Field
[0001] The present disclosure relates to a work machine monitoring system and a work machine
monitoring method. Background
[0002] In a technical field related to a work machine, a work machine disclosed in Patent
Literature 1 is known.
Citation List
Patent Literature
Summary
Technical Problem
[0004] A work machine includes working equipment. There is a possibility that at least a
part of the working equipment is lost during the work.
[0005] An object of the present disclosure is to monitor a defect in the working equipment.
Solution to Problem
[0006] In order to achieve an aspect of the present invention, a monitoring system for a
work machine, comprises: a measurement data acquisition unit configured to acquire
measurement data of working equipment included in the work machine at a predetermined
sampling rate; a defect determination unit configured to determine, in the measurement
data, presence or absence of a defect in the working equipment; a counting unit configured
to count a number of defect determination samples indicating the measurement data
in which it is determined to have the defect; and a warning control unit configured
to change a pattern of a warning output from an output device based on the number
of defect determination samples.
Advantageous Effects of Invention
[0007] According to the present disclosure, it is possible to monitor a defect in working
equipment.
Brief Description of Drawings
[0008]
FIG. 1 is a side view illustrating a work machine according to an embodiment.
FIG. 2 is a top view illustrating the work machine according to the embodiment.
FIG. 3 is a front view illustrating the work machine according to the embodiment.
FIG. 4 is a diagram illustrating a driving room of a cab according to the embodiment.
FIG. 5 is an enlarged front view of a part of the work machine according to the embodiment.
FIG. 6 is a diagram illustrating a drive system of the work machine according to the
embodiment.
FIG. 7 is a diagram illustrating an operation of working equipment according to the
embodiment.
FIG. 8 is a diagram illustrating the operation of the work machine according to the
embodiment.
FIG. 9 is a side view illustrating the work machine that performs a loading work according
to the embodiment.
FIG. 10 is a top view illustrating the work machine that performs the loading work
according to the embodiment.
FIG. 11 is a diagram illustrating an example of imaging data imaged by a first imaging
device on the left according to the embodiment.
FIG. 12 is a diagram illustrating an example of imaging data imaged by a second imaging
device on the left according to the embodiment.
FIG. 13 is a functional block diagram illustrating a monitoring system according to
the embodiment.
FIG. 14 is a diagram illustrating a defect determination method by a defect determination
unit according to the embodiment.
FIG. 15 is a diagram illustrating the defect determination method by the defect determination
unit according to the embodiment.
FIG. 16 is a diagram illustrating the defect determination method by the defect determination
unit according to the embodiment.
FIG. 17 is a diagram illustrating the defect determination method by the defect determination
unit according to the embodiment.
FIG. 18 is a diagram illustrating the defect determination method by the defect determination
unit according to the embodiment.
FIG. 19 is a diagram illustrating an example of a no-defect determination frame according
to the embodiment.
FIG. 20 is a diagram illustrating an example of a defect determination frame according
to the embodiment.
FIG. 21 is a diagram illustrating an example of a symbol indicating a bucket tooth
displayed on a display device according to the embodiment.
FIG. 22 is a diagram illustrating a relationship between the defect determination
frame and a warning pattern according to the embodiment.
FIG. 23 is a diagram illustrating determination criteria according to the embodiment.
FIG. 24 is a diagram illustrating warning criteria according to the embodiment.
FIG. 25 is a diagram illustrating an example of a setting screen of the determination
criteria and the warning criteria according to the embodiment.
FIG. 26 is a flowchart illustrating a defect monitoring method of the working equipment
according to the embodiment.
FIG. 27 is a flowchart illustrating a method of monitoring a boulder on a ground according
to the embodiment.
FIG. 28 is a diagram illustrating an example of an output device according to the
embodiment.
FIG. 29 is a diagram illustrating an example of the output device according to the
embodiment.
FIG. 30 is a block diagram illustrating a computer system according to the embodiment.
FIG. 31 is a diagram illustrating an operation of a work machine according to another
embodiment.
FIG. 32 is a diagram illustrating a monitoring system according to another embodiment.
Description of Embodiments
[0009] Hereinafter, embodiments according to the present disclosure will be described with
reference to the drawings. However, the present disclosure is not limited to the embodiments.
Components of the embodiments described below can be appropriately combined. Further,
some components may not be used.
[Work machine]
[0010] FIG. 1 is a side view illustrating a work machine 1 according to an embodiment. FIG.
2 is a top view illustrating the work machine 1 according to the embodiment. FIG.
3 is a front view illustrating the work machine 1 according to the embodiment.
[0011] The work machine 1 works at a work site. In the embodiment, the work machine 1 is
a wheel loader that is a kind of articulated work machine. The work machine 1 performs
an excavation work of excavating an excavation target and a loading work of loading
an excavated object excavated by the excavation work onto a loading target.
[0012] As illustrated in FIGS. 1, 2, and 3, the work machine 1 includes a vehicle body 2,
a cab 3, a traveling device 4, a front fender 7, a support 8, a housing 9, and working
equipment 10.
[0013] The vehicle body 2 includes a front vehicle body 2F and a rear vehicle body 2R. The
front vehicle body 2F and the rear vehicle body 2R are connected via a joint mechanism
2A.
[0014] The cab 3 is supported by the vehicle body 2. The cab 3 is provided with a driving
room. A driver's seat is provided in the driving room. The work machine 1 is operated
by a driver on the cab 3.
[0015] The traveling device 4 supports the vehicle body 2 and travels on a ground 200 of
a work site. The traveling device 4 includes a wheel 5 and a tire 6. The tire 6 is
mounted on the wheel 5. The wheel 5 includes a front wheel 5F supported by the front
vehicle body 2F and a rear wheel 5R supported by the rear vehicle body 2R. The tire
6 includes a front tire 6F mounted onto the front wheel 5F and a rear tire 6R mounted
onto the rear wheel 5R.
[0016] The front wheel 5F and the front tire 6F are rotatable about a rotation axis FX.
The rear wheel 5R and the rear tire 6R are rotatable about a rotation axis RX.
[0017] In the embodiment, a direction parallel to the rotation axis FX of the front wheel
5F is referred to as a vehicle width direction as appropriate. A direction orthogonal
to a ground contact surface of the front tire 6F in contact with the ground 200 is
referred to as a vertical direction as appropriate. A direction orthogonal to both
the vehicle width direction and the vertical direction is referred to as a front-back
direction as appropriate. When the vehicle body 2 of the work machine 1 travels straight,
the rotation axis FX and the rotation axis RX are parallel to each other.
[0018] In the embodiment, a position or a direction close to a center CL of the work machine
1 in the vehicle width direction of the work machine 1 is referred to as an inner
side in the vehicle width direction as appropriate, and a position or a direction
far from the center CL is referred to as an outer side in the vehicle width direction
as appropriate.
[0019] One side of the center CL of the work machine 1 in the vehicle width direction is
left, and an opposite side of the left is right. A position or a direction close to
the working equipment 10 with reference to the driver's seat of the cab 3 in the front-back
direction is front, and an opposite side of the front is rear. A position or a direction
close to the ground contact surface of the front tire 6F in the vertical direction
is bottom, and an opposite side of the bottom is top.
[0020] The rear vehicle body 2R is disposed behind the front vehicle body 2F. The front
vehicle body 2F is bent leftward and rightward with respect to the rear vehicle body
2R. The rear wheel 5R is disposed behind the front wheel 5F. The rear tire 6R is disposed
behind the front tire 6F. The front wheel 5F and the front tire 6F are disposed on
the left side and the right side of the center CL of the work machine 1 in the vehicle
width direction of the work machine 1. The rear wheel 5R and the rear tire 6R are
disposed on the left side and the right side of the center CL of the work machine
1 in the vehicle width direction of the work machine 1.
[0021] The tires 6 are rotating members that rotate in contact with the ground 200. The
work machine 1 travels on the ground 200 by the rotation of the tires 6. The front
tire 6F is a front rotating member that rotates in contact with the ground 200. The
rear tire 6R is a rear rotating member that is disposed behind the front tire 6F and
rotates in contact with the ground 200.
[0022] The front fender 7 prevents earth and sand scattered from the ground 200 during traveling
of the work machine 1 from hitting the vehicle body 2 and the cab 3. A part of the
front fender 7 is disposed above the front tire 6F. A part of the front fender 7 is
disposed on the rear side of the front tire 6F. The front fender 7 is disposed on
each of the left side and the right side of the center CL of the work machine 1 in
the vehicle width direction of the work machine 1. The front fender 7 on the left
side is attached to a left part of the front vehicle body 2F. The front fender 7 on
the right side is attached to a right part of the front vehicle body 2F.
[0023] The support 8 is a rod-shaped member. A lower end of the support 8 is fixed to the
front vehicle body 2F. The support 8 is inclined upward toward the front and outward
in the vehicle width direction. The support 8 is disposed on each of the left side
and the right side of the center CL of the work machine 1 in the vehicle width direction
of the work machine 1. A lower end of the support 8 on the left side is fixed to the
left part of the front vehicle body 2F. The support 8 on the left side is inclined
upward to the front and left. A lower end of the support 8 on the right side is fixed
to the right part of the front vehicle body 2F. The support 8 on the right side is
inclined upward to the front and right.
[0024] The housing 9 is fixed to an upper end of the support 8. The housing 9 is supported
by the front vehicle body 2F via the support 8. In the front-back direction, the housing
9 is disposed between the joint mechanism 2A and a front end of the front vehicle
body 2F. In the vertical direction, the housing 9 is disposed between an upper end
of the cab 3 and the upper end of the front vehicle body 2F. The housing 9 is disposed
on each of the left side and the right side of the center CL of the work machine 1
in the vehicle width direction of the work machine 1. The housing 9 on the left side
is fixed to the upper end of the support 8 on the left side. The housing 9 on the
right side is fixed to the upper end of the support 8 on the right side. The housing
9 on the left side is disposed above the front fender 7 on the left side. The housing
9 on the right side is disposed above the front fender 7 on the right side.
[0025] The working equipment 10 operates in the excavation work and the loading work. The
working equipment 10 is connected to the front vehicle body 2F. At least a part of
the working equipment 10 is disposed on the front side of the front wheel 5F. The
working equipment 10 includes a boom 11, a bucket 12, a bell crank 15, and a bucket
link 16.
[0026] The boom 11 is rotatably connected to the front vehicle body 2F. The boom 11 connects
the front vehicle body 2F and the bucket 12. The boom 11 is operated by a driving
force generated by a boom cylinder 13. The boom cylinder 13 is a hydraulic cylinder.
One end of the boom cylinder 13 is connected to the front vehicle body 2F. The other
end of the boom cylinder 13 is connected to the boom 11. The boom cylinder 13 is disposed
on each of the left side and the right side of the center CL of the work machine 1
in the vehicle width direction of the work machine 1.
[0027] The bucket 12 excavates the excavation target. The bucket 12 is rotatably connected
to a tip end of the boom 11. The bucket 12 is disposed on the front side from the
front wheel 5F. The bucket 12 is operated by a driving force generated by a bucket
cylinder 14. The bucket cylinder 14 is a hydraulic cylinder. A center of the bell
crank 15 is rotatably connected to the boom 11. One end of the bucket cylinder 14
is connected to the front vehicle body 2F. The other end of the bucket cylinder 14
is connected to one end of the bell crank 15. The other end of the bell crank 15 is
connected to the bucket 12 via the bucket link 16. One bucket cylinder 14 is disposed
at the center in the vehicle width direction.
[0028] The bucket 12 includes a bucket body 17, a bucket tooth 18, and an inter-tooth protector
19.
[0029] The bucket body 17 holds the excavated object. The bucket body 17 includes a lower
plate 17A, an upper plate 17B, a left plate 17C, and a right plate 17D. A holding
space in which the excavated object is accommodated is formed by the lower plate 17A,
the upper plate 17B, the left plate 17C, and the right plate 17D. A tip end of the
lower plate 17A and a tip end of the upper plate 17B extend in the vehicle width direction.
Each of a tip end of the left plate 17C and a tip end of the right plate 17D extends
in the vertical direction or the front-back direction. An opening 12M of the bucket
12 is defined by the tip end of the lower plate 17A, the tip end of the upper plate
17B, the tip end of the left plate 17C, and the tip end of the right plate 17D. The
excavated object can enter a holding space of the bucket 12 through the opening 12M.
[0030] As illustrated in FIGS. 2 and 3, ends 12E on both sides in the vehicle width direction
of the bucket body 17 are disposed outside the tires 6 in the vehicle width direction.
A distance in the vehicle width direction between the left end 12E and the right end
12E is larger than a distance in the vehicle width direction between a left side surface
of the tire 6 on the left side and a right side surface of the tire 6 on the right
side.
