JP2021187584A - Work vehicle - Google Patents

Abstract

To provide a work vehicle capable of easily determining whether or not a place where the work vehicle is stopped is suitable for work.SOLUTION: In a work vehicle, when a traveling speed of a vehicle body detected by a traveling speed sensor is a predetermined speed or less, a display device displays a surroundings composite image 110 obtained by compositing a circle display image 130, an angle display image 140, and an extension range display image 150 with a surrounding display image 120 showing the periphery of the vehicle body 2 in plan view. When an ON operation signal is input from a PTO operation lever and it is detected that a power take-off mechanism is in an operation state, the display device displays an image compositing image obtained by compositing an outrigger image and a work range image with the surrounding display image 120 showing the periphery of the vehicle body 2 in plan view.SELECTED DRAWING: Figure 6

Description

The present invention relates to a work vehicle equipped with a work device.

As an example of a work vehicle, it is configured based on a truck vehicle that can run with a driving cab in the front, and has a swivel table that can be turned horizontally on the vehicle body, and the swivel table can be undulated and expanded and contracted. An aerial work platform equipped with a boom provided and a work platform rotatably supported at the tip of the boom is known. 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, outrigger jacks are provided on the front, rear, left and right sides of the vehicle in order to support the vehicle in a stable state during work, 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

In the past, it was difficult to determine whether the place where the work vehicle stopped was a place suitable for work.

The present invention has been made in view of such a problem, and provides a work vehicle capable of easily determining whether or not the place where the work vehicle stops is a place suitable for work. The purpose.

In order to achieve such an object, the first work vehicle according to the present invention (for example, the aerial work platform 1 in the embodiment) is provided on a vehicle body capable of traveling by using the driving force of the engine and on the vehicle body. A work device (for example, the boom 30 and the work table 40 in the embodiment), a power take-off mechanism that takes out the driving force of the engine for driving the work device, and a camera that acquires image information around the vehicle body. An image processing unit that uses image information around the vehicle body acquired by the camera to generate a surrounding composite image in which information related to the vehicle body is combined with a surrounding display image showing the surroundings of the vehicle body, and the surroundings. A display device for displaying a composite image and a power take-off detector (for example, the PTO operation lever 75 in the embodiment) for detecting the operating state of the power take-off mechanism are provided, and the power take-off mechanism is operated by the power take-off detector. When the state is detected, the display device displays the surrounding composite image.

The second work vehicle according to the present invention (for example, the high-altitude work vehicle 1 in the embodiment) has a travelable vehicle body and a work device provided on the vehicle body (for example, the boom 30 and the work table 40 in the embodiment). ), A camera that acquires image information around the vehicle body, and information related to the vehicle body in a surrounding display image showing the surroundings of the vehicle body using the image information around the vehicle body acquired by the camera. It is provided with an image processing unit that generates a composite image of the surroundings, a display device that displays the composite image of the surroundings, and a speed detector (for example, a traveling speed sensor 88 in the embodiment) that detects the traveling speed of the vehicle body. When the speed detector detects that the traveling speed of the vehicle body is equal to or lower than a predetermined speed, the display device displays the surrounding composite image.

The third work vehicle according to the present invention (for example, the high-altitude work vehicle 1 in the embodiment) has wheels on the front and rear, and can drive and drive at least one of the front and rear wheels, and a vehicle body on the vehicle body. (For example, the boom 30 and the workbench 40 in the embodiment), a camera that acquires image information around the vehicle body, and image information around the vehicle body acquired by the camera are used. Among the front and rear wheels, an image processing unit that generates a surrounding composite image in which information related to the vehicle body is combined with a peripheral display image showing the surroundings of the vehicle body, a display device that displays the peripheral composite image, and the front and rear wheels. A parking brake that brakes at least one of them and a parking brake detector that detects the operating state of the parking brake are provided, and when the parking brake detector detects that the parking brake is in the operating state, The display device displays the surrounding composite image.

In the second and third work platforms according to the present invention, the vehicle body can travel by using the driving force of the engine, and the power take-off mechanism that takes out the driving force of the engine for driving the working device and the said. A power take-off detector that detects the operating state of the power take-off mechanism (for example, the PTO operation lever 75 in the embodiment) and an out-trigger beam that is provided on the side of the vehicle body and can project to the side of the vehicle body (for example, the embodiment). 11), a jack that is stretchably provided at the tip of the out-trigger beam and supports the vehicle body in a state of extending downward and touching the ground, and detecting the amount of protrusion of the out-trigger beam to the side of the vehicle body. The overhang amount detector (for example, the jack overhang amount sensor 85 in the embodiment) is provided, and the work device is provided at the boom provided on the vehicle body so as to be undulating and swivel, and at the tip of the boom. The image processing unit has an out-trigger image image schematically showing the out-trigger beam in the surrounding display image based on the overhang amount detected by the overhang amount detector, and the out-trigger image. An image composite image is generated by synthesizing a work range image image indicating a workable range in which the work platform is allowed to move around the vehicle body, and the power take-off detector detects that the power take-off mechanism is in an operating state. When this is done, it is preferable that the display device displays the image composite image.

