JP6763728B2 - Container cargo handling vehicle - Google Patents

Description

The present invention relates to a container handling vehicle.

Conventionally, as described in Patent Document 1, for example, a container handling vehicle capable of loading and unloading a container has been known. The container cargo handling vehicle described in Patent Document 1 includes a vehicle body including a cab provided with a driver's seat, a cargo handling arm rotatably connected to the vehicle body, and a hydraulic cylinder for rotating the cargo handling arm. ing. The cargo handling arm has an L-shaped arm and a hook provided at the tip of the L-shaped arm and capable of engaging with the engaged portion of the container.

When loading a container, first, the vehicle body is positioned in front of the engaged portion of the container. Next, the hydraulic cylinder is driven to rotate the cargo handling arm rearward until the hook faces rearward. Next, the driver visually confirms the position of the container and moves the vehicle body backward toward the container. Then, the vehicle body is brought closer to the container while visually checking the positions of the hook and the engaged portion until the hook of the cargo handling arm comes to a position where it can be engaged with the engaged portion of the container. After approaching, the hydraulic cinder is driven to rotate the cargo handling arm forward to engage the hook with the engaged portion (hereinafter, this work is referred to as hooking). If the hook and the engaged portion are not aligned with each other, the hook will not engage with the engaged portion even if the cargo handling arm is rotated. Therefore, before driving the hydraulic cylinder, the driver may once go out of the cab and check that the hook is in a position where it can be engaged with the engaged portion. After hooking, the cargo handling arm is further rotated forward. Then, the container is lifted by the cargo handling arm and pulled forward, and is loaded on the vehicle body.

Japanese Unexamined Patent Publication No. 2012-206690

However, it is not easy even for a skilled driver to position the hook of the cargo handling arm in front of the engaged portion of the container while moving the vehicle body backward. Therefore, it is desired to facilitate hooking in a container handling vehicle. Further, when the vehicle body is moved backward, the cargo handling arm is in a state of being rotated rearward, and a part of the cargo handling arm is in a state of protruding rearward or upward. Therefore, there is a concern that the facilities around the container may interfere with the cargo handling arm. For example, when the driver moves the vehicle body backward toward the container, he / she may be distracted by positioning the hook in front of the engaged portion, and may bring the cargo handling arm into contact with facilities around the container. is there.

The present invention has been made in view of this point, and an object of the present invention is to provide a container handling vehicle that can be easily hooked when loading a container and that the cargo handling arm does not easily come into contact with facilities around the container. It is to be.

The container handling vehicle according to the present invention is a container handling vehicle capable of loading a container having an engaged portion on the front wall, and has a cab, and a vehicle body for detachably loading the container and cargo handling. It is equipped with an arm. The cargo handling arm is provided at an L-shaped arm having a root portion rotatably supported around an axis extending in the vehicle width direction with respect to the vehicle body, and at the tip of the L-shaped arm, and is engaged with the container. It has a hook that can be engaged with the joint. The container handling vehicle further includes an actuator for rotating the cargo handling arm, and the hook of the vehicle body, which is rearward of the front end of the cab and when the container is loaded, is covered by the container. A rear imaging device attached to a portion in front of the front end of the cargo handling arm when engaging with the engaging portion and arranged toward the rear, a display device arranged in the cab, and the rear imaging device. And an image control device communicatively connected to the display device. The image control device receives a signal from the rear imaging device when the vehicle body moves backward toward the container when loading the container, and receives a signal from the front wall of the container and at least a part of the cargo handling arm. It is configured to generate a confirmation image including the above and display it on the display device.

According to the container handling vehicle, when the vehicle body is moved backward toward the container, a confirmation image including at least a part of the front wall of the container and the cargo handling arm is displayed on the display device. Therefore, the driver can easily grasp the positions of the container and the cargo handling arm by looking at the display device without going out of the cab and visually checking. Therefore, hooking becomes easy, and contact between the cargo handling arm and the facilities around the container is less likely to occur.

According to a preferred aspect of the present invention, the rear imaging device is arranged so that a portion of the L-shaped arm between the bent portion and the hook and the hook can be imaged. The image control device generates an image including the front wall of the container, the portion between the bent portion of the L-shaped arm and the hook, and the hook as the confirmation image, and displays the image on the display device. It is configured to let you.

According to the above aspect, since the front wall of the container and the tip end side portion of the cargo handling arm are displayed on the display device, the positions of the container and the cargo handling arm can be more easily grasped. Therefore, hooking becomes easier, and contact between the cargo handling arm and the facilities around the container is less likely to occur.

According to another preferred aspect of the present invention, the rear imaging device is arranged so that the entire cargo handling arm can be imaged. The image control device is configured to generate an image including the front wall of the container and the entire cargo handling arm as the confirmation image and display it on the display device.

According to the above aspect, since the display device displays the entire front wall of the container and the cargo handling arm, the positions of the container and the cargo handling arm can be more easily grasped. Therefore, hooking becomes easier, and contact between the cargo handling arm and the facilities around the container is less likely to occur.

According to another preferred embodiment of the present invention, the rear imaging device is arranged to the left or right of the cargo handling arm.

According to the above aspect, since the display device displays an image of the front wall of the container and at least a part of the cargo handling arm oriented diagonally rearward, the positional relationship between the container and the cargo handling arm can be more easily grasped. be able to.

According to another preferred embodiment of the present invention, the rear imaging device is attached to the cab.

According to the above aspect, the container and the cargo handling arm can be imaged well. Further, since the distance between the rear imaging device and the display device is short, noise is less likely to occur during communication, and communication is improved. In the case of wired communication, the signal line can be shortened and wiring becomes easy.

According to another preferred embodiment of the present invention, the vehicle body includes a cabback step at least partially located behind the cab and in front of the cargo handling arm, and the rear imaging device comprises the cabback. Attached to the step.

According to the above aspect, the cabback step can be effectively used as a support member of the rear imaging device. A dedicated member for supporting the rear imaging device is not required, and an increase in the number of parts can be suppressed.

According to another preferred embodiment of the present invention, the front wall is provided with an engaged portion capable of engaging with the hook so that another container having a length different from that of the container in the front-rear direction can be loaded. .. The rear imaging device has a front wall of the container when the container is loaded on the vehicle body and a front wall of the other container when the other container is loaded on the vehicle body. It is arranged so that it can be imaged. The image control device causes the display device to display an image including the front wall of the container when the container is loaded on the vehicle body, and when the other container is loaded on the vehicle body, the image control device displays the image. The display device is configured to display an image including the front wall of another container.

Whether or not the container is properly loaded onto the vehicle body can be determined based on the position of the front wall of the container after loading. However, the position of the front wall of the container after loading may differ depending on the length of the container in the front-rear direction. According to the above aspect, the position of the front wall of the container can be accurately grasped by observing the image displayed on the display device after loading the container. Therefore, it is possible to easily determine whether or not the container has been properly loaded based on the position of the front wall of the container.

As described above, according to the present invention, it is possible to provide a container handling vehicle in which hooking when loading a container is easy and contact between the cargo handling arm and facilities around the container is unlikely to occur.

