JP5384228B2 - Crawler track monitoring device - Google Patents

Description

  The present invention relates to a crawler belt monitoring apparatus applied to a vehicle using a crawler belt.

  Conventionally, a crawler belt in which a core metal is embedded at a constant pitch in an endless rubber elastic body, and a steel cord is embedded in the outer circumference of the core metal for reinforcement in the circumferential direction, or a track without the core metal Vehicles such as construction machines and civil engineering machines using so-called “rubber crawlers” as traveling parts are known.

  For example, Patent Document 1 embeds a transponder in a rubber crawler and mounts a system for identifying the transponder on the vehicle side, and obtains data such as the travel distance and speed of the rubber crawler, thereby indicating the usage state of the rubber crawler. To come to know.

Japanese Patent Application Laid-Open No. 10-119845

  However, the information obtained in the system of Patent Document 1 is numerical data such as travel distance. For this reason, it is impossible to grasp at all whether or not an abnormality has actually occurred in the rubber crawler. For example, even if a part of the protrusion (rubber lug) is missing due to a sudden situation during traveling or the steel cord is popped out, the abnormality may be overlooked if the traveling distance is short.

  The present invention has been made in view of the above facts, and an object of the present invention is to provide a crawler track monitoring apparatus capable of detecting a crawler belt abnormality and notifying the crawler belt abnormality.

  The crawler belt monitoring apparatus according to claim 1 is mounted on a vehicle traveling on the crawler belt and detects a crawler belt outer shape detecting unit that detects an outer shape of the crawler belt, and is mounted on the vehicle and includes reference outer shape data of the crawler belt in a normal state. An abnormality determining means for determining whether or not the crawler belt is abnormal based on the detected outer shape data obtained from the detected outer shape input from the crawler belt outer shape detecting means and the reference outer shape data; Warning means mounted on a vehicle and for warning when the crawler belt is determined to be abnormal by the abnormality determination means.

  In the crawler belt monitoring apparatus according to the first aspect, the crawler belt outer shape detecting means mounted on the vehicle traveling on the crawler belt detects the outer shape of the crawler belt and is input from the crawler belt outer shape detecting means by the abnormality determining means mounted on the vehicle. Whether or not the crawler belt is abnormal is determined based on the detected outer shape data obtained from the detected outer shape and the reference outer shape data of the crawler belt at the normal time stored in the storage unit of the abnormality determination means. As a result of this determination, when the crawler track is determined to be abnormal by the abnormality determination means, a warning is issued by the warning means mounted on the vehicle. As a result, when an abnormality such as wear or a crack occurs in the crawler belt, the abnormality can be warned. As a result, it is possible to prevent the abnormal vibration of the vehicle due to the abnormality of the crawler belt and to prevent the occurrence of the abnormality of the vehicle itself due to the abnormal vibration of the vehicle.

  According to a second aspect of the present invention, in the crawler belt monitoring apparatus according to the first aspect, the abnormality determination unit obtains the reference outer shape data from the detected outer shape of the crawler belt at a normal time detected by the crawler belt outer shape detection unit. Store in the storage unit.

  In the crawler belt monitoring apparatus according to claim 2, since the reference outer shape data is obtained from the detected outer shape of the crawler belt in the normal state detected by the abnormal track detecting means and stored in the storage unit, the crawler outer shape detecting means is used. Reference outline data can be easily obtained.

  According to a third aspect of the present invention, in the crawler belt monitoring apparatus according to the first aspect, the abnormality determination unit is configured to receive the reference outer shape data from a data storage member that is provided in the crawler belt and stores the reference outer shape data of the crawler belt. Is stored in the storage unit.

  In the crawler belt monitoring apparatus according to the third aspect, the abnormality determination means is provided in the crawler belt, and the reference outer shape data is read from the data storage member in which the reference outer shape data of the crawler track is stored and stored in the storage unit. As a result, the reference outline data can be stored quickly and accurately.

  According to a fourth aspect of the present invention, in the crawler belt monitoring apparatus according to any one of the first to third aspects, the crawler belt cleaning device is provided in the vehicle and cleans the crawler belt.

