Ripper apparatus 10 is configured such that ripping tip 13 is replaceable.
- Shank 11 is supported by a beam 17 .
- Beam 17 has a holder 17 H at a center position in the rightward/leftward direction to accommodate shank 11 .
- a plurality of through holes 12 h are formed in shank 11 .
- Ripper arm 14 interconnects body 1 and beam 17 .
- One end of ripper arm 14 is rotatably attached to a body frame 1 F of body 1 .
- Beam 17 is attached to the other end of ripper arm 14 via a connecting pin 14 P rotatably with respect to ripper arm 14 .
- Shank 11 is provided to be rotatable with respect to ripper arm 14 about connecting pin 14 P together with beam 17 .
- Ripper apparatus 10 is driven by a tilt cylinder 15 and a lift cylinder 16 .
- Tilt cylinder 15 and lift cylinder 16 are provided above ripper arm 14 .
- Tilt cylinder 15 is disposed above lift cylinder 16 .
- Lift cylinder 16 moves beam 17 and shank 11 up and down.
- Lift cylinder 16 moves ripping tip 13 up and down.
- Tilt cylinder 15 causes ripping tip 13 to reciprocate in a direction toward body 1 (i.e., the forward direction) and a direction away from body 1 (i.e., the backward direction).
- Tilt cylinder 15 changes the angle of shank 11 with respect to ripper arm 14 .
- An angle formed by shank 11 with respect to ripper arm 14 is referred to as a tilt angle of shank 11 .
- an angle formed by shank 11 with respect to a target to be worked on by ripper apparatus 10 that is, the current topography
- an angle formed by shank 11 with respect to a horizontal direction varies.
- an angle formed by shank 11 with respect to a direction toward the vehicular body varies.
- the tilt angle of shank 11 may be defined as an angle formed with respect to the current topography, an angle formed with respect to the horizontal direction, or an angle formed with respect to the direction toward the vehicular body.
- Tilt cylinder 15 has a proximal end rotatably attached to body 1 at body frame 1 F. Tilt cylinder 15 has a distal end rotatably connected to beam 17 via a connecting pin 15 P.
- Lift cylinder 16 has a proximal end rotatably attached to body 1 at body frame 1 F.
- Lift cylinder 16 has a distal end rotatably connected to beam 17 via a connecting pin 16 P.
- beam 17 has a pair of left connecting portion 17 L and a right connecting portion 17 R.
- Tilt cylinder 15 includes a left tilt cylinder 15 L and a right tilt cylinder 15 R.
- Lift cylinder 16 includes a left lift cylinder 16 L and a right lift cylinder 16 R.
- Connecting pins 15 P and 16 P include left connecting pins 15 PL and 16 PL and right connecting pins 15 PR and 16 PR.
- Left tilt cylinder 15 L is connected to an upper end portion of left connecting portion 17 L via left connecting pin 15 PL.
- Left lift cylinder 16 L is connected to left connecting portion 17 L via left connecting pin 16 PL.
- Right tilt cylinder 15 R is connected to an upper end portion of right connecting portion 17 R via right connecting pin 15 PR.
- Right lift cylinder 16 R is connected to right connecting portion 17 R via right connecting pin 16 PR.
- an engine 21 as a driving source for crawler dozer 100 is accommodated in engine compartment 8 .
- Engine 21 generates power which is in turn transmitted to a driving wheel of travel unit 3 via a drive train located inside body 1 .
- a driving wheel of travel unit 3 As the driving wheel rotates, crawler belts 3 C are driven, and crawler dozer 100 travels.
- Engine 21 's power is also transmitted to a hydraulic pump.
- the hydraulic pump supplies pressurized oil to each actuator, such as tilt cylinder 5 and lift cylinder 6 that drive excavating blade 2 , and tilt cylinder 15 and lift cylinder 16 that drive ripper apparatus 10 .
- Engine 21 is covered from above with an engine hood 22 .
- Engine hood 22 forms a ceiling of engine compartment 8 .
- Engine hood 22 isolates an interior of engine compartment 8 from outside thereof.
- a working platform 30 is disposed above fuel tank 26 .
- Working platform 30 is disposed rearward of cab 9 .
- Working platform 30 is a scaffold for a worker to work behind cab 9 .
- the worker works on working platform 30 for example to clean a window of cab 9 , replace a filter of fuel tank 26 and maintain a breather, etc.
- a guardrail 31 is attached to working platform 30 to prevent unexpected fall.
- an access passage 40 is provided to enable access to working platform 30 from the ground.
- a guardrail 41 is attached to access passage 40 to prevent unexpected fall.
- a roll-over protective structure 90 is attached to crawler dozer 100 .
- Roll-over protective structure 90 is standardized as ISO3471. In the rear view shown in FIG. 2 , roll-over protective structure 90 is not shown for clarity of illustration.
- Roll-over protective structure 90 is provided in the form of a three-side frame.
- Roll-over protective structure 90 has a left columnar portion 91 , a beam portion 93 , and a right columnar portion (not shown).
- Left columnar portion 91 is disposed on a left side of cab 9 .
- the right columnar portion is disposed on a right side of cab 9 .
- Beam portion 93 is disposed above cab 9 .
- Beam portion 93 has a left end connected to an upper end of left columnar portion 91 and a right end connected to an upper end of the right columnar portion.
- Beam portion 93 is supported by left columnar portion 91 and the right columnar portion.
- Beam portion 93 extends in the rightward/leftward direction between left columnar portion 91 and the right columnar portion.
- a plurality of cameras are attached to crawler dozer 100 .
- the plurality of 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 .
- First camera 51 captures an image of a front side of and frontward of body 1 .
- First camera 51 captures an image in a range including a range of the front side of and frontward of body 1 .
- a captured image output by first camera 51 may include topography frontward of body 1 .
- First camera 51 corresponds to a front imaging device in an embodiment.
- First camera 51 is attached on an upper surface of cab 9 .
- First camera 51 projects upward from the upper surface of cab 9 .
- First camera 51 is mounted to body 1 via cab 9 .
- First camera 51 is fixed to face frontward.
- Second camera 52 captures an image of a rear side of and rearward of body 1 .
- Second camera 52 captures an image in a range including a range of the rear side of and rearward of body 1 .
- a captured image output by second camera 52 may include topography rearward of body 1 .
- Second camera 52 corresponds to a rear imaging device in an embodiment.
- Second camera 52 is attached to eaves 9 c projecting from cab 9 rearward.
- Second camera 52 is mounted to body 1 via cab 9 .
- Second camera 52 is fixed to face rearward and downward.
- Third camera 53 captures an image of left side end portion 2 CL of cutting edge 2 C of excavating blade 2 .
- Third camera 53 captures an image in a range including left lower end 2 E 1 of excavating blade 2 .
- a captured image output by third camera 53 may include left lower end 2 E 1 of excavating blade 2 .
- Third camera 53 captures an image in a range including a point on the ground where left lower end 2 E 1 of excavating blade 2 penetrates a ground surface.
- Third camera 53 corresponds to a left blade imaging device in an embodiment.
- Third camera 53 is attached to left columnar portion 91 of roll-over protective structure 90 .
- Third camera 53 is mounted to body 1 via roll-over protective structure 90 .
- Third camera 53 is fixed to face frontward and downward.
- fourth camera 54 is attached to the right columnar portion of roll-over protective structure 90 .
- Fourth camera 54 is mounted to body 1 via roll-over protective structure 90 .
- Fourth camera 54 is fixed to face frontward and downward.
- Fourth camera 54 captures an image of right side end portion 2 CR of cutting edge 2 C of excavating blade 2 .
- Fourth camera 54 captures an image in a range including right lower end 2 E 2 of excavating blade 2 .
- a captured image output by fourth camera 54 may include lower right end 2 E 2 of excavating blade 2 .
- Fourth camera 54 captures an image in a range including a point on the ground where right lower end 2 E 2 of excavating blade 2 penetrates a ground surface.
- Fourth camera 54 corresponds to a right blade imaging device in an embodiment.
- Fifth camera 55 captures an image of a left side of and leftward of body 1 .
- Fifth camera 55 captures an image in a range including a range of the left side of and leftward of body 1 .
- a captured image output by fifth camera 55 may include topography leftward of body 1 .