In the above-mentioned work vehicle, the work device has a boom provided on the vehicle body so as to be undulating and swivel, and information related to the vehicle body has a radius of a predetermined distance from the turning center of the boom in the vehicle body. It is preferable to include image information indicating a circle (for example, image information of the circle display image 130 in the embodiment).

In the above-mentioned work vehicle, the information related to the vehicle body preferably includes angle information indicating the inclination angle of the ground on which the vehicle body is located (for example, image information of the angle display image 140 in the embodiment).

In the above-mentioned work platform, an outrigger beam (for example, an outrigger 11 in the embodiment) provided on the side portion of the vehicle body and capable of projecting to the side of the vehicle body, and an outrigger beam stretchably provided on the tip portion of the outrigger beam and downward. A jack that supports the vehicle body in a state of being extended to the ground is provided, and the peripheral composite image shows the outrigger beam can be extended to the side of the vehicle body in the peripheral display image. It is preferable that the overhang range display image (for example, the overhang range display image 150 in the embodiment) is further synthesized and generated.

According to the first aspect of the present invention, when the power take-off detector detects that the power take-off mechanism is in an operating state, the display device displays a surrounding composite image. The surrounding composite image is generated by synthesizing information related to the vehicle body with a peripheral display image showing the surroundings of the vehicle body. Therefore, by visually recognizing the surrounding composite image displayed on the display device, it is easy to determine whether or not the place where the work vehicle is stopped is a suitable place for work, based on the surrounding display image and the information related to the vehicle body. It becomes possible to judge.

According to the second aspect of the present invention, when the speed detector detects that the traveling speed of the vehicle body is equal to or lower than a predetermined speed, the display device displays a surrounding composite image. Even in this way, by visually recognizing the surrounding composite image displayed on the display device, whether or not the place where the work vehicle stops is a suitable place for work based on the surrounding display image and the information related to the vehicle body. It becomes possible to easily judge whether or not.

According to the third aspect of the present invention, when the parking brake detector detects that the parking brake is in the operating state, the display device displays a surrounding composite image. Even in this way, by visually recognizing the surrounding composite image displayed on the display device, whether or not the place where the work vehicle stops is a suitable place for work based on the surrounding display image and the information related to the vehicle body. It becomes possible to easily judge whether or not.

In the second and third work platforms according to the present invention, it is preferable that the display device displays an image composite image when the power take-off detector detects that the power take-off mechanism is in an operating state. The image composite image is generated by synthesizing an outrigger image image and a work range image image with a surrounding display image showing the surroundings of the vehicle body. As a result, the outrigger beam is schematically shown in the surrounding display image showing the surroundings of the vehicle body. Therefore, by visually recognizing the image composite image displayed on the display device, the jack is obstructed when the outrigger beam is extended. It can be easily determined whether or not it comes into contact with an object. Therefore, it is possible to improve the work efficiency when the jack is grounded. In addition, since the workable range in which the workbench is allowed to move is shown in the surrounding display image showing the surroundings of the vehicle body, when the outrigger beam is projected by visually recognizing the image composite image displayed on the display device. In addition, it becomes possible to easily determine whether or not the workbench can approach the work object located around the vehicle body.

In the above-mentioned work vehicle, the information related to the vehicle body preferably includes image information indicating a circle having a radius of a predetermined distance from the turning center of the boom in the vehicle body. As a result, the surrounding display image showing the surroundings of the vehicle body shows a circle with a radius of a predetermined distance from the turning center of the boom in the vehicle body. Therefore, by visually recognizing the surrounding composite image displayed on the display device, the vehicle body and the work target It is possible to easily know the distance between an object or an obstacle. Therefore, it becomes possible to easily determine whether or not the place where the work vehicle stops is a place suitable for work.

In the above-mentioned work vehicle, the information related to the vehicle body preferably includes angle information indicating the inclination angle of the ground on which the vehicle body is located. As a result, the tilt angle of the ground on which the vehicle body is located is shown in the surrounding display image showing the circumference of the vehicle body. Therefore, by visually recognizing the surrounding composite image displayed on the display device, the tilt angle of the ground on which the vehicle body is located can be determined. It is easy to know. Therefore, it becomes possible to easily determine whether or not the place where the work vehicle stops is a place suitable for work.

In the above-mentioned work vehicle, it is preferable that the surrounding composite image is generated by further synthesizing the overhang range display image with the peripheral display image. As a result, the outrigger beam can be extended to the side of the vehicle body in the surrounding display image showing the surroundings of the vehicle body. It is possible to easily know the amount of protrusion that allows the beam to project to the side of the vehicle body without contacting an obstacle. Therefore, it becomes possible to easily determine whether or not the place where the work vehicle stops is a place suitable for work.

