JP2019014584A - Crane truck - Google Patents

Abstract

To provide a crane truck in which dead corners viewed from a cabin, which is closer to a rear side than a front end of a running body and is adjacent to a boom in a lateral direction, are reduced.SOLUTION: A rough terran crane 10 is equipped with: a camera 62, closer to a front than a cabin 40, mounted on an end part at one side in a lateral direction of a lower running body 20 and pointed to a rear side of the lower running body 20; a camera 63, closer to a rear side than the cabin 40, mounted on the end part at the one side in the lateral direction of the lower running body 20 and pointed to a front side of the lower running body 20; and a display on which are displayed images photographed by an operation part arranged in an inner space of the cabin 40 and the cameras 62 and 63. When the rough terran crane 10 is in a running posture, an extendable boom 32 is extended forward from a front end of the lower running body 20, and the cabin 40 is arranged adjacently to the extendable boom 32, behind the front end of the lower running body 20 and at the other end in the lateral direction thereof.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a self-propelled crane vehicle.

  For example, Patent Document 1 discloses a crane vehicle generally called a rough terrain crane. In the rough terrain crane, an operation unit for traveling the traveling body and an operation unit for operating the revolving body and the boom are arranged in the same cabin. The cabin is arranged behind the front end of the traveling body and right next to the boom.

JP 2017-030634 A

  That is, when the rough terrain crane having the above-described configuration is driven, there is a problem that the front lower part of the traveling body and the left side of the traveling body are likely to be blind spots from the operator boarding the cabin.

  This invention is made | formed in view of said situation, The objective is to provide the crane vehicle which reduced the blind spot from the cabin which is back from the front end of a traveling body, and adjoins the boom in the left-right direction. .

  (1) The mobile crane according to the present embodiment is supported by the traveling body, the revolving body supported by the traveling body so as to be capable of turning, the boom supported by the revolving body so as to be able to undulate and extend, and the revolving body. A cabin that is attached to an end of one side of the traveling body in front of the cabin and in the left-right direction, and directed toward the rear of the traveling body, and behind the cabin and the traveling A second camera attached to one end of the body in the left-right direction and directed in front of the traveling body; and disposed in an interior space of the cabin; And an operation unit for receiving an operation of an operator for raising and lowering and extending and retracting the boom, and a display for displaying images taken by the first camera and the second camera. And a spray. In the traveling posture in which the cabin is directed in the traveling direction of the traveling body, the boom is most laid down and shortest, the boom extends forward from the front end of the traveling body, and the cabin is It is arranged behind the front end of the traveling body and adjacent to the boom on the other side in the left-right direction.

  According to the said structure, the one side of the left-right direction of a traveling body is image | photographed with the 1st camera and 2nd camera which are arrange | positioned facing each other, and the image | photographed image | video is displayed on the display in a cabin. Thereby, the operator boarding a cabin can make a crane vehicle drive | work, confirming the condition of the other side of the boom which becomes a blind spot from a cabin.

  (2) Preferably, the first camera and the second camera are arranged so that a part of the photographing range overlaps.

  According to the above configuration, the blind spot on the other side of the boom can be further reduced.

  (3) Preferably, on the display, a first image captured by the first camera is displayed in a first area which is a part of a display surface, and in a second area adjacent to the first area. Then, the second video shot by the second camera is displayed.

  According to the above configuration, when a moving body (for example, a bicycle) overtakes one side of the crane vehicle, it appears to the operator boarding the cabin that the moving body moves up from the bottom of the display. In addition, when the mobile vehicle overtakes the mobile body, it appears to the operator boarding the cabin that the mobile body moves down from the top of the display. In this way, since the video is displayed on the display in a manner close to the actual change in the relative positions of the crane vehicle and the moving body, the operator can appropriately grasp the situation on the other side of the boom.

  (4) Preferably, the crane vehicle further includes a third camera attached to a front end of the traveling body and a position biased to the other side in the left-right direction and directed toward one side of the traveling body in the left-right direction. On the display, a third image captured by the third camera is displayed in a third region adjacent to the first region or the second region in the left-right direction.

  According to the above configuration, the lower part of the traveling body and one of the left and right directions are photographed by the third camera, and the photographed image is displayed on the display in the cabin. Thereby, the operator boarding the cabin can run the crane vehicle while confirming one of the front lower portion and the left-right direction of the traveling body that becomes a blind spot from the cabin.