- Fifth camera 55 corresponds to a left imaging device in an embodiment.
- Fifth camera 55 is attached to left columnar portion 91 of roll-over protective structure 90 .
- Fifth camera 55 is mounted to body 1 via roll-over protective structure 90 .
- Fifth camera 55 is fixed to face leftward and downward.
- Third camera 53 and fifth camera 55 are disposed to be adjacent to each other in the forward/backward direction such that third camera 53 is on a front side and fifth camera 55 is on a rear side.
- sixth camera 56 is attached to the right columnar portion of roll-over protective structure 90 .
- Sixth camera 56 is mounted to body 1 via roll-over protective structure 90 .
- Sixth camera 56 is fixed to face rightward and downward.
- Sixth camera 56 captures an image of the right side of and rightward of body 1 .
- Sixth camera 56 captures an image in a range including a range of the right side of and rightward of body 1 .
- a captured image output by sixth camera 56 may include topography rightward of body 1 .
- Sixth camera 56 corresponds to a right imaging device in an embodiment.
- Fourth camera 54 and sixth camera 56 are disposed to be adjacent to each other in the forward/backward direction such that fourth camera 54 is on a front side and sixth camera 56 is on a rear side.
- Seventh camera 57 captures an image of ripping tip 13 corresponding to a lower end of ripper apparatus 10 . Seventh camera 57 captures an image in a range including ripping tip 13 . A captured image output by seventh camera 57 may include ripping tip 13 . Seventh camera 57 corresponds to a ripping tip imaging device in an embodiment. Seventh camera 57 is attached to a rear surface of body 1 . Seventh camera 57 is mounted to body 1 on a rear surface of body 1 in a vicinity of a center portion in the rightward/leftward direction. Seventh camera 57 is fixed to face rearward and downward.
- Eighth camera 58 is mounted on a rear surface of body 1 . Eighth camera 58 is disposed away from the center of body 1 in the rightward/leftward direction. Eighth camera 58 is disposed on a left side with respect to the center of body 1 in the rightward/leftward direction. Eighth camera 58 is disposed above left crawler belt 3 C. Eighth camera 58 is disposed frontward of ripper apparatus 10 obliquely leftward. Eighth camera 58 is disposed to the left with respect to ripper apparatus 10 in the rightward/leftward direction. Eighth camera 58 is disposed frontward of shank 11 of ripper apparatus 10 and is disposed to be closer to the left than shank 11 . Eighth camera 58 is disposed frontward of ripping tip 13 obliquely leftward in a plan view.
- Eighth camera 58 captures an image of ripper apparatus 10 .
- Eighth camera 58 is fixed to face rearward and obliquely rightward so as to be able to capture an image of ripper apparatus 10 .
- Eighth camera 58 has an optical axis extending therefrom rearward and obliquely rightward.
- Eighth camera 58 captures an image of ripper apparatus 10 from a left side.
- Eighth camera 58 captures an image of ripper apparatus 10 in a direction including a component of the rightward/leftward direction.
- Eighth camera 58 captures an image of ripper apparatus 10 ahead thereof from an obliquely left side.
- Eighth camera 58 captures an image in a range including at least a portion of ripper apparatus 10 .
- a captured image output by eighth camera 58 may include at least a portion of ripper apparatus 10 .
- Eighth camera 58 corresponds to an imaging device in an embodiment.
- FIGS. 4 to 6 are schematic diagrams showing examples of images captured by eighth camera 58 (or the imaging device). As shown in FIGS. 4 - 6 , eighth camera 58 captures an image in a range including at least a portion of shank 11 , at least a portion of beam 17 , and at least a portion of ripper arm 14 . Eighth camera 58 captures an image including information of a tilt angle of shank 11 , an angle of beam 17 with respect to ripper arm 14 , a distance of ripper arm 14 from a ground surface, an angle formed by ripper arm 14 with respect to a ground surface, etc.
- Eighth camera 58 further captures an image in a range including at least a portion of tilt cylinder 15 (left tilt cylinder 15 L).
- Left tilt cylinder 15 L includes a cylinder tube 15 Ls and a rod 15 Lr.
- Rod 15 Lr is supported by cylinder tube 15 Ls reciprocatably relative to cylinder tube 15 Ls along cylinder tube 15 Ls.
- Eighth camera 58 captures an image in a range including at least a portion of cylinder tube 15 Ls and at least a portion of rod 15 Lr.
- Eighth camera 58 captures an image including information of by how much amount left tilt cylinder 15 L extends and contracts, and hence information of a tilt angle of shank 11 .
- Eighth camera 58 further captures an image in a range including at least a portion of lift cylinder 16 (left lift cylinder 16 L). Eighth camera 58 captures an image including information of by how much amount left lift cylinder 16 L extends and contracts, and hence information of a distance of ripper arm 14 from a ground surface, an angle formed by ripper arm 14 with respect to a ground surface, etc.
- an image 58 IMG 1 captured by eighth camera 58 shows lift cylinder 16 (left lift cylinder 16 L) with a minimal length.
- Ripper arm 14 , beam 17 , and shank 11 assume the uppermost position in their possible range of movement in the upward/downward direction.
- Ripping tip 13 is located away from a ground surface and hence in the air.
- an image 58 IMG 2 captured by eighth camera 58 shows lift cylinder 16 (or left lift cylinder 16 L) larger in length than in FIG. 4 .
- Ripper arm 14 , beam 17 and shank 11 are positioned below the position shown in FIG. 4 and are close to a ground surface.
- shank 11 is hidden by beam 17 and thus not included in the captured image, shank 11 is present within the range in which eighth camera 58 captures an image.
- Ripping tip 13 is still located away from a ground surface, and hence in the air.
- an image 58 IMG 3 captured by eighth camera 58 shows lift cylinder 16 (left lift cylinder 16 L) with a maximal length.
- Ripper arm 14 , beam 17 , and shank 11 assume the lowest position in their possible range of movement in the upward/downward direction.
- Ripping tip 13 is in the ground and thus not included in the captured image, however, ripping tip 13 is present within the range in which eighth camera 58 captures an image.
- tilt cylinder 15 (left tilt cylinder 15 L) has rod 15 Lr projecting from cylinder tube 15 Ls by an increased length, and left tilt cylinder 15 L thus has an increased length.
- the extension of left tilt cylinder 15 L changes an angle of beam 17 and shank 11 with respect to ripper arm 14 , and moves ripping tip 13 forward in the ground.
- FIG. 7 is a block diagram schematically showing a configuration of a display system according to an embodiment.
- the display system comprises crawler dozer 100 described with reference to FIGS. 1 to 3 , and a remote control station 101 .
- Crawler dozer 100 has a video controller 60 .
- First to eighth cameras 51 to 58 are electrically connected to video controller 60 .
- Video controller 60 receives from first to eighth cameras 51 to 58 data of an image captured by each camera.
- Video controller 60 includes an encoder 61 that compresses and encodes the data of the captured image.
- Crawler dozer 100 includes an operation controller 63 .
- Operation controller 63 controls an operation of crawler dozer 100 based on a program stored in a memory (not shown).
- Operation controller 63 controls an operation of excavating blade 2 by outputting a control signal to a blade actuator, that is, tilt cylinder 5 and lift cylinder 6 .
- tilt cylinder 5 and lift cylinder 6 receive the control signal from operation controller 63 , tilt cylinder 5 and lift cylinder 6 appropriately extend and contract and thus change a pitch angle of excavating blade 2 and move excavating blade 2 up and down.
- Operation controller 63 controls an operation of ripper apparatus 10 by outputting a control signal to a ripper actuator, that is, tilt cylinder 15 and lift cylinder 16 .
- a ripper actuator that is, tilt cylinder 15 and lift cylinder 16 .
- tilt cylinder 15 and lift cylinder 16 receive the control signal from operation controller 63 , tilt cylinder 15 and lift cylinder 16 appropriately extend and contract and accordingly, beam 17 and shank 11 move up and down, and ripping tip 13 at the end of shank 11 moves up and down and back and forth.
- Operation controller 63 controls traveling of crawler dozer 100 by outputting a control signal to a transmission 64 and a steering device 66 .
- Crawler dozer 100 has a transmitting/receiving device 62 .
- Video controller 60 sends a signal to remote control station 101 and receives a signal from remote control station 101 via transmitting/receiving device 62 .