It is a left side view of the aerial work platform seen from the left. It is a top view of the aerial work platform. It is a front view of the aerial work platform seen from the front. It is a rear view of the aerial work platform seen from the rear. It is a block diagram which shows the control system of the aerial work platform. It is a schematic diagram which shows an example of the surrounding composite image displayed on the display device. It is a schematic diagram which shows an example of the image composite image displayed on the display device.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The aerial work platform 1 according to the present embodiment is 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 be expanded and contracted 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 (ground), the vehicle body 2 is lifted and supported, and the entire vehicle is stabilized. Can be done.

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 turning motor 24 (see FIG. 5) and is configured to be horizontally swivel around the vertical axis. A swivel table 20 is provided. The base end portion of the boom 30 is attached to the support column 21 extending upward from the swivel table 20 so as to be swingable (undulating) in the vertical direction via the foot pin 22. Further, on the left and right sides of the mounting area of the vehicle body 2, a left side tool storage unit 26 and a right side tool storage unit 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 has 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 combined in a nested manner 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 be swingable in the vertical direction. The vertical post 35 includes an upper leveling cylinder (not shown) straddled between the tip of the tip boom 30c and a lower leveling cylinder 25 straddled 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 maintained 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 workbench 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 workbench 40. Therefore, the worker on the workbench 40 operates the upper operation device 45 to swivel the swivel table 20 (rotational operation of the boom swivel motor 24) and undulate the boom 30 (expansion and contraction of the boom undulating 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), and the like 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 for storing hydraulic oil, a hydraulic pump 72 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.

The transmission that shifts the power of the engine E and transmits it to the wheels 3 incorporates a power take-off mechanism PTO that takes out the driving force of the engine E for driving each hydraulic actuator. When the PTO operating lever 75 arranged in the operating cab 7 is operated from the off position to the on position, the drive destination by the engine E is switched from the wheel 3 to the hydraulic pump 72 by the power take-off mechanism PTO, and the power of the engine E is increased. The hydraulic pump 72 is driven by the hydraulic pump 72. 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 controls 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 to operate each hydraulic actuator.

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 these detection devices are input to the control unit 60. For example, a swivel angle detection signal corresponding to the swivel angle of the boom 30 (swivel base 20) is input to the control unit 60 from the boom swivel angle sensor 81, 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 according to the extension amount of the boom 30 is input from the boom length sensor 83, and a turning angle detection signal according to the turning angle of the workbench 40 is input from the workbench turning angle sensor 84. Will be done. Further, for example, the control unit 60 is input with an overhang amount detection signal corresponding to the overhang amount of the out trigger jack 10 (out trigger 11) toward the vehicle body from the jack overhang amount sensor 85, and the out trigger 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 an inclination angle detection signal according to the inclination angle in the front-rear and left-right directions of the vehicle body 2 (road surface) from the vehicle body inclination angle sensor 87, and the traveling speed sensor 88 is used for the high-altitude work vehicle 1. A traveling speed detection signal corresponding to the traveling speed is input. Further, for example, an operating state detection signal corresponding to the operating state of the parking brake (not shown) is input from the parking brake detector 89 to the control unit 60.

The jack overhang amount 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)" is used as the overhang amount in 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. The left side camera 93 is not limited to the upper end of the left tool storage portion 26, and may be attached to the upper left side of the driving cab 7. Further, the right side camera 94 may be attached not only to the upper end portion of the right tool storage portion 27 but also to the upper right side of the driving cab 7.

Further, the aerial work platform 1 according to the present embodiment is provided with a plurality of display devices. Body 2
A driving cab side display device 101 (see FIG. 5) is arranged in the driving cab 7 in the above. The 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 101. The operation cab side display device 101 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.

A lower display device 102 (see FIG. 5) is arranged in the vicinity of the lower operation device 50 in the vehicle body 2. The operator who operates the lower operation device 50 can visually recognize the image displayed on the lower display device 102. The lower display device 102 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.

An upper display device 103 (see FIG. 5) is arranged in the vicinity of the upper operation device 45 on the workbench 40. The operator who operates the upper operation device 45 can visually recognize the image displayed on the upper display device 103. The upper display device 103 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.

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 is based on the overhang amount detection signal input from the jack overhang amount sensor 85, and the workable range data according to the current overhang amount of the out trigger 11 from the workable range data group. Is read. Then, the work range setting unit 63 can allow the data of the workable range read from the data group of the workable range according to the overhang amount of the outrigger 11 by the current overhang amount of the outrigger 11 of the boom 30. Set as a movable area at the tip.

Although not shown, the outer edge of the workable range (movable area) is structurally set according to the relationship between the range that the length of the boom 30 can take and the range that the undulation angle of the boom 30 can take. (Operating limit line) and structurally, the tip of the boom 30 can be moved, but as a limit line that must be prohibited from moving the tip of the boom 30 from the viewpoint of preventing the overturning moment from becoming excessive. It consists of the outer edge (regulatory 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 a vehicle body tilt angle sensor. The tilt angle detection signal from 87, the travel speed detection signal from the travel speed sensor 88, and the operation signal from the PTO operation lever 75 are input. Further, the image processing unit 65 stores in advance the image information of the aerial work platform 1 in a simplified plan view.

