JP6706022B2 - Safety monitoring device for road surface cutting vehicles - Google Patents

Description

INDUSTRIAL APPLICABILITY The present invention is equipped on a road surface cutting vehicle which is a large industrial vehicle equipped with a cutting material transfer device (a belt conveyor or the like) that cuts a road surface with a road surface cutting machine while traveling and transfers the cut object in the longitudinal direction of the vehicle body. Safety monitoring device.

For example, an asphalt pavement (road surface) such as a road or a bridge road surface is deteriorated with a rut, a crack, or the like over time due to running of a vehicle. Therefore, the road surface is repaired regularly or at any time, for example, at a time when traffic volume is low, such as at night.
For such road surface repair, a dedicated road surface cutting vehicle called a road cutter or the like is used, and the surface layer portion of the road surface is cut and removed by a road surface cutting device mounted on the vehicle. After that, if necessary, the road surface is repaved with a new asphalt mixture or the like.

The road surface cutting vehicle has, for example, the structure described in Patent Document 1 or the like. That is, this road surface cutting vehicle can be self-propelled by front and rear wheels for traveling, and can also cut the road surface by a road surface cutting machine (cutter portion) provided so as to be able to move up and down with respect to the vehicle body. Then, the road surface cutting vehicle scrapes (hangs) the asphalt pavement road surface by a road surface cutting machine while self-propelled and continuously conveys the scraped cutting waste material to the front of the vehicle body or the like by a conveyor.

In working with such an industrial vehicle, it is necessary to perform the work while confirming the safety around the vehicle.
On the other hand, for example, in Patent Document 1, an industrial vehicle such as a road roller is targeted, and the front, rear, and side of the outer periphery of the vehicle are captured by cameras, respectively, and a plurality of captured images are combined to create a vehicle periphery. A peripheral safety monitoring device for an industrial vehicle that displays a bird's-eye view image on a driver's seat monitor is described. As a result, the driver can drive the vehicle while monitoring the state around the vehicle.

JP, 11-50415, A JP, 2016-10129, A

Since the above road surface cutting vehicle is a large industrial vehicle as compared with an industrial vehicle such as a road roller, there are many blind spots depending on the position of the operator. However, if an image around the vehicle is divided and displayed on one display unit (monitor), each image becomes small and becomes difficult to be visually recognized.
Further, in an industrial vehicle such as a road cutting vehicle, the portion to be monitored is not limited to the area around the vehicle. However, Patent Document 1 does not describe such a point.
The present invention has been made by focusing on the above points, and an object thereof is to improve the safety simply by automatically selecting and confirming an image of an appropriate portion according to the monitoring position. There is.

In order to solve the problems, one aspect of the present invention is a road surface cutting machine capable of cutting a road surface, a cutting material transfer device capable of transferring cutting waste material cut by the road surface cutting machine in the vehicle front-rear direction, and a vehicle body upper part. A safety monitoring device for a road surface cutting vehicle including a driver's seat provided, and an operation operator provided on a side part of the vehicle body for instructing the operation of the road surface cutting machine, and a front imaging unit for imaging the front of the vehicle body, A rear imaging unit that images the rear of the vehicle body, a cutting imaging unit that images the road surface portion to be cut by the road surface cutting machine and a part of the road surface cutting machine, and a vehicle movement state of forward, backward, and stop of the road surface cutting vehicle A vehicle state acquisition unit that detects, an operation operation detection unit that detects an operation state of an operation operator that outputs an operation instruction to the road surface cutting machine, and a driver seat monitor arranged in the driver seat or in the vicinity thereof, Left and right work monitors respectively installed on both sides of the vehicle body side, the vehicle movement state acquired by the vehicle state acquisition section, the operation state of the operation operator detected by the operation operation detection section, and the installation position of each monitor. In accordance with the above, an image selection unit that automatically selects an image to be displayed on each monitor from the images captured by the front imaging unit, the rear imaging unit, and the cutting imaging unit, respectively.

According to one aspect of the present invention, by setting a monitor other than the driver's seat, the operator can perform monitoring for safety confirmation at a plurality of locations.
Furthermore, depending on the running condition of the vehicle and the like, by selecting and displaying only an appropriate image that is a blind spot when viewed from the installation position of the monitor, each image is displayed unnecessarily small. It becomes possible to avoid becoming. For example, according to the aspect of the present invention, the area around the cutter, which is a part of the road surface cutting machine that tends to be a blind spot from the monitor position, is automatically displayed as necessary.
Further, since the image to be displayed is automatically switched depending on the traveling state or the like, it is possible to reduce the operator's troublesome operation for image selection.

