JP2020093877A - Safety apparatus for work vehicle - Google Patents

Abstract

To provide a safety apparatus for a work vehicle, which can perform an actuation operation while checking motion of an outrigger jack even for a vehicle for which visual observation of the outrigger jack is difficult.SOLUTION: This safety apparatus for a work vehicle comprises: a first camera device that acquires image information in an outrigger jack extending direction; an image processing device that generates a vehicle surrounding image 111 in a plan view around a vehicle including the outrigger jack by using the image information acquired by the first camera device; and a display device 100 that displays the vehicle surrounding image 111 generated by the image processing device.SELECTED DRAWING: Figure 4

Description

The present invention relates to a work vehicle safety device including an outrigger jack.

As an example of such a work vehicle, a swivel base that is configured based on a truck vehicle that has a driving cab at the front and is capable of traveling, and a slewing base that is horizontally rotatable on the vehicle body, and undulations on the swivel base are provided. BACKGROUND ART There is known an aerial work vehicle that includes a boom that is extendable and retractable and a work platform that is pivotally supported at the tip of the boom. Such aerial work vehicles are used in various work sites such as electric wire construction, maintenance and inspection work in road tunnels, and maintenance and inspection work of bridges. In such an aerial work vehicle, in order to support the vehicle in a stable state during work, outrigger jacks are provided on the front, rear, left, and right of the vehicle, and these outrigger jacks are projected to the side of the vehicle to be grounded. It is configured (for example, see Patent Document 1).

Japanese Patent Laid-Open No. 8-324998

In the work vehicle as described above, the operation device of the outrigger jack is provided in, for example, the rear portion of the vehicle. Therefore, when a tool box or the like is provided on the vehicle, it is difficult to visually check the outrigger jack on the front side by the tool box or the like, and it is not possible to perform an operation operation while confirming the operation of the outrigger jack. was there.

The present invention has been made in view of such a problem, and even in a vehicle in which it is difficult to visually check the outrigger jack, the safety of a work vehicle capable of performing an operation operation while confirming the operation of the outrigger jack. The purpose is to provide a device.

In order to solve the above problems, the present invention provides a vehicle that can run, and an outrigger jack that is provided on each of the front, rear, left, and right of the vehicle, and that projects the vehicle laterally and grounds it to support the vehicle, and the vehicle. It is a safety device for a work vehicle including a work device provided above. Then, using the first camera device that is provided on each of the left and right of the vehicle and that acquires image information in the direction in which the outrigger jack is extended, and the image information acquired by the first camera device, the outriggers are used. An image processing device (for example, the image processing unit 55 of the control unit 50 in the embodiment) that generates a vehicle surroundings image of the surroundings of the vehicle including a jack, and the vehicle surroundings image generated by the image processing device. And a display device for displaying.

In the work vehicle safety device configured as described above, it is preferable that the display device displays, in the vehicle surrounding image, an overhanging image image that serves as a guide when the outrigger jack is overhanging to the side of the vehicle.

In the work vehicle safety device configured as described above, the outrigger jack includes a second camera device configured to have a roller rotatably provided at a lower end thereof and which acquires image information of a road surface on which the roller contacts the ground. The display device preferably displays the roller ground road surface image acquired by the second camera device.

In the work vehicle safety device having the above configuration, the work device is provided on a swivel base provided on the vehicle so as to be rotatable, at least a boom provided on the swivel base so as to be up and down, and at a tip portion of the boom. It is preferable that the display device displays a turning image image indicating a turning position of the boom with respect to the vehicle.

The work vehicle safety device having the above configuration includes a jack operating device (for example, the lower operating device 60 in the embodiment) that operates the outrigger jack, and the display device is disposed in the vicinity of the jack operating device. It is preferable that an operator who operates the outrigger jack with the jack operation device can visually recognize the operation of the outrigger jack from the vehicle surrounding image displayed on the display device.

In the safety device for a work vehicle having the above configuration, the display device is arranged in a driving cab of the vehicle, and an image displayed on the display device by an operator who performs a driving operation of the vehicle in the driving cab. It is preferable that the information can be visually recognized.