The image processing unit 65 generates a surrounding composite image 110 as shown in FIG. 6 when the traveling speed of the vehicle body 2 (that is, the aerial work platform 1) detected by the traveling speed sensor 88 is equal to or lower than a predetermined speed. .. The predetermined speed is, for example, a slow speed, that is, a speed at which the vehicle body 2 can immediately stop. Further, the predetermined speed may be the speed (that is, zero) in the state where the vehicle body 2 is stopped. The peripheral composite image 110 is an image obtained by superimposing the circular display image 130, the angle display image 140, and the overhang range display image 150 on the peripheral display image 120. As shown in FIG. 6, the surrounding display image 120 is a vehicle body 2 in a plan view (that is, an aerial work platform 1).
) Indicates the surrounding area. In the example of FIG. 6, 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 120 shown in FIG. 6, the turning center C of the turning table 20 (boom 30) in the vehicle body 2 in a plan view is displayed. The image information of the turning center C is stored in advance in the image processing unit 65 as image information of the aerial work platform 1 in a plan view.

As shown by the broken line in FIG. 6, the circle display image 130 shows a circle having a radius of a predetermined distance from the turning center C of the boom 30 in the vehicle body 2. The predetermined distance is the distance from the turning center C to the vicinity of the vehicle body 2. For example, the radius of the first circle 131 in the circle display image 130 is set to the radius of the distance from the turning center C to the side 1 m of the vehicle body 2. Further, for example, the radius of the second circle 132 in the circle display image 130 is larger than the radius of the first circle 131, and is set to the radius of the distance from the turning center C to the side 3 m of the vehicle body 2. The angle display image 140 shows the inclination angle of the road surface (ground) on which the vehicle body 2 is located in the front-rear direction in the upper left portion of the surrounding display image 120, as shown by the frame surrounded by the broken line in FIG. As shown by the broken line in FIG. 6, the overhanging range display image 150 shows an overhanging possible range in which the outriggers 11 can overhang to the left and right sides of the vehicle body 2. In the example of FIG. 6, as a specific overhangable range, an image of the outrigger 11 in a plan view corresponding to the above-mentioned four-step overhang amount is shown. The image information related to the circle display image 130 and the image information related to the overhanging range display image 150 are stored in advance in the image processing unit 65.

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 pre-stored image of the high-altitude work vehicle 1 in a plan view. The surrounding display image 120 is generated by performing predetermined image processing such as image composition and distortion correction using the information. The image processing unit 65 generates an angle display image 140 based on the tilt angle detection signal input from the vehicle body tilt angle sensor 87 (that is, the tilt angle in the front-rear direction of the vehicle body 2 (road surface)).

The image processing unit 65 combines the generated peripheral display image 120 with the circular display image 130, the angle display image 140, and the overhang range display image 150 to generate the peripheral composite image 110. The image processing unit 65 outputs the image information of the generated surrounding composite image 110 to the driving cab side display device 101, the lower display device 102, and the upper display device 103. The driving cab side display device 101, the lower display device 102, and the upper display device 103 display the surrounding composite image 110 based on the image information input from the image processing unit 65.

In the peripheral composite image 110, the circular display image 130 is used to display the peripheral display image 120 showing the surroundings of the vehicle body 2 in a plan view, and the first circle 131 and the first circle 131 having a radius of a predetermined distance from the turning center C of the boom 30 in the vehicle body 2. The circle 132 of 2 is shown. For example, in the case shown in FIG. 6, it can be easily determined whether or not the vehicle body 2 is too close to the utility pole WK or the guardrail GR by using the first circle 131 of the circle display image 130 as a guide. Further, for example, it is possible to easily determine whether or not the workbench 40 can approach the utility pole WK by using the second circle 132 of the circle display image 130 as a guide. Thereby, by visually recognizing the surrounding composite image 110 displayed on the driving cab side display device 101 or the like, it is possible to easily know the distance between the vehicle body 2 and the utility pole WK or the guardrail GR or the like. Therefore, it becomes possible to easily determine whether or not the place where the aerial work platform 1 stops is a place suitable for work.

Further, in the peripheral composite image 110, the angle display image 140 indicates the inclination angle of the road surface (ground) on which the vehicle body 2 is located in the front-rear direction in the peripheral display image 120 showing the surroundings of the vehicle body 2 in a plan view. As shown in FIG. 6, since the surrounding display image 120 shows the surroundings of the vehicle body 2 in a plan view, it is difficult to intuitively know the inclination angle of the road surface on which the vehicle body 2 is located. You can know the angle numerically. As a result, the inclination angle of the road surface on which the vehicle body 2 is located can be easily known by visually recognizing the surrounding composite image 110 displayed on the driving cab side display device 101 or the like. Therefore, it becomes possible to easily determine whether or not the place where the aerial work platform 1 stops is a place suitable for work.