It is a perspective view of a container cargo handling vehicle. It is a perspective view which shows the arrangement of a back camera. It is a perspective view which shows the hook of the front wall of a container and a cargo handling arm. It is a perspective view which shows the arrangement of an arm camera. (A) is a perspective view showing the arrangement of the left side camera, and (b) is a perspective view showing the arrangement of the right side camera. It is a top view which shows the optical axis and the angle of view of each camera. It is a block diagram of an image display system. (A) and (b) are side views for explaining the loading operation of a container. (A) and (b) are side views for explaining the loading operation of a container. It is a figure which shows the display example of the display device in the 1st step when the vehicle body is moved straight backward toward a container. It is a figure which shows the display example of the display device in the 2nd step when the vehicle body is moved straight backward toward a container. It is a figure which shows the display example of the display device in the 3rd step when the vehicle body is moved straight backward toward a container. (A) is a perspective view showing a left side portion of the front wall of the container and a left side portion of the bumper, and (b) is a perspective view showing a right side portion of the front wall of the container and a right side portion of the bumper. It is a figure which shows the display example of the display device in the 4th step when the vehicle body is moved straight backward toward a container. It is a figure which shows the display example of the display device in the 1st step when the vehicle body is moved backward diagonally toward a container. It is a figure which shows the display example of the display device in the 2nd step when the vehicle body is moved backward diagonally toward a container. It is a figure which shows the display example of the display device in the 3rd step when the vehicle body is moved backward diagonally toward a container. It is a figure which shows the display example of the display device in the 4th step when the vehicle body is moved backward diagonally toward a container. It is a figure which shows the other display example of the display device at the time of loading a container. It is a top view of the container cargo handling vehicle which concerns on another embodiment. It is a side view of the container cargo handling vehicle which concerns on other embodiment. It is a side view of the container cargo handling vehicle which concerns on other embodiment. It is a side view of the container cargo handling vehicle which concerns on other embodiment. (A) is a side view of a container handling vehicle when a long container is loaded, and (b) is a side view of a container handling vehicle when a short container is loaded.

Hereinafter, the container handling vehicle 1 according to the embodiment of the present invention will be described. In the following description, unless otherwise specified, the terms front, rear, left, right, top, and bottom are the front, rear, and left as seen from the driver seated in the driver's seat (not shown) of the container handling vehicle 1, respectively. , Right, top, bottom. The top and bottom mean the top and bottom in the vertical direction when the container handling vehicle 1 is stopped on the horizontal plane, respectively. The symbols F, Re, L, R, U, and D attached to the drawings represent front, back, left, right, top, and bottom, respectively. Unless otherwise specified, the front part of an object means a part in front of the intermediate position in the front-rear direction of the object. The rear part of an object means a portion rearward from an intermediate position in the front-rear direction of the object. The left side part of the object means the part on the left side of the intermediate position in the left-right direction of the object. The right side part of the object means the part on the right side of the intermediate position in the left-right direction of the object.

(First Embodiment)
As shown in FIG. 1, the container cargo handling vehicle 1 according to the present embodiment includes a vehicle body 10 capable of detachably loading the container 2 and a cargo handling device 3 for tilting, loading, and unloading the container 2. .. The vehicle body 10 includes a chassis frame 4 extending in the front-rear direction and a cab 5 arranged on the front end portion of the chassis frame 4. The driver's seat is provided inside the cab 5.

The vehicle body 10 includes a left frame 6L and a right frame 6R extending in the front-rear direction, respectively. The left frame 6L and the right frame 6R are provided on the chassis frame 4. The left frame 6L is arranged to the left of the center in the vehicle width direction, and the right frame 6R is arranged to the right of the center in the vehicle width direction. The vehicle width direction is synonymous with the left-right direction. As shown in FIG. 2, the rear end portion of the left frame 6L (see FIG. 1) and the rear end portion of the right frame 6R are connected by a cross member 7 extending in the vehicle width direction. As shown in FIG. 1, the vehicle body 10 includes a bumper 14. The bumper 14 is arranged below the cross member 7. Further, the bumper 14 is arranged behind the cross member 7 and is a rear end portion of the vehicle body 10 (see FIG. 8A).

At the time of loading, the container 2 is loaded onto the left frame 6L and the right frame 6R from the ground by the cargo handling device 3. When unloading, the cargo handling device 3 unloads the left frame 6L and the right frame 6R from above the ground. The container 2 is formed in a rectangular parallelepiped shape that is long in the front-rear direction. However, the shape of the container 2 is not particularly limited. In the present embodiment, the container 2 has a bottom wall 2d, a front wall 2f, a rear wall 2re, a left wall 2l, and a right wall 2r, and the upper part is open. However, the container 2 may have an upper wall. The container 2 may be a closed container. Two legs 2e arranged side by side are provided on the front portion of the bottom wall 2d of the container 2. Further, two rollers 2g arranged side by side are provided at the rear portion of the bottom wall 2d of the container 2. When loading and unloading the container 2, the cargo handling device 3 moves the container 2 forward or backward while lifting the front portion of the container 2. At that time, the container 2 moves smoothly because the roller 2g rotates on the ground.

FIG. 3 is a perspective view showing the front wall 2f of the container 2. The front wall 2f of the container 2 is provided with an engaging pin 2a that can be engaged with the hook 37 of the cargo handling arm 30, which will be described later. The engaging pin 2a is made of, for example, a rod-shaped body made of round steel having a circular cross section. The engaging pin 2a may be formed in a straight line, but in the present embodiment, the engaging pin 2a is curved in a convex shape toward the front. For example, the engaging pin 2a may be curved in an arc shape. The engaging pin 2a is an example of the engaged portion. The engaging pin 2a is configured separately from the front wall 2f. However, the engaged portion does not necessarily have to be separate from the front wall 2f, and a part of the front wall 2f may form the engaged portion. The front wall 2f is provided with holding plates 2bL and 2bR protruding forward and arranged side by side. Holes 2c are formed in the holding plates 2bL and 2bR, respectively. The left end of the engaging pin 2a is inserted into the hole 2c of the holding plate 2bL, and the right end of the engaging pin 2a is inserted into the hole 2c of the holding plate 2bR. As a result, the engaging pin 2a is held by the holding plates 2bL and 2bR. A gap is provided between the front wall 2f of the container 2 and the engaging pin 2a, and the tip of the hook 37 can be inserted into this gap.

As shown in FIG. 1, the cargo handling device 3 includes a cargo handling arm 30, a pair of left and right lift cylinders 31, a telescopic cylinder 32, and a pair of left and right dump frames 33.

The rear ends of the left frame 6L and the right frame 6R are provided with rotation shafts (not shown) extending in the left-right direction. The rear end portion of the dump frame 33 is rotatably attached to the rotating shaft. The rear end portion of the dump frame 33 is tiltably supported by the left frame 6L and the right frame 6R via the rotation shaft. The dump frame 33 is provided with a rotation shaft 34 (see FIG. 8A) extending in the left-right direction.

The cargo handling arm 30 includes a rotating arm 35 and a hook arm 36 slidably fitted to the rotating arm 35. The rotating arm 35 and the hook arm 36 are examples of L-shaped arms. The rotating arm 35 is made of metal and is formed in a tubular shape. Here, the rotating arm 35 is formed in a rectangular tubular shape. However, the cross-sectional shape of the rotating arm 35 is not particularly limited. The rotating arm 35 may be formed in a circular tubular shape. The rear end portion of the rotating arm 35 is the root portion of the cargo handling arm 30, and is connected to the dump frame 33 via the rotating shaft 34. The rotating arm 35 is rotatably connected to the dump frame 33. The cargo handling arm 30 is configured to be rotatable with respect to the vehicle body 10.

The hook arm 36 is formed in an L shape when viewed from the side. The hook arm 36 includes an inner arm portion 36a and a vertical arm portion 36b perpendicular to the inner arm portion 36a. At least a part of the inner arm portion 36a is inserted inside the rotating arm 35. The inner arm portion 36a is slidable with respect to the rotating arm 35, and when the inner arm portion 36a slides, the insertion length of the inner arm portion 36a with respect to the rotating arm 35 changes. As the inner arm portion 36a slides, the cargo handling arm 30 expands and contracts.