  (5) Preferably, the crane vehicle further includes a third camera attached to a tip of the boom and directed rearward and downward of the traveling body in the traveling posture. On the display, a third image captured by the third camera is displayed in a third region adjacent to the first region or the second region in the left-right direction.

  According to the above configuration, the front lower part of the traveling body is photographed by the third camera, and the photographed video is displayed on the display in the cabin. Thereby, the operator boarding a cabin can make a crane vehicle drive | work, confirming the condition of the front lower part of the traveling body which becomes a blind spot from a cabin.

  (6) Preferably, the crane vehicle further includes a fourth camera attached to a rear end of the traveling body and directed toward the rear of the traveling body. The display displays a fourth image captured by the fourth camera in a fourth region adjacent to the first region in the left-right direction and adjacent to the lower side of the third region.

  According to the above configuration, since the images of the first to fourth cameras are collectively displayed on one screen, the operator boarding the cabin does not have to look back or move the line of sight to the side mirror. The situation behind the traveling body can be further confirmed.

  (7) Preferably, the display is disposed at a position biased to one side in the left-right direction in the cabin.

  According to the above configuration, the operator boarding the cabin moves his / her line of sight in that direction in order to view an image on one side of the traveling body. That is, since it is close to the movement of the line of sight when directly looking at one side of the traveling body, the state of the traveling body can be confirmed by a natural operation.

  According to the present invention, one side in the left-right direction of the traveling body is photographed by the first camera and the second camera arranged to face each other, and the photographed image is displayed on the display in the cabin. Thereby, the operator boarding a cabin can make a crane vehicle drive | work, confirming the condition of the other side of the boom which becomes a blind spot from a cabin.

FIG. 1 is a perspective view of a rough terrain crane 10 according to an embodiment. FIG. 2 is a plan view of the rough terrain crane 10 according to the embodiment. FIG. 3 is a left side view of the rough terrain crane 10 according to the embodiment. FIG. 4 is a layout diagram of components in the cabin 40. FIG. 5 is a block diagram of the rough terrain crane 10. FIG. 6 is a plan view showing the rough terrain crane 10 entering the intersection. FIG. 7 is a display example of the display 44 of the rough terrain crane 10 of FIG. FIG. 8 is a plan view showing the rough terrain crane 10 entering the parking space 90. FIG. 9 is a display example of the display 44 of the rough terrain crane 10 of FIG. FIG. 10 is a left side view of a rough terrain crane 10B according to a modification.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings as appropriate. In addition, this embodiment is only 1 aspect of this invention, and it cannot be overemphasized that an embodiment may be changed in the range which does not change the summary of this invention.

[Rough terrain crane 10]
The rough terrain crane 10 according to the present embodiment mainly includes a lower traveling body 20 and an upper turning body 30 as shown in FIGS. The rough terrain crane 10 travels to the destination by the lower traveling body 20 and causes the upper swing body 30 to perform a predetermined operation at the destination. The rough terrain crane 10 is an example of a crane vehicle.

[Lower traveling body 20]
The lower traveling body 20 includes a pair of left and right front wheels 21 and a pair of left and right rear wheels 22. The front wheel 21 is a steered wheel that is steered by a steering 42B described later. The rear wheel 22 is a driving wheel that is rotated by the driving force of an engine (not shown) transmitted through a transmission (not shown).

  Further, the lower traveling body 20 includes outriggers 23 and 24. The outrigger 23 is disposed at the front end of the lower traveling body 20, and the outrigger 24 is disposed at the rear end of the lower traveling body 20. The outriggers 23 and 24 can change state between an overhanging state in which the outriggers 23 and 24 are grounded to the ground at a position protruding in the left-right direction and a retracted state in which the outriggers 23 and 24 are stored in the lower traveling body 20 while being separated from the ground. is there. By setting the outriggers 23 and 24 to the extended state during the operation of the upper swing body 30, the posture of the rough terrain crane 10 is stabilized. On the other hand, the outriggers 23 and 24 are placed in a retracted state when the lower traveling body 20 travels.