  In the crawler track monitoring apparatus according to the fourth aspect, the crawler belt is cleaned by the crawler belt cleaning means provided in the vehicle, and mud or the like adhering to the crawler belt is dropped. As a result, when detecting the outer shape of the crawler belt by the crawler belt outer shape detecting means, it is possible to prevent a decrease in detection accuracy due to mud or the like adhering to the crawler belt and to improve the detection accuracy of the crawler belt outer shape.

  According to a fifth aspect of the present invention, in the crawler belt monitoring apparatus according to any one of the first to fourth aspects, the crawler belt outer shape detecting means includes a camera.

  In the crawler belt monitoring apparatus according to the fifth aspect, since the crawler belt outer shape detecting means includes a camera, if the display is provided, the outer shape of the crawler belt can be displayed as an image (video).

  According to a sixth aspect of the present invention, in the crawler belt monitoring apparatus according to any one of the first to fourth aspects, the crawler belt outer shape measuring means includes a detection device using ultrasonic waves.

  In the crawler belt monitoring apparatus according to claim 6, since the crawler belt outer shape measuring means includes a detection device using ultrasonic waves, even when mud adheres to the crawler belt, ultrasonic waves of the crawler belt and the mud are detected. It is possible to accurately detect the outer shape of the crawler belt from the difference in reflectance, and the accuracy of detection of the crawler belt outer shape is improved.

  According to a seventh aspect of the present invention, in the crawler belt monitoring apparatus according to any one of the first to fourth aspects, the crawler belt outer shape measuring means includes a detection device using a laser beam.

  In the crawler belt monitoring apparatus according to claim 7, since the crawler belt outer shape measuring means includes a detection device using laser light, the crawler belt outer shape can be easily formed by measuring the distance from the crawler belt by reflection of the laser light. Detectable.

  As described above, since the crawler belt monitoring apparatus according to the first aspect has the above-described configuration, it has an excellent effect that it is possible to detect a crawler belt abnormality and notify the crawler belt abnormality.

  Further, since the crawler belt monitoring apparatus according to the second aspect has the above-described configuration, the reference outline data can be stored with a simple configuration.

  In addition, since the crawler belt monitoring apparatus according to the third aspect has the above-described configuration, the reference outline data can be stored quickly and accurately.

  Moreover, since the crawler belt monitoring apparatus according to claim 4 has the above-described configuration, the accuracy of detecting the crawler belt outer shape is improved.

  Moreover, since the crawler belt monitoring apparatus according to the fifth aspect has the above-described configuration, the crawler belt outer shape can be displayed as an image.

  Moreover, since the crawler belt monitoring apparatus according to claim 6 has the above-described configuration, the accuracy of detecting the crawler belt outer shape is improved.

  Moreover, since the crawler belt monitoring apparatus according to the seventh aspect has the above-described configuration, the crawler belt outer shape can be easily detected.

It is a schematic side view which shows the structure of the crawler belt monitoring apparatus which concerns on one Embodiment of this invention. FIG. 2 is an enlarged cross-sectional view taken along a line 2-2 in FIG. It is the schematic side view seen from the vehicle width direction outer side which shows the structure of the camera set which concerns on embodiment of this invention. It is the schematic front view seen from the vehicle back which shows the composition of the camera set concerning the embodiment of the present invention. It is sectional drawing corresponding to FIG. 2 which concerns on other embodiment of this invention. It is the flowchart which showed control of the crawler belt monitoring apparatus which concerns on one Embodiment of this invention. It is explanatory drawing which shows the relationship between the reference | standard external shape data D1 of the rubber crawler of the crawler belt monitoring apparatus which concerns on one Embodiment of this invention, and the detection external shape data D2. It is explanatory drawing which shows the relationship between the reference | standard external shape data D1 of the rubber crawler of the crawler belt monitoring apparatus which concerns on one Embodiment of this invention, and the detection external shape data D2. It is explanatory drawing which shows the relationship between the reference | standard external shape data D1 of the rubber crawler of the crawler belt monitoring apparatus which concerns on one Embodiment of this invention, and the detection external shape data D2.

