JP2021080041A - Working vehicle - Google Patents

Abstract

To provide a working vehicle capable of improving working efficiency when a jack is grounded.SOLUTION: A jack 12 includes a marker detection camera 97 provided on a jack base 200 to detect a marker and output a marker detection signal. An operation control part controls the operation of an outrigger cylinder so that an outrigger 11 extends to the left/right side direction of a car body 2 until the jack 12 moves to an upper part the jack base 200 based on the marker detection signal input from the marker detection camera 97.SELECTED DRAWING: Figure 4

Description

The present invention relates to a work vehicle equipped with an outrigger jack.

As an example of a work vehicle, it is constructed based on a truck vehicle that can run with a driving cab in the front, and has a swivel that can be turned horizontally on the car body, and the swivel can be undulated and expanded and contracted. There is known an aerial work platform equipped with a boom provided and a work platform rotatably supported at the tip of the boom. Such aerial work platforms are used at various work sites such as electric wire construction, maintenance and inspection work in road tunnels, and maintenance and inspection work of bridges. In such aerial work platforms, in order to support the vehicle in a stable state during work, outrigger jacks are provided on the front, rear, left and right sides of the vehicle, and these outrigger jacks are projected to the side of the vehicle to be grounded. It is configured (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 8-324998

However, when there is an obstacle such as a guardrail on the side of the vehicle, the outrigger jack is projected to the side of the vehicle to touch the ground without touching the obstacle, so that the work efficiency is lowered.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a work vehicle capable of improving work efficiency when the jack is grounded.

In order to achieve such an object, the work platform according to the present invention (for example, the aerial work platform 1 in the embodiment) includes a vehicle body capable of traveling and a work device provided on the vehicle body (for example, a boom in the embodiment). 30) and the workbench 40), an outrigger beam provided on the side of the vehicle body and capable of projecting to the side of the vehicle body, and a state in which the tip of the outrigger beam is stretchably provided and extends downward to be in contact with the ground. A jack that supports the vehicle body, an outrigger drive unit that projects the outrigger beam toward the vehicle body (for example, the outrigger cylinder 15 in the embodiment), and a control unit that controls the operation of the outrigger drive unit (for example, The jack is provided with an operation control unit 61) in the embodiment, and the jack can support the vehicle body in a state of being grounded via a jack base placed on the ground on the side of the vehicle body, and the jack can support the vehicle body. The jack has a marker detector that detects a marker provided on the jack base and outputs a marker detection signal, and the control unit uses the jack based on the marker detection signal input from the marker detector. The operation of the outrigger drive unit is controlled so that the outrigger beam projects toward the vehicle body until it moves above the jack base.

According to the present invention, the jack has a marker detector that detects a marker provided on the jack base and outputs a marker detection signal, and a control unit is based on a marker detection signal input from the marker detector. , The operation of the out-trigger drive unit is controlled so that the out-trigger beam projects toward the vehicle body until the jack moves above the jack base. As a result, when the jack base is placed on the ground on the side of the vehicle body, the control unit controls the operation of the out-trigger drive unit, and the out-trigger beam automatically projects to the side of the vehicle body until the jack moves above the jack base. Therefore, the jack can be easily grounded to a desired ground location via the jack base. Therefore, it is possible to improve the work efficiency when the jack is grounded.

It is the figure which looked at the aerial work platform from the left. It is the figure which looked at the aerial work platform from above. It is the figure which looked at the aerial work platform from the front. It is the figure which looked at the aerial work platform from the rear. It is a block diagram which shows the control system of an aerial work platform. It is the figure which looked at the jack base from above. It is a schematic diagram which shows an example of the surrounding display image and the bird's-eye view image displayed on the display device. It is a schematic diagram which shows an example of the surrounding display image and the map navigation image displayed on the display device. It is a schematic diagram which shows an example of the surrounding display image and the left side display image displayed on a display device.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The aerial work platforms 1 according to the present embodiment are shown in FIGS. 1 to 4, and first, the overall configuration of the aerial work platform 1 will be described with reference to these figures. As shown in FIG. 1, the aerial work platform 1 is configured based on a truck-type vehicle having a driving cab 7 at the front portion of the vehicle body 2 and capable of traveling by wheels 3 arranged on the front, rear, left and right sides of the vehicle body 2. Has been done.

Outrigger jacks 10 are provided on the front, rear, left and right sides of the vehicle body 2 to lift and support the vehicle body 2 when working at a high place. As shown in FIGS. 2 and 4, the outrigger jack 10 has an outrigger (outrigger beam) 11 that can expand and contract in the left-right direction (vehicle width direction) of the vehicle body 2 and an outrigger (outrigger beam) 11 that is provided at the tip of the outrigger 11 and expands and contracts in the vertical direction. It is configured to have a possible jack 12 and a grounding plate 13 attached to the lower end of the jack 12. The outrigger 11 is configured to be able to expand and contract in the left-right direction (vehicle width direction) by an outrigger cylinder 15 (see FIG. 5) provided inside the outrigger 11. The jack 12 is configured to be able to expand and contract in the vertical direction by a jack cylinder 16 (see FIG. 5) provided inside the jack 12. By projecting the outriggers 11 to the left and right sides of the vehicle body 2 and extending the jack 12 to bring the grounding plate 13 into contact with the road surface, the vehicle body 2 can be lifted and supported, and the entire vehicle can be stabilized.