[0031] The bucket tooth 18 is a blade edge of the bucket 12. The bucket tooth 18 is attached
to the bucket body 17. The bucket tooth 18 is attached to the tip end of the lower
plate 17A. A plurality of bucket teeth 18 is attached to the bucket body 17. The plurality
of bucket teeth 18 is arranged at intervals in the vehicle width direction.
[0032] The bucket tooth 18 is a replacement member that is attached to the bucket body 17
in a replaceable manner. For example, the bucket tooth 18 is fixed to the bucket body
17 by a bolt. When the fixing by the bolt is released, the bucket tooth 18 can be
detached from the bucket body 17.
[0033] In the embodiment, eight bucket teeth 18 are arranged at intervals in the vehicle
width direction. The bucket teeth 18 include a bucket tooth 181 arranged on the leftmost
side, a bucket tooth 182 arranged on the left side next to the bucket tooth 181, a
bucket tooth 183 arranged on the left side next to the bucket tooth 182, a bucket
tooth 184 arranged on the left side next to the bucket tooth 183, a bucket tooth 185
arranged on the left side next to the bucket tooth 184, a bucket tooth 186 arranged
on the left side next to the bucket tooth 185, a bucket tooth 187 arranged on the
left side next to the bucket tooth 186, and a bucket tooth 188 arranged on the rightmost
side.
[0034] An inter-tooth protector 19 protects the tip end of the lower plate 17A. The inter-tooth
protector 19 is attached to the bucket body 17. The inter-tooth protector 19 is arranged
between a pair of bucket teeth 18 adjacent to each other. The inter-tooth protector
19 is attached to the tip end of the lower plate 17A. A plurality of inter-tooth protectors
19 is attached to the bucket body 17. The plurality of inter-tooth protectors 19 is
arranged at intervals in the vehicle width direction.
[0035] The inter-tooth protector 19 is a replacement member that is attached to the bucket
body 17 in a replaceable manner. For example, the inter-tooth protector 19 is fixed
to the bucket body 17 by a bolt. When the fixing by the bolt is released, the inter-tooth
protector 19 can be detached from the bucket body 17.
[0036] In the embodiment, seven inter-tooth protectors 19 are arranged at intervals in the
vehicle width direction. The inter-tooth protectors 19 include an inter-tooth protector
191 arranged on the leftmost side, an inter-tooth protector 192 arranged on the left
side next to the inter-tooth protector 191, an inter-tooth protector 193 arranged
on the left side next to the inter-tooth protector 192, an inter-tooth protector 194
arranged on the left side next to the inter-tooth protector 193, an inter-tooth protector
195 arranged on the left side next to the inter-tooth protector 194, an inter-tooth
protector 196 arranged on the left side next to the inter-tooth protector 195, and
an inter-tooth protector 197 arranged on the rightmost side.
[Driving room]
[0037] FIG. 4 is a diagram illustrating the driving room of the cab 3 according to the embodiment.
FIG. 4 is a diagram schematically illustrating a view seen from a driver seated on
the driver's seat in the driving room.
[0038] A driving operation device 20, an operation panel 21, a monitor device 22, a rear
view monitor device 23, an output device 24, and an input device 25 are disposed in
the driving room. The driving operation device 20 is operated by the driver. The driving
operation device 20 includes an accelerator pedal 20A and a pair of brake pedals 20B.
Although not illustrated, the driving operation device 20 includes a steering lever,
a shift lever, a forward/backward changeover switch, and a work lever. A traveling
speed of the work machine 1 increases by operating the accelerator pedal 20A. The
traveling speed of the work machine 1 decreases or traveling of the work machine 1
stops by operating the brake pedal 20B. The work machine 1 swings by operating the
steering lever. A speed stage of the work machine 1 changes by operating the shift
lever. A traveling direction of the work machine 1 is switched between forward and
backward directions by operating the forward/backward changeover switch. The working
equipment 10 moves by operating the work lever.
[0039] The output device 24 provides output data to the driver. The output data includes
a warning. The output device 24 includes a display device 24A and a sound generator
24B.
[0040] The display device 24A provides display data to the driver as the output data. As
the display device 24A, a flat panel display such as a liquid crystal display (LCD)
or an organic electroluminescence display (OELD) is exemplified.
[0041] The sound generator 24B provides sound data to the driver as the output data. As
the sound generator 24B, a buzzer or a speaker is exemplified.
[0042] The input device 25 is operated by the driver to generate input data. As the input
device 25, a button or a keyboard is exemplified. Note that the input device 25 may
include, for example, a touch panel.
[0043] A windshield is provided at the front of the driving room. The windshield is attached
to a pillar 27 of the driving room. In the embodiment, the output device 24 is supported
by the pillar 27.
[Measuring device]
[0044] FIG. 5 is an enlarged front view of a part of the work machine 1 according to the
embodiment. As illustrated in FIGS. 3 and 5, the work machine 1 includes a headlight
28, a blinker lamp 29, a first measuring device 31, and a second measuring device
32.
[0045] The headlight 28 emits illumination light forward to illuminate an illumination area
in front of the front vehicle body 2F. The headlight 28 is held by the housing 9.
The headlight 28 is disposed on each of the left side and the right side of the center
CL of the work machine 1 in the vehicle width direction of the work machine 1. The
headlight 28 on the left side is held by the housing 9 on the left side. The headlight
28 on the right side is held by the housing 9 on the right side.
[0046] The blinker lamp 29 is turned on or blinks to display a swing direction of the work
machine 1. The blinker lamp 29 is held by the housing 9. The blinker lamp 29 is disposed
on each of the left side and the right side of the center CL of the work machine 1
in the vehicle width direction of the work machine 1. The blinker lamp 29 on the left
side is held by the housing 9 on the left side. The blinker lamp 29 on the right side
is held by the housing 9 on the right side. The blinker lamp 29 is disposed outside
the headlight 28 in the vehicle width direction of the work machine 1.
[0047] The first measuring device 31 measures the working equipment 10. The first measuring
device 31 acquires measurement data of the working equipment 10. In the embodiment,
the first measuring device 31 is an imaging device that captures an image of the working
equipment 10. The measurement data of the working equipment 10 includes image data
of the working equipment 10. In the following description, the first measuring device
31 is referred to as a first imaging device 31 as appropriate.
[0048] The second measuring device 32 measures the ground 200 on which the work machine
1 travels. The second measuring device 32 acquires measurement data of the ground
200. In the embodiment, the second measuring device 32 is an imaging device that captures
an image of the ground 200. The measurement data of the ground 200 includes image
data of the ground 200. In the following description, the second measuring device
32 is referred to as a second imaging device 32 as appropriate.
[0049] Each of the first imaging device 31 and the second imaging device 32 includes an
optical system and an image sensor into which light having passed through the optical
system enters. As the image sensor, a couple charged device (CCD) image sensor or
a complementary metal oxide semiconductor (CMOS) image sensor is exemplified.
[0050] Each of the first imaging device 31 and the second imaging device 32 is disposed
in the housing 9. In the vehicle width direction of the work machine 1, each of the
first imaging device 31 and the second imaging device 32 is disposed outside the headlight
28. In the housing 9, the second imaging device 32 is disposed above the first imaging
device 31.
[0051] The first imaging device 31 is disposed on each of the left side and the right side
of the center CL of the work machine 1 in the vehicle width direction of the work
machine 1. The first imaging device 31 is disposed in each of the housing 9 on the
left side and the housing 9 on the right side. The first imaging device 31 includes
a first imaging device 31L arranged on the left side of the center CL and a first
imaging device 31R arranged on the right side of the center CL.
[0052] The second imaging device 32 is disposed on each of the left side and the right side
of the center CL of the work machine 1 in the vehicle width direction of the work
machine 1. The second imaging device 32 is disposed in each of the housing 9 on the
left side and the housing 9 on the right side. The second imaging device 32 includes
a second imaging device 32L arranged on the left side of the center CL and a second
imaging device 32R arranged on the right side of the center CL.
[Drive system]
[0053] FIG. 6 is a diagram illustrating a drive system 40 of the work machine 1 according
to the embodiment. The drive system 40 includes an engine 41, a fuel injection device
42, a power take off (PTO) 43, a transmission 44, a front axle 45F, a rear axle 45R,
a hydraulic pump 46, a control valve 47, and a drive controller 48.
[0054] The engine 41 is, for example, a diesel engine. The fuel injection device 42 injects
fuel into a cylinder of the engine 41. A driving force of the engine 41 is adjusted
by adjusting an amount of fuel injected from the fuel injection device 42 to the engine
41.
[0055] The power take-off 43 distributes the driving force of the engine 41 to the transmission
44 and the hydraulic pump 46. The driving force of the engine 41 is transmitted to
the transmission 44 and the hydraulic pump 46 via the power take-off 43.
[0056] The transmission 44 includes an input shaft to which the driving force of the engine
41 is input and an output shaft that changes a speed of the driving force input to
an input shaft and outputs the changed speed. The input shaft of the transmission
44 is connected to the power take-off 43. The output shaft of the transmission 44
is connected to each of the front axle 45F and the rear axle 45R. The driving force
of the engine 41 is transmitted to each of the front axle 45F and the rear axle 45R
via the power take-off 43 and the transmission 44.
[0057] The transmission 44 switches the traveling direction of the work machine 1 between
the forward and backward directions. The transmission 44 includes a forward gear 44F
and a reverse gear 44R. When the forward gear 44F is engaged, the traveling direction
of the work machine 1 is determined to be the forward direction. When the reverse
gear 44R is engaged, the traveling direction of the work machine 1 is determined to
be the backward direction.
[0058] The front axle 45F transmits the driving force transmitted from the transmission
44 to the front wheel 5F. The front wheel 5F rotates according to the driving force
transmitted from the front axle 45F.
[0059] The rear axle 45R transmits the driving force transmitted from the transmission 44
to the rear wheel 5R. The rear wheel 5R rotates according to the driving force transmitted
from the rear axle 45R.
[0060] When the forward gear 44F is engaged, the work machine 1 can move forward. When the
accelerator pedal 20A is operated and the driving force of the engine 41 is transmitted
to each of the front axle 45F and the rear axle 45R via the transmission 44 in a state
the forward gear 44F is engaged, the work machine 1 moves forward. Note that, for
example, in a state the brake pedal 20B is operated, the work machine 1 does not move
forward even in the state the forward gear 44F is engaged.
[0061] When the reverse gear 44R is engaged, the work machine 1 can move backward. When
the accelerator pedal 20A is operated and the driving force of the engine 41 is transmitted
to each of the front axle 45F and the rear axle 45R via the transmission 44 in a state
the reverse gear 44R is engaged, the work machine 1 moves backward. Note that, for
example, in a state the brake pedal 20B is operated, the work machine 1 does not move
backward even in the state the reverse gear 44R is engaged.
[0062] The hydraulic pump 46 discharges hydraulic oil. The hydraulic pump 46 is a variable
displacement hydraulic pump. The hydraulic pump 46 is driven according to the driving
force of the engine 41. The hydraulic oil discharged from the hydraulic pump 46 is
supplied to at least one of the boom cylinder 13 and the bucket cylinder 14 via the
control valve 47.
[0063] The control valve 47 controls a flow rate and a direction of the hydraulic oil supplied
to each of the boom cylinder 13 and the bucket cylinder 14. The working equipment
10 is operated by the hydraulic oil supplied from the hydraulic pump 46 via the control
valve 47.
[0064] The drive controller 48 controls the work machine 1 according to an operation signal
output from the driving operation device 20. The drive controller 48 includes a computer
system.
[Operation of working equipment]
[0065] FIG. 7 is a diagram illustrating the operation of the working equipment 10 according
to the embodiment. In the embodiment, the working equipment 10 is a front-loading
type working equipment in which the opening 12M of the bucket 12 is directed forward
in the excavation work.
[0066] When the boom cylinder 13 extends and contracts, the boom 11 rises or lowers.
[0067] The rising operation of the boom 11 refers to an operation in which the boom 11 rotates
such that the tip end of the boom 11 is separated from the ground 200. When the boom
cylinder 13 extends, the boom 11 rises.
[0068] The lowering operation of the boom 11 refers to an operation in which the boom 11
rotates such that the tip end of the boom 11 approaches the ground 200. When the boom
cylinder 13 contracts, the boom 11 lowers.
[0069] When the bucket cylinder 14 expands and contracts, the bucket 12 performs a tilting
or dumping operation.
[0070] The tilting operation of the bucket 12 refers to an operation in which the bucket
12 rotates such that the tip end of the bucket 12 is separated from the ground 200
in a state the opening 12M of the bucket 12 faces upward. As the bucket cylinder 14
extends, the bell crank 15 rotates such that an upper end of the bell crank 15 moves
forward and a lower end of the bell crank 15 moves backward. As the lower end of the
bell crank 15 moves backward, the bucket 12 is pulled backward by the bucket link
16 and tilts. When the bucket 12 performs the tilting operation, the excavation target
is scooped by the bucket 12, and the excavated object is held by the bucket 12.