According to the safety device for a work vehicle according to the present invention, the first camera device that acquires the image information in the direction in which the outrigger jack is extended, and the plan view of the periphery of the vehicle including the outrigger jack using the image information. An image processing device that generates a vehicle surroundings image and a display device that displays the vehicle surroundings image are configured. Therefore, the operation operation of the outrigger jack can be performed while confirming the operation of the outrigger jack from the vehicle surrounding image displayed on the display device. Therefore, even in a vehicle in which a tool box or the like is provided on the vehicle and it is difficult to visually check the operation of the outrigger jack due to the tool box or the like, the operation operation of the outrigger jack is safely performed while confirming the operation of the outrigger jack. be able to. Further, it is possible to reduce a blind spot during work by the image of the vehicle surroundings displayed on the display device, and it is possible to improve work safety.

In the work vehicle safety device according to the present invention, it is preferable that the display device is configured to display an overhanging image image, which is a standard when the outrigger jack is overhanging laterally of the vehicle, in the vehicle surrounding image. .. With such a configuration, it is possible to know how much the outrigger jack should be extended before the existing object or the like on the side of the vehicle comes into contact with the outrigger jack before operating the outrigger jack. Therefore, it is possible to prevent the contact between the outrigger jack and the existing object on the side of the vehicle. Further, when the vehicle is installed at the work site, it is possible to grasp how far the vehicle can be moved, so that the vehicle can be easily installed.

In the safety device for a work vehicle according to the present invention, the outrigger jack is configured to have a roller at a lower end portion thereof, and the display device includes a second camera device that acquires image information of a front road surface on which the roller is in contact with the ground. It is preferably configured to display a roller ground contact road surface image. With such a configuration, when working while the vehicle is running, it is possible to grasp the road surface condition by the roller ground road surface image displayed on the display device, and pay attention to steps and ruts on the road surface. You can

In the work vehicle safety device according to the present invention, it is preferable that the work device includes a swivel base, a boom, and a work platform, and the display device displays a swirl illustration image indicating a swivel position of the boom. With such a configuration, when performing work while the vehicle is traveling, it is possible to grasp the position of the boom by the turning illustration image displayed on the display device, and to prevent obstacles and bridge girders on the side of the road. It is possible to call attention so as not to contact the boom etc. and the boom (workbench).

1 is a side view of an aerial work vehicle equipped with a safety device according to the present invention. It is a rear view of the aerial work vehicle. It is a block diagram which shows the operation control structure of the said aerial work vehicle. It is the schematic which shows the 1st example of a display of the display apparatus of the safety device which concerns on this invention. It is a schematic diagram showing the 2nd example of a display of a safety device concerning the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. An aerial work vehicle 1 is shown in FIGS. 1 and 2 as an example of a work vehicle equipped with a safety device according to the present invention. The aerial work vehicle 1 is configured based on a truck vehicle having a driving cab 2a provided at a front portion of a vehicle body 2 and wheels 3 provided at front, rear, left and right sides of the vehicle body 2, respectively.

Roller jacks 10 are provided on the front, rear, left and right of the vehicle body 2. The roller jack 10 includes an outrigger 11 that can expand and contract in the left-right direction of the vehicle body 2, a jack 12 that is provided at the tip of the outrigger 11 and that can expand and contract in the up-and-down direction, and a roller that is rotatably provided at the lower end of the jack 12. And 13 are included. The outrigger 11 is extended and contracted by an outrigger cylinder 15 (see FIG. 3) provided inside. The jack 12 is expanded and contracted by a jack cylinder 16 (see FIG. 3) provided inside. The aerial work vehicle 1 extends the outriggers 11 and extends the jacks 12 to ground the rollers 13 to the road surface so that the work platform 40, which will be described later, is moved to a desired high position to drive the vehicle. It is configured to be able to work while. The roller jack 10 is operated by a lower operation device 60 provided on the vehicle body 2.

A swivel base 5 is provided in a front portion of a bodywork area (a rear area of the driving cab 2a) on the vehicle body 2 so as to be horizontally swivelable. The swivel base 5 is swiveled with respect to the vehicle body 2 by a boom swivel motor 6 (see FIG. 3) provided on the vehicle body 2. A boom 20 is provided on the upper part of the swivel base 5 by a pivoting pin 7 so as to be swingable in a vertical direction (movable up and down). The boom 20 is hoisted with respect to the swivel base 5 (vehicle body 2) by a boom hoisting cylinder 25 provided between the swivel base 5 and the boom 20. The boom 20 is configured by telescopically combining a base boom 21, an intermediate boom 22, and a tip boom 23 pivotally connected to the swivel 5, and a boom telescopic cylinder 26 provided in the boom 20 (see FIG. 3). ), and the expansion/contraction operation is performed.