- Video controller 60 sends data of a captured image output from first to eighth cameras 51 to 58 to remote control station 101 via transmitting/receiving device 62 .
- Remote control station 101 is located outside crawler dozer 100 .
- Remote control station 101 includes a display control device 110 , a transmitting/receiving device 112 , an input device 114 , and a display device 120 .
- Display control device 110 , transmitting/receiving device 112 , input device 114 , and display device 120 are disposed in remote control station 101 remote from crawler dozer 100 .
- Display control device 110 controls display device 120 .
- Display control device 110 receives a signal from crawler dozer 100 and sends a signal to crawler dozer 100 via transmitting/receiving device 112 .
- Display control device 110 receives data of an image captured by first to eighth cameras 51 to 58 from crawler dozer 100 via transmitting/receiving device 112 .
- Display control device 110 has a decoder 111 that decodes data compressed and encoded by encoder 61 .
- Display control device 110 causes display device 120 to display one or more captured images output from one or more of first to eighth cameras 51 to 58 .
- display device 120 is caused to display captured images output from four cameras out of those output from the eight cameras.
- Input device 114 is a switch that is operated to select a captured image that display device 120 is to display while the vehicle travels, stops, bulldozes and rips.
- Display control device 110 receives an input from input device 114 operated by an operator and causes display device 120 to display a selected, captured image.
- Remote control station 101 also includes a console panel 140 .
- Console panel 140 includes a blade operating lever 141 , a ripper operating lever 142 , and a steering lever 143 .
- Blade operating lever 141 , ripper operating lever 142 , and steering lever 143 are manipulated by an operator.
- An operation done to console panel 140 is input to operation controller 63 of crawler dozer 100 .
- operation controller 63 receives the input of the operation of console panel 140
- operation controller 63 in response thereto outputs a control signal to the blade actuator, the ripper actuator, transmission 64 or steering device 66 to operate these actuators.
- Input device 114 and console panel 140 are arranged at a hand of an operator who views display device 120 .
- the operator can operate input device 114 and console panel 140 to remotely operate crawler dozer 100 while viewing display device 120 .
- FIG. 8 is a schematic diagram showing an example of an image displayed on display device 120 .
- Display control device 110 sets a plurality of divided display sections for display device 120 .
- a front display section 121 a rear display section 122 , a ripping tip display section 127 , and a ripper apparatus display section 128 are set as the plurality of divided display sections.
- Display device 120 shown in FIG. 8 displays an image to be displayed while ripper apparatus 10 performs a ripping operation.
- Front display section 121 displays a captured image output from first camera 51 (or the front imaging device) that captures an image in a range including a range of a front side of and frontward of body 1 .
- Rear display section 122 displays a captured image output from second camera 52 (or the rear imaging device) that captures an image in a range including a range of a rear side of and rearward of body 1 .
- Ripping tip display section 127 displays a captured image output from seventh camera 57 (or the ripping tip imaging device) that captures an image in a range including ripping tip 13 .
- Ripper apparatus display section 128 displays a captured image output from eighth camera 58 (or an imaging device) that captures an image in a range including at least a portion of ripper apparatus 10 .
- Display control device 110 sets ripping tip display section 127 , rear display section 122 , and ripper apparatus display section 128 such that the sections are aligned in this order from the left to the right.
- Display control device 110 sets front display section 121 above ripping tip display section 127 , rear display section 122 , and ripper apparatus display section 128 that are aligned.
- Front display section 121 is set in the form of a laterally long rectangle.
- Rear display section 122 is formed in the same laterally long rectangle as front display section 121 .
- Front display section 121 and rear display section 122 are set to have the same area.
- Display control device 110 sets front display section 121 and rear display section 122 to be vertically aligned such that front display section 121 is arranged on an upper side and rear display section 122 is arranged on a lower side.
- Display control device 110 sets front display section 121 and rear display section 122 so as to be centered.
- Display control device 110 sets ripping tip display section 127 on a left side of the vertically aligned front display section 121 and rear display section 122 .
- Ripping tip display section 127 is set in the form of a laterally long rectangle having a smaller area than rear display section 122 .
- Display control device 110 sets ripper apparatus display section 128 on a right side of the vertically aligned front display section 121 and rear display section 122 .
- Ripper apparatus display section 128 is set in the form of a vertically long rectangle. Ripper apparatus display section 128 is set to be vertically longer than rear display section 122 and ripping tip display section 127 . Ripper apparatus display section 128 is set on a right side of rear display section 122 .
- An image of ripper apparatus 10 is displayed on a right side of an image of a rear side of and rearward of body 1 displayed in rear display section 122 .
- Ripper apparatus display section 128 displays ripper apparatus 10 so as to project to the right from a left edge of ripper apparatus display section 128 adjacent to rear display section 122 .
- Display control device 110 sets a variety of types of icons 131 , an inclinometer 132 , and a tilt indicator 133 at an upper right corner of display device 120 .
- Inclinometer 132 and tilt indicator 133 indicate a pitch angle and a roll angle of crawler dozer 100 with respect to a horizontal plane.
- a position at which inclinometer 132 and tilt indicator 133 are displayed is not limited to the upper right corner of display device 120 .
- Inclinometer 132 and tilt indicator 133 may be superimposed on a captured image and thus displayed.
- Display control device 110 sets a camera position indicator 134 at an upper left corner of display device 120 .
- the camera position indicator displays an arrangement of a camera that captures an image currently displayed on display device 120 .
- ripper apparatus 10 comprises shank 11 , ripping tip 13 that is attached to an end of shank 11 , beam 17 that supports shank 11 , and ripper arm 14 that interconnects body 1 and beam 17 .
- Eighth camera 58 images ripper apparatus 10 sideways. As shown in FIGS. 4 - 6 , eighth camera 58 captures an image in a range including at least a portion of shank 11 , at least a portion of beam 17 , and at least a portion of ripper arm 14 .
- An image captured by eighth camera 58 includes ripper apparatus 10 as viewed sideways.
- An operator who views the image captured by eighth camera 58 can easily grasp an attitude and movement of ripper apparatus 10 .
- the operator can grasp the current position and operation of ripping tip 13 by observing ripping tip 13 in the captured image. Even when ripping tip 13 is in the ground and thus not imaged, the operator can easily estimate the current position and operation of ripping tip 13 by checking the attitude of ripper arm 14 and the position and movement of beam 17 relative to ripper arm 14 .
- eighth camera 58 may capture an image in a range including at least a portion of tilt cylinder 15 .
- Eighth camera 58 may capture an image in a range including cylinder tube 15 Ls and rod 15 Lr of left tilt cylinder 15 L.
- the operator can easily estimate the current position and operation of ripping tip 13 by checking by how much length rod 15 Lr projects from cylinder tube 15 Ls of left tilt cylinder 15 L and how the length varies.
- eighth camera 58 may capture an image in a range including at least a portion of lift cylinder 16 .
- Eighth camera 58 may capture an image in a range including the cylinder tube and rod of left lift cylinder 16 L. The operator can easily grasp the current position of ripping tip 13 by checking by how much length the rod projects from the cylinder tube of left lift cylinder 16 L in addition to what attitude ripper arm 14 and beam 17 assume.
- eighth camera 58 may image ripper apparatus 10 from a left side.
- the operator aboard cab 9 looks back and sees ripper apparatus 10 , the operator will see ripper apparatus 10 in a direction including a component of the rightward/leftward direction as the driver's seat in cab 9 is disposed closer to the left with respect to the center of body 1 in the rightward/leftward direction.
- the operator will see ripper apparatus 10 from the left side.
- Disposing eighth camera 58 at the same position as the viewpoint of the operator aboard cab 9 , that is, on the left side of ripper apparatus 10 allows an image captured by eighth camera 58 to match the sense of the operator. The operator can easily grasp the attitude of ripper apparatus 10 by viewing the captured image.
- crawler dozer 100 may further comprise seventh camera 57 that captures an image in a range including ripping tip 13 , and second camera 52 that captures an image in a range including a range of the rear side of and rearward of body 1 .
- the operator can grasp the position of ripping tip 13 with respect to a ground surface by viewing an image captured by seventh camera 57 .
- the operator can grasp topography behind body 1 and whether any obstacle is present or absent behind body 1 by viewing an image captured by second camera 52 .