[0071] The dumping operation of the bucket 12 refers to an operation in which the bucket
12 rotates such that the tip end of the bucket 12 approaches the ground 200 in a state
the opening 12M of the bucket 12 faces downward. As the bucket cylinder 14 contracts,
the bell crank 15 rotates such that the upper end of the bell crank 15 moves backward
and the lower end of the bell crank 15 moves forward. When the lower end of the bell
crank 15 moves forward, the bucket 12 is pushed forward by the bucket link 16 and
performs the dumping operation. When the bucket 12 performs the dumping operation,
the excavated object held by the bucket 12 is discharged from the bucket 12.
[Operation of work machine]
[0072] FIG. 8 is a diagram illustrating the operation of the work machine 1 according to
the embodiment. The work machine 1 performs the excavation work and the loading work
at a work site.
[0073] The excavation work is to excavate the excavation target. Examples of the excavation
target include natural grounds and rock piles. A natural ground is a pile formed of
earth and sand placed on the ground 200. A rock pile is a pile formed of rocks or
stones placed on the ground 200. In the embodiment, the excavation target is a natural
ground 210. The excavated object is a part of the natural ground 210 excavated and
held by the bucket 12.
[0074] The loading work is to load the excavated object excavated by the excavation work
onto a loading target. Examples of the loading target include a haul vehicle, a hopper,
and a belt conveyor. In the embodiment, the loading target is a dump body 230 of a
dump truck 220 that is one type of the haul vehicle.
[0075] The work machine 1 is operated by the driver to perform a cycle work of repeating
a series of work modes. The cycle work includes a plurality of mutually related work
modes. The cycle work includes traveling of the traveling device 4 and the operation
of the working equipment 10.
[0076] In the embodiment, the cycle work includes six work modes. In the embodiment, a series
of work modes of the work machine 1 includes an unloaded forward mode, an excavation
mode, a loaded backward mode, a loaded forward mode, a loading mode, and an unloaded
backward mode.
[0077] The order of the series of work modes is fixed. After the unloaded forward mode is
performed, the excavation mode is performed. After the excavation mode is performed,
the loaded backward mode is performed. After the loaded backward mode is performed,
the loaded forward mode is performed. After the loaded forward mode is performed,
the loading mode is performed. After the loading mode is performed, the unloaded backward
mode is implemented.
[0078] The unloaded forward mode is a work mode in which the work machine 1 moves forward
so as to approach the excavation target in a state no excavated object is held in
the bucket 12. In the unloaded forward mode, the work machine 1 moves forward so as
to approach the natural ground 210 as indicated by an arrow M1 in FIG. 8 in the state
no excavated object is held in the bucket 12.
[0079] The excavation mode is a work mode in which the bucket 12 of the working equipment
10 excavates the excavation target. In the excavation mode, the excavation work is
performed. The natural ground 210 is excavated by the bucket 12 and the excavated
object is held in the bucket 12 by tilting the bucket 12 in a state that at least
a part of the bucket 12 is inserted into the natural ground 210.
[0080] The loaded backward mode is a work mode in which the work machine 1 moves backward
so as to be separated from the excavation target in a state that the bucket 12 holds
the excavated object. In the loaded backward mode, the work machine 1 moves backward
so as to be separated from the natural ground 210 as indicated by an arrow M2 in FIG.
8 in the state that the bucket 12 holds the excavated object.
[0081] The loaded forward mode is a work mode in which the work machine 1 moves forward
so as to approach the loading target in the state that the bucket 12 holds the excavated
object. In the loaded forward mode, the work machine 1 moves forward while swinging
toward the dump truck 220 as indicated by an arrow M3 in FIG. 8 in the state that
the bucket 12 holds the excavated object. In a state that the work machine 1 moves
forward toward the dump truck 220, the boom 11 rises so that the bucket 12 is located
above the dump body 230.
[0082] The loading mode is a work mode in which the excavated object held in the bucket
12 of the working equipment 10 is loaded onto the loading target. In the loading mode,
the loading work is performed. After the bucket 12 is located above the dump body
230, the bucket 12 performs the dumping operation, whereby the excavated object held
in the bucket 12 is discharged from the bucket 12 and loaded into the dump body 230.
[0083] The unloaded backward mode is a work mode in which the work machine 1 moves backward
so as to be separated from the loading target in the state no excavated object is
held in the bucket 12. The work machine 1 moves backward while swinging so as to be
separated from the dump truck 220 as indicated by an arrow M4 in FIG. 8 in the state
no excavated object is held in the bucket 12.
[0084] The work machine 1 repeats the cycle work including the unloaded forward mode, the
excavation mode, the loaded backward mode, the loaded forward mode, the loading mode,
and the unloaded backward mode until a target loading amount of the excavated object
is loaded onto the dump body 230.
[Measuring range]
[0085] FIG. 9 is a side view illustrating the work machine 1 that performs the loading work
according to the embodiment. FIG. 10 is a top view illustrating the work machine 1
that performs the loading work according to the embodiment.
[0086] As illustrated in FIGS. 9 and 10, when the excavated object is loaded onto the dump
body 230 of the dump truck 220, the work machine 1 performs the rising operation of
the boom 11 so that the bucket 12 is located above the dump body 230. After the boom
11 rises and the bucket 12 is located above the dump body 230, the work machine 1
causes the bucket 12 to perform the dumping operation. The bucket 12 performs the
dumping operation such that the excavated object held in the bucket 12 is discharged
to the dump body 230 of the dump truck 220 in a state that the boom 11 is raised.
The first imaging device 31 images at least the bucket 12 performing the dumping operation
in order to discharge the excavated object to the dump body 230. By the dumping operation
of the bucket 12, the excavated object held in the bucket 12 is discharged from the
bucket 12 and loaded into the dump body 230.
[0087] A measuring range Ra of the first imaging device 31 includes an imaging range of
the first imaging device 31. The measuring range Ra is determined based on a first
angle of view α indicating an angle of view of an optical system of the first imaging
device 31. The first imaging device 31 images the bucket 12 performing the dumping
operation in order to discharge the excavated object to the dump body 230. The first
imaging device 31 is fixed to the housing 9 such that the bucket teeth 18 are arranged
in the measuring range Ra when the boom 11 rises and the bucket 12 performs the dumping
operation.
[0088] A measuring range Rb of the second imaging device 32 includes an imaging range of
the second imaging device 32. The measuring range Rb is determined based on a second
angle of view β indicating an angle of view of an optical system of the second imaging
device 32. The second imaging device 32 images at least the ground 200 in the traveling
direction of the tires 6. In the embodiment, when the work machine 1 moves forward,
the second imaging device 32 images the ground 200 in front of the front tires 6F.
The second imaging device 32 is fixed to the housing 9 such that at least the ground
200 in front of the front tires 6F is arranged in the measuring range Rb when the
work machine 1 moves forward. In the embodiment, the second imaging device 32 is fixed
to the housing 9 such that each of the front end of the front tires 6F, the ground
200 in front of the front tires 6F, and the ground 200 outside the front tires 6F
in the vehicle width direction is arranged in the measuring range Rb. The ground 200
in front of the front tires 6F includes the ground 200 between the front end of the
front tires 6F and the rear end of the bucket 12 in the front-back direction.
[0089] In the embodiment, the second angle of view β of the second imaging device 32 is
wider than the first angle of view α of the first imaging device 31.
[0090] As illustrated in FIG. 10, the first imaging device 31L on the left side of the center
CL images at least a left part of the bucket 12 of the working equipment 10. The first
imaging device 31R on the right side of the center CL images at least a right part
of the bucket 12 of the working equipment 10. The left part of the bucket 12 is a
part of the bucket 12 between the left end 12E of the bucket 12 and the center CL.
The right part of the bucket 12 is a part of the bucket 12 between the right end 12E
of the bucket 12 and the center CL.
[0091] In the example illustrated in FIG. 10, the first imaging device 31L on the left side
of the center CL is fixed to the housing 9 on the left side such that the bucket teeth
181, 182, 183, 184, and 185 are arranged in the measuring range Ra when the boom 11
is raised and the bucket 12 performs the dumping operation. The first imaging device
31R on the right side of the center CL is fixed to the housing 9 on the right side
such that the bucket teeth 184, 185, 186, 187, and 188 are arranged in the measuring
range Ra when the boom 11 is raised and the bucket 12 performs the dumping operation.
[0092] As illustrated in FIG. 10, the second imaging device 32L on the left side of the
center CL images the ground 200 in front of the front tire 6F on the left side of
the center CL. The second imaging device 32R on the right side of the center CL images
the ground 200 in front of the front tire 6F on the right side of the center CL.
[0093] In the example illustrated in FIG. 10, the second imaging device 32L on the left
side of the center CL is fixed to the housing 9 on the left side such that the front
end of the front tire 6F on the left side, the ground 200 in front of the front tire
6F on the left side, and the ground 200 on the left side of the front tire 6F on the
left side are arranged in the measuring range Rb. The second imaging device 32R on
the right side of the center CL is fixed to the housing 9 on the right side such that
the front end of the front tire 6F on the right side, the ground 200 in front of the
front tire 6F on the right side, and the ground 200 on the right side of the front
tire 6F on the right side are arranged in the measuring range Rb.
[0094] FIG. 11 is a diagram illustrating an example of image data captured by the first
imaging device 31L on the left side according to the embodiment. FIG. 12 is a diagram
illustrating an example of image data captured by the second imaging device 32R on
the left side according to the embodiment.
[0095] As illustrated in FIG. 11, the first imaging device 31L images, from below upward,
the bucket 12 performing the dumping operation so as to discharge the excavated object
to the dump body 230. As a result, as illustrated in FIG. 11, the first imaging device
31L can simultaneously image a plurality of bucket teeth 18. In the example illustrated
in FIG. 11, the bucket teeth 181, 182, 183, 184, 185, and 186 are arranged in the
measuring range Ra of the first imaging device 31.
[0096] As illustrated in FIG. 12, the second imaging device 32L images, from above downward,
the ground 200 in front of the front tires 6F and the ground 200 on the left side.
As a result, the second imaging device 32L can image the ground 200 around the front
tire 6F. For example, when a boulder 240 exists on the ground 200 around the front
tire 6F, the second imaging device 32L can capture the boulder 240 on the ground 200.
[Monitoring system]
[0097] FIG. 13 is a functional block diagram illustrating a monitoring system 30 according
to the embodiment. The work machine 1 includes the monitoring system 30. The monitoring
system 30 monitors the working equipment 10 and the ground 200 on which the work machine
1 travels.
[0098] The monitoring system 30 includes the first imaging device 31, the second imaging
device 32, the output device 24, the input device 25, and a monitoring controller
33. The first imaging device 31 includes the first imaging device 31L arranged on
the left side of the center CL and the first imaging device 31R arranged on the right
side of the center CL. The second imaging device 32 includes the second imaging device
32L arranged on the left side of the center CL and the second imaging device 32R arranged
on the right side of the center CL.
[0099] Each of the first imaging device 31, the second imaging device 32, the output device
24, and the input device 25 is connected to the monitoring controller 33. Image data
captured by the first imaging device 31 is input to the monitoring controller 33.
Image data captured by the second imaging device 32 is input to the monitoring controller
33. Input data generated by the input device 25 is input to the monitoring controller
33.
[0100] In the embodiment, each of the first imaging device 31 and the second imaging device
32 acquires measurement data at a predetermined sampling rate (samples per second
(SPS)). The measurement data includes image data. The sampling rate includes a frame
rate (frames per second (FPS)). Each of the first imaging device 31 and the second
imaging device 32 captures the image data at a predetermined frame rate. A moving
image is captured by imaging the image data at the predetermined frame rate by the
first imaging device 31. A moving image is captured by imaging the image data at the
predetermined frame rate by the second imaging device 32
[0101] The monitoring controller 33 includes a defect monitoring unit 34 and a boulder monitoring
unit 35.
[0102] The defect monitoring unit 34 recognizes the presence of a defect in the working
equipment 10 based on the image data captured by the first imaging device 31. When
the defect in the working equipment 10 is recognized, the defect monitoring unit 34
causes the output device 24 to output a warning indicating that there is a defect
in the working equipment 10. The defect in the working equipment 10 includes a defect
in the bucket 12. The defect in the bucket 12 includes a defect in the bucket tooth
18 that is a replacement member. The defect in the bucket tooth 18 includes detachment
of the bucket tooth 18 from the bucket body 17.