A workbench bracket 30 is provided at the tip of the tip boom 23 so as to be vertically swingable, and a workbench 40 is provided on the workbench bracket 30. A cylinder bracket 31 extending substantially parallel to the tip boom 23 is provided at the tip of the tip boom 23. A leveling cylinder 35 is laid between the cylinder bracket 31 and the workbench bracket 30. The leveling cylinder 35 expands and contracts based on a detection result from a workbench inclination detector (not shown) provided on the workbench 40, and swings the workbench bracket 30 up and down with respect to the tip boom 23. The floor surface of the workbench 40 is always maintained in a horizontal state regardless of the hoisting angle of the boom 20.

The workbench 40 is provided on the workbench bracket 30 so as to be horizontally swingable, and is swung with respect to the workbench bracket 30 by a workbench swing motor 36 (see FIG. 3) provided on the workbench bracket 30. The workbench 40 has a substantially rectangular work floor 41 on which an operator can board, and a handrail 42 provided upright around the work floor 41. The workbench 40 is supported on the workbench bracket 30 so as to be horizontally rotatable at a position (an eccentric position) closer to one side from the lower surface central portion of the work floor 41. In the aerial work vehicle 1, the boom 20 extends rearward in the bodywork area on the vehicle body 2, and the work platform 40 is stored above the boom 20 in a state of extending in the front-rear direction.

The workbench 40 is provided with an upper operation device 70. In the aerial platform vehicle 1, a worker on the workbench 40 operates the upper operation device 70, and a ground operator operates the lower operation device 60 to control the turning of the turntable 5 and the boom 20. Is configured to move the work table 40 to a desired high position by performing undulation and expansion/contraction control of the work table, turning control of the work table 40, and the like. When the upper operation device 70 or the lower operation device 60 is operated, an operation signal corresponding to the operation content is output to the control unit 50 provided on the vehicle body 2. The operation control section 51 of the control unit 50 outputs a command signal based on the operation signal to the hydraulic drive unit 80.

As shown in FIG. 3, the hydraulic drive unit 80 includes a hydraulic oil tank 81 that stores hydraulic oil, a hydraulic pump 82 that is driven by the power of an engine E mounted on the vehicle body 2, and a discharge from the hydraulic pump 82. The control valve unit 83 controls the supply of the hydraulic oil to each hydraulic actuator in the supply direction and the supply amount based on the command signal. A power take-off mechanism PTO is incorporated in the transmission that shifts the power of the engine E and transmits the power to the wheels 3. When the PTO operating lever 85 arranged in the driving cab 2a is operated from the off position to the on position, the drive destination of the engine E is switched from the wheel 3 to the hydraulic pump 82 by the power take-off mechanism PTO, and the power of the engine E is changed. The hydraulic pump 82 is driven by. The control valve unit 83 has electromagnetic proportional control valves V1 to V6 corresponding to the boom swing motor 6, the boom hoisting cylinder 25, the boom telescopic cylinder 26, the workbench swing motor 36, the outrigger cylinder 15 and the jack cylinder 16, respectively. There is. The hydraulic drive unit 80 controls the flow of hydraulic oil supplied to each hydraulic actuator in response to a command signal from the operation control section 51 of the control unit 50 to operate each hydraulic actuator.

In this way, the operation of each hydraulic actuator is controlled by the control unit 50 (operation control unit 51). Therefore, the aerial work vehicle 1 is provided with various detecting devices, and the detection signals from these detecting devices are input to the control unit 50. Specifically, a swing angle signal of the boom 20 (swing platform 5) is input from the boom swing angle sensor 91, a hoisting angle signal of the boom 20 is input from the boom hoisting angle sensor 92, and a boom length sensor 93 of the boom 20 is input. The extension amount signal is input, and the swing angle signal of the workbench 40 is input from the workbench swing angle sensor 94. In addition, an extension amount signal of each outrigger jack 10 (outrigger 11) to the side of the vehicle body is input from the jack extension amount sensor 95, and a ground contact detection signal of each outrigger jack 10 (roller 13) is input from the jack ground sensor 96. Then, front and rear and left and right inclination angle signals of the vehicle body 2 (road surface) are input from the vehicle body inclination angle sensor 97. Further, the traveling speed signal of the aerial work vehicle 1 is input from the traveling speed sensor 98.