  Hereinafter, an embodiment of a crawler belt monitoring apparatus according to the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic side view of a vehicle 10 such as a construction machine or a civil engineering work machine to which a crawler track monitoring apparatus according to an embodiment of the present invention is applied. In the figure, symbol FR indicates the front of the vehicle, and symbol UP indicates the upper side of the vehicle.

<Vehicle configuration>

  As shown in FIG. 1, a pair of left and right idlers 14 are provided on the front portion 12 </ b> A of the gantry 12 in the vehicle 10, and a pair of left and right sprockets 16 are provided on the rear portion 12 </ b> B of the gantry 12. A rubber crawler 20 as a crawler belt is wound around each of the left and right idlers 14 and the sprocket 16.

  The rubber crawler is a crawler belt in which a core metal is embedded at a constant pitch in an endless rubber elastic body, and a steel cord for circumferential tension reinforcement is embedded in the outer periphery of the core metal, or the core metal. It is a track that does not have.

  The core metal is a member for giving strength to the width direction of the rubber crawler, receiving the rotational force of the sprocket 16, and propelling the vehicle 10 by the rotational force.

  Moreover, embedding means incorporating in a rubber crawler as a result regardless of the method.

  The left and right rubber crawlers 20 are pressed against the running surface S by a plurality of track rollers 24 rotatably supported on the grounding surface side of the gantry 12 in the vehicle 10.

  In the present embodiment, a pair of front and rear arms 30 are provided on the opposite side of the vehicle 10 from the grounding surface of the gantry 12, and the inner peripheral surface of the rubber crawler 20 faces upward at the upper ends of these arms 30. A roller 33 for pushing up is provided.

  FIG. 2 is an enlarged cross-sectional view taken along the line 2-2 in FIG. In addition, the code | symbol IN in a figure has shown the vehicle width inside direction of the vehicle.

  As shown in FIG. 2, the gantry 12 of the vehicle 10 has a U-shaped cross section that opens to the lower side of the vehicle, and a plurality of track rollers 24 at the lower end of the gantry 12 can be rotated at intervals in the longitudinal direction of the vehicle. It is supported. Further, both end portions 32 </ b> A in the vehicle width direction of the cradle 32 of the vehicle 10 are coupled to the gantry 12, and the base body 28 is attached to the central upper portion 32 </ b> B of the cradle 32.

  As shown in FIG. 1, a camera set 44 as a pair of left and right crawler belt contour detecting means is provided on the front lower portion 28 </ b> C of the base body 28 of the vehicle 10. These camera sets 44 include three cameras 44 </ b> A, 44 </ b> B, 44 </ b> C for detecting the outer shape of the rubber crawler 20 on the outer peripheral side.

  More specifically, as shown in FIGS. 3 and 4, the camera 44 </ b> A of the camera set 44 has a predetermined range (one pitch P <b> 2 of the rubber lug 20 </ b> B) along the movement direction of the rubber crawler 20 on the outer peripheral surface of the rubber crawler 20. The above range) can be taken from the side of the vehicle (the width direction of the rubber crawler 20).

  The camera 44 </ b> B of the camera set 44 can shoot the entire range along the width direction of the rubber crawler 20 on the outer peripheral surface of the rubber crawler 20 from the front side of the vehicle (longitudinal direction of the rubber crawler 20).

  Further, the camera 44C of the camera set 44 has a predetermined range along the moving direction of the rubber crawler 20 on the outer peripheral surface of the rubber crawler 20 (range of 1 pitch P2 or more of the rubber lug 20B) above the vehicle (the ground contact surface of the rubber crawler 20). From the side).

  As shown in FIG. 1, a cleaning device 34 as a pair of left and right crawler belt cleaning means is provided in a rear lower portion 28 </ b> A of the base body 28 of the vehicle 10. These cleaning devices 34 store water in the tank 34 </ b> A and operate according to a control signal to inject water in the tank 34 </ b> A from the nozzle 34 </ b> B toward the outer peripheral surface of the rubber crawler 20. It is configured to wash off mud, etc. adhering to the surface with water pressure.