As shown in FIG. 4, a hook 37 is provided at the tip of the vertical arm portion 36b. The hook 37 includes a root portion 37b connected to the vertical arm portion 36b and a tip portion 37a. The tip portion 37a is curved so as to go upward toward the rear. The cargo handling arm 30 may include a pin 17 provided at the tip end portion 37a of the hook 37. The pin 17 projects laterally to the hook 37. Here, the pin 17 is formed by a round bar, but the shape of the pin 17 is not particularly limited.

As shown in FIG. 1, the telescopic cylinder 32 is arranged inside the rotating arm 35 and the inner arm portion 36a. The telescopic cylinder 32 is an example of an actuator that expands and contracts the cargo handling arm 30, and in this embodiment, it is composed of a hydraulic cylinder. However, the telescopic cylinder 32 is not limited to the hydraulic cylinder, and may be composed of, for example, an air cylinder. It is also possible to use an electric actuator instead of the telescopic cylinder 32. When the telescopic cylinder 32 contracts, the inner arm portion 36a slides toward the rotating arm 35, and the cargo handling arm 30 contracts. When the telescopic cylinder 32 is extended, the inner arm portion 36a slides in the direction opposite to the rotating arm 35, and the cargo handling arm 30 is extended.

The lift cylinder 31 is provided on the left side and the right side of the cargo handling arm 30, respectively. The lift cylinder 31 is an example of an actuator that rotates the cargo handling arm 30, and in this embodiment, it is composed of a hydraulic cylinder. However, the lift cylinder 31 is not limited to the hydraulic cylinder, and may be configured by an air cylinder or the like, and an electric actuator or the like may be used instead of the lift cylinder 31. The front end of the lift cylinder 31 is rotatably connected to a pin (not shown) provided in the rear portion of the cab 5 in the vehicle body 10. The rear end of the lift cylinder 31 is rotatably connected to a pin 38 provided on the rotating arm 35.

Guide rollers 11 are provided at the rear end of the left frame 6L and the rear end of the right frame 6R, respectively. The guide roller 11 has a function of guiding the container 2 in the front-rear direction when loading and unloading the container 2.

As shown in FIGS. 5A and 5B, a cabback step 12A including a plurality of guard frames 12 is provided behind the cab 5. The guard frame 12 is also commonly referred to as a torii. The guard frame 12 extends in the vertical direction. The guard frames 12 are arranged side by side in the left-right direction. A branch frame 12a branches diagonally upward at the upper part of the guard frame 12. The branch frame 12a may not be present. A plate-shaped base 13 is fixed to the upper end of each guard frame 12 and the upper end of each branch frame 12a. The configuration of the cabback step 12A shown in FIGS. 5A and 5B is only an example. The configuration of the cabback step 12A is not limited in any way.

The container handling vehicle 1 includes a left side camera C1 (see FIG. 5A), a right side camera C2 (see FIG. 5B), a rear camera C3 (see FIG. 2), and an arm camera C4 (see FIG. 4). It has. The left side camera C1, the right side camera C2, the rear camera C3, and the arm camera C4 are examples of a left image pickup device, a right image pickup device, a rear image pickup device, and an arm image pickup device, respectively. These cameras C1 to C4 play a role of assisting the driver in loading and unloading the container 2. Next, each camera C1 to C4 will be described.

As shown in FIG. 5A, the left side camera C1 is attached to the left end portion 13L of the base 13. The left side camera C1 is arranged behind the cab 5 and to the left of the center in the vehicle width direction. As shown in FIG. 5B, the right side camera C2 is attached to the right end portion 13R of the base 13. The right side camera C2 is arranged behind the cab 5 and to the right of the center in the vehicle width direction. The left side camera C1 and the right side camera C2 each include a lens (for example, a fisheye lens) and an image sensor, and acquire images electronically. The height position of the left side camera C1 and the height position of the right side camera C2 are the same. However, it is possible to make their height positions different. The left side camera C1 and the right side camera C2 are arranged at positions higher than the intermediate positions in the vertical direction of the cab 5, respectively. However, it is also possible to arrange the left side camera C1 and the right side camera C2 at a position below the intermediate position.

The orientation and specifications of the left side camera C1 and the right side camera C2 are not particularly limited, but are set as follows in the present embodiment. As shown in FIG. 6, the left side camera C1 and the right side camera C2 have angles of view α1 and α2 of 180 degrees or more (for example, 190 degrees), respectively. The left side camera C1 is arranged so that its optical axis L1 faces in a direction tilted to the left from the rear in the vehicle front-rear direction in a vehicle plan view. Here, the left side camera C1 is arranged so that the optical axis L1 forms 45 degrees to the left from the rear in the vehicle front-rear direction in a vehicle plan view. The right side camera C2 is arranged so that its optical axis L2 faces in a direction tilted to the right from the rear in the front-rear direction of the vehicle in a vehicle plan view. Here, the right side camera C2 is arranged so that the optical axis L2 forms 45 degrees to the right from the rear in the vehicle front-rear direction in the vehicle plan view. However, the angle of view and orientation of the left side camera C1 and the right side camera C2 are examples, and are not particularly limited. In the present embodiment, the left side camera C1 and the right side camera C2 each have the same angle of view, but may have different angles of view of 180 degrees or more.

The left side camera C1 is arranged so that at least a part of the left side of the bumper 14 can be imaged. The left side camera C1 is at least a part of the front wall 2f of the container 2 and one on the left side of the bumper 14 when the vehicle body 10 moves backward along the arrow Dr toward the container 2 when loading the container 2. It is possible to image the area including the part. The right side camera C2 is arranged so that at least a part of the right side of the bumper 14 can be imaged. The right side camera C2 can image an area including at least a part of the front wall 2f of the container 2 and a part on the right side of the bumper 14 when the vehicle body 10 moves backward along the arrow Dr toward the container 2. is there.

As shown in FIG. 2, the rear camera C3 is attached to the rear portion of the vehicle body 10. The rear camera C3 is arranged toward the rear. The rear camera C3 includes a lens (for example, a fisheye lens) and an image sensor, and acquires an image electronically. A vertically arranged plate 15 is provided in front of the cross member 7. The rear camera C3 is fixed to the plate 15. At the lower part of the plate 15, a lamp 16 for illuminating a license plate (not shown) provided below the plate 15 is provided. The rear camera C3 is provided above the lamp 16. The rear camera C3 is provided below the cross member 7 and at the rear end of the vehicle body 10, that is, in front of the bumper 14 (see FIG. 1). However, the above-mentioned position of the rear camera C3 is an example, and is not particularly limited.

As shown in FIG. 6, the rear camera C3 has an angle of view α3 of 180 degrees or more (for example, 190 degrees). The rear camera C3 is arranged so that its optical axis L3 faces rearward in the front-rear direction of the vehicle in a vehicle plan view. The rear camera C3 is arranged so that at least a part of the bumper 14 of the vehicle body 10 can be imaged. Here, the rear camera C3 is arranged so that the entire bumper 14 from the left end to the right end can be imaged. When loading the container 2, the rear camera C3 can image an area including at least a part of the bumper 14 and the rear part of the bumper 14 when the vehicle body 10 moves backward along the direction Dr toward the container 2. is there. The rear camera C3 may image a part of the front wall 2f of the container 2, or may image the entire front wall 2f.

As shown in FIG. 4, the arm camera C4 is attached to the hook arm 36 of the cargo handling arm 30. The arm camera C4 includes a lens (for example, a fisheye lens) and an image sensor, and acquires an image electronically. The arm camera C4 is the upper end 2t of the container 2 when the hook 37 engages with the engaging pin 2a of the container 2 installed on the ground when the container 2 is loaded in the cargo handling arm 30 (see FIG. 8B). ) It is attached to the following parts. In this embodiment, the arm camera C4 is attached to the tip of the hook arm 36. The arm camera C4 may be attached to the upper surface of the hook arm 36 or may be attached to the side surface. Here, the arm camera C4 is attached to the right side surface of the hook arm 36. The above-mentioned pin 17 is provided on the right side surface of the tip portion 37a of the hook 37. The arm camera C4 is arranged on the left side and the right side of the hook arm 36 on the side where the pin 17 is provided.