- the display system comprises crawler dozer 100 described above and display device 120 .
- display device 120 simultaneously displays an image captured by seventh camera 57 , an image captured by second camera 52 , and an image captured by eighth camera 58 . While display device 120 displays an image, the operator can grasp the state of the rear side of and rearward of body 1 by viewing rear display section 122 in the image, the position of ripping tip 13 by viewing ripping tip display section 127 in the image, and the attitude of ripper apparatus 10 by viewing ripper apparatus display section 128 in the image. The operator can obtain sufficient information from display device 120 and perform a ripping operation efficiently and safely.
- display device 120 may be caused to display an image captured by seventh camera 57 , an image captured by second camera 52 , and an image captured by eighth camera 58 aligned from the left to the right.
- Rear display section 122 is disposed at a center of display device 120 between the left and right sides and ripper apparatus display section 128 is disposed on a right side of rear display section 122 , and ripper apparatus display section 128 displays an image of ripper apparatus 10 captured from a left side. This allows display device 120 to display an image matching the sense of the operator.
- display device 120 may be disposed outside crawler dozer 100 .
- An operator can remotely monitor crawler dozer 100 by viewing display device 120 outside crawler dozer 100 .
- the operator can also remotely operate crawler dozer 100 while watching display device 120 .
- crawler dozer 100 comprising excavating blade 2 and ripper apparatus 10 has been described as an example of a work machine.
- Crawler dozer 100 may include other types of rear work implements instead of ripper apparatus 10 .
- crawler dozer 100 may comprise a winch behind body 1
- eighth camera 58 may be configured to capture an image in a range including the winch.
- Display device 120 may not be disposed outside crawler dozer 100 .
- display device 120 of an embodiment may be disposed in the cabin, and video controller 60 mounted on crawler dozer 100 may cause display device 120 to display a captured image.
- the display system of the embodiment may be applied not only to a remotely controlled, unmanned work machine but also to a manned work machine in which an operator aboard the work machine operates the work machine. By monitoring display device 120 , the operator aboard the work machine can grasp the attitude of ripper apparatus 10 without looking back.
- the work machine is not limited to crawler dozer 100 .
- the concept of the present disclosure may be applied to other types of work machines, such as a motor grader comprising a blade between front and rear wheels and a ripper apparatus behind the body.
- the work machine may not include cab 9 .
Abstract
A work machine comprises a body, a ripper apparatus that is disposed behind the body, and an imaging device that is mounted to the body and images the ripper apparatus. The ripper apparatus includes a shank, a ripping tip that is attached to an end of the shank, a beam that supports the shank, and a ripper arm that interconnects the body and the beam. The imaging device images the ripper apparatus sideways and captures an image in a range including at least a portion of the shank, at least a portion of the beam, and at least a portion of the ripper arm.
Description
- This nonprovisional application is based on Japanese Patent Application No. 2022-049946 filed on Mar. 25, 2022 with the Japan Patent Office, the entire contents of which are hereby incorporated by reference.
- The present disclosure relates to a work machine and a display system.
- Japanese Patent Application Laying-Open No. 2017-082415 discloses a display system for displaying information of a work vehicle. An imaging unit is mounted on the body of the work vehicle and images a ripping tip. An image generation unit generates a display image including an image of the ripping tip captured by the imaging unit and information of rotation of a crawler belt. A display unit displays a display image.
- According to the technology described in the above document, while an operator who views the display image can accurately grasp the position of the ripping tip and determine whether the crawler belt idles or shoe slip is caused, in order to perform an appropriate ripping operation, it is required that the operator can easily grasp the attitude of a ripper apparatus.
- In the present disclosure are proposed a work machine allowing an attitude of a ripper apparatus to be easily grasped and a display system that displays a captured image of the ripper apparatus.
- A work machine according to the present disclosure comprises a body, a ripper apparatus that is disposed behind the body, and an imaging device that is mounted on the body and images the ripper apparatus. The ripper apparatus includes a shank, a ripping tip that is attached to an end of the shank, a beam that supports the shank, and a ripper arm that interconnects the body and the beam. The imaging device images the ripper apparatus sideways. The imaging device captures an image in a range including at least a portion of the shank, at least a portion of the beam, and at least a portion of the ripper arm.
- The foregoing and other objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings.
-
FIG. 1 is a side view schematically showing a configuration of a work machine according to an embodiment. -
FIG. 2 is a rear view of the work machine shown inFIG. 1 . -
FIG. 3 is a perspective view of a ripper apparatus. -
FIG. 4 is a schematic diagram showing a first example of an image captured by an imaging device. -
FIG. 5 is a schematic diagram showing a second example of an image captured by the imaging device. -
FIG. 6 is a schematic diagram showing a third example of an image captured by the imaging device. -
FIG. 7 is a block diagram generally showing a configuration of a display system according to an embodiment. -
FIG. 8 is a schematic diagram showing an example of an image displayed on a display device. - Hereinafter, an embodiment will be described with reference to the drawings. In the following description, identical components are identically denoted. Their names and functions are also identical. Accordingly, they will not be described repeatedly in detail.
- [Work Machine]
- First, a configuration of a
crawler dozer 100 will be described as an example of a work machine of an embodiment.FIG. 1 is a side view schematically showing a configuration of a work machine according to an embodiment.FIG. 2 is a rear view of the work machine shown inFIG. 1 . - As shown in
FIGS. 1 and 2 ,crawler dozer 100 mainly comprises abody 1, which corresponds to the body of the work machine in the embodiment, anexcavating blade 2, and atravel unit 3.Excavating blade 2 is mounted tobody 1.Excavating blade 2 is provided frontward ofbody 1.Travel unit 3 is a crawler belt type travel unit having a pair of right andleft crawler belts 3C separated from each other in the vehicular widthwise direction.Body 1 is disposed between the paired right andleft crawler belts 3C.Crawler dozer 100 travels ascrawler belts 3C are driven. -
Body 1 has acab 9 and anengine compartment 8.Cab 9 is disposed at an upper rear portion ofbody 1.Engine compartment 8 is disposed frontward ofcab 9.Engine compartment 8 is disposed betweencab 9 and excavatingblade 2. - In an embodiment, a direction in which
crawler dozer 100 travels straight forward/backward is referred to as a forward/backward direction ofcrawler dozer 100. In the forward/backward direction ofcrawler dozer 100, a side on which excavatingblade 2 projects frombody 1 is defined as a forward direction. In the forward/backward direction ofcrawler dozer 100, a side opposite to the forward direction is referred to as a backward direction. A rightward/leftward direction ofcrawler dozer 100 is a direction orthogonal to the forward/backward direction in a plan view. When looking in the forward direction, a right side and a left side in the rightward/leftward direction are a rightward direction and a rightward direction, respectively. An upward/downward direction ofcrawler dozer 100 is a direction orthogonal to a plane defined by the forward/backward direction and the rightward/leftward direction. In the upward/downward direction, a side on which the ground is present is a downward side, and a side on which the sky is present is an upward side. - In
FIG. 1 , the forward/backward direction is indicated by an arrow X, the rightward/leftward direction is indicated by an arrow Y, and the upward/downward direction is indicated by an arrow Z. - Crawler dozer 100 includes, as a work implement, excavating blade 2 (a first work implement) located frontward of
body 1.Excavating blade 2 is a work implement for performing work such as excavation of ground surface and grading.Excavating blade 2 is an example of a frontward work implement disposed frontward ofbody 1.Excavating blade 2 has a lower end with acutting edge 2C.Cutting edge 2C constitutes an edge of excavatingblade 2.Excavating blade 2 has a left side end portion 2CL at a left end portion ofcutting edge 2C.Excavating blade 2 has a right side end portion 2CR at a right end portion ofcutting edge 2C.Excavating blade 2 has a left lower end 2E1 and a right lower end 2E2. -