[Upper turning body 30]
The upper turning body 30 is supported by the lower traveling body 20 through a turning bearing (not shown) so as to be turnable. The upper turning body 30 is turned by receiving the driving force of the turning motor 71 (see FIG. 5). The turning angle of the upper turning body 30 is represented by, for example, an angle in the clockwise direction when the forward direction of the lower traveling body 20 is set to 0 °. The upper swing body 30 mainly includes a telescopic boom 32, a hook 33, and a cabin 40.

  The telescopic boom 32 is raised and lowered by a hoisting cylinder 72 (see FIGS. 2 and 5) and extended and retracted by an elongating cylinder 73 (see FIG. 5). The base end 32 </ b> A of the telescopic boom 32 is supported by the upper swing body 30 between the front end and the rear end of the lower traveling body 20. As shown in FIGS. 2 and 3, the tip 32 </ b> B of the telescopic boom 32 is positioned in front of the front end of the lower traveling body 20 in the state where the telescopic boom 32 is laid down and shortest. Hereinafter, the state in which the turning angle of the upper turning body 30 is 0 °, the telescopic boom 32 is most laid down, and the telescopic boom 32 is shortest is referred to as the traveling posture of the rough terrain crane 10. That is, in the traveling posture of the rough terrain crane 10, the telescopic boom 32 is extended from the front end of the lower traveling body 20 to the front.

  Further, a jib (not shown) for extending the working radius and the working height may be detachable from the distal end 32B of the telescopic boom 32. The hook 33 is suspended from the tip 32B of the telescopic boom 32 or the tip of the jib by a wire 38, and is raised and lowered by a winch 74 (see FIG. 5) that winds or feeds the wire 38.

[Cabin 40]
The cabin 40 is a box shape having an internal space for an operator who operates the rough terrain crane 10 to board. The cabin 40 is supported by the upper swing body 30 behind the front end of the lower traveling body 20 and ahead of the base end 32 </ b> A of the telescopic boom 32. The cabin 40 is disposed on the right side of the telescopic boom 32. As shown in FIG. 4, a seat 41, a first operation unit 42, a second operation unit 43, and a display 44 are accommodated in the interior space of the cabin 40.

  The first operation unit 42 receives an instruction from an operator for causing the lower traveling body 20 to travel. More specifically, the first operation unit 42 mainly includes a plurality of pedals 42A and a steering 42B. The pedal 42A receives an instruction to accelerate or decelerate the lower traveling body 20, and is an accelerator pedal, a brake pedal, a clutch pedal, or the like. The steering 42 </ b> B receives an operation for instructing the traveling direction of the lower traveling body 20. Since the structure of the 1st operation part 42 is already known, detailed description is abbreviate | omitted.

  The second operation unit 43 changes the state of the outriggers 23, 24, rotates the upper swing body 30, expands and contracts the telescopic boom 32, and receives an instruction to raise and lower the hook 33. The second operation unit 43 includes, for example, a lever 43A, a pedal 43B, or a switch (not shown). Since the configuration of the second operation unit 43 is already well known, detailed description thereof is omitted.

  The display 44 is disposed in the cabin 40 at a position biased to the left from the center in the left-right direction. More specifically, the display 44 is disposed on the left side of the steering 42B. The display 44 displays the state of the rough terrain crane 10. More specifically, the display 44 displays the state of the outriggers 23, 24, the turning angle of the upper turning body 30, the extension length and the undulation angle of the extension boom 32, and the like. Furthermore, the display 44 displays the video image | photographed with the cameras 61-64 mentioned later.

  An operator sitting on the seat 41 can operate the first operation unit 42 and the second operation unit 43 and can visually recognize information displayed on the display 44. More specifically, the operator can drive the lower traveling body 20 while sitting on the seat 41, and can operate the upper swing body 30 and the telescopic boom 32. Further, in the traveling posture of the rough terrain crane 10, the upper end of the telescopic boom 32 is higher than the line of sight of the operator sitting on the seat 41. That is, the operator sitting on the seat 41 of the rough terrain crane 10 in the traveling posture must travel the rough terrain crane 10 in a state in which it is difficult to see the lower part of the lower traveling body 20 and the left side of the lower traveling body 20. .