  The cleaning device 34 has other configurations such as injecting compressed air in the tank 34A from the nozzle 34B toward the outer peripheral surface of the rubber crawler 20, and washing off mud and the like adhering to the outer peripheral surface of the rubber crawler 20 by wind pressure. Also good.

  Further, when the vehicle 10 is used in an environment where mud or the like does not adhere to the outer peripheral surface of the rubber crawler 20, the cleaning device 34 may be detached from the vehicle 10.

  A control device 52 as an abnormality determination unit is mounted on the base body 28 of the vehicle 10. An operating device 54 is mounted on the base 28 of the vehicle 10, and the operating device 54 includes at least one of a display 54A and a speaker 54B as warning means. The operation device 54 may be provided with a data input unit 54C such as a keyboard and a USB terminal.

  A pair of left and right signal receivers 38 that constitute a part of the control device 52 are provided on the lower portion 28 </ b> B in the front-rear direction of the base body 28 of the vehicle 10. These signal receivers 38 are disposed close to the movement track of the rubber crawler 20 and can read data stored in the IC tag 40 as a data storage member provided in the rubber crawler 20.

  In addition to the reference outline data corresponding to the rubber crawler 20, the IC tag 40 stores, for example, a manufacturing factory, a manufacturing date, a manufacturing number, a model, and a size of the rubber crawler 20 in advance. Note that the configurations of the IC tag 40 and the signal receiver 38 are well known, and a description thereof will be omitted.

  The control device 52 includes a CPU (Central Processing Unit) 52A and a memory 52B, 52C, 52D made of a known microprocessor. The control device 52 is electrically connected to the operation device 54, the camera set 44, and the cleaning device 34. Connected.

  The memory 52B of the control device 52 is a storage unit that stores the reference outer shape data D1 of the rubber crawler 20 at the normal time. The memory 52C is a storage unit that stores data such as the manufacturing factory of the rubber crawler 20, and the memory 52D is a storage unit that stores the detected outer shape data D2 of the rubber crawler 20.

  Note that the rubber crawler (crawler belt) in a normal state is a rubber crawler (crawler belt) in a state where no damage such as wear or scratches has occurred.

  The CPU 52A of the control device 52 calculates the detected outer shape data D2 from the image data (detected outer shape) of the rubber crawler 20 input from the camera set 44, stores the detected outer shape data D2 in the memory 52D, and the reference outer shape data D1 stored in the memory 52B; Based on the detected outer shape data D2 stored in the memory 52D, it is determined whether or not the rubber crawler 20 is abnormal.

  Further, when it is determined that the rubber crawler 20 is abnormal, the control device 52 activates the display 54A of the operation device 54, displays a warning text, and announces a warning from the speaker 54B.

<Configuration of rubber crawler>

  As shown in FIG. 1, the rubber crawler 20 is composed of an endless rubber elastic body. Further, as shown in FIG. 3, guide rubbers (rubber protrusions) 20A are formed on the inner peripheral surface of the rubber crawler 20 at a predetermined pitch P1 along the longitudinal direction (rotational direction) of the rubber crawler 20. A rubber lug 20B is formed on the outer peripheral surface of the rubber crawler 20 so as to protrude in the longitudinal direction (rotational direction) of the rubber crawler 20 at a predetermined pitch P2.

  As shown in FIG. 2, a tensile body (steel cord) 50 is embedded in the rubber crawler 20 along the longitudinal direction thereof.

  The track roller 24 and the roller 33 are arranged on the inner peripheral surface of the rubber crawler 20 with the guide rubber 20A sandwiched from both sides in the width direction.

  As shown in FIG. 1, the guide rubber 20 </ b> A of the rubber crawler 20 is engaged with the sprocket 16 so that driving force is transmitted from the sprocket 16.

  As shown in FIG. 5, the rubber crawler 20 has a core metal 51 embedded at a constant pitch in an endless rubber elastic body, and a circumferential tension reinforcement on the outer peripheral side of the core metal 51. A configuration in which the steel cord 50 is embedded is also possible.