Excavating blade 2 has right and left sides both supported by aframe 4.Frame 4 is a member in the form of a quadrangular prism.Frame 4 has one end attached to a rear surface of excavatingblade 2 by a rotatable support.Frame 4 has the other end rotatably supported on a side surface oftravel unit 3. -
Excavating blade 2 is driven by atilt cylinder 5 and alift cylinder 6. One end oftilt cylinder 5 is supported on a back surface of excavatingblade 2 rotatably. The other end oftilt cylinder 5 is supported on an upper surface offrame 4 rotatably.Tilt cylinder 5 is extended/contracted by hydraulic pressure to cause an upper end of excavatingblade 2 to move in the forward/backward direction about the support with whichframe 4 is attached to excavatingblade 2. Accordingly, the pitch angle of excavatingblade 2 changes. - One end of
lift cylinder 6 is supported on a back surface of excavatingblade 2 rotatably. An intermediate portion oflift cylinder 6 is supported on a side surface ofbody 1.Lift cylinder 6 is extended/contracted by hydraulic pressure to causeexcavating blade 2 to move in the upward/downward direction about the other end offrame 4. - A
front grille 23 is attached tobody 1.Front grille 23 is disposed at a front end ofbody 1.Front grille 23 is disposed to cover an opening formed at the front end ofbody 1. Excavatingblade 2 is disposed frontward of and spaced fromfront grille 23. - At a rear end of
body 1, afuel tank 26 is disposed.Fuel tank 26 is disposed rearward ofcab 9. Infuel tank 26, fuel to be supplied toengine 21 is stored. - As shown in
FIG. 1 ,fuel tank 26 is smaller in height toward the rear as seen in side view.Fuel tank 26 has a tapered surface inclined downward toward the rear. -
Crawler dozer 100 includes a ripper apparatus (a second work implement) 10 as another work implement located rearward ofbody 1.Ripper apparatus 10 is a work implement for ripping through and thereby breaking a hard material such as rock.Ripper apparatus 10 is mounted tobody 1.Ripper apparatus 10 is provided rearward ofbody 1. A side on whichripper apparatus 10 projects frombody 1 in the forward/backward direction ofcrawler dozer 100 is the backward direction.Ripper apparatus 10 is disposed rearward of and spaced fromfuel tank 26.Ripper apparatus 10 is an example of a rearward work implement disposed rearward ofbody 1. -
FIG. 3 is a perspective view ofripper apparatus 10. As shown inFIGS. 1 to 3 ,ripper apparatus 10 includes ashank 11 and a rippingtip 13. Rippingtip 13 is attached to an end (or a lower end) ofshank 11.Ripper apparatus 10causes ripping tip 13 to pierce a rock or the like to cut or crush the rock by traction force oftravel unit 3. Rippingtip 13 is removable fromshank 11.Ripper apparatus 10 is configured such that rippingtip 13 is replaceable. -
Shank 11 is supported by abeam 17.Beam 17 has aholder 17H at a center position in the rightward/leftward direction to accommodateshank 11. A plurality of throughholes 12 h are formed inshank 11. By insertingshank 11 intoholder 17H and passing aholding pin 17P through any one of the plurality of throughholes 12 h,shank 11 is fixed tobeam 17, andbeam 17 andshank 11 come to operate together. -
Ripper arm 14interconnects body 1 andbeam 17. One end ofripper arm 14 is rotatably attached to abody frame 1F ofbody 1.Beam 17 is attached to the other end ofripper arm 14 via a connectingpin 14P rotatably with respect toripper arm 14.Shank 11 is provided to be rotatable with respect toripper arm 14 about connectingpin 14P together withbeam 17. -
Ripper apparatus 10 is driven by atilt cylinder 15 and alift cylinder 16.Tilt cylinder 15 andlift cylinder 16 are provided aboveripper arm 14.Tilt cylinder 15 is disposed abovelift cylinder 16.Lift cylinder 16moves beam 17 andshank 11 up and down.Lift cylinder 16moves ripping tip 13 up and down.Tilt cylinder 15causes ripping tip 13 to reciprocate in a direction toward body 1 (i.e., the forward direction) and a direction away from body 1 (i.e., the backward direction).Tilt cylinder 15 changes the angle ofshank 11 with respect toripper arm 14. An angle formed byshank 11 with respect toripper arm 14 is referred to as a tilt angle ofshank 11. - As
tilt cylinder 15 extends and contracts, an angle formed byshank 11 with respect to a target to be worked on byripper apparatus 10, that is, the current topography, varies. Astilt cylinder 15 extends and contracts, an angle formed byshank 11 with respect to a horizontal direction varies. Astilt cylinder 15 extends and contracts, an angle formed byshank 11 with respect to a direction toward the vehicular body varies. The tilt angle ofshank 11 may be defined as an angle formed with respect to the current topography, an angle formed with respect to the horizontal direction, or an angle formed with respect to the direction toward the vehicular body. -
Tilt cylinder 15 has a proximal end rotatably attached tobody 1 atbody frame 1F.Tilt cylinder 15 has a distal end rotatably connected tobeam 17 via a connectingpin 15P.Lift cylinder 16 has a proximal end rotatably attached tobody 1 atbody frame 1F.Lift cylinder 16 has a distal end rotatably connected tobeam 17 via a connectingpin 16P. As shown inFIGS. 2 and 3 ,beam 17 has a pair of left connectingportion 17L and aright connecting portion 17R.Tilt cylinder 15 includes aleft tilt cylinder 15L and aright tilt cylinder 15R.Lift cylinder 16 includes aleft lift cylinder 16L and aright lift cylinder 16R. Connectingpins -
Left tilt cylinder 15L is connected to an upper end portion of left connectingportion 17L via left connecting pin 15PL.Left lift cylinder 16L is connected to left connectingportion 17L via left connecting pin 16PL.Right tilt cylinder 15R is connected to an upper end portion of right connectingportion 17R via right connecting pin 15PR.Right lift cylinder 16R is connected to right connectingportion 17R via right connecting pin 16PR. - Referring back to
FIGS. 1 and 2 , anengine 21 as a driving source forcrawler dozer 100 is accommodated inengine compartment 8.Engine 21 generates power which is in turn transmitted to a driving wheel oftravel unit 3 via a drive train located insidebody 1. As the driving wheel rotates,crawler belts 3C are driven, andcrawler dozer 100 travels.Engine 21's power is also transmitted to a hydraulic pump. The hydraulic pump supplies pressurized oil to each actuator, such astilt cylinder 5 and liftcylinder 6 that drive excavatingblade 2, andtilt cylinder 15 andlift cylinder 16 that driveripper apparatus 10. -
Engine 21 is covered from above with anengine hood 22.Engine hood 22 forms a ceiling ofengine compartment 8.Engine hood 22 isolates an interior ofengine compartment 8 from outside thereof. - A working
platform 30 is disposed abovefuel tank 26. Workingplatform 30 is disposed rearward ofcab 9. Workingplatform 30 is a scaffold for a worker to work behindcab 9. The worker works on workingplatform 30 for example to clean a window ofcab 9, replace a filter offuel tank 26 and maintain a breather, etc. Aguardrail 31 is attached to workingplatform 30 to prevent unexpected fall. - Along a left edge of
body 1, anaccess passage 40 is provided to enable access to workingplatform 30 from the ground. Aguardrail 41 is attached to accesspassage 40 to prevent unexpected fall. - A roll-over
protective structure 90 is attached tocrawler dozer 100. Roll-overprotective structure 90 is standardized as ISO3471. In the rear view shown inFIG. 2 , roll-overprotective structure 90 is not shown for clarity of illustration. Roll-overprotective structure 90 is provided in the form of a three-side frame. - Roll-over
protective structure 90 has aleft columnar portion 91, abeam portion 93, and a right columnar portion (not shown). Leftcolumnar portion 91 is disposed on a left side ofcab 9. The right columnar portion is disposed on a right side ofcab 9.Beam portion 93 is disposed abovecab 9.Beam portion 93 has a left end connected to an upper end of leftcolumnar portion 91 and a right end connected to an upper end of the right columnar portion.Beam portion 93 is supported byleft columnar portion 91 and the right columnar portion.Beam portion 93 extends in the rightward/leftward direction between leftcolumnar portion 91 and the right columnar portion. - A plurality of cameras are attached to
crawler dozer 100. The plurality of cameras include afirst camera 51, asecond camera 52, athird camera 53, a fourth camera 54 (not shown inFIGS. 1 and 2 ), afifth camera 55, a sixth camera 56 (not shown inFIGS. 1 and 2 ), aseventh camera 57, and aneighth camera 58. -
First camera 51 captures an image of a front side of and frontward ofbody 1.First camera 51 captures an image in a range including a range of the front side of and frontward ofbody 1. A captured image output byfirst camera 51 may include topography frontward ofbody 1.First camera 51 corresponds to a front imaging device in an embodiment.First camera 51 is attached on an upper surface ofcab 9.First camera 51 projects upward from the upper surface ofcab 9.First camera 51 is mounted tobody 1 viacab 9.First camera 51 is fixed to face frontward. -