It is a side view explaining a road surface cutting vehicle concerning an embodiment based on the present invention. It is a conceptual diagram which shows the example of arrangement|positioning of the monitor and camera which concern on embodiment based on this invention, (a) is a top view, (b) is a side view. It is a figure which shows the structure of a safety monitoring controller. It is a figure which shows the example of the mode setting of the image selection displayed on each monitor. It is a mimetic diagram showing an example which displays a plurality of pictures to a display field of a monitor, when (a) has two screens and (b) has three screens. It is a conceptual diagram explaining the time of shifting a road surface cutting machine left and right.

Next, embodiments of the present invention will be described with reference to the drawings.
<Structure>
As shown in FIG. 1, a road surface cutting vehicle 1 equipped with a road surface cutting device according to the present embodiment includes a vehicle body 2, wheels 6 for traveling, and a road surface cutting machine 3 supported so as to be able to move up and down with respect to the vehicle body 2. An actuator 4 for raising and lowering the road surface cutting machine 3 and a conveyor 5 extending in the vehicle body front-rear direction are provided. A driver's seat 9 is provided on the upper part of the vehicle body.

The conveyor 5 is a conveyor that conveys the scrap metal scraped off by the road surface cutting machine 3 forward of the vehicle body 2 in the front-rear direction, and is supported by the vehicle body 2. Then, in the cutting operation state for cutting the road surface, as shown in FIG. 1, the conveyer conveyor 5 is set in a state of being extended forward in the front-rear direction of the vehicle body, and it is possible to convey the cutting waste material accompanying the cutting to a truck bed or the like. The transfer conveyor 5 constitutes a cutting material transfer device.

The traveling wheel 6 of the present embodiment includes a front wheel 6A provided on the front side of the vehicle body 2 and a rear wheel 6B provided on the rear side of the vehicle body 2. The front wheels 6A can be steered by operating a steering mechanism (not shown). The axle of the rear wheel 6B is connected to the engine via a transmission and constitutes a drive wheel that is rotationally driven by the driving force from the engine. The traveling mode of the road surface cutting vehicle 1 is not limited to this, and the front wheels 6A may be driving wheels or may be a vehicle that is self-propelled by a crawler or the like.

The road surface cutting machine 3 is arranged below the vehicle body 2 between the front wheels 6A and the rear wheels 6B. The road surface cutting machine 3 is configured by providing a large number of cutter bits on the peripheral surface of a cutter drum whose axis is oriented in the vehicle width direction. The cutter drum is rotatably supported by the machine frame 7 and is rotatably driven by a hydraulic motor (not shown). The machine frame 7 is, for example, a box-shaped frame body having an open bottom.

The actuator 4 for raising and lowering the road surface cutting machine 3 is composed of a pair of left and right hydraulic cylinders for raising and lowering. Each of the lifting hydraulic cylinders is attached to the vehicle body 2 with the cylinder body having its axis oriented vertically, and the cylinder rod extends downward from the cylinder body. The tip of the cylinder rod is connected to the machine frame 7. Thereby, the vertical position (position with respect to the road surface) of the machine frame 7, that is, the road surface cutting machine 3 with respect to the vehicle body 2 is adjusted according to the stroke amount of the lifting hydraulic cylinders 4A, 4B, and the cutting depth by the road surface cutting machine 3 is adjusted. Is adjusted. The road surface cutting machine 3 is adjusted in position to either an upper standby position or a lower position in the cutting work state.

A third hydraulic cylinder (not shown) that connects the lower part of the vehicle body and the machine frame 7 is provided obliquely in the vehicle width direction. By driving the third hydraulic cylinder, the machine frame 7, that is, the road surface The position of the cutting machine 3 in the vehicle width direction can be shifted left and right. The cylinder bodies of the lifting hydraulic cylinders 4A and 4B are supported by the vehicle body at least in a state of being swingable in the vehicle width direction.
Here, the front side of the machine frame 7 is connected to the vehicle body 2 via a parallel link 8 extending in the front-rear direction of the vehicle body 2. A pair of parallel links 8 is arranged on each side of the vehicle width direction. By providing the parallel link 8, the posture of the machine frame 7 is kept constant as it moves up and down.

Instructions for raising and lowering or rotationally driving the road surface cutting machine 3 via the actuator can be executed by an operator such as a button provided on the instruction board 20. The instruction board 20 constitutes an operator of the road surface cutting machine 3.
The safety monitoring device is mounted on the road surface cutting vehicle 1 having the above configuration. The safety monitoring device will be described.