The arm camera C4 is arranged so that the optical axis L4 of the arm camera C4 faces diagonally backward and downward when the cargo handling arm 30 is rotated forward. Here, the optical axis L4 of the arm camera C4 is parallel to the axial direction of the vertical arm portion 36b of the hook arm 36. However, the optical axis L4 may be tilted with respect to the axial direction of the vertical arm portion 36b. As shown in FIG. 6, the arm camera C4 has an angle of view α4 of 180 degrees or more (for example, 190 degrees). The optical axis L4 may face rearward in the vehicle front-rear direction in a vehicle plan view, or may face a direction inclined from the rear in the vehicle front-rear direction. The arm camera C4 is arranged so as to capture an image of at least a region including the engaging pin 2a of the container 2 when the container 2 is loaded. Here, the arm camera C4 is arranged so as to image a region including the engaging pin 2a and at least the tip end portion 37a of the hook 37 when the container 2 is loaded.

As described above, since the left side camera C1, the right side camera C2, the rear camera C3, and the arm camera C4 each have an angle of view of 180 degrees or more, two or more of the cameras C1 to C4 are imaged. Areas with overlapping ranges occur. Therefore, the transmittance of the overlapping portion may be adjusted to superimpose the images, or other images in the overlapping portion may be deleted.

The container handling vehicle 1 includes an image display system that displays an image generated based on the imaging results of the cameras C1 to C4. Next, the image display system will be described. As shown in FIG. 7, the image display system includes an image pickup unit CU, a control unit 50, an image generation unit 51, a display device 60, a converter 61, an in-vehicle battery 62, a mode switching operation unit 63, and a screen. It is provided with a switching operation unit 64. The left side camera C1, the right side camera C2, the rear camera C3, and the arm camera C4 are included in the imaging unit CU. The control unit 50 and the image generation unit 51 constitute an image control device. The control unit 50, the image generation unit 51, the display device 60, the converter 61, the mode switching operation unit 63, and the screen switching operation unit 64 are provided in the cab 5 (see FIG. 1). The control unit 50 and the image generation unit 51 are composed of a computer. The control unit 50, the imaging unit CU, the image generation unit 51, the mode switching operation unit 63, the screen switching operation unit 64, and the display device 60 are configured to enable wired or wireless communication.

As the display device 60, any known device such as a liquid crystal display can be used. The display device 60 is provided, for example, on a dashboard (not shown) arranged in the cab 5. The converter 61 converts the voltage input from the vehicle-mounted battery 62 and outputs it to the control unit 50 and the display device 60. The converter 61 converts, for example, a voltage of 24V into a voltage of 12V and outputs the voltage to the control unit 50 and the display device 60.

The mode switching operation unit 63 is operated when switching the image to be displayed on the display device 60 when the container 2 is loaded or the like. The screen switching operation unit 64 displays, for example, a display on the display device 60 when the container 2 is loaded (that is, a display until the vehicle body 10 approaches the container 2 and loads the container 2), a navigation display, and a television program. It is operated when switching the contents of various displays such as the display of. The mode switching operation unit 63 and the screen switching operation unit 64 may be configured by, for example, buttons, or may be configured by a touch panel built in the display device 60. The control unit 50 controls the cameras C1 to C4.

Next, the image generation unit 51 will be described. The image generation unit 51 generates an image to be displayed on the display device 60 based on the image captured by the image pickup unit CU. The image generation unit 51 receives signals from the cameras C1 to C4, generates image data to be displayed on the display device 60, and transmits the image data to the control unit 50. The control unit 50 that has received the image data transmits a signal to the display device 60, and causes the display device 60 to display the image.

The image generation unit 51 can generate an image viewed from one or more virtual viewpoints based on the images acquired by the cameras C1 to C4. Further, the image generation unit 51 can generate a composite image viewed from a virtual viewpoint based on a plurality of images acquired by the cameras C1 to C4. The image generation unit 51 can generate a bird's-eye view image or the like, which will be described later, by using, for example, the images acquired by the left side camera C1, the right side camera C2, and the rear camera C3.

The image generation unit 51 includes a brightness adjustment unit 52, a multiplexing unit 53, a viewpoint conversion unit 54, and a viewpoint correspondence generation unit 55. Each of the components of the image generation unit 51 may be functionally realized by the central processing unit (CPU) executing a program stored in advance in a memory or the like, or as a hardware circuit. It may be configured. The luminance adjustment unit 52, the multiplexing unit 53, the viewpoint conversion unit 54, and the viewpoint correspondence generation unit 55 may be composed of one or more processors.

The brightness adjusting unit 52 adjusts the gain of the image with reference to the average brightness indicating the overall brightness of the image acquired by the photographing unit CU. Specifically, the brightness adjusting unit 52 reduces the gain adjustment value when the average brightness of the captured image is relatively high, and increases the gain adjustment value when the average brightness of the captured image is relatively low. As a result, the brightness of the captured image is appropriately adjusted when the surrounding environment of the vehicle body 10 is dark to some extent.

The viewpoint correspondence generation unit 55 generates an image viewed from one or a plurality of virtual viewpoints from the captured image whose gain is adjusted as described above. For example, the viewpoint correspondence generation unit 55 generates four images to be simultaneously displayed on the display device 60 from the images captured by the rear camera C3. Details will be described later.

The multiplexing unit 53 combines a plurality of captured images whose gains have been adjusted as described above into one image to obtain a multiplexed image. For example, the multiplexing unit 53 can synthesize the imaging results of the left side camera C1, the right side camera C2, and the rear camera C3.

The viewpoint conversion unit 54 uses the multiplexed image generated by the multiplexing unit 53 to generate a composite image viewed from an arbitrary virtual viewpoint. For example, the viewpoint conversion unit 54 can generate a composite image of the vehicle body 10 and the container 2 viewed from above, that is, a bird's-eye view image, by using the composite image obtained by the multiplexing unit 53.

The above is the configuration of the container handling vehicle 1. Next, the tilting, loading, and unloading operations of the container 2 in the container handling vehicle 1 will be described. First, a dump operation for tilting the container 2 will be described. In the dump operation, the cargo handling arm 30 is non-rotatably tied to the dump frame 33 by a lashing device (not shown). The lift cylinder 31 is extended while the cargo handling arm 30 cannot rotate. Then, the cargo handling arm 30 and the dump frame 33 are tilted together, and the container 2 is tilted accordingly.

Next, the loading operation of the container 2 will be described. First, as shown in FIG. 6, the vehicle body 10 is positioned in front of the container 2. Next, as shown in FIG. 8A, the lift cylinder 31 is extended and the cargo handling arm 30 is rotated rearward until the hook 37 moves rearward. Next, the vehicle body 10 is moved backward so as to approach the container 2 so that the hook 37 is located in front of the engaging pin 2a of the container 2. Before or after the vehicle body 10 approaches the container 2, the height position of the hook 37 is changed to the height position of the engaging pin 2a by finely adjusting the inclination angle of the rotating arm 35 by the lift cylinder 31. Can be adjusted to.