As shown in FIG. 4, the jack 12 can lift and support the vehicle body 2 in a state of being grounded via the jack base 200 placed on the ground on the left and right sides of the vehicle body 2. As shown in FIG. 6, the jack base 200 includes a plate portion 210 and a frame portion 220. The plate portion 210 is formed in a rectangular plate shape that is slightly larger than the ground plate 13 of the jack 12, for example, using a wooden plate material. The frame portion 220 is formed in a rectangular frame shape that holds the outer peripheral portion of the plate portion 210 by using a metal material. Detection markers 221 for detecting the jack base 200 are provided on the upper surfaces of the four corners of the frame portion 220. The detection marker 221 is configured by using, for example, a two-dimensional code that can be detected by a camera or the like.

As shown in FIGS. 1 and 2, the mounting region behind the driving cab 7 in the vehicle body 2 is driven by a boom swivel motor 24 (see FIG. 5) and is configured to be horizontally swivel around the vertical axis. A swivel base 20 is provided. The base end portion of the boom 30 is attached to the support column 21 extending upward from the swivel base 20 via a foot pin 22 so as to be swingable (undulating) in the vertical direction. Further, on the left and right sides of the mounting area of the vehicle body 2, left side tool storage portions 26 and right side tool storage portions 27 for storing work tools, work equipment, and the like are provided. The left tool storage unit 26 is a box-shaped lower left tool box 26a arranged on the left side of the mounting area in the vehicle body 2, and a box-shaped upper left tool box 26b arranged on the lower left tool box 26a. And have. The right tool storage unit 27 is a box-shaped lower right tool box 27a arranged on the right side of the mounting area in the vehicle body 2, and a box-shaped upper right tool box 27b arranged on the lower right tool box 27a. And have.

As shown in FIG. 1, the boom 30 has a configuration in which a base end boom 30a, an intermediate boom 30b, and a tip boom 30c are nested in order from the swivel base 20 side, and is provided inside the boom 30. The boom 30 can be expanded and contracted in the axial direction (longitudinal direction) by the expansion and contraction drive of the boom expansion and contraction cylinder 31 (see FIG. 5). Further, a boom undulating cylinder 23 (see FIG. 5) is straddled between the base end boom 30a and the support column 21, and by expanding and contracting the boom undulating cylinder 23, the entire boom 30 is moved up and down (see FIG. 5). It can be moved up and down in a vertical plane).

A vertical post 35 (see FIG. 2) is pivotally supported at the tip of the tip boom 30c so as to swing in the vertical direction. The vertical post 35 includes an upper leveling cylinder (not shown) straddling the tip of the tip boom 30c and a lower leveling cylinder 25 straddling between the base boom 30a and the support column 21. As a result, swing control (leveling control) is performed so that the boom 30 is always held in a vertical posture regardless of the undulations of the boom 30. A workbench 40 for boarding workers is attached to the vertical post 35. The workbench 40 can swing (horizontally swivel) around the vertical post 35 by rotationally driving the workbench swivel motor 37 (see FIG. 5) provided on the vertical post 35.

As shown in FIG. 2, the work table 40 is provided with an upper operation device 45 provided with an operation lever, an operation switch, an operation dial, and the like operated by an operator on the work table 40. Therefore, the worker on the workbench 40 operates the upper operation device 45 to rotate the swivel table 20 (rotational operation of the boom swivel motor 24) and to raise and lower the boom 30 (expansion and contraction of the boom hoisting cylinder 23). Each operation operation such as expansion / contraction operation of the boom 30 (expansion / contraction operation of the boom expansion / contraction cylinder 31), swing operation of the workbench 40 (rotational operation of the workbench swivel motor 37) can be performed. As shown in FIG. 4, a lower operation device 50 is provided at the rear portion of the vehicle body 2, and an operator on the ground or on the vehicle body 2 can perform the above operation operation (operation similar to the upper operation device 45). Operation) and operation of the outrigger jack 10 can be performed.

When the upper operation device 45 or the lower operation device 50 is operated, as shown in FIG. 5, an operation signal corresponding to the operation content is output to the control unit 60 provided on the vehicle body 2. The operation control unit 61 of the control unit 60 outputs a command signal based on the operation signal to the hydraulic drive unit 70. As shown in FIG. 5, the hydraulic drive unit 70 is discharged from a hydraulic oil tank 71 that stores hydraulic oil, a hydraulic pump 72 that is driven by the power of the engine E mounted on the vehicle body 2, and a hydraulic pump 72. It has a control valve unit 73 that supplies and controls the hydraulic oil to be supplied to each hydraulic actuator in a supply direction and a supply amount based on the command signal.

A power take-off mechanism PTO is incorporated in the transmission that shifts the power of the engine E and transmits it to the wheels 3. When the PTO operating lever 75 arranged in the operating cab 7 is operated from the off position to the on position, the power take-off mechanism PTO switches the drive destination of the engine E from the wheels 3 to the hydraulic pump 72, and the power of the engine E is changed. The hydraulic pump 72 is driven by the engine. The control valve unit 73 has electromagnetic proportional control valves V1 to V6 corresponding to each of the boom swivel motor 24, the boom undulating cylinder 23, the boom telescopic cylinder 31, the workbench swivel motor 37, the out trigger cylinder 15 and the jack cylinder 16. There is. The hydraulic drive unit 70 operates each hydraulic actuator by controlling the flow of hydraulic oil supplied to each hydraulic actuator in response to a command signal from the operation control unit 61 of the control unit 60.