[0103] The boulder monitoring unit 35 recognizes, based on the imaging data imaged by the
second imaging device 32, the presence of the boulder 240 on the ground 200 on which
the work machine 1 travels. When the boulder 240 on the ground 200 is recognized,
the boulder monitoring unit 35 causes the output device 24 to output a warning indicating
that the boulder 240 is present on the ground 200. The boulder 240 on the ground 200
includes the boulder 240 on the ground 200 in the traveling direction of the front
tires 6F. The boulder 240 on the ground 200 in the traveling direction of the front
tires 6F includes the boulder 240 on the ground 200 in front of the front tire 6F
when the work machine 1 moves forward.
<Defect monitoring unit>
[0104] The defect monitoring unit 34 includes a first measurement data acquisition unit
34A, a defect determination unit 34B, a counting unit 34C, and a first warning control
unit 34D.
[0105] The first measurement data acquisition unit 34A acquires measurement data of the
working equipment 10 from the first imaging device 31 at the predetermined sampling
rate. In the embodiment, the measurement data of the working equipment 10 includes
image data of the working equipment 10 captured by the first imaging device 31. The
sampling rate includes the frame rate. The first measurement data acquisition unit
34A acquires the image data of the working equipment 10 from the first imaging device
31 at the predetermined frame rate.
[0106] The defect determination unit 34B determines the presence of a defect in the working
equipment 10 based on the image data acquired by the first measurement data acquisition
unit 34A. The defect determination unit 34B determines the presence of a defect in
the working equipment 10 based on the image data. In the embodiment, the defect determination
unit 34B determines detachment of the bucket tooth 18 from the bucket body 17 based
on the image data.
[0107] Each of FIGS. 14, 15, 16, 17, and 18 is a diagram illustrating a defect determination
method by the defect determination unit 34B according to the embodiment. Hereinafter,
as an example, a method of determining the presence of a defect in the bucket tooth
18 based on the image data captured by the first imaging device 31L on the left side
of the center CL will be described.
[0108] As illustrated in FIG. 14, the first imaging device 31L images the bucket 12 performing
the dumping operation in order to discharge the excavated object to the dump body
230. The first measurement data acquisition unit 34A acquires the image data of the
bucket 12 from the first imaging device 31L. The plurality of bucket teeth 18 (181,
182, 183, 184, and 185) is arranged in a recognition range 50 of the image data. Each
of the plurality of bucket teeth 18 is attached to the bucket body 17 so as to protrude
from the bucket body 17.
[0109] The defect determination unit 34B recognizes each of the plurality of bucket teeth
18 in the recognition range 50 of the image data acquired by the first measurement
data acquisition unit 34A.
[0110] After recognizing the plurality of bucket teeth 18, as illustrated in FIG. 15, the
defect determination unit 34B estimates the position of a base 51 and the position
of a blade edge 52 of each of the plurality of bucket teeth 18. The base 51 is a base
end of the bucket tooth 18. The base 51 includes a boundary between the bucket tooth
18 and the bucket body 17. The blade edge 52 is a tip end of the bucket tooth 18.
In the embodiment, the defect determination unit 34B estimates the base 51 and the
blade edge 52 using artificial intelligence (AI) that analyzes the input data by an
algorithm and outputs the output data. The defect determination unit 34B may estimate
a center where a probability is equal to or greater than a predetermined threshold
as the position of the base 51 and the position of the blade edge 52, using artificial
intelligence that outputs a probability of certainty of the base 51 and the blade
edge 52 based on the input data. In addition, the defect determination unit 34B may
use artificial intelligence that directly estimates the position of the base 51 and
the position of the blade edge 52 based on the input data.
[0111] After estimating the position of the base 51 and the position of the blade edge 52
of each of at least four bucket teeth 181, 182, 183, and 184, as illustrated in FIG.
16, the defect determination unit 34B calculates a distance G1 between the base 51
of the bucket tooth 181 and the base 51 of the bucket tooth 182, a distance G2 between
the base 51 of the bucket tooth 182 and the base 51 of the bucket tooth 183, and a
distance G3 between the base 51 of the bucket tooth 183 and the base 51 of the bucket
tooth 184. After calculating the distances G1, G2, and G3, the defect determination
unit 34B calculates a reference inter-tooth distance G based on the distances G1,
G2, and G3. In the embodiment, the reference inter-tooth distance G is a median value
of the distances G1, G2, and G3.
[0112] After calculating the reference inter-tooth distance G, as illustrated in FIG. 17,
the defect determination unit 34B searches the blade edge 52 corresponding to the
base 51. The base 51 and the blade edge 52 corresponding to the base 51 configure
the base end and the tip end of one bucket tooth 18. In the embodiment, the defect
determination unit 34B sets a search range 53 with the base 51 as a reference, and
searches the blade edge 52 in the search range 53. The search range 53 is set in a
rectangular shape in the image data. As illustrated in FIG. 17, a dimension of the
search range 53 in the vertical direction in the image data is defined as [γ × G],
and a dimension of the search range 53 in the horizontal direction in the image data
is defined as [δ × G]. These γ and δ are predetermined fixed values.
[0113] Note that the bucket 12 appears large in the image data captured by the first imaging
device 31L when a distance between the first imaging device 31L and the bucket 12
is short. The bucket 12 appears small in the image data captured by the first imaging
device 31L when the distance between the first imaging device 31L and the bucket 12
is long. When the size of the bucket 12 is different in the image data, the defect
determination unit 34B may not be able to search the blade edge 52 corresponding to
the base 51. In the embodiment, the search range 53 is set based on the reference
inter-tooth distance G. As a result, the defect determination unit 34B can search
the blade edge 52 corresponding to the base 51 regardless of the distance between
the first imaging device 31L and the bucket 12.
[0114] After searching the blade edge 52 corresponding to each of the plurality of bases
51, as illustrated in FIG. 18, the defect determination unit 34B calculates a distance
L1 between the base 51 and the blade edge 52 of the bucket tooth 181, a distance L2
between the base 51 and the blade edge 52 of the bucket tooth 182, a distance L3 between
the base 51 and the blade edge 52 of the bucket tooth 183, and a distance L4 between
the base 51 and the blade edge 52 of the bucket tooth 184. The distance L1 corresponds
to a protruding length of the bucket tooth 181 from the bucket body 17. The distance
L2 corresponds to a protruding length of the bucket tooth 182 from the bucket body
17. The distance L3 corresponds to a protruding length of the bucket tooth 183 from
the bucket body 17. The distance L4 corresponds to a protruding length of the bucket
tooth 184 from the bucket body 17. After calculating the distances L1, L2, L3, and
L4, the defect determination unit 34B calculates a reference tooth length L based
on the distances L1, L2, L3, and L4. In the embodiment, the reference tooth length
L is a median value of the distances L1, L2, L3, and L4. Note that the defect determination
unit 34B may calculate distances L5, L6, L7, and L8 corresponding to the four bucket
teeth 185, 186, 187, and 188 by a similar method based on the image data captured
by the first imaging device 31R on the right side of the center CL, and may calculate
the reference tooth length L based on the distances L1, L2, L3, L4, L5, L6, L7, and
L8.
[0115] After calculating the reference tooth length L, the defect determination unit 34B
determines a dimension threshold related to the protruding length of the bucket teeth
18 from the bucket body 17 based on the reference tooth length L. In the embodiment,
the dimension threshold is defined as [ε × L]. This ε is a predetermined fixed value.
As described above, in the embodiment, the defect determination unit 34B determines
the dimension threshold based on the protruding lengths (L1, L2, L3, and L4) of the
plurality of bucket teeth 18 (181, 182, 183, and 184) from the bucket body 17.
[0116] The defect determination unit 34B determines whether or not there is a defect in
the bucket teeth 18 (181, 182, 183, and 184) based on the dimension threshold. When
the protruding length of the bucket tooth 18 from the bucket body 17 is less than
the dimension threshold, the defect determination unit 34B determines that there is
a defect in the bucket teeth 18. When the protruding length of the bucket tooth 18
from the bucket body 17 is equal to or greater than the dimension threshold, the defect
determination unit 34B determines that there is no defect in the bucket teeth 18.
In the embodiment, the defect determination unit 34B determines that the bucket tooth
18 has fallen off from the bucket body 17 when the protruding length of the bucket
tooth 18 is less than the dimension threshold, and determines that the bucket tooth
18 has not fallen off from the bucket body 17 when the protruding length of the bucket
tooth 18 is equal to or greater than the dimension threshold.
[0117] Note that the bucket 12 appears large in the image data captured by the first imaging
device 31L when the distance between the first imaging device 31L and the bucket 12
is short. The bucket 12 appears small in the image data captured by the first imaging
device 31L when the distance between the first imaging device 31L and the bucket 12
is long. When the size of the bucket 12 is different in the image data, the defect
determination unit 34B may not be able to correctly determine whether there is a defect
in the bucket tooth 18. In the embodiment, the dimension threshold is determined based
on the reference tooth length L. As a result, the defect determination unit 34B can
determine whether or not there is a defect in the bucket tooth 18 regardless of the
distance between the first imaging device 31L and the bucket 12.
[0118] The counting unit 34C classifies the measurement data into a plurality of samples
based on determination by the defect determination unit 34B. The counting unit 34C
classifies the measurement data determined to have no defect into no-defect determination
samples. The counting unit 34C classifies the measurement data determined to have
a defect into defect determination samples. The counting unit 34C classifies the measurement
data for which the defect determination unit 34B has not been able to recognize the
bucket tooth 18 into undetermined samples. The counting unit 34C counts the number
of no-defect determination samples indicating the measurement data determined to have
no defect. The counting unit 34C counts the number of defect determination samples
indicating the measurement data determined to have a defect. The counting unit 34C
counts the number of undetermined samples indicating the measurement data whose bucket
tooth 18 has not been recognized. In the embodiment, the measurement data is the image
data, and the sample classified by the counting unit 34C are frames. In the following
description, as appropriate, the no-defect determination sample is referred to as
a no-defect determination frame, the defect determination sample is referred to as
a defect determination frame, and the undetermined sample is referred to as an undetermined
frame.
[0119] FIG. 19 is a diagram illustrating an example of the no-defect determination frame
according to the embodiment. As illustrated in FIG. 19, each of the distance L1 indicating
the protruding length of the bucket tooth 181, the distance L2 indicating the protruding
length of the bucket tooth 182, the distance L3 indicating the protruding length of
the bucket tooth 183, and the distance L4 indicating the protruding length of the
bucket tooth 184 is equal to or greater than the dimension threshold. In this case,
the defect determination unit 34B determines that the bucket teeth 18 are non-defective.
The counting unit 34C classifies the image data determined to have no defect into
the no-defect determination frames.
[0120] FIG. 20 is a diagram illustrating an example of the defect determination frame according
to the embodiment. In the example illustrated in FIG. 20, the distance L2 indicating
the protruding length of the bucket tooth 182 is less than the dimension threshold.
In this case, the defect determination unit 34B determines that the bucket tooth 182
is defective. The counting unit 34C classifies the image data determined to have the
defect into the defect determination frames.
[0121] The method of determining detachment of the bucket tooth 18, based on the image data
captured by the first imaging device 31L on the left side of the center CL, has been
described above. The same applies to a method of determining detachment of the bucket
tooth 18 based on the image data captured by the first imaging device 31R on the right
side of the center CL. The defect determination unit 34B determines detachment of
any of the four bucket teeth 185, 186, 187, and 188 based on the image data acquired
by the first measurement data acquisition unit 34A from the first imaging device 31R.
[0122] The first warning control unit 34D causes the display device 24A to display a symbol
60 indicating the bucket tooth 18. The first warning control unit 34D changes a display
pattern of the symbol 60 based on the presence or absence of the defect in the bucket
tooth 18.
[0123] FIG. 21 is a diagram illustrating an example of the symbol 60 indicating the bucket
tooth 18 displayed on the display device 24A according to the embodiment. As illustrated
in FIG. 21, when the defect determination unit 34B cannot recognize the bucket tooth
18 in the image data, the first warning control unit 34D causes the display device
24A to display the symbol 60 indicating the bucket tooth 18 that cannot be recognized
in a first display pattern. When the defect determination unit 34B determines that
there is no defect in the bucket tooth 18 in the image data, the first warning control
unit 34D causes the display device 24A to display the symbol 60 indicating the bucket
tooth 18 determined to have no defect in a second display pattern. When the defect
determination unit 34B determines that there is a defect in the bucket tooth 18 in
the image data, the first warning control unit 34D causes the display device 24A to
display the symbol 60 indicating the bucket tooth 18 determined to have a defect in
a third display pattern.
[0124] In the embodiment, the first warning control unit 34D displays the symbol 60 indicating
the bucket tooth 18 that cannot be recognized by the defect determination unit 34B
in a first color. The first color is, for example, gray. The first warning control
unit 34D displays the symbol 60 indicating the bucket tooth 18 determined to have
no defect in a second color. The second color is, for example, green. The first warning
control unit 34D displays the symbol indicating the bucket tooth 18 determined to
be defective in a third color. The third color is, for example, red.