<Configuration of IC tag>

  As the IC tag 40 provided on the rubber crawler 20, for example, a ceramic IC tag having high pressure durability (withstand pressure of 2 MPa or more) and high temperature durability (heat resistance of 200 degrees or more) is used. The IC tag 40 may have a rectangular plate shape or another shape.

  Further, the embedded position of the IC tag 40 in the rubber crawler 20 is embedded in a portion whose periphery is covered with rubber and hardly affected by heat during vulcanization.

  That is, as shown in FIG. 2, in the case of the rubber crawler 20 having no core metal, the IC tag 40 is embedded between the steel cord 50 and the guide rubber 20A. Further, as shown in FIG. 5, in the case of the rubber crawler 20 having the cored bar 51, it is embedded between the adjacent steel cords 50 and from the steel cord 50 to the inner peripheral side of the rubber crawler 20.

(Operation and effect of this embodiment)

  Hereinafter, the operation of the crawler belt monitoring apparatus according to the present embodiment will be described with reference to the flowchart of FIG.

  In the crawler belt monitoring apparatus of the present embodiment, the control device 52 performs the abnormality detection processing of steps (hereinafter referred to as S) 102 to S114 at a predetermined timing.

  The predetermined timing is when the vehicle 10 starts traveling, when an occupant inputs an abnormality detection processing start signal from the operation device 54, or the like.

  First, in S102, it is determined whether or not it is necessary to clean mud or the like adhering to the rubber crawler 20. If it is determined that cleaning is necessary, the process proceeds to S104 and it is determined that cleaning is not necessary. In this case, the process proceeds to S106.

  As an example, whether or not it is necessary to clean is determined based on the usage environment of the vehicle and the image of the rubber crawler 20 displayed on the display 54A. When an unnecessary signal is input from the device 54 and this signal is input, it is determined that cleaning is not necessary. On the other hand, when this unnecessary signal is not input, it is determined that cleaning is necessary. For this reason, normally, when an unnecessary signal is not input, it is determined that cleaning is necessary.

  Next, in S104, the cleaning device 34 is activated by a control signal. Thereby, water in the tank 34A is sprayed from the nozzle 34B toward the outer peripheral surface of the rubber crawler 20, and mud and the like adhering to the outer peripheral surface of the rubber crawler 20 is washed away by water pressure.

  In S106, the signal receiver 38 reads the reference outline data D1 of the rubber crawler 20 stored in the IC tag 40 provided in the rubber crawler 20, stores it in the memory 52B, and proceeds to S108. It should be noted that data such as the manufacturing factory of the rubber crawler 20 is stored in the memory 52C. Further, the position of the rubber crawler 20 in which the IC tag 40 is embedded is recognized as a starting point (one cycle) along the circumferential direction of the rubber crawler 20.

  As an example, the reference outer shape data D1 of the rubber crawler 20 is shown by a solid line in FIG. 7 (side data), FIG. 8 (front data), and FIG. 9 (upper surface data).

  In S108, the external image of the rubber crawler 20 photographed by the camera set 44 is read, and the process proceeds to S110.

  In S110, the outer shape image (detected outer shape) read in S108 is subjected to image processing (a well-known calculation process using edge detection processing or the like) to obtain detected outer shape data D2, and this detected outer shape data D2 is stored in the memory 52D. The process proceeds to S112.

  For example, the detected outer shape data D2 of the rubber crawler 20 obtained in S110 is indicated by a one-dot chain line in FIGS.

  In S112, the reference outline data D1 stored in the memory 52B is compared with the detected outline data D2 stored in the memory 52D, and it is determined from the comparison result whether or not the rubber crawler 20 is abnormal.

  For example, when the rubber lug 20B of the rubber crawler 20 is worn, the detected outer shape data D2 of the reference outer shape data D2 as shown by the one-dot chain line in FIGS. The lug height changes (change amount H1). Therefore, when the amount of change H1 exceeds the allowable range, it is determined that the rubber crawler 20 is abnormal.