In this way, the operation of each hydraulic actuator is controlled by the control unit 60 (operation control unit 61). Therefore, various detection devices are arranged on the aerial work platform 1, and the detection signals output from the detection devices are input to the control unit 60. For example, a turning angle detection signal corresponding to the turning angle of the boom 30 (swivel base 20) is input from the boom turning angle sensor 81 to the control unit 60, and the boom undulation angle sensor 82 receives undulations according to the undulation angle of the boom 30. An angle detection signal is input, an extension amount detection signal corresponding to the extension amount of the boom 30 is input from the boom length sensor 83, and a turning angle detection signal corresponding to the turning angle of the workbench 40 is input from the workbench turning angle sensor 84. Will be done. Further, for example, an overhang amount detection signal corresponding to the overhang amount of the outrigger jack 10 (outrigger 11) toward the vehicle body is input from the jack overhang amount sensor 85 to the control unit 60, and the outrigger jack is input from the jack ground sensor 86. The grounding detection signal of 10 (grounding plate 13) is input. Further, for example, the control unit 60 is input with tilt angle detection signals corresponding to the front-rear and left-right tilt angles of the vehicle body 2 (road surface) from the vehicle body tilt angle sensor 87, and the traveling speed sensor 88 is used to travel the high-altitude work vehicle 1. A traveling speed detection signal corresponding to the speed is input.

The jack overhang sensor 85 detects the overhang amount of the outrigger jack 10 (outrigger 11) in the vehicle width direction (that is, the overhang amount to the left and right sides with respect to the vehicle body 2) in four stages. In the present embodiment, the "minimum overhang amount (MIN)", as the overhang amount of the above four stages,
"Intermediate 1 overhang amount (MID1)", "Intermediate 2 overhang amount (MID2)", and "Maximum overhang amount (MAX)" are set. The minimum overhang amount corresponds to the retracted state of the outrigger 11, and the maximum overhang amount corresponds to the maximum overhang state of the outrigger 11. That is, the overhang amount of the outrigger 11 increases by one step in the order of minimum overhang amount <intermediate 1 overhang amount <intermediate 2 overhang amount <maximum overhang amount. As the jack overhang amount sensor 85, a configuration that continuously detects the overhang amount of the outrigger 11 may be applied instead of the configuration that detects the overhang amount of the outrigger 11 stepwise.

In the aerial work platform 1 according to the present embodiment, cameras are arranged on the front, rear, left and right sides of the vehicle body 2, and image information output from each camera is input to the control unit 60. As shown in FIGS. 1 and 3, a front camera 91 is arranged at the front portion of the vehicle body 2. The front camera 91 is attached to the vicinity of the front bumper 28 in the front portion of the vehicle body 2 so as to face the front of the vehicle body 2. The front camera 91 is configured to include a lens having a wide angle of view such as a fisheye lens or an ultra-wide-angle lens, acquires image information of a front portion around the vehicle body 2, and outputs the acquired image information to the control unit 60.

As shown in FIGS. 2 and 4, a rear camera 92 is arranged at the rear of the vehicle body 2. The rear camera 92 is attached to the rear portion of the vehicle body 2 in the vicinity of the tail lamp 29 on the right side so as to face the rear of the vehicle body 2. The rear camera 92 is configured in the same manner as the front camera 91, acquires image information of a rear portion around the vehicle body 2, and outputs the acquired image information to the control unit 60. The rear camera 92 is not limited to the vicinity of the tail lamp 29, and may be attached to a protective cover (not shown) that covers the lower operating device 50 when not in use, such as the base end of the boom 30 or the swivel base 20. It may be attached to the rear. When the rear camera 92 is attached to the base end of the boom 30 or the rear of the swivel base 20, the cable extending from the rear camera 92 is inserted into a slip ring (not shown) provided on the swivel base 20. May be good. Further, in this case, the image information output from the rear camera 92 may be transmitted to the control unit 60 by wireless communication.

As shown in FIGS. 2 and 4, a left side camera 93 is arranged on the left side of the vehicle body 2. The left side camera 93 is attached to the upper end portion of the left tool storage portion 26 (upper left tool box 26b) on the left side portion of the vehicle body 2 so as to face the left side of the vehicle body 2. The left side camera 93 is configured in the same manner as the front camera 91, acquires image information of the left side portion around the vehicle body 2, and outputs the acquired image information to the control unit 60. A right side camera 94 is arranged on the right side of the vehicle body 2. The right side camera 94 is attached to the upper end portion of the right tool storage portion 27 (upper right tool box 27b) on the right side portion of the vehicle body 2 so as to face the right side of the vehicle body 2. The right side camera 94 is configured in the same manner as the front camera 91, acquires image information of the right side portion around the vehicle body 2, and outputs the acquired image information to the control unit 60.