[0125] When there is the defect determination frame, the first warning control unit 34D
causes the output device 24 to output a warning indicating that there is the defect
determination frame. In addition, the first warning control unit 34D changes a warning
pattern output from the output device 24 based on the number of defect determination
frames counted by the counting unit 34C.
[0126] The first warning control unit 34D causes the output device 24 to output the warning
in a first pattern when the number of defect determination frames is less than the
sample threshold, and causes the output device 24 to output the warning in a second
pattern when the number of defect determination frames is equal to or greater than
the sample threshold. The sample threshold is a predetermined value.
[0127] The output device 24 includes the display device 24A that displays the symbol 60
indicating the bucket tooth 18, and the sound generator 24B that generates a warning
sound. The first warning control unit 34D may cause the display device 24A to display
the display data in the first pattern when the number of defect determination frames
is less than the sample threshold, and may cause the display device 24A to display
the display data in the second pattern when the number of defect determination frames
is equal to or greater than the sample threshold. The first warning control unit 34D
may cause the sound generator 24B to generate the warning sound in the first pattern
when the number of defect determination frames is less than the sample threshold,
and may cause the sound generator 24B to generate the warning sound in the second
pattern when the number of defect determination frames is equal to or greater than
the sample threshold.
[0128] FIG. 22 is a diagram illustrating a relationship between the defect determination
frames and the warning pattern according to the embodiment. The presence or absence
of the defect determination frame is determined at the predetermined frame rate. In
an example illustrated in FIG. 22, the presence or absence of the defect determination
frame is determined at intervals of 0.2 [sec.]. In FIG. 22, a "normal" frame indicates
the no-defect determination frame or the undetermined frame. In FIG. 22, the "defect"
frame includes the defect determination frame. In the example illustrated in FIG.
22, the sample threshold is 2.
[0129] As illustrated in FIG. 22, when a moving image captured by the first imaging device
31 includes one or both of the undetermined frame and the no-defect determination
frame, the warning sound is not output from the sound generator 24B. When the moving
image captured by the first imaging device 31 includes only the undetermined frame,
the symbol 60 indicating the unrecognizable bucket tooth 18 is displayed in the first
display pattern on the display device 24A. When the moving image captured by the first
imaging device 31 includes only the no-defect determination frame, the symbol 60 indicating
the bucket tooth 18 determined to have no defect is displayed in the second display
pattern on the display device 24A.
[0130] The plurality of bucket teeth 18 is attached to the bucket body 17. In the embodiment,
eight bucket teeth 18 are arranged at intervals in the vehicle width direction. The
display device 24A displays a plurality of symbols 60 based on positions of the plurality
of bucket teeth 18. On the display device 24A, eight symbols 60 are displayed at intervals
in accordance with the positions of the plurality of bucket teeth 181, 182, 183, 184,
185, 186, 187, and 188. When the moving image includes only undetermined frames, all
of the eight symbols 60 are displayed in the first display pattern. When the moving
image includes only the no-defect determination frames, all of the eight symbols 60
are displayed in the second display pattern.
[0131] As illustrated in FIG. 22, when there is one defect determination frame in the moving
image, the first warning control unit 34D causes the sound generator 24B to output
the first warning sound. When there are two defect determination frames in the moving
image captured by the first imaging device 31, the first warning control unit 34D
causes the sound generator 24B to output the second warning sound.
[0132] In the embodiment, the first warning control unit 34D causes the output device 24
to output the warning in the first pattern when the first measurement data acquisition
unit 34A consecutively acquires the image data each being determined as the defect
determination frame for the number of pieces of image data less than the sample threshold.
The first warning control unit 34D causes the output device 24 to output the warning
in the second pattern when the first measurement data acquisition unit 34A consecutively
acquires the image data each being determined as the defect determination frame for
the number of pieces of image data equal to or greater than the sample threshold.
[0133] For example, when the sample threshold is 2 and less than two pieces of image data
consecutively acquired by the first measurement data acquisition unit 34A is determined
to be the defect determination frame, the first warning control unit 34D causes the
sound generator 24B to output the first warning sound. In other words, when the image
data acquired before and after the defect determination frame is the no-defect determination
frame or the undetermined frame, the first warning control unit 34D causes the sound
generator 24B to output the first warning sound. When two or more pieces of image
data consecutively acquired by the first measurement data acquisition unit 34A are
determined to be the defect determination frames, the first warning control unit 34D
causes the sound generator 24B to output the second warning sound. In other words,
when the defect determination frame continues for at least two times, the first warning
control unit 34D causes the sound generator 24B to output the second warning sound.
[0134] Note that even when the defect determination frame does not continue for two times,
the first warning control unit 34D may cause the sound generator 24B to output the
second warning sound when at least two defect determination frames exist in the moving
image per unit time captured by the first imaging device 31.
[0135] Note that the sample threshold is arbitrary. For example, the sample threshold may
be any number of three or more.
[0136] The warning pattern includes a warning sound volume. The output of the warning in
the first pattern includes generation of the warning sound in a first volume from
the sound generator 24B. The output of the warning in the second pattern includes
generation of the warning sound in a second volume larger than the first volume from
the sound generator 24B. In the example illustrated in FIG. 22, the volume of the
second warning sound is larger than the volume of the first warning sound.
[0137] Furthermore, when the defect determination frame exists in the moving image captured
by the first imaging device 31, the symbol 60 indicating the bucket tooth 18 determined
to have a defect is displayed in the third display pattern on the display device 24A.
The first warning control unit 34D displays the symbol 60 indicating the bucket tooth
18 determined to have the defect and the symbol 60 indicating the bucket tooth 18
determined to have no defect in different display patterns. In the example illustrated
in FIG. 22, when the bucket tooth 184 is determined to have the defect and the bucket
teeth 181, 182, 183, 185, 186, 187, and 188 are determined to have no defect, the
first warning control unit 34D displays the symbol indicating the bucket tooth 184
determined to have the defect in the third display pattern, and displays the symbol
indicating the bucket teeth 181, 182, 183, 185, 186, 187, and 188 determined to have
no defect in the second display pattern.
<Boulder monitoring unit>
[0138] The boulder monitoring unit 35 includes a second measurement data acquisition unit
35A, a determination criteria setting unit 35B, a warning criteria setting unit 35C,
a standard value storage unit 35D, an input data acquisition unit 35E, a driving state
acquisition unit 35F, a boulder determination unit 35G, and a second warning control
unit 35H.
[0139] The second measurement data acquisition unit 35A acquires measurement data of the
ground 200 from the second imaging device 32 at a predetermined sampling rate. As
described above, the measurement data of the ground 200 includes the image data of
the ground 200 captured by the second imaging device 32. The sampling rate includes
the frame rate. The second measurement data acquisition unit 35A acquires the image
data of the ground 200 from the second imaging device 32 at the predetermined frame
rate. The second measurement data acquisition unit 35A acquires the image data of
the ground 200 in front of the front tires 6F.
[0140] The determination criteria setting unit 35B sets determination criteria for determining
the presence or absence of the boulder 240 on the ground 200 in the image data.
[0141] FIG. 23 is a diagram illustrating the determination criteria according to the embodiment.
In the embodiment, the determination criteria include dimensions of the boulder 240
in the image data. The dimensions of the boulder 240 include the number of pixels
of the boulder 240 in the image data. In the image data, a threshold related to the
dimensions of the boulder 240 is set. The threshold related to the dimensions of the
boulder 240 includes a threshold Px related to a horizontal dimension of the boulder
240 and a threshold Py related to a vertical dimension of the boulder 240. The standard
value storage unit 35D stores a standard value (initial value) related to the determination
criteria. The standard value is a recommended value related to the threshold related
to the dimensions of the boulder 240. The determination criteria setting unit 35B
sets the determination criteria based on the standard value. In the embodiment, the
determination criteria setting unit 35B sets the threshold related to the dimensions
of the boulder 240 based on the standard value. The threshold is the standard value.
[0142] The warning criteria setting unit 35C sets warning criteria for outputting a warning
from the output device 24.
[0143] FIG. 24 is a diagram illustrating the warning criteria according to the embodiment.
In the embodiment, the warning criteria includes a warning area 36 set on at least
a part of the ground 200.
[0144] The setting of the warning criteria includes setting of dimensions of the warning
area 36. The dimensions of the warning area 36 include the number of pixels of the
warning area in the image data. As illustrated in FIG. 24, a dimension Qx of the warning
area 36 in the horizontal direction and a dimension Qy of the warning area 36 in the
vertical direction are set in the image data.
[0145] The setting of the warning area 36 includes setting of a position of the warning
area 36. The setting of the position of the warning area 36 includes setting of the
position of the warning area 36 in the image data. The warning criteria setting unit
35C sets the warning area 36 in a part of the ground 200 in front of the front tires
6F. The standard value storage unit 35D stores a standard value (initial value) related
to the warning criteria. The standard value is a recommended value related to the
dimensions and position of the warning area 36. The warning criteria setting unit
35C sets the warning criteria based on the standard value. In the embodiment, the
warning criteria setting unit 35C sets the dimensions and position of the warning
area 36 in the image data based on the standard value.
[0146] The input data acquisition unit 35E acquires input data from the input device 25.
The driver can change the setting of the determination criteria or the setting of
the warning criteria by operating the input device 25. The determination criteria
setting unit 35B sets determination criteria based on the input data. The warning
criteria setting unit 35C sets the warning criteria based on the input data.
[0147] FIG. 25 is a diagram illustrating an example of a setting screen of the determination
criteria and the warning criteria according to the embodiment. As illustrated in FIG.
25, the determination criteria setting unit 35B causes the display device 24A to display
a setting screen of the determination criteria. The warning criteria setting unit
35C causes the display device 24A to display a setting screen of the warning criteria.
The driver can perform at least one of the change of the setting of the determination
criteria and the change of the setting of the warning criteria by operating the input
device 25 while viewing the setting screen.
[0148] The driving state acquisition unit 35F acquires state data indicating the state of
the drive system 40. The drive controller 48 inputs the state data indicating the
state of the drive system 40 to the monitoring controller 33. The driving state acquisition
unit 35F determines the state of the drive system 40 based on the state data from
the drive controller 48.
[0149] In the embodiment, the state of the drive system 40 includes an operation state of
the transmission 44. The transmission 44 switches the traveling direction of the work
machine 1 between the forward and backward directions. The transmission 44 includes
the forward gear 44F that operates to move the work machine 1 forward and the reverse
gear 44R that operates to move the work machine 1 backward.
[0150] The boulder determination unit 35G determines the presence or absence of the boulder
240 on the ground 200 based on the image data acquired by the second measurement data
acquisition unit 35A. The boulder determination unit 35G determines the presence or
absence of the boulder 240 on the ground 200 in the image data. In the embodiment,
the boulder determination unit 35G determines the presence or absence of the boulder
240 on the ground 200 in front of the front tire 6F in the image data.
[0151] The boulder determination unit 35G may determine the presence or absence of the boulder
240 using, for example, artificial intelligence (AI) that analyzes the input data
by the algorithm and outputs the output data. The boulder determination unit 35G may
determine the presence or absence of the boulder 240 using, for example, a pattern
matching method.
[0152] In the embodiment, the boulder determination unit 35G determines the presence or
absence of the boulder 240 on the ground 200 in the image data based on the determination
criteria. The boulder determination unit 35G determines that there is the boulder
240 when the dimensions of the boulder 240 exceed the thresholds (Px and Py), and
determines that there is no boulder 240 when the dimensions of the boulder 240 is
equal to or less than the thresholds (Px and Py). The boulder determination unit 35G
may determine that the boulder 240 exists when the dimensions of the boulder 240 exceed
one of the threshold Px and the threshold Py. The boulder determination unit 35G may
determine that the boulder 240 exists when the dimensions of the boulder 240 exceed
both the threshold Px and the threshold Py.
[0153] In the embodiment, the boulder determination unit 35G determines the presence or
absence of the boulder 240 in both the states in which the boom 11 is raised and lowered.
The boulder determination unit 35G constantly determines whether the boulder 240 exists
in the cycle work described with reference to FIG. 8.
[0154] The second warning control unit 35H causes the output device 24 to output the warning
based on the presence or absence of the boulder 240 on the ground 200 in front of
the front tire 6F. The second warning control unit 35H causes the output device 24
to output the warning based on the determination of the presence or absence of the
boulder 240 by the boulder determination unit 35G and the relationship between the
boulder 240 and the warning criteria. The warning criteria includes the warning area
36 set in at least a part of the ground 200. The warning area 36 is set in a part
of the ground 200 in front of the front tires 6F. When it is determined that the boulder
240 exists, the second warning control unit 35H causes the output device 24 to output
the warning based on the positional relationship between the boulder 240 and the warning
area 36. When it is determined that the boulder 240 exists in the warning area 36,
the second warning control unit 35H causes the output device 24 to output the warning
indicating that the boulder 240 exists in the warning area 36.