  Further, when a cut flaw occurs in the rubber crawler 20, as shown by hatching T1 in FIG. 7 and hatching T2 in FIGS. 8 and 9 with respect to the reference outline data D1 shown by solid lines in FIGS. The contrast of the detected outer shape data D2 changes. For this reason, when the area where the contrast has changed exceeds the allowable range, it is determined that the rubber crawler 20 is abnormal.

  Even when the steel cord 50 of the rubber lug 20B of the rubber crawler 20 is exposed, the detected outer shape is indicated by hatching K1 in FIGS. 7 and 9 with respect to the reference outer shape data D1 indicated by the solid line in FIGS. The contrast of the data D2 changes. For this reason, when the area where the contrast has changed exceeds the allowable range, it is determined that the rubber crawler 20 is abnormal.

  Note that these determination results are comprehensively determined and the rubber crawler 20 is determined to be abnormal. For example, the rubber crawler 20 may be determined to be abnormal when it is determined that there is an abnormality in at least one of these determination results.

  Next, when it is determined in S112 that the rubber crawler 20 is abnormal, in S114, the display 54A of the operation device 54 is activated to display a warning text and a warning is announced from the speaker 54B. In S112, when it is determined that the rubber crawler 20 is not abnormal, the process returns to S102.

  The above determination is performed for each of the left and right rubber crawlers 20 provided in the vehicle 10.

  In S114, a signal for cutting off the power supply of the vehicle 10 from the control device 52 may be output to the driving device of the vehicle 10 to forcibly stop the vehicle 10. Further, a signal is sent from the control device 52 to the transmitter 60 mounted on the vehicle 10, and the detected outer shape data D2 and model of the rubber crawler 20 are transmitted from the transmitter 60 to a receiver such as a service station at a location different from the vehicle. May be transmitted by a frequency signal in the UHF band and 2.45 GHz band, for example.

  Therefore, in this embodiment, it is possible to detect an abnormality of the rubber crawler 20 and notify the abnormality of the rubber crawler 20. As a result, even if the travel distance is short, these abnormalities may be overlooked when the rubber crawler 20 is significantly worn, cracked, or the steel cord 50 jumps out due to a sudden situation during travel. There is no. As a result, it is possible to prevent abnormal vibration of the vehicle 10 due to abnormality of the rubber crawler 20 and to prevent abnormality of the vehicle itself due to abnormal vibration of the vehicle 10.

  Further, in the present embodiment, the reference outer shape data stored in the IC tag 40 provided in the rubber crawler 20 is read by the signal receiver 38 mounted on the vehicle 10, so that the reference outer shape data is quickly and accurately stored. It becomes possible.

  In the present embodiment, the rubber crawler 20 is cleaned by the cleaning device 34 provided in the vehicle 10, and mud or the like attached to the rubber crawler 20 is dropped. As a result, when the outer shape of the rubber crawler 20 is detected by the camera set 44, it is possible to prevent a decrease in detection accuracy due to mud or the like adhering to the rubber crawler 20, and the detection accuracy of the detected outer shape data D2 is improved.

  Further, in this embodiment, since the outer shape of the rubber crawler 20 is detected by the camera set 44 mounted on the vehicle 10, the outer shape of the rubber crawler 20 can be displayed as an image (video) on the display 54A of the operation device 54. Become.

  Further, in the present embodiment, as shown in FIG. 2, in the rubber crawler 20 having no core metal, the IC tag 40 is embedded between the steel cord 50 and the guide rubber 20A. For this reason, since the rubber layer at the portion where the IC tag 40 is embedded in the rubber crawler 20 is thick, the IC tag 40 is hardly affected by heat when the rubber crawler 20 is vulcanized.

  In the present embodiment, as shown in FIG. 5, in the case of the rubber crawler 20 having the cored bar 51, the IC tag 40 is placed between the adjacent steel cords 50 and from the steel cord 50 to the inner circumference of the rubber crawler 20. Embed on the side. For this reason, the signal from the IC tag 40 to the signal receiver 38 is not blocked by the cored bar 51. Further, since the rubber layer at the portion where the IC tag 40 is embedded in the rubber crawler 20 is thick, the IC tag 40 is hardly affected by heat when the rubber crawler 20 is vulcanized.