Further, as shown in FIGS. 1 and 2, a marker detection camera 97 is arranged at the jack post portion of the jack 12. The marker detection camera 97 is attached to the side portion of the jack post portion of the jack 12 so as to face downward from the jack 12. The marker detection camera 97 acquires image information in a predetermined image acquisition area SB (see FIG. 6) set in the vicinity of a position directly below the jack 12 (ground plate 13). When the jack base 200 placed on the ground on the side of the vehicle body 2 exists in the predetermined image acquisition area SB of the marker detection camera 97, the marker detection camera 97 detects the jack base 200 based on the acquired image information. The marker 221 (see FIG. 6) is detected, and the marker detection signal is output to the control unit 60.

Further, as shown in FIGS. 1 and 2, an obstacle detector 96 is arranged in the vicinity of the outrigger jack 10 in the vehicle body 2. The obstacle detector 96 is configured by using, for example, LiDAR (Light Detection and Ranging) or the like, and when an obstacle exists in the detectable range SA of the obstacle detector 96, the obstacle is from the side of the vehicle body 2 to the obstacle. The distance is measured, and an obstacle detection signal corresponding to the measured distance to the obstacle is output to the control unit 60. The detectable range SA of the obstacle detector 96 seen from above (in plan view) is shown by the alternate long and short dash line in FIG. 2, and the detection of the obstacle detector 96 seen from behind (in vertical view). The possible range SA is shown by the alternate long and short dash line in FIG.

Further, in the aerial work platform 1 according to the present embodiment, the driving cab side display device 100 (see FIG. 5) and the first to third display selector switches 101 to 103 (FIG. 5) are contained in the driving cab 7 of the vehicle body 2. 5) and are arranged. An operator who operates the aerial work platform 1 in the driving cab 7 can visually recognize the image displayed on the driving cab side display device 100. The driving cab side display device 100 is configured by using, for example, a liquid crystal display or the like, and can display an image generated by the image processing unit 65 of the control unit 60. The first to third display changeover switches 101 to 103 are configured by using, for example, a push button switch or the like, and when a display changeover operation is performed on the first to third display changeover switches 101 to 103, the first to third display changeover switches 101 to 103 are performed. 3 The display changeover operation signal is output from the display changeover switches 101 to 103 to the control unit 60.

As shown in FIG. 5, the control unit 60 includes the above-mentioned operation control unit 61, a work range setting unit 63, and an image processing unit 65. The work range setting unit 63 stores data in a workable range defined as an area in which the tip end portion (work table 40) of the boom 30 can be moved without overturning the vehicle body 2. Further, the work range setting unit 63 stores data on the workable range corresponding to each of the four-stage overhang amounts of the outrigger jack 10 (outrigger 11). The work range setting unit 63 reads out the data of the workable range according to the maximum amount of protrusion that the outrigger 11 can extend to the left and right sides of the vehicle body 2 from the data group of the workable range. Hereinafter, the maximum overhang amount that the outrigger 11 can overhang to the left and right sides of the vehicle body 2 is referred to as a “maximum overhang amount”. Then, the work range setting unit 63 allows the workable range data read out from the workable range data group according to the maximum overhang amount of the outrigger 11 when the outrigger 11 overhangs the maximum overhang amount. It is set as a movable area of the tip of the boom 30 that can be formed.

Although not shown, the outer edge of the workable range (movable area) is structurally set according to the relationship between the range in which the length of the boom 30 can be taken and the range in which the undulation angle of the boom 30 can be taken. (Operating limit line) and structurally, the tip of the boom 30 can be moved, but from the viewpoint of preventing the overturning moment from becoming excessive, the movement of the tip of the boom 30 must be prohibited. It consists of the outer edge (regulation limit line) that is set. In the following, as the outer edge of the workable range, the operating limit line and the regulation limit line are not distinguished and are referred to as "limit lines".

The image processing unit 65 includes image information from the front camera 91, the rear camera 92, the left side camera 93, and the right side camera 94, an overhang amount detection signal from the jack overhang amount sensor 85, and an obstacle detector. The obstacle detection signal from 96 is input. Further, the image processing unit 65 includes the image information of the aerial work platform 1 simplified when viewed from above (in a plan view) and the aerial work platform simplified when viewed from the front and upper (overhead view). The image information of 1 is stored in advance. The image processing unit 65 receives the image information of the front side portion around the vehicle body 2 input from the front camera 91, the image information of the rear side portion around the vehicle body 2 input from the rear camera 92, and the left side camera 93. The input image information of the left side portion around the vehicle body 2, the image information of the right side portion around the vehicle body 2 input from the right side camera 94, and the height work vehicle 1 simplified in the pre-stored plan view. By performing predetermined image processing such as image composition and distortion correction using the image information of the above, a surrounding display image 110 (that is, a high-altitude work vehicle 1) showing the surroundings of the vehicle body 2 (that is, a high-altitude work vehicle 1) in a plan view is displayed (FIG. 7). See).