As shown in FIG. 2, at predetermined positions on the left and right side surfaces of the driver's seat 9 and the vehicle body 2, a traveling operator for instructing traveling of the vehicle and set values for road surface cutting and control panels 21, 22 for operating cutting are provided. Is provided. The operator operates the control panels 21 and 22 to control the running state of the vehicle. The cutting setting mode includes a manual cutting mode and an automatic cutting mode.

The control panel 22 is provided on the front side of the driver's seat 9. Each control panel 21 on the side of the vehicle body is provided on the front side of the road surface cutting machine 3 and is located at a position where the road surface cutting state by the road surface cutting machine 3 can be visually recognized. Specifically, from the vicinity of the control panel 21 on the left side, the cutting state of the road surface on the left side portion of the road surface cutting machine 3 (the current cut portion and the road surface portion to be cut next) can be visually recognized, and the right control From the vicinity of the panel 21, the cutting state of the road surface at the right side portion of the road surface cutting machine 3 (the current cut portion and the road surface portion to be cut next) is visible.

Further, as shown in the schematic view of FIG. 2, the vehicle body is provided with left and right front cameras 30, a rear camera 32, and left and right work confirmation cameras 31.
The left and right front cameras 30 are arranged on both the left and right sides of the front part of the vehicle body, and the optical axes of the front cameras 30 are set so as to be directed downward (toward the ground) toward the front of the vehicle body. As a result, at least the road surface in front of the vehicle body can be imaged. The left and right front cameras 30 form left and right front imaging units.

The rear camera 32 is provided at the center of the rear portion of the vehicle body in the width direction, and the optical axis of the camera is set so as to be directed downward (toward the ground) toward the rear of the vehicle body. Thereby, at least the road surface behind the vehicle can be imaged. The rear camera 32 constitutes a rear imaging section.
The left and right work confirmation cameras 31 are provided on the side of the vehicle body and on the front side of the road surface cutting machine 3, respectively. In the present embodiment, the left and right work confirmation cameras 31 are provided near each control panel 21. Each work confirmation camera 31 is set such that the optical axis of the camera is directed toward the lower side (ground side) as it goes to the rear of the vehicle body, and on the installation side, the road surface portion to be cut by the road surface cutting machine and the road surface cutting machine. It is possible to capture images around the cutter, which is a part of. The work confirmation camera 31 constitutes a cutting imaging unit.

Further, the road surface cutting vehicle 1 has a driver seat monitor 41 and left and right work monitors 40 as image display units.
The driver's seat monitor 41 is arranged near the control panel 22 in the driver's seat 9, and is installed at a position where the driver seated in the driver's seat 9 can see the driver's seat monitor 41.

The left and right work monitors 40 are arranged near the corresponding control panel 21. Specifically, the operator located on the side of the road surface cutting machine with respect to the corresponding control panel 21 can see the work monitor 40 together with the road surface cutting machine by the operator located on the side of the control panel 21.
Further, the road surface cutting vehicle 1 of the present embodiment includes a safety monitoring controller 50.
As shown in FIG. 3, the safety monitoring controller 50 includes a vehicle state acquisition unit 50A, an operation operation detection unit 50B, an image selection unit 50C, and an image supply unit 50D.

The vehicle state acquisition unit 50A detects a vehicle movement state of the road surface cutting vehicle such as forward movement, backward movement, and stop. The vehicle state acquisition unit 50A detects the vehicle movement state at the position of the shift lever that instructs the vehicle to move forward or backward, for example. The actual movement of the vehicle may be detected by a vehicle speed sensor or the like.
The operation operation detector 50B detects the operation state of the operation operator that outputs an operation instruction to the road surface cutting machine. For example, when it is determined that the road surface cutting machine is descending from the standby position to the road surface side, the operation operation detection unit 50B determines that the road surface cutting machine is in the cutting work state.

The image selection unit 50C displays on each monitor according to the vehicle movement state acquired by the vehicle state acquisition unit 50A, the operation state of the operation operator detected by the operation operation detection unit 50B, and the installation position of each monitor. Select images individually. That is, the image selection unit 50C selects an image corresponding to the monitor to be displayed from the images captured by the left and right front cameras 30, the rear camera 32, and the left and right work confirmation cameras 31 for each monitor to be displayed. Select automatically.

The image selection unit 50C of the present embodiment selects an image to be displayed on each monitor in accordance with a table as shown in FIG. 4 and an image to be displayed according to the vehicle moving state and the cutting work state. The information as shown in FIG. 4 may be stored in the storage unit. Specifically, an image is selected by classifying into seven types of image selection patterns of mode A to mode G according to the vehicle movement state, the cutting work state, and the monitor installation position.