In the aerial work vehicle 1 configured as described above, the display device 100 and the display changeover switch 105 are arranged in the vicinity of the lower operation device 60 in the vehicle body 2 and in the driving cabin 2a, respectively. An operator who operates the lower operation device 60 and an operator who operates the aerial work vehicle 1 in the driving cab 2a can visually recognize the image information displayed on the display device 100. .. As shown in FIG. 4, the display device 100 includes a vehicle surrounding information display unit 110, a character information display unit 120, a detection information display unit 130, and a boom position information display unit 140 in the first display channel CH1. doing. The display device 100 is configured to display the first display channel CH1 when the PTO operation lever 85 in the driving cab 2a is operated from the off position to the on position.

The vehicle surroundings information display unit 110 displays a vehicle surroundings image 111 of the surroundings of the aerial work vehicle 1 in a plan view. Left and right first camera devices 161, 162 (see FIG. 3) that acquire image information in the direction in which each outrigger jack 10 (outrigger 11) is extended are provided on the left and right of the vehicle body 2. The image information acquired by the left and right first camera devices 161 and 162 is input to the image processing unit 55 of the control unit 50. The image processing unit 55 performs image processing (image combining processing, etc.) using the image information from the left and right first camera devices 161, 162 and the planar view image of the aerial work vehicle 1 stored in advance, An aerial image 111, which is a plan view image of the work vehicle 1 (the vehicle body 2 including the outrigger jacks 10) and its surroundings viewed from above, is generated. The image processing unit 55 outputs the generated vehicle surroundings image 111 to each display device 100 and displays it on the vehicle surroundings information display unit 110.

The vehicle surroundings image 111 displayed in this manner is overlapped and displayed with an overhanging image image 112 that serves as a guide for overhanging each outrigger jack 10 to the side of the vehicle. The overhang image image 112 is an image showing an overhang amount when the outrigger jack 10 is overhanging to the side of the vehicle (an image showing an outermost position of the outrigger jack 10). The bulging image image 112 displays not only an image image when the outrigger jack 10 is extended to the maximum position on the side of the vehicle, but also an image image when the outrigger jack 10 is extended to an intermediate position between the storage position and the maximum extension position. It is supposed to do. In the present embodiment shown in FIG. 4, three stages of the first intermediate bulge image image 112a, the second intermediate bulge image image 112b, and the maximum bulge image image 112c are sequentially arranged from the storage position side (vehicle body 2 side). It is designed to display the image image of the output.

In the character information display portion 120, information related to work such as "please work while paying attention to the surroundings" and information related to operation of work devices such as the outrigger jack 10 and the boom 20 are displayed in characters. It is supposed to be done.

The detection information display unit 130 displays values indicating the front and rear and left and right inclination angles of the vehicle body 2 (road surface) detected by the vehicle body inclination angle sensor 97 and the traveling speed of the aerial work vehicle 1 detected by the traveling speed sensor 98. The indicated value and the value indicating the turning angle of the boom 20 detected by the boom turning angle sensor 91 are displayed. The vehicle body inclination angle sensor 97 is a sensor that measures the inclination of the vehicle body 2 with respect to the horizontal plane from the gravitational acceleration, and can measure the longitudinal inclination and the lateral inclination of the vehicle body 2, respectively. The value indicating the turning angle of the boom 20 is displayed as a turning value of 0° when the boom 20 extends in front of the vehicle body 2 and a clockwise value from that state is displayed as a positive value.

In addition to the above values, the detection information display unit 130 displays the height of the work platform 40 based on the hoisting angle of the boom 20 detected by the boom hoisting angle sensor 92 and the extension amount of the boom 20 detected by the boom length sensor 93. The position may be obtained and the value may be displayed. Further, detected values and calculated values other than these may be displayed.