Further, in the peripheral composite image 110, the overhangable range in which the outrigger 11 can extend to the left and right sides of the vehicle body 2 on the peripheral display image 120 showing the surroundings of the vehicle body 2 in a plan view by the overhang range display image 150. Is shown. For example, in the case shown in FIG. 6, the outrigger 11 on the left side of the vehicle body 2 does not come into contact with the guardrail GR even if it overhangs by the above-mentioned minimum overhang amount or intermediate 1 overhang amount, but only by the above-mentioned intermediate 2 overhang amount or maximum overhang amount. It can be seen that when it overhangs, it comes into contact with the guardrail GR. On the other hand, it can be seen that the outrigger 11 on the right side of the vehicle body 2 does not come into contact with the guardrail GR even if it overhangs by the maximum amount. As a result, by visually recognizing the surrounding composite image 110 displayed on the driving cab side display device 101 or the like, the outrigger 11 can overhang to the left and right sides of the vehicle body 2 without contacting the guardrail GR. It is easy to know. Therefore, it becomes possible to easily determine whether or not the place where the aerial work platform 1 stops is a place suitable for work.

Further, when the image processing unit 65 receives an on operation signal from the PTO operation lever 75 and detects that the power take-off mechanism PTO is in the operating state, the image processing unit 65 replaces the surrounding composite image 110 as shown in FIG. Image composite image 160 is generated. The image composite image 160 is an image obtained by superimposing the outrigger image image 170 and the work range image image 180 on the surrounding display image 120 described above. The outrigger image 170 schematically shows the outrigger 11 in a plan view, as shown by the alternate long and short dash line in FIG. For example, the outrigger image image 170 schematically shows the outrigger 11 in a plan view according to the above-mentioned four-step overhang amount (or continuously changing overhang amount).

As shown by the alternate long and short dash line in FIG. 7, the work range image image 180 shows the limit line 181 in the above-mentioned workable range around the aerial work platform 1. The limit line 181 shown in the work range image 180 is an envelope showing the workable radius of the boom 30 over the entire turning position (360 degrees), and the region surrounded by the limit line 181 is described above. Indicates the workable range. Further, the limit line 181 shown in the work range image 180 is a case where 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). The limit line in the plan view is shown.

The image processing unit 65 generates the peripheral display image 120 in the same manner as in the case of the peripheral composite image 110. The image processing unit 65 generates an out-trigger image image 170 based on the overhang amount detection signal (that is, the overhang amount of the out-trigger 11) input from the jack overhang amount sensor 85. Further, the image processing unit 65 uses the current out trigger 11 from the workable range data group stored in the work range setting unit 63 based on the overhang amount detection signal input from the jack overhang amount sensor 85. The data of the workable range corresponding to the overhanging amount is read out, and the work range image image 180 set to show the limit line 181 in the read workable range is generated.

The image processing unit 65 combines the generated surrounding display image 120 with the outrigger image image 170 and the work range image image 180 to generate the image composite image 160. The image processing unit 65 outputs the image information of the generated image composite image 160 to the driving cab side display device 101, the lower display device 102, and the upper display device 103. The driving cab side display device 101, the lower display device 102, and the upper display device 103 display the image composite image 160 based on the image information input from the image processing unit 65.

In the image composite image 160, the outrigger image image 170 schematically shows the outrigger 11 in the plan view in the peripheral display image 120 showing the periphery of the vehicle body 2 in the plan view. For example, in the case shown in FIG. 7, the distance between the tip end portion (jack 12) of the outrigger 11 and the guardrail GR in a plan view can be seen. As a result, by visually recognizing the image composite image 160 displayed on the driving cab side display device 101 or the like, it is possible to easily determine whether or not the jack 12 contacts the guardrail GR when the outrigger 11 is extended. Can be done. Therefore, it is possible to improve the work efficiency when the jack 12 is grounded.

Further, in the image composite image 160, the work range image image 180 shows the limit line 181 in the workable range described above in the peripheral display image 120 showing the periphery of the vehicle body 2 in a plan view. For example, when the utility pole WK is located inside the limit line 181 shown in FIG. 7, that is, inside the workable range, it can be easily determined that the work table 40 can approach the utility pole WK. .. If the utility pole WK is located outside the limit line 181'shown in FIG. 7, that is, outside the workable range, it can be easily determined that the work table 40 cannot approach the utility pole WK. can. As a result, by visually recognizing the image composite image 160 displayed on the driving cab side display device 101 or the like, when the outrigger 11 is overhanging, the workbench 40 moves with respect to the utility pole WK located around the vehicle body 2. It becomes possible to easily determine whether or not an approach is possible.

According to the present embodiment, when the traveling speed sensor 88 detects that the traveling speed of the vehicle body 2 is equal to or lower than a predetermined speed, the driving cab side display device 101 or the like displays the surrounding composite image 110. The surrounding composite image 110 is generated by synthesizing information related to the vehicle body 2 with the peripheral display image 120 showing the surroundings of the vehicle body 2 in a plan view. Therefore, by visually recognizing the surrounding composite image 110 displayed on the driving cab side display device 101 or the like, the place where the aerial work platform 1 stops can be used for work based on the information related to the surrounding display image 120 and the vehicle body 2. It becomes possible to easily determine whether or not the location is suitable.