Second camera 52 captures an image of a rear side of and rearward ofbody 1.Second camera 52 captures an image in a range including a range of the rear side of and rearward ofbody 1. A captured image output bysecond camera 52 may include topography rearward ofbody 1.Second camera 52 corresponds to a rear imaging device in an embodiment.Second camera 52 is attached toeaves 9 c projecting fromcab 9 rearward.Second camera 52 is mounted tobody 1 viacab 9.Second camera 52 is fixed to face rearward and downward. -
Third camera 53 captures an image of left side end portion 2CL of cuttingedge 2C of excavatingblade 2.Third camera 53 captures an image in a range including left lower end 2E1 of excavatingblade 2. A captured image output bythird camera 53 may include left lower end 2E1 of excavatingblade 2.Third camera 53 captures an image in a range including a point on the ground where left lower end 2E1 of excavatingblade 2 penetrates a ground surface.Third camera 53 corresponds to a left blade imaging device in an embodiment.Third camera 53 is attached to leftcolumnar portion 91 of roll-overprotective structure 90.Third camera 53 is mounted tobody 1 via roll-overprotective structure 90.Third camera 53 is fixed to face frontward and downward. - Although not shown in
FIGS. 1 and 2 ,fourth camera 54 is attached to the right columnar portion of roll-overprotective structure 90.Fourth camera 54 is mounted tobody 1 via roll-overprotective structure 90.Fourth camera 54 is fixed to face frontward and downward.Fourth camera 54 captures an image of right side end portion 2CR of cuttingedge 2C of excavatingblade 2.Fourth camera 54 captures an image in a range including right lower end 2E2 of excavatingblade 2. A captured image output byfourth camera 54 may include lower right end 2E2 of excavatingblade 2.Fourth camera 54 captures an image in a range including a point on the ground where right lower end 2E2 of excavatingblade 2 penetrates a ground surface.Fourth camera 54 corresponds to a right blade imaging device in an embodiment. -
Fifth camera 55 captures an image of a left side of and leftward ofbody 1.Fifth camera 55 captures an image in a range including a range of the left side of and leftward ofbody 1. A captured image output byfifth camera 55 may include topography leftward ofbody 1.Fifth camera 55 corresponds to a left imaging device in an embodiment.Fifth camera 55 is attached to leftcolumnar portion 91 of roll-overprotective structure 90.Fifth camera 55 is mounted tobody 1 via roll-overprotective structure 90.Fifth camera 55 is fixed to face leftward and downward.Third camera 53 andfifth camera 55 are disposed to be adjacent to each other in the forward/backward direction such thatthird camera 53 is on a front side andfifth camera 55 is on a rear side. - Although not shown in
FIGS. 1 and 2 ,sixth camera 56 is attached to the right columnar portion of roll-overprotective structure 90.Sixth camera 56 is mounted tobody 1 via roll-overprotective structure 90.Sixth camera 56 is fixed to face rightward and downward.Sixth camera 56 captures an image of the right side of and rightward ofbody 1.Sixth camera 56 captures an image in a range including a range of the right side of and rightward ofbody 1. A captured image output bysixth camera 56 may include topography rightward ofbody 1.Sixth camera 56 corresponds to a right imaging device in an embodiment.Fourth camera 54 andsixth camera 56 are disposed to be adjacent to each other in the forward/backward direction such thatfourth camera 54 is on a front side andsixth camera 56 is on a rear side. -
Seventh camera 57 captures an image of rippingtip 13 corresponding to a lower end ofripper apparatus 10.Seventh camera 57 captures an image in a range including rippingtip 13. A captured image output byseventh camera 57 may include rippingtip 13.Seventh camera 57 corresponds to a ripping tip imaging device in an embodiment.Seventh camera 57 is attached to a rear surface ofbody 1.Seventh camera 57 is mounted tobody 1 on a rear surface ofbody 1 in a vicinity of a center portion in the rightward/leftward direction.Seventh camera 57 is fixed to face rearward and downward. -
Eighth camera 58 is mounted on a rear surface ofbody 1.Eighth camera 58 is disposed away from the center ofbody 1 in the rightward/leftward direction.Eighth camera 58 is disposed on a left side with respect to the center ofbody 1 in the rightward/leftward direction.Eighth camera 58 is disposed aboveleft crawler belt 3C.Eighth camera 58 is disposed frontward ofripper apparatus 10 obliquely leftward.Eighth camera 58 is disposed to the left with respect toripper apparatus 10 in the rightward/leftward direction.Eighth camera 58 is disposed frontward ofshank 11 ofripper apparatus 10 and is disposed to be closer to the left thanshank 11.Eighth camera 58 is disposed frontward of rippingtip 13 obliquely leftward in a plan view. -
Eighth camera 58 captures an image ofripper apparatus 10.Eighth camera 58 is fixed to face rearward and obliquely rightward so as to be able to capture an image ofripper apparatus 10.Eighth camera 58 has an optical axis extending therefrom rearward and obliquely rightward.Eighth camera 58 captures an image ofripper apparatus 10 from a left side.Eighth camera 58 captures an image ofripper apparatus 10 in a direction including a component of the rightward/leftward direction.Eighth camera 58 captures an image ofripper apparatus 10 ahead thereof from an obliquely left side. -
Eighth camera 58 captures an image in a range including at least a portion ofripper apparatus 10. A captured image output byeighth camera 58 may include at least a portion ofripper apparatus 10.Eighth camera 58 corresponds to an imaging device in an embodiment. -
FIGS. 4 to 6 are schematic diagrams showing examples of images captured by eighth camera 58 (or the imaging device). As shown inFIGS. 4-6 ,eighth camera 58 captures an image in a range including at least a portion ofshank 11, at least a portion ofbeam 17, and at least a portion ofripper arm 14.Eighth camera 58 captures an image including information of a tilt angle ofshank 11, an angle ofbeam 17 with respect toripper arm 14, a distance ofripper arm 14 from a ground surface, an angle formed byripper arm 14 with respect to a ground surface, etc. -
Eighth camera 58 further captures an image in a range including at least a portion of tilt cylinder 15 (lefttilt cylinder 15L).Left tilt cylinder 15L includes a cylinder tube 15Ls and a rod 15Lr. Rod 15Lr is supported by cylinder tube 15Ls reciprocatably relative to cylinder tube 15Ls along cylinder tube 15Ls.Eighth camera 58 captures an image in a range including at least a portion of cylinder tube 15Ls and at least a portion of rod 15Lr.Eighth camera 58 captures an image including information of by how much amount lefttilt cylinder 15L extends and contracts, and hence information of a tilt angle ofshank 11. -
Eighth camera 58 further captures an image in a range including at least a portion of lift cylinder 16 (left lift cylinder 16L).Eighth camera 58 captures an image including information of by how much amount leftlift cylinder 16L extends and contracts, and hence information of a distance ofripper arm 14 from a ground surface, an angle formed byripper arm 14 with respect to a ground surface, etc. - With reference to
FIG. 4 , an image 58IMG1 captured byeighth camera 58 shows lift cylinder 16 (left lift cylinder 16L) with a minimal length.Ripper arm 14,beam 17, andshank 11 assume the uppermost position in their possible range of movement in the upward/downward direction. Rippingtip 13 is located away from a ground surface and hence in the air. - With reference to
FIG. 5 , an image 58IMG2 captured byeighth camera 58 shows lift cylinder 16 (orleft lift cylinder 16L) larger in length than inFIG. 4 .Ripper arm 14,beam 17 andshank 11 are positioned below the position shown inFIG. 4 and are close to a ground surface. Althoughshank 11 is hidden bybeam 17 and thus not included in the captured image,shank 11 is present within the range in whicheighth camera 58 captures an image. Rippingtip 13 is still located away from a ground surface, and hence in the air. - With reference to
FIG. 6 , an image 58IMG3 captured byeighth camera 58 shows lift cylinder 16 (left lift cylinder 16L) with a maximal length.Ripper arm 14,beam 17, andshank 11 assume the lowest position in their possible range of movement in the upward/downward direction. Rippingtip 13 is in the ground and thus not included in the captured image, however, rippingtip 13 is present within the range in whicheighth camera 58 captures an image. As compared withFIG. 5 , tilt cylinder 15 (lefttilt cylinder 15L) has rod 15Lr projecting from cylinder tube 15Ls by an increased length, and lefttilt cylinder 15L thus has an increased length. The extension ofleft tilt cylinder 15L changes an angle ofbeam 17 andshank 11 with respect toripper arm 14, and moves rippingtip 13 forward in the ground. - [Display System]
- Hereinafter a display system of an embodiment will be described.
