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EP-4737653-A1 - WORK MACHINE AND WORK SYSTEM

EP4737653A1EP 4737653 A1EP4737653 A1EP 4737653A1EP-4737653-A1

Abstract

Provided are a work machine and a work system each including an imaging device. The work machine includes: a machine body; an attachment attached to the machine body; and an imaging device (76). The attachment includes a rotational-movement part (32), and the imaging device (76) is attached to the rotational-movement part (32) so as to locate at least a part of the imaging device (76) on the lower side of a ventral surface (32b) of the rotational-movement part (32) in the direction of the rotational movement of the rotational-movement part (32) and on the outer side of an end surface (32s) of the rotational-movement part (32) in an attachment width direction.

Inventors

  • ITO, MASARU
  • SEKIZUKA, Ryota

Assignees

  • KOBELCO CONSTRUCTION MACHINERY CO., LTD.

Dates

Publication Date
20260506
Application Date
20241002

Claims (9)

  1. A work machine comprising: a machine body; an attachment attached to a machine body, the attachment including a rotational-movement part that is rotationally movable upward and downward along a vertical motion plane with respect to the machine body; and an imaging device attached to the attachment to capture an image of a periphery of the work machine, wherein the imaging device is attached to the rotational-movement part so as to locate at least a part of the imaging device on a lower side of a ventral surface, which is a lower surface of the rotational-movement part in a direction of a rotational movement of the rotational-movement part, and on an outer side of an end surface of the rotational-movement part in an attachment width direction orthogonal to the motion plane.
  2. The work machine according to claim 1, wherein the imaging device is attached to the rotational-movement part so as to locate a center of an imaging range of the imaging device on an outer side of the rotational-movement part in the attachment width direction.
  3. The work machine according to claim 1, wherein the attachment includes a boom attached to the machine body so as to be vertically rotationally movable along the motion plane, an arm attached to the boom so as to be vertically rotationally movable along the motion plane, and a distal attachment attached to the arm so as to be rotationally movable, and the imaging device is attached to the arm.
  4. The work machine according to claim 1, wherein the imaging device is attached to the rotational-movement part so as to render an imaging direction of the imaging device coincident with a direction toward a distal end of the attachment.
  5. The work machine according to claim 1, wherein the imaging device is attached to the rotational-movement part so as to allow an imaging range of the imaging device to include an imaging target part of the attachment and so as to allow an image of the imaging target part to be kept at a fixed position in the imaging range regardless of a posture of the attachment.
  6. The work machine according to claim 1, further comprising a frontward imaging device that is attached to the machine body to capture an image of an area frontward of the machine body.
  7. A work system comprising: a work machine according to any one of claims 1 to 6; and a display device that displays an image captured by the imaging device.
  8. The work system according to claim 7, further comprising a remote operation device for remotely operating the work machine.
  9. The work system according to claim 7, wherein the display device is configured to simulatively display a motion of the work machine in a virtual space.

Description

Technical Field The present invention relates to a work machine and a work system including an imaging device. Background Art Each of Patent Documents 1 to 3 discloses a camera that is an imaging device attached to a work machine. Patent Literature 1 discloses a pair of cameras provided on a boom, the pair of cameras arranged to stereo-image the bucket from above with a visual field that allows the image of the situation of the entire bucket in an upward state to be captured. Patent Document 2 discloses a camera attached to an arm of a work machine so as to image a work area substantially from directly above. Patent Literature 3 discloses a camera attached to an arm so as to image the inside of a dug hole. However, the camera disclosed in each of Patent Documents 1 to 3, attached to the ventral surface or the side surface of an attachment of a work machine, is hard to give a sufficient visual field. For example, the visual field of a camera attached to the ventral surface of an attachment is likely to be blocked by the ventral surface, and the visual field of the camera attached to the side surface of the attachment is likely to be blocked by the side surface. Making an image device include a plurality of cameras in order to secure a large imaging range involves a cost which is increased with an increase in the number of the plurality of cameras. Citation List Patent Literature Patent Literature 1: Japanese Unexamined Patent Publication No. 2008-241300Patent Literature 2: International Publication No. 2013/099491Patent Literature 3: Japanese Unexamined Patent Publication No. 2016-186205 Summary of Invention It is an object of the present invention to provide a work machine and a work system each including an imaging device allowed to have a large imaging range. Provided is a work machine including a machine body, an attachment attached to the machine body, and an imaging device attached to the attachment to capture an image of a periphery of the work machine. The attachment includes a rotational-movement part, which is rotationally movable upward and downward along a vertical motion plane with respect to the machine body. The imaging device is attached to the rotational-movement part so as to locate at least a part of the imaging device on a lower side of a ventral surface, which is a lower surface of the rotational-movement part in a direction of the rotational movement of the rotational-movement part, and on an outer side of an end surface of the rotational-movement part in an attachment width direction orthogonal to the motion plane. Brief Description of Drawings FIG. 1 is a diagram showing a work system according to an embodiment of the present invention.FIG. 2 is a perspective view of a work machine included in the work system as viewed obliquely from above.FIG. 3 is an enlarged view of the part enclosed with a circle III in FIG. 2.FIG. 4 is a side view showing a distal-end-side part of an arm in the work machine.FIG. 5 is a cross-sectional view taken along line V-V in FIG. 4.FIG. 6 is a side view of the work machine, showing a state where the arm of the work machine is in a vertical posture.FIG. 7 is a view showing an image captured by an attachment imaging device attached to the arm in the state shown in FIG. 6.FIG. 8 is a side view of the work machine, showing a state where the arm has been moved in an arm crowd direction from the vertical posture.FIG. 9 is a view showing an image taken by the attachment imaging device in the state shown in FIG. 8.FIG. 10 is a side view of the work machine, showing a state where the arm has been moved from the vertical posture in an arm dump direction.FIG. 11 is a view showing an image taken by the attachment imaging device in the state shown in FIG. 10.FIG. 12 is a side view of the work machine, showing a state where the arm has been further moved in an arm dump direction from the posture shown in FIG. 10.FIG. 13 is a view showing an image captured by the attachment imaging device in the state shown in FIG. 12.FIG. 14 is a front view showing a plurality of monitors included in the work system.FIG. 15 is a block diagram showing functions of the work system.FIG. 16 is a front view showing a monitor included in a simulator.FIG. 17 is an enlarged view of the part enclosed with a rectangle XVII in FIG. 16. Detailed Description Hereinafter will be described preferred embodiments of the present invention with reference to the drawings. FIG. 1 shows a work system 100 according to an embodiment of the present invention. The work system 100 includes an operation device 1 and a work machine 20. The operation device 1 is a device for operating the work machine 20, for example, a cockpit constituting a remote operation device. The operation device 1 enables an operator to remotely operate the work machine 20 by applying an appropriate operation to the operation device 1. The operation device 1 may be configured to be selectively connected to a plurality of work machines 20. In