Further, the image processing unit 65 includes the image information of the front side portion around the vehicle body 2 input from the front camera 91, the image information of the rear side portion around the vehicle body 2 input from the rear camera 92, and the left side camera. The image information of the left side around the vehicle body 2 input from 93, the image information of the right side around the vehicle body 2 input from the right side camera 94, and the height simplified from a bird's-eye view stored in advance. A bird's-eye view image showing the surroundings of the vehicle body 2 (that is, the high-altitude work vehicle 1) seen from a bird's-eye view by performing predetermined image processing such as image composition and distortion correction using the image information of the work vehicle 1. Generate 140 (see FIG. 7). The image processing unit 65 outputs the image information of the generated surrounding display image 110 and the bird's-eye view image 140 to the driving cab side display device 100. The driving cab side display device 100 displays the surrounding display image 110 and the bird's-eye view image 140 side by side based on the image information input from the image processing unit 65.

FIG. 7 shows an example of the surrounding display image 110 and the bird's-eye view image 140 generated by the image processing unit 65. In the example of FIG. 7, a case where the aerial work platform 1 is stopped at a place near the utility pole WK, which is a work object, is shown. The utility pole WK is erected in the vicinity of the guardrail GR, which is an obstacle. In the surrounding display image 110 shown in FIG. 7, the turning center C of the turning table 20 is displayed on the aerial work platform 1. The image information of the turning center C is stored in advance in the image processing unit 65 as the image information of the aerial work platform 1 simplified in the plan view.

Further, as shown by the alternate long and short dash line in FIG. 7, the overhang range display image 121 is superimposed and displayed on the surrounding display image 110 of the driving cab side display device 100. The overhang range display image 121 shows an overhangable range in which the tip end portion (jack 12) of the outrigger 11 can extend to the left and right sides of the vehicle body 2. If there are no obstacles on the side of the vehicle body 2 and the obstacle detection signal is not output from the obstacle detector 96, the outriggers 11 may designly project to the left and right sides of the vehicle body 2 within the overhangable range. Set to the maximum possible range. When an obstacle (for example, a guardrail GR) exists on the side of the vehicle body 2 and an obstacle detection signal is output from the obstacle detector 96, the outrigger 11 can extend to the side of the vehicle body 2. The jack 12 is set within a range where it does not come into contact with obstacles. In this case, the image processing unit 65 obtains the overhangable range according to the distance from the side portion of the vehicle body 2 to the obstacle based on the obstacle detection signal input from the obstacle detector 96, and the obtained overhang is possible. The overhanging range display image 121 is set so as to indicate the range. Then, the image processing unit 65 generates the surrounding display image 110 so that the overhang range display image 121 is overlapped and displayed by performing a predetermined image process such as image composition.

In the example shown in FIG. 7, the overhang range display image 121 located on the right side of the vehicle body 2 has no obstacles on the right side of the vehicle body 2, so that the outrigger 11 is on the right side of the vehicle body 2 as an overhang possible range. Shows the maximum range that can be designed to overhang. In the overhang range display image 121 located on the left side of the vehicle body 2, since the guardrail GR exists as an obstacle on the left side of the vehicle body 2, the jack 12 can be extended even if the outrigger 11 projects to the left side of the vehicle body 2. Indicates the range in which is not in contact with the guardrail GR. At this time, the image processing unit 65 obtains an overhangable range according to the distance from the left side portion of the vehicle body 2 to the guardrail GR based on the obstacle detection signal input from the obstacle detector 96.

Further, as shown by the alternate long and short dash line in FIG. 7, the work range display image 125 is superimposed and displayed on the surrounding display image 110 of the driving cab side display device 100. The work range display image 125 shows the above-mentioned workable range around the aerial work platform 1. The working range display image 125 has a limit line display image 126 formed in an annular shape. The limit line display image 126 shows the limit line in the above-mentioned workable range. Based on the overhangable range obtained earlier, the image processing unit 65 responds to the maximum overhang amount of the outrigger 11 in the overhangable range from the workable range data group stored in the work range setting unit 63. The data in the workable range is read out, and the limit line display image 126 is set so as to show the limit line in the read workable range. Then, the image processing unit 65 performs predetermined image processing such as image composition so that the limit line display image 126 (that is, the work range display image 125) is superimposed and displayed around the aerial work platform 1. The surrounding display image 110 is generated in.

The limit line shown in the limit line display image 126 is an envelope showing the workable radius of the boom 30 over the entire turning position (360 degrees), and is surrounded by the limit line shown in the limit line display image 126. The area indicated by the above-mentioned workable range. Further, the limit line shown in the limit line display image 126 is when the tip portion (working table 40) of the boom 30 has a predetermined reference height (for example, the maximum height at which the tip portion of the boom 30 can be moved). Shows the limit line in plan view.

Further, as shown by the alternate long and short dash line in FIG. 7, the overhang range display image 151 is superimposed and displayed on the bird's-eye view image 140 of the driving cab side display device 100. The overhang range display image 151 of the bird's-eye view image 140 shows the above-mentioned overhang possible range, similarly to the overhang range display image 121 of the surrounding display image 110. The image processing unit 65 sets the overhang range display image 151 of the bird's-eye view image 140, as in the case of the overhang range display image 121 of the surrounding display image 110. Then, the image processing unit 65 generates a bird's-eye view image 140 so that the overhang range display image 151 is superimposed and displayed by performing predetermined image processing such as image composition.