FIG. 7 is a block diagram schematically showing a configuration of a display system according to an embodiment. As shown inFIG. 7 , the display system comprisescrawler dozer 100 described with reference toFIGS. 1 to 3 , and aremote control station 101. -
Crawler dozer 100 has avideo controller 60. First toeighth cameras 51 to 58 are electrically connected tovideo controller 60.Video controller 60 receives from first toeighth cameras 51 to 58 data of an image captured by each camera.Video controller 60 includes anencoder 61 that compresses and encodes the data of the captured image. -
Crawler dozer 100 includes anoperation controller 63.Operation controller 63 controls an operation ofcrawler dozer 100 based on a program stored in a memory (not shown).Operation controller 63 controls an operation of excavatingblade 2 by outputting a control signal to a blade actuator, that is,tilt cylinder 5 and liftcylinder 6. Whentilt cylinder 5 and liftcylinder 6 receive the control signal fromoperation controller 63,tilt cylinder 5 and liftcylinder 6 appropriately extend and contract and thus change a pitch angle of excavatingblade 2 and move excavatingblade 2 up and down. -
Operation controller 63 controls an operation ofripper apparatus 10 by outputting a control signal to a ripper actuator, that is,tilt cylinder 15 andlift cylinder 16. Whentilt cylinder 15 andlift cylinder 16 receive the control signal fromoperation controller 63,tilt cylinder 15 andlift cylinder 16 appropriately extend and contract and accordingly,beam 17 andshank 11 move up and down, and rippingtip 13 at the end ofshank 11 moves up and down and back and forth. -
Operation controller 63 controls traveling ofcrawler dozer 100 by outputting a control signal to atransmission 64 and asteering device 66. -
Crawler dozer 100 has a transmitting/receivingdevice 62.Video controller 60 sends a signal toremote control station 101 and receives a signal fromremote control station 101 via transmitting/receivingdevice 62.Video controller 60 sends data of a captured image output from first toeighth cameras 51 to 58 toremote control station 101 via transmitting/receivingdevice 62. -
Remote control station 101 is located outsidecrawler dozer 100.Remote control station 101 includes adisplay control device 110, a transmitting/receiving device 112, aninput device 114, and adisplay device 120.Display control device 110, transmitting/receivingdevice 112,input device 114, anddisplay device 120 are disposed inremote control station 101 remote fromcrawler dozer 100. -
Display control device 110controls display device 120.Display control device 110 receives a signal fromcrawler dozer 100 and sends a signal tocrawler dozer 100 via transmitting/receivingdevice 112.Display control device 110 receives data of an image captured by first toeighth cameras 51 to 58 fromcrawler dozer 100 via transmitting/receivingdevice 112.Display control device 110 has adecoder 111 that decodes data compressed and encoded byencoder 61. -
Display control device 110 causesdisplay device 120 to display one or more captured images output from one or more of first toeighth cameras 51 to 58. In an embodiment described below,display device 120 is caused to display captured images output from four cameras out of those output from the eight cameras.Input device 114 is a switch that is operated to select a captured image thatdisplay device 120 is to display while the vehicle travels, stops, bulldozes and rips.Display control device 110 receives an input frominput device 114 operated by an operator and causesdisplay device 120 to display a selected, captured image. -
Remote control station 101 also includes aconsole panel 140.Console panel 140 includes ablade operating lever 141, aripper operating lever 142, and asteering lever 143.Blade operating lever 141,ripper operating lever 142, and steeringlever 143 are manipulated by an operator. An operation done to consolepanel 140 is input tooperation controller 63 ofcrawler dozer 100. Whenoperation controller 63 receives the input of the operation ofconsole panel 140,operation controller 63 in response thereto outputs a control signal to the blade actuator, the ripper actuator,transmission 64 orsteering device 66 to operate these actuators. -
Input device 114 andconsole panel 140 are arranged at a hand of an operator who viewsdisplay device 120. The operator can operateinput device 114 andconsole panel 140 to remotely operatecrawler dozer 100 while viewingdisplay device 120. -
FIG. 8 is a schematic diagram showing an example of an image displayed ondisplay device 120.Display control device 110 sets a plurality of divided display sections fordisplay device 120. Fordisplay device 120 shown inFIG. 8 , afront display section 121, arear display section 122, a rippingtip display section 127, and a ripperapparatus display section 128 are set as the plurality of divided display sections.Display device 120 shown inFIG. 8 displays an image to be displayed whileripper apparatus 10 performs a ripping operation. -
Front display section 121 displays a captured image output from first camera 51 (or the front imaging device) that captures an image in a range including a range of a front side of and frontward ofbody 1.Rear display section 122 displays a captured image output from second camera 52 (or the rear imaging device) that captures an image in a range including a range of a rear side of and rearward ofbody 1. Rippingtip display section 127 displays a captured image output from seventh camera 57 (or the ripping tip imaging device) that captures an image in a range including rippingtip 13. Ripperapparatus display section 128 displays a captured image output from eighth camera 58 (or an imaging device) that captures an image in a range including at least a portion ofripper apparatus 10. -
Display control device 110 sets rippingtip display section 127,rear display section 122, and ripperapparatus display section 128 such that the sections are aligned in this order from the left to the right.Display control device 110 setsfront display section 121 above rippingtip display section 127,rear display section 122, and ripperapparatus display section 128 that are aligned. -
Front display section 121 is set in the form of a laterally long rectangle.Rear display section 122 is formed in the same laterally long rectangle asfront display section 121.Front display section 121 andrear display section 122 are set to have the same area.Display control device 110 setsfront display section 121 andrear display section 122 to be vertically aligned such thatfront display section 121 is arranged on an upper side andrear display section 122 is arranged on a lower side.Display control device 110 setsfront display section 121 andrear display section 122 so as to be centered. -
Display control device 110 sets rippingtip display section 127 on a left side of the vertically alignedfront display section 121 andrear display section 122. Rippingtip display section 127 is set in the form of a laterally long rectangle having a smaller area thanrear display section 122. -
Display control device 110 sets ripperapparatus display section 128 on a right side of the vertically alignedfront display section 121 andrear display section 122. Ripperapparatus display section 128 is set in the form of a vertically long rectangle. Ripperapparatus display section 128 is set to be vertically longer thanrear display section 122 and rippingtip display section 127. Ripperapparatus display section 128 is set on a right side ofrear display section 122. An image ofripper apparatus 10 is displayed on a right side of an image of a rear side of and rearward ofbody 1 displayed inrear display section 122. Ripperapparatus display section 128displays ripper apparatus 10 so as to project to the right from a left edge of ripperapparatus display section 128 adjacent torear display section 122. -
Display control device 110 sets a variety of types oficons 131, aninclinometer 132, and atilt indicator 133 at an upper right corner ofdisplay device 120.Inclinometer 132 andtilt indicator 133 indicate a pitch angle and a roll angle ofcrawler dozer 100 with respect to a horizontal plane. A position at whichinclinometer 132 andtilt indicator 133 are displayed is not limited to the upper right corner ofdisplay device 120.Inclinometer 132 andtilt indicator 133 may be superimposed on a captured image and thus displayed.Display control device 110 sets acamera position indicator 134 at an upper left corner ofdisplay device 120. The camera position indicator displays an arrangement of a camera that captures an image currently displayed ondisplay device 120. - Although there is a description which partially overlaps with the above description, a characteristic configuration as well as function and effect of the present embodiment will be summarized as follows:
- As shown in
FIGS. 1 to 3 ,ripper apparatus 10 comprisesshank 11, rippingtip 13 that is attached to an end ofshank 11,beam 17 that supportsshank 11, andripper arm 14 that interconnectsbody 1 andbeam 17.Eighth camera 58images ripper apparatus 10 sideways. As shown inFIGS. 4-6 ,eighth camera 58 captures an image in a range including at least a portion ofshank 11, at least a portion ofbeam 17, and at least a portion ofripper arm 14. - An image captured by