The information related to the vehicle body 2 includes the image information of the circle display image 130. As a result, the surrounding display image 120 showing the circumference of the vehicle body 2 in a plan view shows circles (first circle 131 and second circle 132) having a radius of a predetermined distance from the turning center C of the boom 30 in the vehicle body 2. Therefore, by visually recognizing the surrounding composite image 110 displayed on the driving cab side display device 101 or the like, it is possible to easily know the distance between the vehicle body 2 and the work object (telephone pole WK) or obstacle (guard rail GR). Can be done. Therefore, it becomes possible to easily determine whether or not the place where the aerial work platform 1 stops is a place suitable for work.

Further, the information related to the vehicle body 2 includes the image information of the angle display image 140 (that is, the angle information indicating the inclination angle of the road surface (ground) on which the vehicle body 2 is located). As a result, the ambient display image 120 showing the periphery of the vehicle body 2 in a plan view shows the inclination angle of the ground (road surface) on which the vehicle body 2 is located, so that the surrounding composite image displayed on the driving cab side display device 101 or the like is displayed. By visually recognizing the 110, the inclination angle of the ground (road surface) on which the vehicle body 2 is located can be easily known. Therefore, it becomes possible to easily determine whether or not the place where the aerial work platform 1 stops is a place suitable for work.

The surrounding composite image 110 is generated by further synthesizing the overhanging range display image 150 with the peripheral display image 120. As a result, the surrounding display image 120 showing the surroundings 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 101 and the like are shown. By visually recognizing the surrounding composite image 110 displayed on the vehicle, it is possible to easily know the amount of overhang that the outrigger 11 can extend to the left and right sides of the vehicle body 2 without contacting the obstacle (guardrail GR). .. Therefore, it becomes possible to easily determine whether or not the place where the aerial work platform 1 stops is a place suitable for work.

Further, when the on operation signal is input from the PTO operation lever 75 and it is detected that the power take-off mechanism PTO is in the operating state, the driving cab side display device 101 or the like displays the image composite image 160. The image composite image 160 is generated by synthesizing the outrigger image image 170 and the work range image image 180 with the peripheral display image 120 showing the surroundings of the vehicle body 2 in a plan view. As a result, since the out-trigger 11 in the plan view is schematically shown in the surrounding display image 120 showing the periphery of the vehicle body 2 in the plan view, the image composite image 160 displayed on the driving cab side display device 101 or the like is visually recognized. By doing so, it is possible to easily determine whether or not the jack 12 comes into contact with the guardrail GR when the out trigger 11 is extended. Therefore, it is possible to improve the work efficiency when the jack 12 is grounded. Further, since the workable range in which the workbench is allowed to move is shown in the peripheral display image 120 showing the periphery of the vehicle body 2 in a plan view, the image composite image 160 displayed on the driving cab side display device 101 or the like is displayed. By visually recognizing it, it is possible to easily determine whether or not the workbench 40 can approach the utility pole WK (working object) located around the vehicle body 2 when the outrigger 11 is extended. It will be possible.

In the above embodiment, the circle display image 130 shows two circles (first circle 131 and second circle 132) having a radius of a predetermined distance from the turning center C of the boom 30 in the vehicle body 2 in a plan view. However, it is not limited to this. For example, the circle display image 130 may show one circle having a radius of a predetermined distance from the turning center C of the boom 30 in the vehicle body 2 in a plan view, or may show three or more circles.

In the above-described embodiment, the outrigger image image 170 is not limited to schematically showing the outrigger 11, for example, in addition to schematically showing the outrigger 11, the numerical overhang amount (maximum overhang amount) of the outrigger 11 is shown. Ratio to: “40%” or the like as an example) may be shown.

In the above-described embodiment, the work range image 180 is not limited to showing only the limit line 181 in the workable range, for example, in addition to showing the limit line 181 in the workable range, the arcs before and after the limit line 181. The numerical angle range of the portion (for example, "70 °" or the like) may be indicated.

In the above-described embodiment, the image processing unit 65 is the work stored in the work range setting unit 63 based on the overhang amount detection signal (that is, the overhang amount of the out trigger 11) input from the jack overhang amount sensor 85. From the data group of the possible range, the data of the workable range corresponding to the current overhang amount of the out trigger 11 is read out, and the work range image image 180 set to show the limit line 181 in the read workable range is generated. However, it is not limited to this. For example, when applying a configuration for continuously detecting the overhang amount of the outrigger 11 as the jack overhang amount sensor 85, the image processing unit 65 is based on the workable range corresponding to the four-step overhang amount of the outrigger 11. The workable range may be obtained from the current overhang amount of the outrigger 11 by interpolation or the like, and a work range image image 180 set to show the limit line 181 in the obtained workable range may be generated.

In the above-described embodiment, the peripheral composite image 110 is generated by synthesizing the circular display image 130, the angle display image 140, and the overhang range display image 150 with the peripheral display image 120, but is limited to this. It's not a thing. For example, the peripheral composite image 110 may be generated by synthesizing the composite circle display image 130 and the angle display image 140 without synthesizing the overhang range display image 150 with the peripheral display image 120. Further, for example, the peripheral composite image 110 may be generated by synthesizing only the composite circle display image 130 with the peripheral display image 120, and the peripheral display image 12 may be generated.
It may be generated by synthesizing only the angle display image 140 with 0.