On the boom position information display section 140, a turning illustration image 141 (planar illustration image) indicating the turning angle (turning position) of the boom 20 with respect to the vehicle body 2 detected by the boom turning angle sensor 91 is displayed. The boom position information display section 140 indicates not only the turning position of the boom 20 but also the position of the workbench 40 obtained as described above and the turning angle of the workbench 40 with respect to the boom 20 detected by the workbench turning angle sensor 94. The (turning position) and the like may also be displayed in the turning illustration image 141.

The display device 100 can switch from the first display channel CH1 to the second display channel CH2 by operating the display changeover switch 105. It is also possible to operate the display changeover switch 105 to switch from the second display channel CH2 to the first display channel CH1. As shown in FIG. 5, the second display channel CH2 has a roller ground road surface information display unit 150 in place of the vehicle surrounding information display unit 110 of the first display channel CH1. The character information display unit 120, the detection information display unit 130, and the boom position information display unit 140 of the first display channel CH1 are also displayed as they are on the second display channel CH2.

The roller ground contact road surface information display unit 150 is configured to display a roller ground contact road surface image 151 which is an image of a road surface on which the rollers 13 of the front, rear, left and right outrigger jacks 10 respectively contact the ground. The front, rear, left, and right second camera devices 171 to 171 that acquire image information of a road surface (front road surface) on which the rollers 13 of the respective outrigger jacks 10 contact the front, rear, left, and right low positions of the vehicle body 2, respectively. 174 (see FIG. 3) are provided. The image information acquired by the front, rear, left and right second camera devices 171 to 174 is input to the image processing unit 55 of the control unit 50, output from the image processing unit 55 to each display device 100, and the roller ground road surface information display unit 150. It is supposed to be displayed in.

As described above, in the display device 100, the vehicle surroundings information display unit 110 displays the vehicle surroundings image 111 in a plan view of the surroundings of the aerial work vehicle 1. Therefore, the lower operation device 60 is operated while confirming the operation of each outrigger jack 10 by the vehicle surroundings image 111 displayed on the display device 100 provided in the vicinity of the lower operation device 60 that operates each outrigger jack 10. Then, the operation operation of each outrigger jack 10 can be performed. In the aerial work vehicle 1, no tool box or the like is provided on the bodywork area of the vehicle body 2, but even if it is difficult to visually check the operation of the outrigger jack due to the tool box or the like provided on the vehicle body, It is possible to safely operate the outrigger jack while confirming the operation of the outrigger jack. In addition, the vehicle surroundings image 111 displayed on the display device 100 can reduce blind spots during work and improve work safety.

In the display device 100, in the vehicle surroundings image 111 displayed on the vehicle surroundings information display unit 110, an overhanging image image 112 serving as a guide for overhanging each outrigger jack 10 to the side of the vehicle is displayed. There is. Therefore, it is possible to know how much the outrigger jack 10 should be extended before the existing object or the like on the side of the vehicle comes into contact with the outrigger jack 10 before operating the outrigger jack 10. Therefore, it is possible to prevent contact between the outrigger jack 10 and an existing object on the side of the vehicle. Further, it is necessary to understand how far the aerial work vehicle 1 can be moved when installing the aerial work vehicle 1 at the work site by the overhanging image image 112 displayed on the display device 100 in the driving cab 2a. Therefore, the work vehicle 1 for high places can be easily installed.

In the display device 100, the boom position information display section 140 displays a turning illustration image 141 indicating a turning angle (turning position) of the boom 20 with respect to the vehicle body 2. Therefore, when performing work while traveling the aerial work vehicle 1, the position of the boom 20 with respect to the vehicle body 2 is grasped by the turning illustration image 141 displayed on the display device 100 in the driving cab 2a. Therefore, it is possible to call attention so that the boom 20 (workbench 40) does not come into contact with obstacles or bridge girders on the side of the road.

In the display device 100, the roller ground contact road surface information display unit 150 displays a roller ground contact road surface image 151 which is an image of the road surface on which the rollers 13 of the front, rear, left, and right outrigger jacks 10 respectively contact the ground. Therefore, when performing work while traveling the aerial work vehicle 1, the road surface condition can be grasped by the roller ground road surface image 151 displayed on the display device 100 in the driving cab 2a, and the road surface step, rut, etc. You can pay attention to.