Further, as shown by the alternate long and short dash line in FIG. 7, the work range display image 155 is superimposed and displayed on the bird's-eye view image 140 of the driving cab side display device 100. The work range display image 155 of the bird's-eye view image 140 shows the workable range described above, similarly to the work range display image 125 of the surrounding display image 110. The working range display image 155 has a limit line display image 156 formed in an arc shape. The limit line display image 156 shows the limit line on the rear side in the above-mentioned workable range. The image processing unit 65 sets the limit line display image 156 of the bird's-eye view image 140, as in the case of the limit line display image 126 of the surrounding display image 110. Then, the image processing unit 65 performs predetermined image processing such as image composition so that the limit line display image 156 (that is, the work range display image 155) is superimposed and displayed around the aerial work platform 1. A bird's-eye view image 140 is generated.

In the example shown in FIG. 7, the surrounding display image 110 and the bird's-eye view image 140 are displayed side by side on the screen of the driving cab side display device 100. When the display switching operation is performed on the first display switching switch 101, the display switching operation signal is output from the first display switching switch 101 to the control unit 60, and the image displayed on the right side of the surrounding display image 110 is It is possible to switch between the bird's-eye view image 140 and the map navigation image 130 (see FIG. 8). As shown in FIG. 8, the map navigation image 130 shows map information in the car navigation system.

When the display switching operation is performed on the second display switching switch 102, the display switching operation signal is output from the second display switching switch 102 to the control unit 60, and the image displayed on the right side of the surrounding display image 110 is displayed. It is possible to switch between the bird's-eye view image 140, the left side display image 160 (see FIG. 9), and the right side display image (not shown). As shown in FIG. 9, the left side display image 160 is an image of the left side portion around the vehicle body 2 acquired by the left side camera 93. The right side display image is an image of the right side portion around the vehicle body 2 acquired by the right side camera 94.

When the display switching operation is performed on the third display switching switch 103, the display switching operation signal is output from the third display switching switch 103 to the control unit 60, and the surrounding display image 110 is the overhang range display image 121 and the working range. It is possible to switch between a display state in which the display images 125 are overlapped and a non-display state in which the overhanging range display image 121 and the work range display image 125 are not displayed. Further, when the display switching operation is performed on the third display changeover switch 103, the bird's-eye view image 140 has a display state in which the overhang range display image 151 and the work range display image 155 are superimposed and displayed, and the overhang range display image 151. And the work range display image 155 can be switched between the non-display state and the non-display state.

In the surrounding display image 110, for example, as shown in FIG. 7, when the guardrail GR exists as an obstacle on the left side of the vehicle body 2, the jack 12 does not come into contact with the guardrail GR by using the overhang range display image 121. The possible range can be easily known. Also in the bird's-eye view image 140, the overhangable range in which the jack 12 does not come into contact with the guardrail GR can be easily known by using the overhang range display image 151. As a result, by visually recognizing the surrounding display image 110 or the bird's-eye view image 140 displayed on the driving cab side display device 100, it is possible to easily extend the overhangable range in which the jack 12 does not come into contact with the guardrail GR before the outrigger 11 is overhanged. You can know. Therefore, it is possible to improve the work efficiency when the jack 12 is grounded.

Further, in the surrounding display image 110, for example, as shown in FIG. 7, when the utility pole WK is located inside the limit line display image 126 of the work range display image 125, the work table 40 can approach the utility pole WK. Can be easily determined. On the other hand, when the utility pole WK is located outside the limit line display image 126 of the work range display image 125, it can be easily determined that the work table 40 is not approachable to the utility pole WK. Also in the bird's-eye view image 140, it is possible to easily determine whether or not the workbench 40 can approach the utility pole WK by using the limit line display image 156 of the work range display image 155. As a result, by visually recognizing the surrounding display image 110 or the bird's-eye view image 140 displayed on the driving cab side display device 100, the work table 40 is relative to the utility pole WK located around the vehicle body 2.
Can be easily determined whether or not is approachable.

According to the present embodiment, the surrounding display image 110 generated by the image processing unit 65 indicates an overhangable range in which the outriggers (outrigger beams) 11 can extend to the left and right sides of the vehicle body 2, and the outriggers can be extended. When an obstacle (guardrail GR) is detected by the obstacle detector 96, the range is set to a range in which the jack 12 does not come into contact with the obstacle even if the outriggers 11 project to the left and right sides of the vehicle body 2. As a result, the surrounding display image 110 showing the circumference of the vehicle body 2 in a plan view shows the overhangable range in which the outriggers 11 can extend to the left and right sides of the vehicle body 2, so that the driving cab side display device 100 can display the outriggers 11. By visually recognizing the displayed surrounding display image 110, it is possible to easily know the overhangable range in which the jack 12 does not come into contact with an obstacle before the outrigger 11 is overhanging. Therefore, it is possible to improve the work efficiency when the jack 12 is grounded.

Further, the surrounding display image 110 generated by the image processing unit 65 indicates a workable range in which the workbench 40 is allowed to move around the vehicle body 2 according to the maximum overhang amount of the outrigger 11 in the overhangable range. Is preferable. As a result, the peripheral display image 110 showing the surroundings of the vehicle body 2 in a plan view shows the workable range in which the work table 40 is allowed to move. Therefore, the peripheral display image 110 displayed on the driving cab side display device 100. By visually recognizing, it becomes possible to easily determine whether or not the workbench 40 can approach the work object (telephone pole WK) located around the vehicle body 2.