In the above-described embodiment, when the traveling speed sensor 88 detects that the traveling speed of the vehicle body 2 is equal to or less than a predetermined speed, the driving cab side display device 101 or the like displays the surrounding composite image 110. It is not limited to. For example, when the parking brake detector 89 detects that the parking brake (not shown) is in an operating state of braking the rear wheel 3 (or the front wheel 3 or the front and rear wheels 3). The driving cab side display device 101 or the like may display the surrounding composite image 110.

In the above-described embodiment, a mode changeover switch (not shown) capable of performing an operation for switching between the work mode and the traveling mode may be provided. As a result, in the state of being switched to the work mode by the mode changeover switch, when the traveling speed sensor 88 detects that the traveling speed of the vehicle body 2 is equal to or less than the predetermined speed, the image processing unit 65 displays the surrounding composite image 110. Generated, the driving cab side display device 101 and the like display the surrounding composite image 110. Then, in the state of being switched to the traveling mode by the mode switching switch, when the traveling speed sensor 88 detects that the traveling speed of the vehicle body 2 is equal to or less than the predetermined speed, the image processing unit 65 displays only the surrounding display image 120. It may be generated so that the operation cab side display device 101 or the like displays only the surrounding display image 120.

In the above-described embodiment, when the traveling speed sensor 88 detects that the traveling speed of the vehicle body 2 is equal to or lower than a predetermined speed, the image processing unit 65 generates a surrounding composite image 110 and turns it on from the PTO operation lever 75. When a signal is input and it is detected that the power take-off mechanism PTO is in an operating state, the image processing unit 65 generates an image composite image 160, but the present invention is not limited to this. The image processing unit 65 may be configured to generate only the surrounding composite image 110, and the image processing unit 65 may not generate the image composite image 160. Specifically, when the traveling speed sensor 88 detects that the traveling speed of the vehicle body 2 is equal to or less than a predetermined speed, the image processing unit 65 generates a surrounding composite image 110, and the driving cab side display device 101 or the like generates a surrounding composite image 110. It may only display the surrounding composite image 110. In this modification, the power take-off mechanism PTO may not be provided. For example, it is not limited to the power take-off mechanism PTO, and may be an aerial work platform equipped with an electrically driven hydraulic device that drives the hydraulic pump 72 by an electric motor. It may be an aerial work platform. Further, at least the parking brake detector 89 may not be provided among the parking brake (not shown) and the parking brake detector 89. That is, the vehicle body 2 that can run, the work devices such as the boom 30 and the work table 40, the cameras such as the front camera 91, the image processing unit 65 that generates the surrounding composite image 110, the driving cab side display device 101, and the like. It may be a work vehicle equipped with a display device and a traveling speed sensor 88.

Next, a second modification of the configuration in which the image processing unit 65 generates only the surrounding composite image 110 and the image processing unit 65 does not generate the image composite image 160 will be described. In this second modification, instead of the traveling speed sensor 88, when an on operation signal is input from the PTO operation lever 75 and it is detected that the power take-off mechanism PTO is in the operating state, the image processing unit 65 surrounds the surroundings. The composite image 110 is generated, and the driving cab side display device 101 or the like displays the surrounding composite image 110. Even in this way, by visually recognizing the surrounding composite image 110 displayed on the driving cab side display device 101 or the like, the aerial work platform 1 is stopped based on the information related to the surrounding display image 120 and the vehicle body 2. It becomes possible to easily determine whether or not the place is a suitable place for work. In the second modification, at least the parking brake detector 89 may not be provided among the parking brake (not shown) and the parking brake detector 89. Further, the traveling speed sensor 88 may not be provided. That is, a vehicle body 2 that can travel using the driving force of the engine E, a work device such as a boom 30 and a work table 40, a camera such as a front camera 91, and an image processing unit 65 that generates a surrounding composite image 110. It may be a work vehicle provided with a display device such as the driving cab side display device 101, a power take-off mechanism PTO, and a PTO operation lever 75.

Next, a third modification example of the configuration in which the image processing unit 65 generates only the surrounding composite image 110 and the image processing unit 65 does not generate the image composite image 160 will be described. In this third modification, when the parking brake detector 89 detects that the parking brake (not shown) is in the operating state instead of the traveling speed sensor 88 (and the PTO operating lever 75), the image is displayed. The processing unit 65 generates the surrounding composite image 110, and the driving cab side display device 101 or the like displays the peripheral composite image 110. Even in this way, by visually recognizing the surrounding composite image 110 displayed on the driving cab side display device 101 or the like, the aerial work platform 1 is stopped based on the information related to the surrounding display image 120 and the vehicle body 2. It becomes possible to easily determine whether or not the place is a suitable place for work. In the third modification, the power take-off mechanism PTO may not be provided. For example, it is not limited to the power take-off mechanism PTO, and may be an aerial work platform equipped with an electrically driven hydraulic device that drives the hydraulic pump 72 by an electric motor. It may be an aerial work platform. Further, the traveling speed sensor 88 may not be provided. That is, a vehicle body 2 capable of driving at least one of the front and rear wheels 3, a work device such as a boom 30 and a work table 40, a camera such as a front camera 91, and an image processing unit that generates a surrounding composite image 110. A work vehicle equipped with 65, a display device such as a driving cab side display device 101, a parking brake (not shown) for braking at least one of the front and rear wheels 3, and a parking brake detector 89. All you need is.