After positioning the hook 37 in front of the engaging pin 2a, the lift cylinder 31 is contracted and the cargo handling arm 30 is rotated forward as shown in FIG. 8B. Then, the hook 37 engages with the engaging pin 2a. After arranging the hook 37 at a position slightly lower than the engaging pin 2a, the telescopic cylinder 32 is extended and the hook arm 36 is slid from the rotating arm 35 to engage the hook 37 with the engaging pin 2a. You may try to match. Next, the lift cylinder 31 is contracted with the hook 37 engaged with the engaging pin 2a. Then, as shown in FIG. 9A, the container 2 is pulled forward while being lifted by the cargo handling arm 30. Then, as shown in FIG. 9B, the container 2 is loaded onto the vehicle body 10 from the ground.

After that, the telescopic cylinder 32 is extended and the hook arm 36 is slid forward with respect to the rotating arm 35. When the hook arm 36 moves forward, the container 2 is pulled forward by the hook arm 36 and moves to a predetermined position. The above is the loading operation of the container 2.

The unloading operation of the container 2 is performed in the reverse procedure of the loading operation. In the unloading operation of the container 2, the telescopic cylinder 32 is first contracted. As a result, the hook arm 36 slides backward and the container 2 slides backward. Next, the lashing between the cargo handling arm 30 and the dump frame 33 is released so that the cargo handling arm 30 can rotate with respect to the dump frame 33. Then, the lift cylinder 31 is extended. Then, the cargo handling arm 30 rotates rearward, and the container 2 is lowered from the vehicle body 10 to the ground. The above is the unloading operation of the container 2.

By the way, in the above-mentioned loading operation, the driver moves the vehicle body 10 backward toward the container 2 while looking at the in-vehicle mirror and the side mirror. However, it is not easy to accurately grasp the distance between the vehicle body 10 and the container 2 only visually while moving the vehicle body 10 backward, and to align the hook 37 with the position of the engaging pin 2a. However, in the present embodiment, the driver determines the distance between the vehicle body 10 and the container 2 and the position of the hook 37 while visually grasping or instead of visually grasping while viewing the image displayed on the display device 60. Can be grasped.

Next, an example of an image generated by the image generation unit 51 and displayed on the display device 60 will be described. In the following, an image of the vehicle body 10 moving backward toward the container 2 and hooking the hook 37 on the engaging pin 2a of the container 2 will be described as an example.

As shown in FIG. 10, the display device 60 includes a display screen 60a, and the display screen 60a is provided with five display areas R1 to R5. The display device 60 may include a plurality of display screens, and display the display areas R1 to R5 on the plurality of display screens. However, in the present embodiment, the display areas R1 to R5 are provided in a single display screen 60a. In the present embodiment, the display areas R1 to R5 each display a moving image as the image. However, it is also possible to display a still image that can be switched periodically or irregularly in the display areas R1 to R5. In the following, the moving images displayed in the display areas R1 to R5 will be simply referred to as images. The display area R1 is provided in the upper center of the display screen 60a. The display area R2 is provided from the central portion to the lower portion of the display screen 60a. The display area R3 is provided at the lower left of the display screen 60a. The display area R4 is provided at the lower right of the display screen 60a. The display area R5 is provided in the upper left portion of the display screen 60a, and is provided on the left side of the display area R1. However, the arrangement and dimensions of the display areas R1 to R5 described here are only examples, and can be changed as appropriate.

In the display areas R1, R2, R3, and R4, images generated by the viewpoint-corresponding generation unit 55 of the image generation unit 51 are displayed using the images captured by the rear camera C3. Specifically, in the display area R1, an image viewed from a virtual viewpoint facing upward from the rear camera C3 is displayed. In the display area R2, an image viewed from a virtual viewpoint facing backward from the rear camera C3 is displayed. In the display area R3, an image viewed from a virtual viewpoint facing left from the rear camera C3 is displayed. In the display area R4, an image viewed from a virtual viewpoint facing to the right from the rear camera C3 is displayed. On the other hand, in the display area R5, an image generated by the viewpoint correspondence generation unit 55 of the image generation unit 51 is displayed using the image captured by the arm camera C4. Specifically, in the display area R5, an image viewed from a virtual viewpoint facing the hook 37 from the arm camera C4 is displayed.

The center line CL extending vertically is displayed on the display screen 60a. The driver can use the center line CL as a guideline for position adjustment when moving the vehicle body 10 backward. That is, the driver can move the vehicle body 10 backward so that the center line CL overlaps the image of the engagement pin 2a of the container 2 displayed in the display areas R1 and R2. Each image displayed in the display areas R1 to R5 is a mirror reflection of the image captured by the cameras C3 and C4. That is, each image displayed in the display areas R1 to R5 is a left-right inverted image of the images captured by the cameras C3 and C4. This is because when the driver moves the vehicle body 10 backward, it is considered that the driver normally operates the steering wheel or the like while visually recognizing the in-vehicle mirror.

By the way, when loading the container 2, when the vehicle body 10 is positioned directly in front of the container 2 and the vehicle body 10 is moved backward along the direction perpendicular to the front wall 2f of the container 2, the hook 37 is engaged with the engaging pin 2a. It becomes easier to engage with. That is, when the vehicle body 10 is brought close to the container 2 from the front, hooking becomes easy. Therefore, first, an image display example when the vehicle body 10 approaches the container 2 from the front will be described.

As shown in FIG. 10, the hook 37 is displayed in the display area R1 before the vehicle body 10 is moved backward. In the display area R2, the bumper 14, the hook 37, the front wall 2f of the container 2, and the engaging pin 2a are displayed. The left side portion 14L of the bumper 14 is displayed in the display area R3, and the right side portion 14R of the bumper 14 is displayed in the display area R4. In the display area R5, the hook 37, the front wall 2f of the container 2, and the engaging pin 2a are displayed.

Next, as shown in FIG. 11, the vehicle body 10 is moved backward and brought closer to the container 2. Then, in addition to the hook 37, the front wall 2f and the engaging pin 2a of the container 2 are displayed in the display area R1. In the display area R2, the front wall 2f and the engagement pin 2a of the container 2 are displayed in a large size. In the display area R5, the hook 37, the front wall 2f of the container 2, and the engaging pin 2a are displayed in a large size.

Immediately before engaging the hook 37 with the engaging pin 2a, the tip of the hook 37 is positioned below the engaging pin 2a and in front of the front wall 2f of the container 2 and behind the engaging pin 2a. .. Hereinafter, the above-mentioned position of the tip of the hook 37 is referred to as a position immediately before engagement. When the hook 37 is in the position immediately before engagement, the hook 37 can be engaged with the engagement pin 2a by rotating the cargo handling arm 30 forward thereafter. The driver can align the hook 37 by looking at the display areas R1 and R5 and the like. For example, the driver can confirm the relative positions of the hook 37 and the engaging pin 2a in the left-right direction and the front-back direction by looking at the display area R1. The driver can confirm the relative positions of the hook 37 and the engaging pin 2a in the vertical direction by looking at the display area R5, for example. For example, when the hook 37 is displaced to the left with respect to the engagement pin 2a, the driver finely adjusts the reverse direction of the vehicle body 10 so that the hook 37 moves to the right while looking at the display area R1. , The position of the hook 37 in the left-right direction can be aligned with the position of the engagement pin 2a in the left-right direction. As shown in FIG. 12, the driver can easily position the hook 37 at the position immediately before engagement while looking at the display areas R1 and R5.