[Cameras 61 to 64]
The cameras 61 to 64 shoot a subject and generate video data. In other words, the cameras 61 to 64 generate video data indicating a video (moving image). The cameras 61 to 64 do not need to be wide-angle (for example, 80 ° to 240 °) cameras used to generate a bird's-eye view image, but are standard angle of view (for example, 25 ° to 50 °) cameras. May be. As shown in FIGS. 1 to 3, the cameras 61 to 64 are attached to each part of the rough terrain crane 10 and are directed in different directions. In order to clarify the positions and orientations of the cameras 61 to 64, the cameras 61 to 64 are shown in large size in FIGS. 1 to 3, but a small camera is desirable.

  The camera 61 is attached to the front end of the lower traveling body 20 and the right end of the lower traveling body 20. The attachment position of the camera 61 should just be deviated to the right from the center of the left-right direction of the lower traveling body 20 at least. Further, as shown in FIG. 3, the camera 61 is attached below the telescopic boom 32 that has fallen most. The camera 61 according to the present embodiment is attached to the right side mirror, but may be attached to the front bumper, the right outrigger 23, or the like. The camera 61 is directed to the left of the lower traveling body 20. That is, the camera 61 is photographing the front lower part of the lower traveling body 20 and the left front of the lower traveling body 20 from below the telescopic boom 32 from the right side to the left side. The camera 61 is an example of a third camera, and an image captured by the camera 61 is an example of a third image.

  The camera 62 is attached to the front end of the lower traveling body 20 and the left end of the lower traveling body 20. The camera 62 according to this embodiment is attached to the left side mirror, but may be attached to the front bumper, the left outrigger 23, the left side surface of the lower traveling body 20, or the like. The installation position of the camera 62 is not limited to the front end of the lower traveling body 20, and may be attached at least in front of the cabin 40. The camera 62 is directed to the rear of the lower traveling body 20. That is, the camera 62 is photographing the left side of the lower traveling body 20 from the front side to the rear side. The camera 62 is an example of a first camera, and an image captured by the camera 62 is an example of a first image.

  The camera 63 is attached to the rear end of the lower traveling body 20 and the left end of the lower traveling body 20. Although the camera 63 according to the present embodiment is attached to the left outrigger 24, it may be attached to the rear bumper or the left side surface of the lower traveling body 20. The installation position of the camera 63 is not limited to the rear end of the lower traveling body 20, and may be attached at least behind the cabin 40. The camera 63 is directed in front of the lower traveling body 20. That is, the camera 63 is photographing the left side of the lower traveling body 20 from the rear side to the front side. The camera 63 is an example of a second camera, and the video shot by the camera 63 is an example of a second video.

  The cameras 62 and 63 photograph the left side of the lower traveling body 20 from the opposite sides. In other words, the cameras 62 and 63 are arranged so as to face each other. Further, the cameras 62 and 63 are arranged so that a part of the photographing range overlaps. More specifically, an area on the left side of the lower traveling body 20 and between the installation positions of the cameras 62 and 63 is captured by both the cameras 62 and 63. In other words, an area including the position of the cabin 40 on the left side of the lower traveling body 20 and in the front-rear direction is photographed by both the cameras 62 and 63.

  The camera 64 is attached to the rear end of the lower traveling body 20. For example, the camera 64 may be attached to a weight support portion that supports a counterweight (not shown). The camera 64 is preferably attached to the center of the lower traveling body 20 in the left-right direction. The camera 64 may be attached to the rear end of the upper swing body 30 instead of the lower traveling body 20. The camera 64 is directed to the rear of the lower traveling body 20. That is, the camera 63 captures the rear of the lower traveling body 20 from the front side toward the rear side. The camera 64 is an example of a fourth camera, and the video captured by the camera 64 is an example of a fourth video.

[Control unit 50]
As shown in FIG. 5, the rough terrain crane 10 includes a control unit 50 and a storage unit 51. The control unit 50 controls the operation of the rough terrain crane 10. The control unit 50 may be realized by a CPU (Central Processing Unit) that executes a program stored in the storage unit 51, may be realized by a hardware circuit, or a combination thereof. The storage unit 51 stores a program executed by the CPU and various information temporarily stored during execution of the program.