Further, each camera includes a front camera 91 provided at the front portion of the vehicle body 2, a rear camera 92 provided at the rear portion of the vehicle body 2, and a left side camera 93 provided above the left tool storage portion 26. It is preferable to have a right side camera 94 provided above the right tool storage portion 27. As a result, the tool storage portion is often formed in a similar shape, for example, in the shape of a box. Even if the device layout is changed in terms of design, it is possible to easily determine the arrangement of the left and right side cameras on the vehicle body.

As described above, the jack 12 can lift and support the vehicle body 2 in a state of being grounded via the jack base 200 placed on the ground on the left and right sides of the vehicle body 2. In the aerial work platform 1 according to the present embodiment, the outriggers 11 automatically project to the left and right sides of the vehicle body 2 until the jack 12 moves above the jack base 200. In this case, the operator automatically extends the outrigger 11 to the lower operation device 50 with the jack base 200 placed on the ground on the left and right sides of the vehicle body 2. When the jack base 200 is placed on the ground on the left and right sides of the vehicle body 2, the jack base 200 is displayed on the surrounding display image 110, so that the jack base 200 is displayed on the driving cab side display device 100 before the automatic extension operation of the out trigger 11 is performed. By visually recognizing the surrounding display image 110, it can be easily determined whether or not the jack base 200 is placed at an appropriate position on the ground.

When the outrigger 11 is automatically extended to the lower operation device 50, the operation control unit 61 outputs a command signal based on the operation signal corresponding to the automatic extension operation to the hydraulic drive unit 70. The hydraulic drive unit 70 controls the flow of hydraulic oil supplied to the outrigger cylinder 15 in response to a command signal from the operation control unit 61 to operate the outrigger cylinder 15. When hydraulic oil is supplied from the hydraulic drive unit 70, the outrigger cylinder 15 causes the outrigger 11 to project to the left and right sides of the vehicle body 2. When the outrigger 11 projects to the left and right sides of the vehicle body 2, the jack 12 provided at the tip of the outrigger 11 also moves to the left and right sides of the vehicle body 2. At this time, the marker detection camera 97 provided on the jack 12 (jack post portion) acquires image information in a predetermined image acquisition area SB set in the vicinity of the position directly below the jack 12 (ground plate 13). .. When the jack 12 moves to the jack base detection position near the upper side of the jack base 200, the entire jack base 200 enters the predetermined image acquisition area SB of the marker detection camera 97 (see FIG. 6). When the jack 12 moves to the jack base detection position, the marker detection camera 97 detects four detection markers 221 provided on the jack base 200 based on the image information acquired at the jack base detection position, and outputs a marker detection signal. Output to the control unit 60.

A marker detection signal from the marker detection camera 97 is input to the operation control unit 61. Further, in the operation control unit 61, the final movement amount of the jack 12, that is, the final movement amount of the jack 12 required for the jack 12 to move from the above-mentioned jack base detection position to the position directly above (directly above) the jack base 200. , Information on the final overhang amount of the outrigger 11 is stored in advance. When the marker detection signal from the marker detection camera 97 is input, the operation control unit 61 outputs a command signal based on the final overhang amount of the outrigger 11 to the hydraulic drive unit 70. The hydraulic drive unit 70 controls the flow of hydraulic oil supplied to the outrigger cylinder 15 in response to a command signal from the operation control unit 61, and the outrigger 11 moves the current overhang amount (that is, the jack 12 to the jack base detection position). The outrigger cylinder 15 is operated so as to project by the final amount of protrusion from the amount of protrusion of the outrigger 11 when it is moved). As a result, when the jack 12 moves from the jack base detection position to the position directly above the jack base, the outrigger 11 stops.

In this way, the outriggers 11 automatically project to the left and right sides of the vehicle body 2 until the jack 12 moves above the jack base 200 (position directly above the jack base). With the jack 12 moved above the jack base 200, the operator can easily extend the jack 12 to the desired ground through the jack base 200 by performing an extension operation of the jack 12 with respect to the lower operating device 50. Can be grounded at the location of. When the jack 12 moves above the jack base 200 due to the automatic overhang of the outrigger 11, the jack 12 may automatically extend downward toward the jack base 200. Further, when the marker detection camera 97 detects only three or less detection markers 221 out of the four detection markers 221 of the jack base 200, the jack 12 is moved above the jack base 200 due to the misalignment of the jack base 200 (true). You will not be able to move (up to the top). In this case, the operation control unit 61 may stop the output of the command signal to the hydraulic drive unit 70 and control to stop the automatic overhang of the outrigger 11.

According to the present embodiment, the jack 12 has a marker detection camera 97 that detects a marker provided on the jack base 200 and outputs a marker detection signal, and the operation control unit 61 is input from the marker detection camera 97. Based on the marker detection signal, the operation of the out-trigger cylinder 15 is controlled so that the out-trigger 11 projects to the left and right sides of the vehicle body 2 until the jack 12 moves above the jack base 200. As a result, when the jack base 200 is placed on the ground on the left and right sides of the vehicle body 2, the operation control unit 61 controls the operation of the out trigger cylinder 15, and the out trigger is automatically operated until the jack 12 moves above the jack base 200. Since the 11 projects to the left and right sides of the vehicle body 2, the jack 12 can be easily grounded to a desired ground location via the jack base 200. Therefore, it is possible to improve the work efficiency when the jack 12 is grounded.