As shown in FIG. 13A, when the vehicle body 10 approaches the container 2, it is located behind the left side portion 14L of the bumper 14 and the left side portion 14L of the front wall 2f of the container 2 in the vehicle front-rear direction. Part 2fL faces each other. Similarly, as shown in FIG. 13B, when the vehicle body 10 approaches the container 2, the right side portion 14R of the bumper 14 and the front wall 2f of the container 2 are rearward in the vehicle front-rear direction with respect to the right side portion 14R. The part 2fR located at is facing each other. At this stage, as shown in FIG. 12, in the display area R3, in addition to the left side portion 14L of the bumper 14, the above portion 2fL of the container 2 is displayed. In the display area R4, in addition to the right side portion 14R of the bumper 14, the above portion 2fR of the container 2 is displayed. In the display area R2, the front wall 2f of the container 2 and the portion extending from the left side portion 14L to the right side portion 14R of the bumper 14 are displayed. Therefore, in at least a part of the display areas R2 to R3, the portion of the front wall 2f of the bumper 14 and the container 2 that is closest to each other is displayed. In other words, the portion of the bumper 14 and the front wall 2f of the container 2 that is most likely to come into contact is displayed. The driver adjusts the position of the hook 37 while looking at the display areas R1 and R5, for example, and confirms whether or not the bumper 14 touches the front wall 2f of the container 2 from the images of the display areas R2 to R4. Can be done. For example, while looking at the display areas R3 and R4, the driver leaves a certain distance K between the bumper 14 and the front wall 2f without bringing the bumper 14 into contact with the front wall 2f of the container 2 (FIG. The vehicle body 10 can be stopped at 13 (a) and 13 (b)).

After positioning the hook 37 at the position immediately before engagement, the driver rotates the cargo handling arm 30 forward. Then, as shown in FIG. 14, the hook 37 moves upward and engages with the engaging pin 2a. When the cargo handling arm 30 further rotates forward, the cargo handling arm 30 lifts the front portion of the container 2. In this case, as shown in FIG. 14, an image in which the container 2 is lifted upward is displayed in the display areas R1 to R5. By visually recognizing the display areas R1 to R5, the driver can confirm that the container 2 is lifted and the loading is performed well.

The display example when the vehicle body 10 is brought close to the container 2 from the front has been described above. By the way, the situation at the installation site of the container 2 is various. For example, a sufficient space may not be secured in front of the container 2. In such a case, when loading the container 2, it may be necessary to move the vehicle body 10 backward with respect to the front wall 2f of the container 2 from diagonally forward. Next, an image display example in the case where the vehicle body 10 is moved backward from diagonally forward with respect to the front wall 2f of the container 2 and loaded will be described.

As shown in FIG. 15, the hook 37 is displayed in the display area R1 at the stage before the vehicle body 10 is moved backward. The bumper 14, the hook 37, the front wall 2f of the container 2, and the engaging pin 2a are displayed in the display area R2. The left side portion 14L of the bumper 14 is displayed in the display area R3, and the right side portion 14R of the bumper 14 is displayed in the display area R4. In the display area R5, the hook 37, the front wall 2f of the container 2, and the engaging pin 2a are displayed.

Next, as shown in FIG. 16, the vehicle body 10 is moved backward and brought closer to the container 2. In addition to the hook 37, the front wall 2f of the container 2 and the engaging pin 2a are displayed in the display area R1. Since the vehicle body 10 travels diagonally rearward to the left with respect to the front wall 2f of the container 2, the front wall 2f of the container 2 is not displayed in the display area R3, but the right side portion 14R of the bumper 14 and the container are displayed in the display area R4. A part 2fR of the front wall 2f of 2 is displayed.

As shown in FIG. 17, the driver continues to move the vehicle body 10 backward until the hook 37 comes to the position immediately before engagement. As can be seen by comparing the display area R4 of FIG. 12 with the display area R4 of FIG. 17, when the vehicle body 10 is moved backward diagonally to the left with respect to the front wall 2f of the container 2, the vehicle body 10 is moved in front of the container 2. The right side portion 14R of the bumper 14 is closer to the front wall 2f than in the case of moving backward straight to the wall 2f. Therefore, contact between the bumper 14 and the front wall 2f is likely to occur. However, according to the present embodiment, the driver can easily grasp whether or not the bumper 14 comes into contact with the front wall 2f by looking at the display area R4.

The driver rotates the cargo handling arm 30 forward after confirming that the hook 37 is in the position immediately before engagement based on the indications of the display areas R1 and R5 and the like. Then, as shown in FIG. 18, the hook 37 moves upward and engages with the engaging pin 2a. When the cargo handling arm 30 is further rotated forward, the front portion of the container 2 is lifted by the cargo handling arm 30, and the container 2 is loaded on the vehicle body 10.

The example of the image displayed on the display device 60 when the container 2 is loaded has been described above. Although detailed description will be omitted, the image displayed on the display device 60 can be used not only when the container 2 is loaded but also when it is tilted or unloaded.

In the present embodiment, the left side camera C1 is arranged so that the optical axis L1 thereof forms, for example, 45 degrees to the left with respect to the rear in the vehicle front-rear direction in a vehicle plan view, and the right side camera C2 is arranged on the vehicle. The optical axis L2 is arranged so as to form, for example, 45 degrees to the right with respect to the rear in the front-rear direction of the vehicle in a plan view, but the present invention is not limited to this. In the vehicle plan view, if the left side camera C1 can image the area including the left rear part of the vehicle body 10 and the right side camera C2 can image the area including the right rear part of the vehicle body 10, the above angle can be obtained. It is not limited.

In the container cargo handling vehicle 1 according to the present embodiment, in order to facilitate hooking, a bird's-eye view image is generated using the images captured by the left side camera C1 and the right side camera C2, and the bird's-eye view image is displayed on the display device 60. It can be displayed.

For example, as shown in FIG. 19, four display areas R11 to R14 may be provided on the display screen 60a. In the display areas R11 to R14, for example, a moving image is displayed as an image. In the following, the moving image displayed in the display areas R11 to R14 will be simply referred to as an image. The display area R11 is provided in the upper right portion of the display screen 60a. The display area R12 is provided at the lower right of the display screen 60a, and is provided below the display area R11. The display area R13 is provided from the upper left portion to the lower left portion of the display screen 60a, and is formed in a vertically elongated shape. The display area R14 is provided below the display area R13 and is formed in a horizontally long shape. In the display area R11 of the display screen 60a, an image similar to the above-mentioned display area R2 (see FIG. 11 and the like) is displayed. An image similar to the above-mentioned display area R5 is displayed in the display area R12. A bird's-eye view image, which will be described later, is displayed in the display area R13. An image similar to the above-mentioned display area R1 is displayed in the display area R14.

The multiplexing unit 53 (see FIG. 7) of the image generation unit 51 synthesizes the image obtained by the rear camera C3, the image obtained by the left side camera C1, and the image obtained by the right side camera C2. .. Then, the viewpoint conversion unit 54 of the image generation unit 51 generates a bird's-eye view image to be displayed in the display area R13 from the composite image generated by the multiplexing unit 53.

As shown in FIG. 19, the bird's-eye view image is an image including at least a part of the front wall 2f of the container 2 and the cargo handling arm 30 (here, a part of the hook 37). By viewing the bird's-eye view image displayed in the display area R13, the driver can easily grasp the positional relationship between the engaging pin 2a of the container 2 and the hook 37. Therefore, hooking becomes easy.

(Second Embodiment)
As shown in FIG. 6, in the first embodiment, the left side camera C1 is arranged so that its optical axis L1 extends in a direction inclined to the left with respect to the rear in the vehicle front-rear direction in a vehicle plan view. The right side camera C2 was arranged so that its optical axis L2 extends in a direction tilted to the right with respect to the rear in the front-rear direction of the vehicle in a vehicle plan view. However, the direction of the left side camera C1 or the right side camera C2 is rearward (the rearward here is not limited to the rearward in the vehicle front-rear direction, but is a direction inclined within a range of less than 90 degrees from the rearward in the vehicle front-rear direction. It may be.), And is not particularly limited. The left side camera C1 may be arranged so that its optical axis L1 extends rearward in the vehicle front-rear direction in a vehicle plan view. The right side camera C2 may be arranged so that its optical axis L2 extends rearward in the vehicle front-rear direction in a vehicle plan view. As shown in FIG. 20, in the container cargo handling vehicle 1 according to the second embodiment, the left side camera C1 extends in a direction in which its optical axis L1 is tilted to the right with respect to the rear in the vehicle front-rear direction in a vehicle plan view. Or, the right side camera C2 is arranged so that its optical axis L2 extends in a direction tilted to the left with respect to the rear in the vehicle front-rear direction in a vehicle plan view. In this embodiment, one of the left side camera C1 and the right side camera C2 may be omitted. In the following description, of the left side camera C1 and the right side camera C2, the right side camera C2 is installed and the left side camera C1 is omitted. However, the left side camera C1 may be installed and the right side camera C2 may be omitted.