  The control unit 50 acquires operation signals output from the first operation unit 42 and the second operation unit 43. In addition, the control unit 50 acquires video data output from the cameras 61 to 64. Furthermore, the control unit 50 determines the turning angle sensor (not shown) for detecting the turning angle of the upper turning body 30, the undulation angle sensor (not shown) for detecting the undulation angle of the telescopic boom 32, and the extension length of the telescopic boom 32. The detection signal output from the length sensor to detect and the wire sensor which detects the operation length of the wire 38 by the winch 74 is acquired.

  Further, the turning motor 71, the hoisting cylinder 72, the telescopic cylinder 73, and the winch 74 according to the present embodiment are hydraulic actuators. That is, the control unit 50 operates each actuator by controlling the direction and flow rate of the hydraulic oil to be supplied in accordance with the operation signal output from the second operation unit 43. However, the actuator of the present invention is not limited to a hydraulic type, and may be an electric type or the like. And the control part 50 is based on the detection signal acquired from the various sensors about the turning angle of the upper turning body 30, the undulation angle of the telescopic boom 32, the telescopic length of the telescopic boom 32, and the operation length of the wire 38. To grasp. Although not shown, the control unit 50 changes the steering angle of the front wheels 21 according to the operation signal output from the first operation unit 42, controls the engine speed, and activates the brake (not shown). .

  Further, the control unit 50 displays information on the display 44. As an example, when the outriggers 23 and 24 are in the overhanging state, the control unit 50 turns the turning angle of the upper turning body 30, the undulation angle of the telescopic boom 32, and the telescopic length of the telescopic boom 32 indicated by detection signals of various sensors. And the operation length of the wire 38 is displayed on the display 44. As another example, when the outriggers 23 and 24 are in the retracted state, the control unit 50 causes the display 44 to display images taken by the cameras 61 to 64 as shown in FIG.

  More specifically, the display 44 includes an upper right area 44A that is an example of a third area, an upper left area 44B that is an example of a second area, a lower left area 44C that is an example of a first area, and an example of a fourth area. Is virtually divided into a lower right region 44D. The upper right area 44A and the lower right area 44D are adjacent in the vertical direction, the upper left area 44B and the lower left area 44C are adjacent in the vertical direction, the upper right area 44A and the upper left area 44B are adjacent in the left and right direction, and the lower left area 44C and the lower right area 44D is adjacent in the left-right direction. Then, the control unit 50 captures the video captured by the camera 61 in the upper right area 44A, the video captured by the camera 63 in the upper left area 44B, the video captured by the camera 62 in the lower left area 44C, and the video captured by the camera 64. It is displayed in the lower right area 44D.

  FIG. 6 is a plan view illustrating a state in which the rough terrain crane 10 that is traveling forward enters the intersection. Around the rough terrain crane 10 in FIG. 6, there are a person 81 who wants to cross the left front pedestrian crossing and a bicycle 82 that runs on the left side. However, the operator boarding the cabin 40 of the rough terrain crane 10 of FIG. 6 cannot visually recognize the person 81 and the bicycle 82 because the telescopic boom 32 is in the way.

  FIG. 7 is an image displayed on the display 44 of the rough terrain crane 10 shown in FIG. That is, in the upper right area 44A, an image in which the camera 61 captures the person 81 from the right is displayed. In the upper left area 44B, an image of the camera 82 taken from behind is displayed. Further, in the lower left area 44C, an image of the camera 62 taken from the front by the camera 62 is displayed. Furthermore, although illustration is omitted, when the relative positions of the bicycle 82 and the rough terrain crane 10 in the front-rear direction change, the display contents of the upper left region 44B and the lower left region 44C change as follows.

  First, the bicycle 82 at the position A behind the camera 63 is photographed only by the camera 62 of the cameras 62 and 63 and is displayed only in the lower left area 44C of the upper left area 44B and the lower left area 44C. The bicycle 82 between the cameras 62 and 63 is photographed by both the cameras 62 and 63 and displayed in both the upper left area 44B and the lower left area 44C. The bicycle 82 at the position B in front of the camera 63 is photographed only by the camera 63 of the cameras 62 and 63 and displayed only in the upper left area 44B of the upper left area 44B and the lower left area 44C.

  As an example, when the bicycle 82 passes the rough terrain crane 10, it appears to the operator in the cabin 40 that the bicycle 82 moves from the bottom of the display 44 to the top (ie, from the lower left region 44C to the upper left region 44B). As another example, when the rough terrain crane 10 overtakes the bicycle 82, the operator in the cabin 40 appears to move the bicycle 82 from the top to the bottom of the display 44 (ie, from the upper left region 44B to the lower left region 44C). .