In the above-described embodiment, the detection marker 221 is configured by using a two-dimensional code, but the present invention is not limited to this, and may be configured by using, for example, a one-dimensional code, a reflective material, or the like. Any configuration may be used as long as it can be detected by a sensor, a camera, or the like. Further, the detection marker 221 is provided on the upper surface side of the four corners of the jack base 200 (frame portion 220), but the present invention is not limited to this, and for example, the detection marker 221 is provided on the upper surface side of the center of the jack base 200 (plate portion 210). Only one may be provided in.

In the above-described embodiment, the obstacle detector 96 is configured by using LiDAR, but is not limited to this, and may be configured by using, for example, a stereo camera or the like, and the side portion of the vehicle body 2. It suffices if the distance from the camera to the obstacle can be measured.

In the above-described embodiment, the overhang range display image 121 and the work range display image 125 are superimposed and displayed on the surrounding display image 110, but the present invention is not limited to this, and only the overhang range display image 121 is superimposed and displayed. You may. Further, the overhang range display image 151 and the work range display image 155 are superimposed and displayed on the bird's-eye view image 140, but the present invention is not limited to this, and only the work range display image 155 may be superimposed and displayed.

In the above-described embodiment, the work range display image 125 of the surrounding display image 110 has a limit line display image 126 showing a limit line when the load of the work table is a predetermined load, but the present invention is limited to this. In addition to the limit line display image 126, a second limit line display showing a limit line when the load of the workbench 40 is a second load different from the predetermined (first) load. It may have an image 126'. Similarly, in the work range display image 155 of the bird's-eye view image 140, in addition to the limit line display image 156, the limit line when the load of the work table 40 is different from the predetermined (first) load is the second load. It may have a second limit line display image 156'showing.

In the above-described embodiment, the image processing unit 65 has a maximum overhang amount of the outrigger 11 in the overhangable range from the workable range data group stored in the work range setting unit 63 based on the overhangable range. The limit line display image 126 is set so as to read the data in the workable range according to the above and show the limit line in the read workable range, but the present invention is not limited to this. For example, the image processing unit 65 obtains a workable range from the maximum overhang amount of the outrigger 11 by interpolation or the like based on the workable range corresponding to the four-stage overhang amount of the outrigger 11, and the limit line in the obtained workable range. The limit line display image 126 (and the limit line display image 156 of the bird's-eye view image 140) may be set so as to indicate.

In the above-described embodiment, the image processing unit 65 sets the limit line display image 126 (and the limit line display image 156 of the bird's-eye view image 140) of the work range display image 125 based on the overhangable range. It is not limited to this. For example, instead of the overhangable range, information regarding the maximum overhang amount of the outrigger 11 is input to the image processing unit 65 by an input operation or the like for an input unit (not shown) provided in the driving cab 7. May be good.

In the above-described embodiment, the telescopic boom type aerial work platform provided with the telescopic boom 30 and the workbench 40 has been described as an example of the work device, but the present invention is not limited to this, and for example, the bending / stretching boom. The aerial work platform of the type may be used, and the present invention can be applied to any work platform provided with a boom and a work table capable of undulating and turning.

In the above-described embodiment, the PTO-driven aerial work platform in which the power of the engine E is taken out by the power take-off mechanism PTO to drive the hydraulic pump 72 has been described as an example. It may be a type (battery-powered) aerial work platform or a hybrid type aerial work platform equipped with both of the above and selectively switching the power source.

In the above-described embodiment, the utility pole WK has been exemplified as the work object, but the work object is not limited to this, and may be a structure in a road tunnel or a pier.

1 Aerial work platform 2 Body 10 Outrigger jack 11 Outrigger (outrigger beam)
12 Jack 15 Out trigger cylinder 26 Left tool storage 27 Right tool storage 30 Boom 40 Worktable 60 Control unit 61 Operation control 63 Work range setting 65 Image processing 85 Jack overhang sensor 91 Front camera 92 Rear camera 93 Left Side camera 94 Right side camera 96 Obstacle detector 97 Marker detection camera 100 Driving cab side display device 110 Surrounding display image 121 Overhang range display image 125 Working range display image 200 Jack base 221 Detection marker WK Electric pole GR guard rail

Claims (1)

A car body that can run and
The work device provided on the vehicle body and
An outrigger beam provided on the side of the vehicle body and capable of projecting to the side of the vehicle body,
A jack that is stretchably provided at the tip of the outrigger beam and supports the vehicle body in a state where it extends downward and is in contact with the ground.
An outrigger drive unit that projects the outrigger beam toward the vehicle body,
A control unit that controls the operation of the outrigger drive unit is provided.
The jack can support the vehicle body in a state of being grounded via a jack base placed on the ground on the side of the vehicle body.
The jack has a marker detector that detects a marker provided on the jack base and outputs a marker detection signal.
Based on the marker detection signal input from the marker detector, the control unit drives the outrigger so that the outrigger beam projects toward the vehicle body until the jack moves above the jack base. A work vehicle characterized by controlling the operation of parts.

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