As shown in FIGS. 20 and 21, the right side camera C2 is arranged so as to be able to image an area including the front wall 2f of the container 2 and at least a part of the cargo handling arm 30. It is preferable that the right side camera C2 is arranged so that the front wall 2f of the container 2, the portion between the bent portion 30M of the cargo handling arm 20 and the hook 37, and the region including the hook 37 can be imaged. Here, the right side camera C2 is arranged so as to be able to image an area including the front wall 2f of the container 2 and the entire cargo handling arm 30.

The image captured by the right side camera C2 is displayed on the display device 60. The display form of the display device 60 is not limited at all. For example, the image captured by the right side camera C2 may be displayed in the display area R2 of the first embodiment. In addition to the display areas R1 to R5, a display area may be provided and displayed in the display area. Further, the image captured by the right side camera C2 may be displayed in the display area R13 instead of the above-mentioned bird's-eye view image.

Also in this embodiment, when the vehicle body 10 is moved backward toward the container 2, a confirmation image including the front wall 2f of the container 2 and at least a part of the cargo handling arm 30 is displayed on the display device 60. Therefore, the driver can easily grasp the positions of the container 2 and the cargo handling arm 30 by looking at the display device 60 without going out of the cab 2 and visually checking. Therefore, hooking becomes easy.

In the present embodiment, the right side camera C2 can image the portion of the cargo handling arm 30 between the bent portion 30M and the hook 37 and the hook 37. On the display device 60, a portion of the cargo handling arm 30 between the bent portion 30M and the hook 37 and the hook 37 are displayed. As shown in FIG. 21, when the container 2 is loaded, the bent portion 30M is the uppermost portion of the cargo handling arm 30, and the hook 37 is the rearmost portion. For example, when the container 2 is arranged under the roof 90, the cargo handling arm 30 and the roof 90 may come into contact with each other when the vehicle body 10 is moved backward toward the container 2. However, according to the present embodiment, the driver can grasp the positional relationship between the bent portion 30M and the hook 37 and the roof 90 by looking at the display of the display device 60. Therefore, it is possible to prevent the cargo handling arm 30 and the roof 90 from coming into contact with each other. Further, as shown in FIG. 22, when the container 2 is lifted by the cargo handling arm 30, the positional relationship between the container 2 and the roof 90 can be grasped. Therefore, it is possible to prevent the container 2 from coming into contact with the roof 90 during loading.

It is also possible to use a camera arranged in the center in the vehicle width direction instead of the right side camera C2 arranged to the right of the center in the vehicle width direction. Even in that case, at least a part of the front wall 2f of the container 2 and the cargo handling arm 30 can be imaged, and hooking can be facilitated. In addition, contact between the cargo handling arm 30 and the roof 90 can be prevented. However, according to the present embodiment, since the right side camera C2 arranged to the right of the center in the vehicle width direction is used, the front wall 2f of the container 2 and at least a part of the cargo handling arm 30 are oriented in an oblique direction. The captured image can be displayed on the display device 60. Therefore, the positional relationship between the container 2 and the cargo handling arm 30 can be more easily grasped.

In the present embodiment, the right side camera C2 is attached to the cabback step 12A originally provided in the vehicle body 10. However, the member that supports the right side camera C2 is not limited to the cabback step 12A. For example, a dedicated support member for supporting the camera may be provided on the vehicle body 10, and the right side camera C2 may be attached to the support member. However, according to the present embodiment, since the cabback step 12A can be effectively used as the support member for supporting the right side camera C2, a dedicated support member different from the cabback step 12A is unnecessary. Therefore, it is possible to suppress an increase in the number of parts.

As shown in FIG. 23, the right side camera C2 may be attached to the cab 5. As a result, the container 2 and the cargo handling arm 30 can be satisfactorily imaged by the right side camera C2. Further, since the display device 60 is arranged in the cab 5, the distance between the right side camera C2 and the display device 60 becomes short. Therefore, noise is less likely to occur during communication, and communication is improved. Further, in the case of wired communication, the signal line can be shortened and wiring becomes easy.

By the way, as shown in FIGS. 24A and 24B, the vehicle body 10 according to the present embodiment is configured to be capable of loading a plurality of containers 2A and 2B having different lengths in the front-rear direction. Both the front wall 2f of the container 2A and the front wall 2f of the container 2B are provided with engaging pins 2a that can be engaged with the hook 37. Container 2A and container 2B can be loaded and unloaded by the same cargo handling arm 30. The loading and unloading operations are as described above.

Whether or not the containers 2A and 2B are properly loaded onto the vehicle body 10 can be determined based on the positions of the front walls 2f of the containers 2A and 2B after loading. However, the position of the front wall 2f of the container 2A when the loading is completed is different from the position of the front wall 2f of the container 2B when the loading is completed. Here, the position of the front wall 2f of the container 2A when the loading is completed is ahead of the position of the front wall 2f of the container 2B when the loading is completed. In the present embodiment, the right side camera C2 is arranged so that the front wall 2f of the container 2A after the loading is completed and the front wall 2f of the container 2B after the loading is completed can be imaged. The display device 60 can display the front wall 2f of the container 2A after the loading is completed, and can display the front wall 2f of the container 2B after the loading is completed. Therefore, the driver can accurately grasp the position of the front wall 2f of the container 2A when the container 2A is loaded by looking at the image displayed on the display device 60, and the container 2B is loaded. At times, the position of the front wall 2f of the container 2B can be accurately grasped. Therefore, regardless of which of the containers 2A and 2B is loaded, it can be easily determined whether or not the containers 2A and 2B are properly loaded.

The above description also applies to the left side camera C1 when the left side camera C1 is installed in place of the right side camera C2 or together with the right side camera C2. The same effect can be obtained when the left side camera C1 is installed.

The embodiment of the present invention has been described above. However, each of the above-described embodiments is merely an example, and the present invention can be implemented in other embodiments such as the following.

(Other embodiments)
The arrangement of the left side camera C1 and the right side camera C2 of the above embodiment is only an example, and is not particularly limited. The left side camera C1 and the right side camera C2 are cargo handling when the hook 37 engages with the engagement pin 2a when the container 2 is loaded and is behind the tip of the cab 5 in the vehicle body 10. It can be attached to any part in front of the front end of the arm 30.

In the above embodiment, the hook arm 36 and the hook 37 are configured independently, but the present invention is not limited to this. The hook arm 36 and the hook 37 may be integrally formed.

In the above embodiment, not only the left side camera C1 and the right side camera C2 but also the rear camera C3 and the arm camera C4 are provided. However, one of the rear camera C3, the arm camera C4, the left side camera C1 and the right side camera C2 may be omitted.

In the above embodiment, the mirror image is displayed in each display area of the display device 60, but the present invention is not limited to this. A normal image (that is, an image before mirror inversion) may be displayed in each display area of the display device 60.

In the above embodiment, the hook arm 36 is slidably inserted into the rotating arm 35, but the present invention is not limited to this. A configuration may be adopted in which the rotating arm 35 is slidably inserted into the hook arm 36.