  FIG. 8 is a plan view showing a state where the rough terrain crane 10 moves backward and enters the parking space 90. Around the rough terrain crane 10 of FIG. 8, there are an automobile 91 parked on the left side of the parking space 90 and an automobile 92 parked on the right side of the parking space 90. The operator boarding the cabin 40 of the rough terrain crane 10 in FIG. 8 cannot see the automobile 91 because the telescopic boom 32 is in the way, and cannot see the automobile 92 unless he turns around the right rear.

  FIG. 9 is an image displayed on the display 44 of the rough terrain crane 10 shown in FIG. That is, in the lower left region 44C, an image obtained by the camera 62 shooting the automobile 91 from the front is displayed. In the lower right area 44D, an image of the parking space 90 and the cars 91 and 92 taken from the front by the camera 64 is displayed. On the other hand, in FIG. 9, illustration of the images displayed in the upper right area 44A and the upper left area 44B is omitted.

[Effects of Embodiment]
According to the above embodiment, the front lower portion of the lower traveling body 20 and the left front of the lower traveling body 20 are photographed by the camera 61, and the left sides of the lower traveling body 20 are photographed by the cameras 62 and 63 facing each other. The displayed video is displayed on the display 44 in the cabin 40. Thereby, the operator boarding the cabin 40 can run the rough terrain crane 10 while confirming the situation of the front lower part, the left front, and the left side of the lower traveling body 20 that becomes a blind spot from the cabin 40.

  Further, according to the above-described embodiment, the cameras 62 and 63 are arranged so that at least a part of the shooting range overlaps, so that the blind spot on the left side of the lower traveling body 20 can be further reduced. Since the images taken by the cameras 62 and 63 are displayed side by side on the display 44, the two cameras 62 and 63 take pictures in a manner close to the actual change in the relative positions of the rough terrain crane 10 and the bicycle 82. The displayed video is displayed on the display 44. Thereby, the operator boarding the cabin 40 can more appropriately grasp the situation on the left side of the lower traveling body 20.

  Further, the display 44 is disposed at a position biased to the left from the center of the cabin 40 in the left-right direction. As a result, the operator boarding the cabin 40 moves his / her line of sight to the left in order to view the image on the left side of the lower traveling body 20 taken by the cameras 61 to 63. That is, the operator can confirm the situation on the left side of the lower traveling body 20 through the display 44 with the same line of sight movement as when directly viewing the left side of the lower traveling body 20.

  Further, the rear of the lower traveling body 20 is photographed by the camera 64, and the photographed image is displayed on the display 44 together with the images of the cameras 61 to 63. Thereby, the operator boarding the cabin 40 can further confirm the situation behind the lower traveling body 20 without looking back and moving the line of sight to the side mirror.

  Further, according to the above-described embodiment, the four images captured by the four cameras 61 to 64 are separately displayed on the four regions 44A to 44D of the display 44 without being synthesized and processed. As a result, compared to a so-called “overhead video” obtained by synthesizing and processing a plurality of videos, the seams between the videos are reduced and the distortion of the video is reduced. However, the video display method is not limited to the above example, and a plurality of videos may be combined and processed and displayed on the display 44.

[Modification]
FIG. 10 is a left side view of a rough terrain crane 10B according to a modification. In the following, detailed description of points common to the above-described embodiment will be omitted, and differences will be mainly described. A rough terrain crane 10 </ b> B according to the modification includes a camera 65 instead of the camera 61. The camera 65 is an example of a third camera, and the video taken by the camera 65 is an example of a third video.

  The camera 65 is attached to the tip of the telescopic boom 32. That is, in the rough terrain crane 10B in the traveling posture, the camera 65 is disposed in front of the front end of the lower traveling body 20, and is disposed in the center of the lower traveling body 20 in the left-right direction. Further, the camera 65 is directed rearward and downward of the lower traveling body 20. That is, the camera 65 captures an image immediately before the lower traveling body 20 from the front upper side to the rear lower side. Further, the control unit 50 displays the video captured by the camera 65 in the upper right area 44 </ b> A of the display 44.