[0155] In the embodiment, the second warning control unit 35H controls the output device
24 based on the state data indicating the state of the drive system 40 acquired by
the driving state acquisition unit 35F. The state of the drive system 40 includes
the operation state of the transmission 44. The transmission 44 switches the traveling
direction of the work machine 1 between the forward and backward directions. The second
warning control unit 35H outputs the warning when it is determined that the boulder
240 exists on the ground 200 in the traveling direction of the work machine 1 determined
by the transmission 44. For example, when the transmission 44 is in a neutral state
or in a state where the reverse gear 44R is engaged, the second warning control unit
35H does not output the warning indicating that the boulder 240 exists even when it
is determined that the boulder 240 exists on the ground 200 in front of the front
tires 6F. In a state where it is determined that the boulder 240 exists on the ground
200 in front of the front tires 6F and the transmission 44 is changed, for example,
from the neutral state to the state the forward gear 44F is engaged, the warning indicating
that the boulder 240 exists starts to be output. In the embodiment, when the forward
gear 44F is engaged in the state where it is determined that the boulder 240 exists
on the ground 200 in front of the front tires 6F, the second warning control unit
35H outputs the warning indicating that the boulder 240 exists even when the work
machine 1 is not traveling.
[Defect monitoring method]
[0156] FIG. 26 is a flowchart illustrating a defect monitoring method of the working equipment
10 according to the embodiment.
[0157] The first measurement data acquisition unit 34A acquires the image data of the working
equipment 10 from the first imaging device 31 (Step SA1).
[0158] As described with reference to FIG. 15, after recognizing the bucket teeth 18 in
the image data acquired by the first measurement data acquisition unit 34A, the defect
determination unit 34B estimates the base 51 and the blade edge 52 of each of the
plurality of bucket teeth 18 (Step SA2).
[0159] In Step SA2, when the bucket teeth 18 are recognized and the base 51 and the blade
edge 52 are estimated (Step SA2: Yes), as described with reference to FIG. 16, the
defect determination unit 34B calculates the distances G1, G2, and G3 between the
pair of bucket teeth 18 adjacent to each other. The defect determination unit 34B
determines whether the distances G1, G2, and G3 are equal intervals (Step SA3).
[0160] In Step SA3, when it is determined that the distances G1, G2, and G3 are equal intervals
(Step SA3: Yes), as described with reference to FIG. 17, the defect determination
unit 34B sets the search range 53 and searches the blade edge 52 corresponding to
the base 51. The defect determination unit 34B determines whether the blade edge 52
has been searched (Step SA4).
[0161] In Step SA4, when it is determined that the blade edge 52 has been searched (Step
SA4: Yes), as described with reference to FIG. 18, the defect determination unit 34B
determines the dimension threshold based on the distances L1, L2, L3, and L4. The
defect determination unit 34B determines the presence or absence of a defect in the
bucket teeth 18 based on the dimension threshold (Step SA5) .
[0162] In Step SA5, when it is determined that there is a defect in the bucket teeth 18
in the image data (Step SA5: Yes), the counting unit 34C classifies the image data
determined to have the defect as the defect determination frame (Step SA6).
[0163] In Step SA5, when it is determined that there is no defect in the bucket teeth 18
in the image data (Step SA5: No), the counting unit 34C classifies the image data
determined to have no defect as the no-defect determination frame (Step SA7).
[0164] When the bucket teeth 18 cannot be recognized in the image data (Step SA2: No) in
Step SA2, when the distances G1, G2, and G3 are determined to be not equal in the
image data (Step SA3: No) in Step SA3, or when the blade edge 52 is determined to
be not searchable in the image data (Step SA5: No) in Step SA4, the counting unit
34C classifies the image data as the undetermined frame (Step SA8).
[0165] The counting unit 34C performs a time-series process on the image data classified
(Step SA9).
[0166] The counting unit 34C determines whether or not the defect determination frame exists
(Step SA10) .
[0167] In Step SA10, when it is determined that there is no defect determination frame (Step
SA10: No), no warning is output from the output device 24 (Step SA11) .
[0168] In Step SA10, when it is determined that there is the defect determination frame
(Step SA10: Yes), the counting unit 34C determines whether or not there is the defect
determination frame equal to or greater than the sample threshold. In the embodiment,
the counting unit 34C determines whether the defect determination frame continues
for at least two times (Step SA12).
[0169] In Step SA12, when it is determined that the defect determination frame does not
continue for two times (Step SA12: No), the first warning control unit 34D outputs
the warning in the first pattern. As described with reference to FIG. 22, in the embodiment,
the first warning control unit 34D causes the sound generator 24B to output the first
warning sound having the first volume (Step SA13) .
[0170] In Step SA12, when it is determined that the defect determination frame continues
for at least two times (Step SA12: Yes), the first warning control unit 34D outputs
the warning in the second pattern. As described with reference to FIG. 22, in the
embodiment, the first warning control unit 34D causes the sound generator 24B to output
the second warning sound having the second volume larger than the first volume (Step
SA14).
[0171] The defect monitoring unit 34 determines whether or not to end a defect monitoring
process (Step SA15).
[0172] In Step SA15, when it is determined to continue the defect monitoring process (Step
SA15: No), the process returns to Step SA1.
[0173] In Step SA15, when it is determined to end the defect monitoring process (Step SA15:
Yes), the defect monitoring process is ended.
[0174] The process from Step SA1 to Step SA15 is performed at the predetermined frame rate.
[Boulder monitoring method]
[0175] FIG. 27 is a flowchart illustrating a method of monitoring a boulder the ground 200
according to the embodiment.
[0176] The determination criteria setting unit 35B sets the determination criteria for determining
the presence or absence of the boulder 240 on the ground 200. The determination criteria
setting unit 35B sets the threshold Px and the threshold Py related to the dimensions
of the boulder 240 based on the standard value stored in the standard value storage
unit 35D. When the driver operates the input device 25, the determination criteria
setting unit 35B sets the threshold Px and the threshold Py based on the input data
(Step SB1).
[0177] The warning criteria setting unit 35C sets warning criteria for outputting a warning
from the output device 24. The warning criteria setting unit 35C sets the warning
area 36 based on the standard value stored in the standard value storage unit 35D.
The setting of the warning area 36 includes the setting of the dimension Qx and the
dimension Qy and the setting of the position of the warning area 36. When the driver
operates the input device 25, the warning criteria setting unit 35C sets the warning
area 36 based on the input data (Step SB2).
[0178] The second measurement data acquisition unit 35A acquires the image data of the ground
200 from the second imaging device 32. The second measurement data acquisition unit
35A acquires the image data of the ground 200 in front of the front tires 6F (Step
SB3).
[0179] The driving state acquisition unit 35F acquires the state data of the transmission
44 (Step SB4).
[0180] The boulder determination unit 35G determines whether the boulder 240 exists on the
ground 200 in the traveling direction of the work machine 1 determined by the transmission
44. When the forward gear 44F is engaged, the boulder determination unit 35G determines
whether the boulder 240 exists on the ground 200 in front of the front tires 6F. The
boulder determination unit 35G determines whether the boulder 240 exists on the ground
200 in front of the front tires 6F in a state where the transmission 44 is operated
to move the work machine 1 forward (Step SB5).
[0181] In Step SB5, when it is determined that the boulder 240 exists on the ground 200
in front of the front tires 6F (Step SB5: Yes), the second warning control unit 35H
causes the output device 24 to output the warning. When it is determined that the
boulder 240 exists on the ground 200 in front of the front tires 6F in the state where
the transmission 44 is operated to move the work machine 1 forward, the second warning
control unit 35H causes the output device 24 to output the warning (Step SB6) .
[0182] In Step SB5, when it is determined that no boulder 240 exists on the ground 200 in
front of the front tires 6F (Step SB5: Yes), no warning is output from the output
device 24.
[0183] The boulder monitoring unit 35 determines whether or not to end a boulder monitoring
process (Step SB7).
[0184] In Step SB7, when it is determined to continue the boulder monitoring process (Step
SB7: No), the process returns to Step SB3.
[0185] In Step SB7, when it is determined to end the boulder monitoring process (Step SB7:
Yes), the boulder monitoring process is ended.
[0186] The process from Step SB3 to Step SB7 is performed at the predetermined frame rate.
[Display device]
[0187] FIG. 28 is a diagram illustrating an example of the display device 24A according
to the embodiment. As illustrated in FIG. 28, the second warning control unit 35H
causes the display device 24A to display a target image 37 indicating the ground 200
generated based on the image data acquired by the second measurement data acquisition
unit 35A. The target image 37 includes a target image 37L indicating image data captured
by the second imaging device 32L on the left side and a target image 37R indicating
image data captured by the second imaging device 32R on the right side. The target
image 37L and the target image 37R are displayed side by side on the display screen
of the display device 24A. The target image 37L and the target image 37R are simultaneously
displayed on the display screen of the display device 24A. The target image 37L is
displayed in a left region of the display screen of the display device 24A. The target
image 37R is displayed in a right region of the display screen of the display device
24A.
[0188] The second warning control unit 35H causes the display device 24A to display an area
image 360 indicating the warning area 36. The second warning control unit 35H superimposes
the area image 360 on the target image 37 to display the image on the display device
24A. The area image 360 indicating the warning area 36 set to include the ground 200
in front of the front tire 6F on the left side is displayed on the display device
24A in a state of being superimposed on the target image 37L. The area image 360 indicating
the warning area 36 set to include the ground 200 in front of the front tire 6F on
the right side is displayed on the display device 24A in a state of being superimposed
on the target image 37R.
[0189] The second warning control unit 35H causes the display device 24A to display a symbol
70 indicating the front tire 6F. The symbol 70 includes a symbol 70L indicating the
front tire 6F on the left side and a symbol 70R indicating the front tire 6F on the
right side.
[0190] The second warning control unit 35H causes the output device 24 to output the warning
indicating that the boulder 240 exists on the ground 200 in front of the front tires
6F. To cause the output device 24 to output the warning includes causing the display
device 24A to display a warning image indicating that the boulder 240 exists on the
ground 200 in front of the front tires 6F. To cause the output device 24 to output
the warning includes causing the sound generator 24B to generate the warning sound
indicating that the boulder 240 exists on the ground 200 in front of the front tires
6F.
[0191] In the embodiment, the warning image includes a frame image 80 displayed so as to
surround the boulder 240 in the target image 37, a frame image 81 displayed at a peripheral
edge of the target image 37, and a background image 82 of the symbol 70.
[0192] The second warning control unit 35H displays the frame image 80 on the display device
24A so that the boulder 240 is highlighted.
[0193] In the example illustrated in FIG. 28, the boulder 240 in the target image 37L is
arranged outside the warning area 36. When the boulder determination unit 35G determines
that the boulder 240 exists outside the warning area 36, the second warning control
unit 35H causes the display device 24A to display frame image 80L in a first pattern.
[0194] In the example illustrated in FIG. 28, at least a part of the boulder 240 in the
target image 37R is located inside the warning area 36. When the boulder determination
unit 35G determines that the boulder 240 exists inside the warning area 36, the second
warning control unit 35H causes the display device 24A to display a frame image 80R
in a second pattern different from the first pattern.
[0195] The second warning control unit 35H displays each of the frame image 80L and the
frame image 80R on the display device 24A such that the boulder 240 located inside
the warning area 36 is highlighted more than the boulder 240 located outside the warning
area 36. In the example illustrated in FIG. 28, the frame image 80R is displayed by
a solid line, and the frame image 80L is displayed by a dotted line. Note that the
frame image 80R may be displayed in the first color, and the frame image 80L may be
displayed in the second color. As the first color, red is exemplified. As the second
color, green is exemplified.
[0196] The second warning control unit 35H displays the frame image 81 on the display device
24A such that the target image 37 in which at least a part of the boulder 240 exists
inside the warning area 36 is highlighted.
[0197] In the example illustrated in FIG. 28, at least a part of the boulder 240 displayed
in the target image 37R exists inside the warning area 36. The boulder 240 displayed
in the target image 37L exists outside the warning area 36. The second warning control
unit 35H displays the frame image 81 on the display device 24A such that the target
image 37R is highlighted more than the target image 37L.
[0198] The second warning control unit 35H displays the background image 82 on the display
device 24A such that the front tire 6F having a high possibility of passing over the
boulder 240 is highlighted.