eighth camera 58 includesripper apparatus 10 as viewed sideways. An operator who views the image captured byeighth camera 58 can easily grasp an attitude and movement ofripper apparatus 10. When rippingtip 13 is in the air and thus included in a captured image, the operator can grasp the current position and operation of rippingtip 13 by observing rippingtip 13 in the captured image. Even when rippingtip 13 is in the ground and thus not imaged, the operator can easily estimate the current position and operation of rippingtip 13 by checking the attitude ofripper arm 14 and the position and movement ofbeam 17 relative toripper arm 14. - As shown in
FIGS. 4 to 6 ,eighth camera 58 may capture an image in a range including at least a portion oftilt cylinder 15.Eighth camera 58 may capture an image in a range including cylinder tube 15Ls and rod 15Lr ofleft tilt cylinder 15L. When rippingtip 13 is in the ground and thus not imaged, the operator can easily estimate the current position and operation of rippingtip 13 by checking by how much length rod 15Lr projects from cylinder tube 15Ls ofleft tilt cylinder 15L and how the length varies. - As shown in
FIGS. 4-6 ,eighth camera 58 may capture an image in a range including at least a portion oflift cylinder 16.Eighth camera 58 may capture an image in a range including the cylinder tube and rod ofleft lift cylinder 16L. The operator can easily grasp the current position of rippingtip 13 by checking by how much length the rod projects from the cylinder tube ofleft lift cylinder 16L in addition to whatattitude ripper arm 14 andbeam 17 assume. - As shown in
FIGS. 1 and 2, and 4 to 6 ,eighth camera 58 may imageripper apparatus 10 from a left side. When the operator aboardcab 9 looks back and seesripper apparatus 10, the operator will seeripper apparatus 10 in a direction including a component of the rightward/leftward direction as the driver's seat incab 9 is disposed closer to the left with respect to the center ofbody 1 in the rightward/leftward direction. Specifically, the operator will seeripper apparatus 10 from the left side. Disposingeighth camera 58 at the same position as the viewpoint of the operator aboardcab 9, that is, on the left side ofripper apparatus 10, allows an image captured byeighth camera 58 to match the sense of the operator. The operator can easily grasp the attitude ofripper apparatus 10 by viewing the captured image. - As shown in
FIGS. 1 and 2 ,crawler dozer 100 may further compriseseventh camera 57 that captures an image in a range including rippingtip 13, andsecond camera 52 that captures an image in a range including a range of the rear side of and rearward ofbody 1. The operator can grasp the position of rippingtip 13 with respect to a ground surface by viewing an image captured byseventh camera 57. The operator can grasp topography behindbody 1 and whether any obstacle is present or absent behindbody 1 by viewing an image captured bysecond camera 52. - As shown in
FIG. 7 , the display system comprisescrawler dozer 100 described above anddisplay device 120. As shown inFIG. 8 ,display device 120 simultaneously displays an image captured byseventh camera 57, an image captured bysecond camera 52, and an image captured byeighth camera 58. Whiledisplay device 120 displays an image, the operator can grasp the state of the rear side of and rearward ofbody 1 by viewingrear display section 122 in the image, the position of rippingtip 13 by viewing rippingtip display section 127 in the image, and the attitude ofripper apparatus 10 by viewing ripperapparatus display section 128 in the image. The operator can obtain sufficient information fromdisplay device 120 and perform a ripping operation efficiently and safely. - As shown in
FIG. 8 ,display device 120 may be caused to display an image captured byseventh camera 57, an image captured bysecond camera 52, and an image captured byeighth camera 58 aligned from the left to the right.Rear display section 122 is disposed at a center ofdisplay device 120 between the left and right sides and ripperapparatus display section 128 is disposed on a right side ofrear display section 122, and ripperapparatus display section 128 displays an image ofripper apparatus 10 captured from a left side. This allowsdisplay device 120 to display an image matching the sense of the operator. - As shown in
FIG. 7 ,display device 120 may be disposed outsidecrawler dozer 100. An operator can remotely monitorcrawler dozer 100 by viewingdisplay device 120outside crawler dozer 100. The operator can also remotely operatecrawler dozer 100 while watchingdisplay device 120. - In the above description of the embodiments,
crawler dozer 100 comprisingexcavating blade 2 andripper apparatus 10 has been described as an example of a work machine.Crawler dozer 100 may include other types of rear work implements instead ofripper apparatus 10. For example,crawler dozer 100 may comprise a winch behindbody 1, andeighth camera 58 may be configured to capture an image in a range including the winch. -
Display device 120 may not be disposed outsidecrawler dozer 100. For example, incrawler dozer 100 in whichcab 9 is an operator's cabin,display device 120 of an embodiment may be disposed in the cabin, andvideo controller 60 mounted oncrawler dozer 100 may causedisplay device 120 to display a captured image. The display system of the embodiment may be applied not only to a remotely controlled, unmanned work machine but also to a manned work machine in which an operator aboard the work machine operates the work machine. By monitoringdisplay device 120, the operator aboard the work machine can grasp the attitude ofripper apparatus 10 without looking back. - The work machine is not limited to
crawler dozer 100. For example, the concept of the present disclosure may be applied to other types of work machines, such as a motor grader comprising a blade between front and rear wheels and a ripper apparatus behind the body. When the work machine is an exclusively remotely controlled, unmanned work machine, the work machine may not includecab 9. - While the present invention has been described in embodiments, it should be understood that the embodiments disclosed herein are illustrative and non-restrictive in any respect. The scope of the present invention is indicated by the terms of the claims, and any modifications within the meaning and scope equivalent to the claims are intended to be encompassed.
Claims (8)
1. A work machine comprising:
a body;
a ripper apparatus that is disposed rearward of the body; and
an imaging device that is mounted to the body and captures an image of the ripper apparatus, wherein
the ripper apparatus includes a shank, a ripping tip that is attached to an end of the shank, a beam that supports the shank, and a ripper arm that interconnects the body and the beam, and
the imaging device images the ripper apparatus sideways and captures an image in a range including at least a portion of the shank, at least a portion of the beam, and at least a portion of the ripper arm.
2. The work machine according to claim 1 , wherein
the ripper apparatus further includes a tilt cylinder that causes the ripping tip to reciprocate in a direction toward the body and a direction away from the body, and
the imaging device captures an image in a range including at least a portion of the tilt cylinder.
3. The work machine according to claim 1 , wherein
the ripper apparatus further includes a lift cylinder that causes the ripping tip to move up and down, and
the imaging device captures an image in a range including at least a portion of the lift cylinder.
4. The work machine according to claim 1 , wherein the imaging device images the ripper apparatus on a left side.
5. The work machine according to claim 1 , further comprising:
a ripping tip imaging device that is mounted to the body and captures an image in a range including the ripping tip; and
a rear imaging device that is mounted to the body and captures an image in a range including a range of a rear side of and rearward of the body.
6. A display system comprising:
the work machine according to claim 5 ; and
a display device that simultaneously displays an image captured by the ripping tip imaging device, an image captured by the rear imaging device, and an image captured by the imaging device.
7. The display system according to claim 6 , wherein the display device is caused to display the image captured by the ripping tip imaging device, the image captured by the rear imaging device, and the image captured by the imaging device such that the images are aligned from left to right.
8. The display system according to claim 6 , wherein the display device is disposed outside the work machine.
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JP2022049946A JP2023142831A (en) | 2022-03-25 | 2022-03-25 | Work machine, and display system |
JP2022-049946 | 2022-03-25 |
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US20230304265A1 true US20230304265A1 (en) | 2023-09-28 |
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US18/116,966 Pending US20230304265A1 (en) | 2022-03-25 | 2023-03-03 | Work machine and display system |
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US (1) | US20230304265A1 (en) |
JP (1) | JP2023142831A (en) |
AU (1) | AU2023201379A1 (en) |
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