  [Supplementary explanation of the above embodiment]

  Although the present invention has been described in detail with respect to specific embodiments, the present invention is not limited to such embodiments, and various other embodiments are possible within the scope of the present invention. It will be apparent to those skilled in the art. For example, in the above embodiment, the camera set 44 including three cameras as the crawler belt outer shape detection unit is used, but the number of cameras is not limited to three.

  In addition, the camera may be configured with a detection device that uses an ultrasonic measuring device or a laser distance measuring device. In a configuration that includes a detection device that uses an ultrasonic measuring device, mud adheres to the crawler track. In addition, it is possible to accurately detect the outer shape of the crawler belt from the difference in ultrasonic reflectance between the crawler belt and the mud, thereby improving the accuracy of detecting the outer shape of the crawler belt. Further, in a configuration including a detection device using laser light, the outer shape of the crawler belt can be easily detected by measuring the distance from the crawler belt by reflection of the laser light.

  Although not shown, the invention according to claim 1 controls the reference outline data D1 stored in the IC tag 40 as a data storage member provided in the rubber crawler 20 via the signal receiver 38. Instead of the configuration read into the device 52, when the normal rubber crawler 20 is mounted on the vehicle 10 as in the invention described in claim 2, the normal state is obtained from the external image (detected external shape) photographed by the camera set 44. A configuration in which the reference outer shape data D1 of the rubber crawler 20 is calculated and stored in the memory 52B of the control device 52 is also included. In this configuration, since the signal receiver 38 and the IC tag 40 are not required, the reference outline data can be stored with a simple configuration as compared with the configuration using the signal receiver 38 and the IC tag 40. It becomes possible.

  Although not shown, the invention described in claim 1 includes a configuration in which the reference outline data D1 is read by the control device 52 from the data input unit 54C such as a USB terminal provided in the operation device 54. In the case of this configuration, the reference outline data can be accurately stored with a simple configuration as compared with the configuration using the signal receiver 38 and the IC tag 40.

10 Vehicle 20 Rubber Crawler (Crawler Track)
20A Guide rubber 20B Rubber lug 34 Cleaning device (crawler belt cleaning means)
38 signal receiver 40 IC tag (data storage member)
44 Camera set (track outline detection means)
52 Control device (abnormality determination means)
52A CPU
52B Memory (storage unit)
54 Operation device 54A Display (warning means)
54B Speaker (Warning means)
54C Data input section

Claims (7)

A crawler belt outer shape detecting means that is mounted on a vehicle traveling in a crawler belt and detects the outer shape of the crawler belt;
Based on the detected outer shape data obtained from the detected outer shape input from the crawler track outer shape detecting means and the reference outer shape data, having a storage unit that is mounted on the vehicle and stores the reference outer shape data of the crawler belt at the normal time, An abnormality determining means for determining whether the crawler belt is abnormal;
Warning means mounted on the vehicle and warning when the crawler track is determined to be abnormal by the abnormality determination means;
A crawler track monitoring device.   The crawler belt monitoring apparatus according to claim 1, wherein the abnormality determination unit obtains the reference outer shape data from the detected outer shape of the crawler belt at a normal time detected by the crawler belt outer shape detection unit and stores the reference outer shape data in the storage unit.   2. The crawler belt monitoring apparatus according to claim 1, wherein the abnormality determination unit reads the reference outer shape data from a data storage member that is provided in the crawler belt and stores the reference outer shape data of the crawler belt and stores the reference outer shape data in the storage unit.   The crawler belt monitoring apparatus according to any one of claims 1 to 3, further comprising a crawler belt cleaning means provided on the vehicle for cleaning the crawler belt.   The crawler belt monitoring device according to any one of claims 1 to 4, wherein the crawler belt outer shape detection means includes a camera.   The crawler belt monitoring device according to any one of claims 1 to 4, wherein the crawler belt outer shape measuring means includes a detection device using ultrasonic waves.   The crawler belt monitoring device according to any one of claims 1 to 4, wherein the crawler belt outer shape measuring unit includes a detection device using laser light.

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