[0199] In the example in FIG. 28, the front tire 6F on the right side is highly likely to
pass over the boulder 240. In other words, there is a high possibility that the front
tire 6F on the right side steps on the boulder 240 by moving the work machine 1 forward.
The second warning control unit 35H displays the background image 82 of the symbol
70R on the display device 24A such that the front tire 6F on the right side that has
a high possibility of passing over the boulder 240 is highlighted.
[0200] Note that, in the example illustrated in FIG. 28, when there is a high possibility
that the front tire 6F on the left side passes over the boulder 240, the second warning
control unit 35H can display the background image 82 of the symbol 70L on the display
device 24A such that the front tire 6F on the left side that has a high possibility
of passing over the boulder 240 is highlighted.
[0201] The first warning control unit 34D causes the display device 24A to display the symbol
60 indicating the bucket tooth 18. The first warning control unit 34D displays the
plurality of symbols 60 based on the positions of the plurality of bucket teeth 18.
The symbol 60 includes a symbol 61 indicating the bucket tooth 181, a symbol 62 indicating
the bucket tooth 182, a symbol 63 indicating the bucket tooth 183, a symbol 64 indicating
the bucket tooth 184, a symbol 65 indicating the bucket tooth 185, a symbol 66 indicating
the bucket tooth 186, a symbol 67 indicating the bucket tooth 187, and a symbol 68
indicating the bucket tooth 188.
[0202] The plurality of symbols 60 is displayed in an upper region of the display screen
of the display device 24A. Among the plurality of symbols 60, the symbol 61 is displayed
on the leftmost side, the symbol 62 is arranged on the left side next to the symbol
61, the symbol 63 is arranged on the left side next to the symbol 62, the symbol 64
is arranged on the left side next to the symbol 63, the symbol 65 is arranged on the
left side next to the symbol 64, the symbol 66 is arranged on the left side next to
the symbol 65, the symbol 67 is arranged on the left side next to the symbol 66, and
the symbol 68 is arranged on the rightmost side.
[0203] FIG. 28 illustrates the example in which the defect determination unit 34B cannot
recognize eight bucket teeth 18 and the eight symbols 60 are displayed in the first
display pattern.
[0204] FIG. 29 is a diagram illustrating an example of the display device 24A according
to the embodiment. Note that FIG. 29 is a diagram obtained by extracting the upper
region of the display device 24A.
[0205] FIG. 29 illustrates the example of the symbols 60 when the defect determination unit
34B determines the presence or absence of a defect in each of the eight bucket teeth
18. As illustrated in FIG. 29, the first warning control unit 34D changes the display
patterns of the symbols 60 based on the presence or absence of the defect in the bucket
teeth 18. The first warning control unit 34D displays the symbol 60 indicating the
bucket tooth 18 determined to have the defect and the symbol 60 indicating the bucket
tooth 18 determined to have no defect in different display patterns. As illustrated
in FIG. 29, when it is determined that there is a defect in the bucket tooth 184 and
it is determined that there is no defect in the bucket teeth 181, 182, 183, 185, 186,
187, and 188, the first warning control unit 34D displays the symbol 64 in the third
display pattern to indicate that the bucket tooth 184 is determined to have the defect,
and displays the symbols 61, 62, 63, 65, 66, 67, and 68 in the second display pattern
to indicate that the bucket teeth 181, 182, 183, 185, 186, 187, and 188 are determined
to have no defect. The first warning control unit 34D causes the display device 24A
to display the symbol 64 in the third color, and causes the display device 24A to
display the symbols 61, 62, 63, 65, 66, 67, and 68 in the second color. The third
color is, for example, red. The second color is, for example, green.
[Computer system]
[0206] FIG. 30 is a block diagram illustrating a computer system 1000 according to the embodiment.
Each of the monitoring controller 33 and the drive controller 48 described above includes
the computer system 1000. The computer system 1000 includes a processor 1001 such
as a central processing unit (CPU), a main memory 1002 including a nonvolatile memory
such as a read only memory (ROM) and a volatile memory such as a random access memory
(RAM), a storage 1003, and an interface 1004 including an input/output circuit. Functions
of the monitoring controller 33 and the drive controller 48 described above are stored
in the storage 1003 as computer programs. The processor 1001 reads the computer program
from the storage 1003, develops the computer program in the main memory 1002, and
executes the above-described processes according to the program. Note that the computer
program may be distributed to the computer system 1000 via a network.
[0207] According to the embodiment described above, the computer program or the computer
system 1000 can acquire the measurement data of the working equipment 10 included
in the work machine 1 at the predetermined sampling rate, determine the presence or
absence of the defect in the working equipment 10 based on the measurement data, count
the number of defect determination samples indicating the measurement data determined
to have the defect, and change the warning pattern output from the output device 24
based on the number of defect determination samples.
[Effects]
[0208] As described above, according to the embodiment, the monitoring system 30 includes
the first measurement data acquisition unit 34A that acquires the image data of the
working equipment 10 included in the work machine 1 at the predetermined frame rate,
the defect determination unit 34B that determines the presence or absence of a defect
in the working equipment 10 based on the image data of the working equipment 10, the
counting unit 34C that counts the number of defect determination frames indicating
the image data determined to have the defect, and the first warning control unit 34D
that changes the warning pattern output from the output device 24 based on the number
of defect determination frames. As a result, the monitoring system 30 is capable of
monitoring a defect in the working equipment 10 during the work of the work machine
1.
[0209] The first warning control unit 34D causes the output device 24 to output the warning
in the first pattern when the number of defect determination frames is, for example,
one, and causes the output device 24 to output the warning in the second pattern when
the number of defect determination frames is, for example, two or more. The larger
the number of defect determination frames, the higher the probability that the working
equipment 10 is defective. The warning pattern is changed based on the probability
that the working equipment 10 is defective. As a result, the driver can recognize
the probability of the defect in the working equipment 10.
[0210] In the embodiment, when the defect determination frame continues at least two times,
the first warning control unit 34D causes the output device 24 to output the warning
in the second pattern. When there are two defect determination frames but two defect
determination frames are not consecutive, the first warning control unit 34D causes
the output device 24 to output the warning in the first pattern. When the defect determination
frame continues for at least two times, there is a high probability that the working
equipment 10 is defective. The driver can recognize the probability that the working
equipment 10 is defective based on the warning pattern.
[0211] The output device 24 includes the sound generator 24B that generates the warning
sound. The output of the warning in the first pattern includes generation of the warning
sound in the first volume from the sound generator 24B. The output of the warning
in the second pattern includes generation of the warning sound in the second volume
larger than the first volume from the sound generator 24B. As a result, the driver
can recognize the probability that the working equipment 10 is defective based on
the volume of the warning sound.
[0212] The working equipment 10 includes the bucket body 17 and the bucket teeth 18 attached
to the bucket body 17. The defect includes a defect in the bucket teeth 18. The monitoring
system 30 can monitor the defect in the bucket teeth 18 during work of the work machine
1.
[0213] The defect in the bucket tooth 18 includes detachment of the bucket tooth 18 from
the bucket body 17. For example, when the bucket tooth 18 falls off from the bucket
body 17 to the dump body 230 in the loading work, there is a possibility that the
bucket tooth 18 is transported to the dump truck 220 together with a cargo. For example,
when the cargo is loaded from the dump body 230 to a crusher, the bucket tooth 18
may be loaded to the crusher together with the cargo. The monitoring system 30 can
monitor detachment of the bucket tooth 18 while the work machine 1 is working. Therefore,
for example, it is possible to prevent an event in which the bucket tooth 18 is put
into the crusher together with the cargo.
[0214] The bucket teeth 18 are attached to the bucket body 17 so as to protrude from the
bucket body 17. The defect determination unit 34B can determine that there is a defect
when the protruding length of the bucket tooth 18 is less than the dimension threshold.
[0215] The defect determination unit 34B can appropriately determine the dimension threshold
based on the protruding length of each of the plurality of bucket teeth 18.
[0216] The output device 24 includes the display device 24A that displays the symbol 60
indicating the bucket tooth 18. The first warning control unit 34D changes the display
pattern of the symbol 60 based on the presence or absence of the defect in the bucket
tooth 18. As a result, the driver can recognize the presence or absence of the defect
in the bucket tooth 18.
[0217] The display device 24A displays a plurality of symbols 60 based on positions of the
plurality of bucket teeth 18. The first warning control unit 34D displays the symbol
60 indicating the bucket tooth 18 determined to have the defect and the symbol 60
indicating the bucket tooth 18 determined to have no defect in different display patterns.
As a result, the driver can recognize which bucket tooth 18 is defective.
[0218] Each of the first imaging device 31 and the second imaging device 32 is disposed
in the housing 9. As a result, the first imaging device 31 can appropriately capture
the image data of the working equipment 10, and the second imaging device 32 can appropriately
capture the image data of the ground 200.
[0219] In the vehicle width direction of the work machine 1, each of the first imaging device
31 and the second imaging device 32 is disposed outside the headlight 28. As a result,
each of the illumination function of the headlight 28, the imaging function of the
first imaging device 31, and the imaging function of the second imaging device 32
is appropriately exhibited.
[0220] The first imaging device 31 is disposed on each of the left side and the right side
of the center CL of the work machine 1 in the vehicle width direction of the work
machine 1. The first imaging device 31L on the left side captures an image of the
left part of the working equipment 10, and the first imaging device 31R on the right
side captures an image of the right part of the working equipment 10. As a result,
occurrence of a blind spot is suppressed, and the image data of the working equipment
10 is appropriately acquired.
[0221] The first imaging device 31 is provided in the work machine 1 so as to be able to
image at least the bucket 12 performing the dumping operation. Thus, the first imaging
device 31 can image the bucket teeth 18.
[Another embodiment]
[0222] In the above-described embodiment, each of the first imaging device 31 and the second
imaging device 32 is disposed in the housing 9 holding the headlight 28. At least
one of the first imaging device 31 and the second imaging device 32 may be disposed
in a part of the work machine 1 different from the housing 9.
[0223] In the above-described embodiment, the second imaging device 32 is disposed above
the first imaging device 31. At least a part of the second imaging device 32 may be
disposed at the same position as the first imaging device 31 in the vertical direction.
The second imaging device 32 may be disposed below the first imaging device 31.
[0224] In the above-described embodiment, the defect monitoring unit 34 determines the presence
or absence of a defect in the bucket 12 based on the image data of the bucket 12 performing
the dumping operation in the cycle work described with reference to FIG. 8. The first
imaging device 31 may capture an image of the bucket 12 performing the dumping operation
in a work different from the cycle work. The defect monitoring unit 34 may determine
the presence or absence of a defect in the bucket 12 based on image data of the bucket
12 performing the dumping operation in a work different from the cycle work. In addition,
the image data of the bucket 12 imaged by the first imaging device 31 may not be the
image data of the bucket 12 performing the dumping operation as long as it is image
data that the defect monitoring unit 34 can recognize a defect in the bucket 12.
[0225] In the above-described embodiment, the defect in the bucket teeth 18 is detachment
of the bucket tooth 18 from the bucket body 17. The defect in the bucket teeth 18
may be wear of the bucket tooth 18 or breakage of the bucket tooth 18.
[0226] In the above-described embodiment, the defect monitoring unit 34 monitors a defect
in the bucket tooth 18 as the replacement member. The defect monitoring unit 34 may
monitor the defect in the inter-tooth protector 19 as the replacement member. The
defect in the inter-tooth protector 19 includes detachment of the inter-tooth protector
19 from the bucket body 17, wear of the inter-tooth protector 19, and breakage of
the inter-tooth protector 19.
[0227] In the above-described embodiment, the setting of the warning criteria includes the
setting of the dimensions of the warning area 36 and the setting of the position of
the warning area 36. The setting of the warning criteria may be either the setting
of the dimensions of the warning area 36 or the setting of the position of the warning
area 36. For example, the position of the warning area 36 may be a predetermined fixed
value, and only the dimensions of the warning area 36 may be set. Alternatively, the
dimensions of the warning area 36 may be predetermined fixed values, and only the
position of the warning area 36 may be set.
[0228] In the above-described embodiment, the boulder monitoring unit 35 determines the
presence or absence of the boulder 240 on the ground 200 based on the determination
criteria, and causes the output device 24 to output the warning based on the relationship
between the boulder 240 and the warning criteria. The boulder monitoring unit 35 may
determine that there is the boulder 240 when both the determination criteria and the
warning criteria are satisfied. In this case, the boulder monitoring unit 35 may use
the warning criteria as the determination criteria. In addition, regardless of the
determination criteria, the boulder monitoring unit 35 may determine the presence
or absence of the boulder 240 on the ground 200, and output the warning when both
the determination criteria and the warning criteria are satisfied. In this case, the
boulder monitoring unit 35 may use the determination criteria as the warning criteria.