Although the embodiments according to the present invention have been described so far, the scope of the present invention is not limited to those shown in the above embodiments. For example, in the above-described embodiment, the first camera devices 161 and 162 are provided on the left and right sides of the vehicle body 2, respectively. However, camera devices are also provided on the front and rear sides of the vehicle body 2, and the vehicle surrounding image 111 displayed on the display device 100 is displayed. In, the image information in the front-back direction of the vehicle body 2 may be added. Alternatively, the display changeover switch 105 may be operated to switch to the third display channel, and the rear image of the vehicle body 2 may be displayed on the display device 100 on the third display channel. Although the display device 100 is provided in the vicinity of the lower operation device 60 in the above-described embodiment, the display device 100 may be integrally configured as a part of the lower operation device 60. In the above-described embodiment, as the overhanging image image 112, an image image with three levels of overhang is displayed, but only one level is displayed so that image images with overhanging levels of two, four, or more levels are displayed. You can

In the above-described embodiment, the hydraulic pump 82 is driven by the power of the engine E (vehicle engine) via the power take-off mechanism PTO, but a power unit different from the engine E (battery unit, engine unit, etc.). May be provided, and the hydraulic pump 82 may be driven by the power unit thereof. In that case, either one of the first and second display channels CH1 and CH2 may be displayed on the display device 100 when the power unit is activated. Alternatively, when the ground contact of the outrigger jack 10 (roller 13) is detected by the jack ground sensor 96, or when the boom 20 or the like is in a state other than the retracted state, the first and second display channels in the display device 100 are displayed. Either CH1 or CH2 may be displayed. Alternatively, either one of the first and second display channels CH1 and CH2 may be displayed by operating the display changeover switch 105.

In the above-described embodiment, the example in which the present invention is applied to a work vehicle of a type in which the boom 20 extends and contracts linearly has been described, but the present invention is applied to various work vehicles equipped with an outrigger jack and the same applies. The effect of can be obtained.

1 Aerial work vehicle 2 Vehicle body 10 Outrigger jack 50 Control unit 55 Image processing unit (image processing device)
60 Lower operation device (jack operation device)
100 display devices 161, 162 first camera devices 171 to 174 second camera devices

Claims (6)

A vehicle that can run,
Outrigger jacks that are respectively provided on the front, rear, left, and right of the vehicle, and project laterally of the vehicle and ground to support the vehicle,
A safety device for a work vehicle comprising a work device provided on the vehicle,
First camera devices that are respectively provided on the left and right sides of the vehicle and that acquire image information in the direction in which the outrigger jacks are projected;
An image processing device that generates a vehicle surroundings image in a plan view of the surroundings of the vehicle including the outrigger jack, using the image information acquired by the first camera device,
A safety device for a work vehicle, comprising: a display device that displays the vehicle surrounding image generated by the image processing device. The work vehicle safety according to claim 1, wherein the display device displays an overhanging image image that is a reference when the outrigger jack is overhanging to the side of the vehicle in the vehicle surrounding image. apparatus. The outrigger jack has a roller rotatably provided at the lower end,
A second camera device for acquiring image information of a road surface on which the roller is grounded,
The work vehicle safety device according to claim 1, wherein the display device displays the roller ground contact road surface image acquired by the second camera device. The working device is configured to include a turntable provided on the vehicle so as to be turnable, a boom provided on the turntable at least up and down, and a worktable provided at a tip portion of the boom. Was
The work vehicle safety device according to claim 1, wherein the display device displays a turning illustration image indicating a turning position of the boom with respect to the vehicle. A jack operating device for operating the outrigger jack,
The display device is disposed in the vicinity of the jack operation device,
It is configured such that an operator who operates the outrigger jack by the jack operation device can visually recognize the operation of the outrigger jack by the vehicle surrounding image displayed on the display device. Item 5. A safety device for a work device according to any one of items 1 to 4. The display device is disposed in a driving cab of the vehicle,
The worker performing a driving operation of the vehicle in the driving cab is configured to be capable of visually recognizing image information displayed on the display device. Work vehicle safety equipment.