In the above embodiment, the hook arm 36 is slidably provided on the rotating arm 35 (so-called sliding type), but the present invention is not limited to this. Other methods such as a configuration in which the hook arm 36 is swingably provided on the rotating arm 35 (so-called swing type) can also be applied. As the swing type configuration, for example, a known configuration described in paragraph 0013 of Japanese Patent No. 3464008 can be adopted.

Further, in the above embodiment, the cargo handling arm 30 includes, but is not limited to, a rotating arm 35 and a hook arm 36, which are two separate and independent arms. The cargo handling arm 30 may be composed of one arm.

1 Container cargo handling vehicle 2 Container 2a Engagement pin (engaged part)
2f Container front wall 5 Cab 10 Vehicle body 30 Cargo handling arm 31 Lift cylinder (actuator)
37 Hook 60 Display device C1 Left side camera (rear imaging device)
C2 right side camera (rear imaging device)
C3 rear camera C4 arm camera

Claims (6)

A container handling vehicle that can load containers with an engaged part on the front wall.
A vehicle body that has a cab and can be detachably loaded with the container,
An L-shaped arm having a root portion rotatably supported around an axis extending in the vehicle width direction with respect to the vehicle body, and an L-shaped arm provided at the tip of the L-shaped arm and engaged with the engaged portion of the container. With possible hooks, with a cargo handling arm,
An actuator that rotates the cargo handling arm and
Of the vehicle body, behind the front end of the cab and forward of the front end of the cargo handling arm when the hook engages the engaged portion of the container when loading the container. A rear imager attached to the part of the image and placed toward the rear,
A display device arranged in the cab and
A rear image control device and an image control device communicatively connected to the display device are provided.
The rear imaging device is arranged so that a portion of the L-shaped arm between the bent portion and the hook and the hook can be imaged.
The image control device receives a signal from the rear imaging device when the vehicle body moves backward toward the container when loading the container, and receives a signal from the front wall of the container and the bent portion of the L-shaped arm. A container handling vehicle configured to generate a confirmation image including a portion between the hook and the hook and display the confirmation image on the display device. A container handling vehicle that can load containers with an engaged part on the front wall.
A vehicle body that has a cab and can be detachably loaded with the container,
An L-shaped arm having a root portion rotatably supported around an axis extending in the vehicle width direction with respect to the vehicle body, and an L-shaped arm provided at the tip of the L-shaped arm and engaged with the engaged portion of the container. With possible hooks, with a cargo handling arm,
An actuator that rotates the cargo handling arm and
Of the vehicle body, behind the front end of the cab and forward of the front end of the cargo handling arm when the hook engages the engaged portion of the container when loading the container. A rear imager attached to the part of the image and placed toward the rear,
A display device arranged in the cab and
A rear image control device and an image control device communicatively connected to the display device are provided.
The rear imaging device is arranged so that the entire cargo handling arm can be imaged.
The image control device receives a signal from the rear imaging device when the vehicle body moves backward toward the container when loading the container, and includes the front wall of the container and the entire cargo handling arm. A container handling vehicle configured to generate a confirmation image and display it on the display device. A container handling vehicle that can load containers with an engaged part on the front wall.
A vehicle body that has a cab and can be detachably loaded with the container,
An L-shaped arm having a root portion rotatably supported around an axis extending in the vehicle width direction with respect to the vehicle body, and an L-shaped arm provided at the tip of the L-shaped arm and engaged with the engaged portion of the container. With possible hooks, with a cargo handling arm,
An actuator that rotates the cargo handling arm and
Of the vehicle body, behind the front end of the cab and forward of the front end of the cargo handling arm when the hook engages the engaged portion of the container when loading the container. A rear imager attached to the part of the image and placed toward the rear,
A display device arranged in the cab and
A rear image control device and an image control device communicatively connected to the display device are provided.
The image control device receives a signal from the rear imaging device when the vehicle body moves backward toward the container when loading the container, and receives a signal from the front wall of the container and at least a part of the cargo handling arm. Is configured to generate a confirmation image containing the above and display it on the display device.
The rear imaging device is a container handling vehicle arranged to the left or right of the cargo handling arm. A container handling vehicle that can load containers with an engaged part on the front wall.
A vehicle body that has a cab and can be detachably loaded with the container,
An L-shaped arm having a root portion rotatably supported around an axis extending in the vehicle width direction with respect to the vehicle body, and an L-shaped arm provided at the tip of the L-shaped arm and engaged with the engaged portion of the container. With possible hooks, with a cargo handling arm,
An actuator that rotates the cargo handling arm and
Of the vehicle body, behind the front end of the cab and forward of the front end of the cargo handling arm when the hook engages the engaged portion of the container when loading the container. A rear imager attached to the part of the image and placed toward the rear,
A display device arranged in the cab and
A rear image control device and an image control device communicatively connected to the display device are provided.
The image control device receives a signal from the rear imaging device when the vehicle body moves backward toward the container when loading the container, and receives a signal from the front wall of the container and at least a part of the cargo handling arm. Is configured to generate a confirmation image containing the above and display it on the display device.
The rear imaging device is a container handling vehicle attached to the cab. A container handling vehicle that can load containers with an engaged part on the front wall.
A vehicle body that has a cab and can be detachably loaded with the container,
An L-shaped arm having a root portion rotatably supported around an axis extending in the vehicle width direction with respect to the vehicle body, and an L-shaped arm provided at the tip of the L-shaped arm and engaged with the engaged portion of the container. With possible hooks, with a cargo handling arm,
An actuator that rotates the cargo handling arm and
Of the vehicle body, behind the front end of the cab and forward of the front end of the cargo handling arm when the hook engages the engaged portion of the container when loading the container. A rear imager attached to the part of the image and placed toward the rear,
A display device arranged in the cab and
A rear image control device and an image control device communicatively connected to the display device are provided.
The image control device receives a signal from the rear imaging device when the vehicle body moves backward toward the container when loading the container, and receives a signal from the front wall of the container and at least a part of the cargo handling arm. Is configured to generate a confirmation image containing the above and display it on the display device.
The vehicle body includes a cabback step that is at least partially located behind the cab and in front of the cargo handling arm.
The rear imaging device is a container handling vehicle attached to the cabback step. A container handling vehicle that can load containers with an engaged part on the front wall.
A vehicle body that has a cab and can be detachably loaded with the container,
An L-shaped arm having a root portion rotatably supported around an axis extending in the vehicle width direction with respect to the vehicle body, and an L-shaped arm provided at the tip of the L-shaped arm and engaged with the engaged portion of the container. With possible hooks, with a cargo handling arm,
An actuator that rotates the cargo handling arm and
Of the vehicle body, behind the front end of the cab and forward of the front end of the cargo handling arm when the hook engages the engaged portion of the container when loading the container. A rear imager attached to the part of the image and placed toward the rear,
A display device arranged in the cab and
A rear image control device and an image control device communicatively connected to the display device are provided.
An engaged portion that can be engaged with the hook is provided on the front wall, and another container having a length different from that of the container in the front-rear direction can be loaded.
The rear imaging device has a front wall of the container when the container is loaded on the vehicle body and a front wall of the other container when the other container is loaded on the vehicle body. Arranged so that it can be imaged
The image control device receives a signal from the rear imaging device when the vehicle body moves backward toward the container when loading the container, and receives a signal from the front wall of the container and at least a part of the cargo handling arm. A confirmation image including the above is generated and displayed on the display device, and when the container is loaded on the vehicle body, an image including the front wall of the container is displayed on the display device so that the other container can display the image. A container handling vehicle configured to display an image including the front wall of the other container on the display device when loaded on the vehicle body.

Images