[0229] In the above-described embodiment, the second warning control unit 35H displays the
area image 360 indicating the warning area 36 on the display device 24A. The second
warning control unit 35H may not display the area image 360 indicating the warning
area 36 on the display device 24A. The second warning control unit 35H may display
the area image 360 indicating the warning area 36 on the display device 24A when it
is determined that there is the boulder 240. The second warning control unit 35H may
display the area image 360 indicating the warning area 36 on the display device 24A
when it is determined that there is the boulder 240 in the warning area 36.
[0230] In the above-described embodiment, the second warning control unit 35H causes the
output device 24 to output the warning when it is determined that there is the boulder
240 on the ground 200 in front of the front tire 6F in the state where the transmission
44 is operated to move the work machine 1 forward. In addition, when the forward gear
44F is engaged in the state where it is determined that the boulder 240 exists on
the ground 200 in front of the front tire 6F, the warning is output from the output
device 24 even when the forward movement of the work machine 1 has not yet started.
The second warning control unit 35H may cause the output device 24 to output the warning
when the work machine 1 is traveling in the traveling direction in the state where
it is determined that the boulder 240 exists on the ground 200 in the traveling direction
of the front tires 6F regardless of the state of the transmission 44. For example,
when a rotation sensor that detects the rotating direction of the tires 6 is provided
in the work machine 1, the driving state acquisition unit 35F can determine whether
or not the work machine 1 is traveling in the traveling direction based on detection
data of the rotation sensor. The second warning control unit 35H may cause the output
device 24 to output the warning when the driving state acquisition unit 35F determines
that the work machine 1 travels in the traveling direction and the boulder determination
unit 35G determines that the boulder 240 exists on the ground 200 in the traveling
direction. For example, when the work machine 1 is located on a downhill, the work
machine 1 may move forward due to gravity, for example, even when the transmission
44 is in the neutral state or the reverse gear 44R is engaged. The second warning
control unit 35H may cause the output device 24 to output the warning when the rotation
sensor detects that the work machine 1 moves forward in the state where it is determined
that the boulder 240 exists on the ground 200 in front of the front tire 6F.
[0231] In the above-described embodiment, when it is determined that the boulder 240 exists
on the ground 200 in front of the front tires 6F in the state where the work machine
1 can move forward or is moving forward, the second warning control unit 35H outputs
the warning from the output device 24. When it is determined that the boulder 240
exists on the ground 200 behind the rear tire 6R in a state where the work machine
1 can move backward or is moving backward, the second warning control unit 35H may
cause the output device 24 to output the warning.
[0232] FIG. 31 is a diagram illustrating an operation of the work machine 1 according to
another embodiment. As illustrated in FIG. 31, the work machine 1 includes the second
imaging device 32 that images the ground 200 behind the rear tires 6R. The second
measurement data acquisition unit 35A acquires image data of the ground 200 behind
the rear tires 6R from the second imaging device 32. The second warning control unit
35H may cause the output device 24 to output the warning when it is determined that
the boulder 240 exists on the ground 200 behind the rear tires 6R in a state where
the transmission 44 is operated to move the work machine 1 backward. In addition,
the second warning control unit 35H may cause the output device 24 to output the warning
when it is determined that the work machine 1 is traveling backward regardless of
the state of the transmission 44 and the boulder 240 exists on the ground 200 behind
the rear tire 6R.
[0233] In the above-described embodiment, the output device 24 is arranged in the driving
room of the work machine 1. The output device 24 may be arranged outside the work
machine 1.
[0234] FIG. 32 is a diagram illustrating a monitoring system 300 according to still another
embodiment. In the example illustrated in FIG. 32, the work machine 1 is remotely
operated by a driving operation device 20F provided in a remote place from the work
machine 1.
[0235] Similarly to the above-described embodiment, each of the first imaging device 31
and the second imaging device 32 is provided in the work machine 1. In addition, a
remote control imaging device (not illustrated) that images the front of the work
machine 1 is provided in the work machine 1. The remote control imaging device captures
image data of a view in front of the work machine 1 similar to a view seen through
the windshield by the driver seated in the driver's seat in the driving room as illustrated
in FIG. 4.
[0236] Some or all of an output device 24F, an input device 25F, a monitoring controller
33F, and the driving operation device 20F are disposed in a remote control facility
provided in a remote place from the work machine 1. Each of the output device 24F,
the input device 25F, the monitoring controller 33F, and the driving operation device
20F is provided separately from the work machine 1. In addition, a remote control
display device that displays the image data captured by the remote control imaging
device is provided in the remote control facility.
[0237] The work machine 1 and the monitoring controller 33F wirelessly communicate with
each other via a wireless communication system. The work machine 1 is provided with
a wireless communication device 301 of the wireless communication system, and a wireless
communication device 302 of the wireless communication system is connected to the
monitoring controller 33F. Note that the wireless communication device 301 of the
work machine 1 and the wireless communication device 302 of the monitoring controller
33F may communicate via another device.
[0238] The image data captured by the remote control imaging device is transmitted to the
remote control display device via the wireless communication system. The driver in
the remote operation facility can operate the driving operation device 20F while viewing
the image data displayed on the remote control display device. An operation signal
generated by operating the driving operation device 20F is transmitted to the work
machine 1 via the wireless communication system. As a result, the work machine 1 is
remotely operated.
[0239] The monitoring controller 33F includes the defect monitoring unit 34 and the boulder
monitoring unit 35 as described with reference to FIG. 13.
[0240] The image data captured by the first imaging device 31 and the second imaging device
32 is transmitted from the work machine 1 to the monitoring controller 33F via the
wireless communication system. The defect monitoring unit 34 of the monitoring controller
33F can determine the presence or absence of a defect in the bucket teeth 18 based
on the image data captured by the first imaging device 31. In addition, the defect
monitoring unit 34 of the monitoring controller 33F can cause the output device 24F
to output a warning indicating that there is a defect in the bucket teeth 18. The
boulder monitoring unit 35 of the monitoring controller 33F can determine the presence
or absence of the boulder 240 on the ground 200 based on the image data imaged by
the second imaging device 32. In addition, the boulder monitoring unit 35 of the monitoring
controller 33F can cause the output device 24 F to output a warning indicating that
the boulder 240 exists on the ground 200.
[0241] In the above-described embodiment, each of the first measuring device 31 and the
second measuring device 32 is an imaging device. At least one of the first measuring
device 31 and the second measuring device 32 may be a laser device. At least one of
the first measuring device 31 and the second measuring device 32 may be a radar device.
The laser device irradiates a measurement target with a laser beam to acquire measurement
data of the measurement target. The radar device irradiates a measurement target with
a sound wave to acquire measurement data of the measurement target. The laser device
can irradiate the working equipment 10 with a laser beam and acquire measurement data
of the working equipment 10 at a predetermined sampling rate. The radar device can
irradiate the working equipment 10 with a sound wave and acquire measurement data
of the working equipment 10 at a predetermined sampling rate. The defect monitoring
unit 34 can change the warning pattern output from the output device 24 based on the
number of defect determination samples indicating the measurement data determined
to have the defect in the working equipment 10.
[0242] In the above-described embodiment, the work machine 1 is a wheel loader. The work
machine 1 may be another work machine such as a bulldozer or a hydraulic excavator.
Each of the bulldozer and the hydraulic excavator has working equipment and a crawler
belt that rotates in a state of being in contact with the ground 200. The crawler
belt is a rotating member that rotates in the state of being in contact with the ground
200. When the crawler belt rotates, the work machine travels.
Reference Signs List
[0243]
1 WORK MACHINE
2 VEHICLE BODY
2A JOINT MECHANISM
2F FRONT VEHICLE BODY
2R REAR VEHICLE BODY
3 CAB
4 TRAVELING DEVICE
5 WHEEL
5F FRONT WHEEL
5R REAR WHEEL
6 TIRE
6F FRONT TIRE
6R REAR TIRE
7 FRONT FENDER
8 SUPPORT
9 HOUSING
10 WORKING EQUIPMENT
11 BOOM
12 BUCKET
12E END
12M OPENING
13 BOOM CYLINDER
14 BUCKET CYLINDER
15 BELL CRANK
16 BUCKET LINK
17 BUCKET BODY
17A LOWER PLATE
17B UPPER PLATE
17C LEFT PLATE
17D RIGHT PLATE
18 BUCKET TOOTH
19 INTER-TOOTH PROTECTOR
20 DRIVING OPERATION DEVICE
20A ACCELERATOR PEDAL
20B BRAKE PEDAL
20F DRIVING OPERATION DEVICE
21 OPERATION PANEL
22 MONITOR DEVICE
23 REAR VIEW MONITOR DEVICE
24 OUTPUT DEVICE
24A DISPLAY DEVICE
24B SOUND GENERATOR
24F OUTPUT DEVICE
25 INPUT DEVICE
25F INPUT DEVICE
27 PILLAR
28 HEADLIGHT
29 BLINKER LAMP
30 MONITORING SYSTEM
31 FIRST IMAGING DEVICE (FIRST MEASURING DEVICE)
31L FIRST IMAGING DEVICE
31R FIRST IMAGING DEVICE
32 SECOND IMAGING DEVICE (SECOND MEASURING DEVICE)
32L SECOND IMAGING DEVICE
32R SECOND IMAGING DEVICE
33 MONITORING CONTROLLER
33F MONITORING CONTROLLER
34 DEFECT MONITORING UNIT
34A FIRST MEASUREMENT DATA ACQUISITION UNIT
34B DEFECT DETERMINATION UNIT
34C COUNTING UNIT
34D FIRST WARNING CONTROL UNIT
35 BOULDER MONITORING UNIT
35A SECOND MEASUREMENT DATA ACQUISITION UNIT
35B DETERMINATION CRITERIA SETTING UNIT
35C WARNING CRITERIA SETTING UNIT
35D STANDARD VALUE STORAGE UNIT
35E INPUT DATA ACQUISITION UNIT
35F DRIVING STATE ACQUISITION UNIT
35G BOULDER DETERMINATION UNIT
35H SECOND WARNING CONTROL UNIT
36 WARNING AREA
37 TARGET IMAGE
37L TARGET IMAGE
37R TARGET IMAGE
40 DRIVE SYSTEM
41 ENGINE
42 FUEL INJECTION DEVICE
43 POWER TAKE-OFF
44 TRANSMISSION
44F FORWARD GEAR
44R REVERSE GEAR
45F FRONT AXLE
45R REAR AXLE
46 HYDRAULIC PUMP
47 CONTROL VALVE
48 DRIVE CONTROLLER
50 RECOGNITION RANGE
51 BASE
52 BLADE EDGE
53 SEARCH RANGE
60 SYMBOL
61 SYMBOL
62 SYMBOL
63 SYMBOL
64 SYMBOL
65 SYMBOL
66 SYMBOL
67 SYMBOL
68 SYMBOL
70 SYMBOL
70L SYMBOL
70R SYMBOL
80 FRAME IMAGE
80L FRAME IMAGE
80R FRAME IMAGE
81 FRAME IMAGE
82 BACKGROUND IMAGE
181 BUCKET TOOTH
182 BUCKET TOOTH
183 BUCKET TOOTH
184 BUCKET TOOTH
185 BUCKET TOOTH
186 BUCKET TOOTH
187 BUCKET TOOTH
188 BUCKET TOOTH
191 INTER-TOOTH PROTECTOR
192 INTER-TOOTH PROTECTOR
193 INTER-TOOTH PROTECTOR
194 INTER-TOOTH PROTECTOR
195 INTER-TOOTH PROTECTOR
196 INTER-TOOTH PROTECTOR
197 INTER-TOOTH PROTECTOR
200 GROUND
210 NATURAL GROUND
220 DUMP TRUCK
230 DUMP BODY
240 BOULDER
300 MONITORING SYSTEM
301 WIRELESS COMMUNICATION DEVICE
302 WIRELESS COMMUNICATION DEVICE
360 AREA IMAGE
1000 COMPUTER SYSTEM
1001 PROCESSOR
1002 MAIN MEMORY
1003 STORAGE
1004 INTERFACE
CL CENTER
FX ROTATION AXIS
G REFERENCE INTER-TOOTH DISTANCE
G1 DISTANCE
G2 DISTANCE
G3 DISTANCE
L REFERENCE TOOTH LENGTH
L1 DISTANCE
L2 DISTANCE
L3 DISTANCE
L4 DISTANCE
M1 ARROW
M2 ARROW
M3 ARROW
M4 ARROW
Px THRESHOLD
Py THRESHOLD
Qx DIMENSION
Qy DIMENSION
Ra MEASURING RANGE
Rb MEASURING RANGE
RX ROTATION AXIS
α FIRST ANGLE OF VIEW
β SECOND ANGLE OF VIEW