  According to the above-described modification, the front lower portion of the lower traveling body 20 is photographed by the camera 65, and the photographed image is displayed on the display 44 in the cabin 40. Thereby, the operator boarding the cabin 40 can run the rough terrain crane 10 while confirming the state of the lower portion of the lower traveling body 20 that is a blind spot from the cabin 40.

  In the embodiment and the modification described above, the example in which the cabin 40 is arranged on the right side of the telescopic boom 32 has been described. However, the positional relationship between the telescopic boom 32 and the cabin 40 is not limited to the above example. That is, the cabin 40 may be located on the left side of the telescopic boom 32. In this case, the camera 61 is disposed with the right side facing the left end in the left-right direction at the front end of the lower traveling body 20. The cameras 62 and 63 are disposed at the right end of the lower traveling body 20. That is, “one” in the left-right direction may indicate the right side or the left side. The same applies to the “other side” in the left-right direction.

  In the above-described embodiment and modification, an example in which four cameras are installed in the rough terrain cranes 10 and 10B has been described, but a part of the cameras may be omitted. Furthermore, in the above-described embodiment and modification, an example in which four videos are collectively displayed on the display 44 has been described, but the video display method is not limited to this.

  As an example, the control unit 50 may switch the video to be displayed on the display 44 in response to receiving a press of a switching button (not shown). As another example, the control unit 50 may switch the image to be displayed on the display 44 according to the traveling direction of the lower traveling body 20. More specifically, the control unit 50 displays images captured by the cameras 61 to 63 and 65 when the lower traveling body 20 is moving forward, and the cameras 62 and 64 when the lower traveling body 20 is moving backward. You may display the image | photographed by.

DESCRIPTION OF SYMBOLS 10 ... Rough terrain crane 20 ... Lower traveling body 30 ... Upper turning body 32 ... Telescopic boom 40 ... Cabin 42 ... 1st operation part 43 ... 2nd operation part 44- ..Displays 61, 62, 63, 64, 65 ... cameras

Claims (7)

A traveling body,
A revolving structure supported by the traveling body so as to be capable of revolving;
A boom supported by the swivel body in a undulating and telescopic manner;
A cabin supported by the revolving structure;
A first camera attached to an end of one side in the left-right direction of the traveling body in front of the cabin and directed toward the rear of the traveling body;
A second camera attached to an end of one side of the traveling body behind the cabin and in the left-right direction, and directed to the front of the traveling body;
An operation unit that is disposed in an interior space of the cabin, and that receives an operation of an operator that causes the traveling body to travel, swivels the swivel body, and raises and lowers the boom.
A crane that is disposed in an interior space of the cabin and includes a display that displays images captured by the first camera and the second camera;
In the traveling posture in which the cabin is directed in the traveling direction of the traveling body, the boom is most laid down and shortest,
The boom extends forward from the front end of the traveling body,
The cabin is a crane vehicle disposed behind the front end of the traveling body and adjacent to the boom on the other side in the left-right direction.   The crane vehicle according to claim 1, wherein the first camera and the second camera are arranged so that a part of photographing ranges overlap. On the above display,
A first image captured by the first camera is displayed in a first area that is a part of the display surface;
The crane truck according to claim 1 or 2, wherein a second image captured by the second camera is displayed in a second region adjacent to the upper side of the first region. The crane vehicle is further provided with a third camera attached to a front end of the traveling body and a position biased to the other in the left-right direction, and directed to one side of the traveling body in the left-right direction,
The crane according to claim 3, wherein a third image captured by the third camera is displayed on the display in a third region adjacent to the first region or the second region in the left-right direction. The crane vehicle is further provided with a third camera attached to a tip of the boom and directed rearward and downward of the traveling body in the traveling posture.
The crane according to claim 3, wherein a third image captured by the third camera is displayed on the display in a third region adjacent to the first region or the second region in the left-right direction. The crane vehicle is further provided with a fourth camera attached to the rear end of the traveling body and directed toward the rear of the traveling body,
6. The fourth image captured by the fourth camera is displayed on the display in a fourth area adjacent to the first area in the left-right direction and adjacent to the lower side of the third area. The listed crane car.   The crane according to any one of claims 1 to 6, wherein the display is disposed at a position biased to one side in the left-right direction in the cabin.

Images