In the above-described embodiment, the vehicle body 2 may be configured to drive the rear wheel 3 among the front and rear wheels 3 to travel, or may be configured to drive the front wheel 3 to travel. It may be configured to drive the wheels 3 on both sides to travel. The parking brake (not shown) may be configured to brake the rear wheel 3 of the front and rear wheels 3, or may be configured to brake the front wheel 3, and the wheels on both sides. 3 may be configured to brake.

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

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 3 Wheels 10 Outrigger jack 11 Outrigger (outrigger beam)
12 Jack 30 Boom 40 Worktable 60 Control unit 61 Operation control unit 63 Work range setting unit 65 Image processing unit 75 PTO operation lever 85 Jack overhang amount sensor 88 Travel speed sensor 89 Parking brake detector 91 Front camera 92 Rear camera 93 Left Side camera 94 Right side camera 101 Driving cab side display device 102 Lower display device 103 Upper display device 110 Surrounding composite image 120 Surrounding display image 130 Circular display image 140 Angle display image 150 Overhang range display image 160 Image composite image 170 Out trigger image image 180 Work range image image E engine WK electric pole GR guard rail

Claims (7)

A car body that can run using the driving force of the engine,
The work device provided on the vehicle body and
A power take-off mechanism that takes out the driving force of the engine for driving the working device, and
A camera that acquires image information around the vehicle body,
An image processing unit that uses image information around the vehicle body acquired by the camera to generate a surrounding composite image in which information related to the vehicle body is combined with a surrounding display image showing the surroundings of the vehicle body.
A display device that displays the surrounding composite image and
It is equipped with a power take-off detector that detects the operating state of the power take-off mechanism.
A work vehicle, characterized in that, when the power take-off detector detects that the power take-off mechanism is in an operating state, the display device displays the surrounding composite image. With a car body that can run
The work device provided on the vehicle body and
A camera that acquires image information around the vehicle body,
An image processing unit that uses image information around the vehicle body acquired by the camera to generate a surrounding composite image in which information related to the vehicle body is combined with a surrounding display image showing the surroundings of the vehicle body.
A display device that displays the surrounding composite image and
It is equipped with a speed detector that detects the traveling speed of the vehicle body.
A work vehicle, characterized in that the display device displays a composite image of the surroundings when the speed detector detects that the traveling speed of the vehicle body is equal to or lower than a predetermined speed. A vehicle body that has wheels on the front and rear and can drive at least one of the front and rear wheels.
The work device provided on the vehicle body and
A camera that acquires image information around the vehicle body,
An image processing unit that uses image information around the vehicle body acquired by the camera to generate a surrounding composite image in which information related to the vehicle body is combined with a surrounding display image showing the surroundings of the vehicle body.
A display device that displays the surrounding composite image and
A parking brake that brakes at least one of the front and rear wheels,
A parking brake detector for detecting the operating state of the parking brake is provided.
A work vehicle, characterized in that, when the parking brake detector detects that the parking brake is in an operating state, the display device displays the surrounding composite image. The vehicle body can travel by using the driving force of the engine.
A power take-off mechanism that takes out the driving force of the engine for driving the working device, and
A power take-off detector that detects the operating state of the power take-off mechanism, 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.
It is equipped with an overhang amount detector that detects the overhang amount of the outrigger beam toward the vehicle body.
The working device has a boom provided on the vehicle body so as to be undulating and swivelable, and a working table provided at the tip of the boom.
The image processing unit comprises an outrigger image image schematically showing the outrigger beam on the surrounding display image based on the overhang amount detected by the overhang amount detector.
And, an image composite image is generated by synthesizing a work range image image indicating a workable range in which the work table is allowed to move around the vehicle body.
The work vehicle according to claim 2 or 3, wherein when the power take-off detector detects that the power take-off mechanism is in an operating state, the display device displays the image composite image. The working device has a boom provided on the vehicle body so as to be undulating and swivelable.
The work vehicle according to any one of claims 1 to 4, wherein the information related to the vehicle body includes image information indicating a circle having a radius of a predetermined distance from the turning center of the boom in the vehicle body. The work vehicle according to any one of claims 1 to 5, wherein the information related to the vehicle body includes angle information indicating an inclination angle of the ground on which the vehicle body is located. An outrigger beam provided on the side of the vehicle body and capable of projecting to the side of the vehicle body,
It is provided with 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.
The claim is characterized in that the peripheral composite image is generated by further synthesizing an overhang range display image indicating an overhangable range in which the outrigger beam can overhang toward the vehicle body side with the surrounding display image. The work vehicle according to any one of Items 1 to 6.

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