The relationship between each mode shown in FIG. 4 and the selected image is as follows.
Mode A: Image taken by the left and right front cameras 30 and rear camera 32 Mode B: Image taken by the left and right front cameras 30 Mode C: Image taken by the rear camera 32 Mode D: Right front camera 30B, right work Image captured by the confirmation camera 31B and the rear camera 32 Mode E: Left front camera 30A, image captured by the left work confirmation camera 31A and rear camera 32 Mode F: Right front camera 30B and right work confirmation Image taken by the camera 31B Mode G: Image taken by the left front camera 30A and the left work confirmation camera 31A

Here, the combination of modes B, F, and G corresponds to the first image selection mode. The combination of modes A, D, and E corresponds to the second image selection mode.
Further, in the mode division shown in FIG. 4, the images selected for display on one monitor are within three images.
The image supply unit 50D edits the image data selected by the image selection unit 50C into an image for one screen for each selected mode, and then supplies it to the corresponding monitor.

For example, when two images are selected and displayed on the monitor, the two images are displayed side by side as shown in FIG. FIG. 5A shows an example in the case of mode F. When three images are selected and displayed on the monitor, two images are displayed on the upper side and one image is displayed on the lower side, for example, as shown in FIG. Note that when displaying three images, the image captured by the rear camera 32 is always selected, so that the image captured by the rear camera 32 may be arranged on the lower side as shown in FIG. 5B. preferable.

<Operation and others>
In the safety monitoring device of the present embodiment, the image selection to be displayed on each monitor is performed under the conditions shown in FIG. 4 depending on the vehicle moving state, the cutting work state, and the monitor installation position. However, the monitor display control by the safety monitoring controller 50 is executed when the ignition of the vehicle is turned on or when it is determined that the monitor display control is being performed by the monitor display operation start button (not shown).

When the road surface cutting vehicle 1 is moving to the work area of the road surface to be cut or when the road surface cutting vehicle 1 is withdrawn from the cutting area, the road surface cutting machine 3 is stored in the upper standby position. In this forwarding state, as shown in FIG. 4, the display of the left and right work monitors 40 is turned off, and an image of any one of modes A to C is selected for the driver seat monitor 41 in accordance with the moving state of the vehicle. Is displayed. For example, when the vehicle is stopped, the left, right, front, and rear states of the vehicle body are displayed on the monitor to confirm the state of the vehicle movable direction. Since the driver's seat 9 is at a high position above, it is easy to directly check the side of the vehicle body. Further, while the vehicle is moving forward, the driver's seat monitor 41 displays two screens on the left and right front sides of the vehicle body. Even in the cutting operation state, an image in any one of modes A to C is selected and displayed on the driver seat monitor 41 in accordance with the vehicle movement state.

On the other hand, when the road surface cutting machine descends from the standby position and is in the cutting work state, the operator, for example, is positioned on the side of the vehicle body that is the reference side at the time of road surface cutting and confirms the cutting state by the road surface cutting machine. To do.
For example, when the operator operates the control panel 21A on the left side surface of the vehicle body, the front side of the vehicle body on the left side and the left side of the road surface cutting are directly visible, but the front side of the vehicle body on the right side and the right side of the road surface cutting are It is difficult to see it directly. On the other hand, in the present embodiment, on the work monitor 40A installed on the left side of the vehicle body, an image in any one of modes D, F, and C is automatically selected and displayed according to the moving state of the vehicle. Thus, the state of the blind spot of the vehicle body can be confirmed while the image is automatically selected and switched according to the running state. Moreover, since the images are switched according to the change in the vehicle movement state, the operator is not bothered.

For example, when the vehicle is moving forward in the cutting operation state, the work monitor 40A on the left side automatically selects and displays the images of the cutting state on the front side and the right side of the vehicle body on the right side. As a result, the operator operating on the left side of the vehicle body can perform the road surface cutting operation while monitoring the state of the vehicle front side on the right side and the state around the right side cutting by the road surface cutting machine. Further, at this time, since only two images are displayed on the work monitor 40A on the left side, the display of each image is prevented from being displayed too small.

Further, the operator needs to shift the cutting position appropriately in the vehicle width direction for cutting according to the condition of the road surface. For example, as shown in FIG. 6, in the cutting work along the creases of the existing structure 60 such as a fence, a sidewalk, and a curb, the road surface cutting machine 3 is moved in the left and right direction in order to avoid the grating and the electric pole 61 in the forward direction. It is also necessary to carry out the work.
At this time, the worker is not always present in the place where there is something to avoid. At this time, in this embodiment, for example, when the operator 62 located on the left side of FIG. 6 shifts the road surface cutting machine 3 to the left or right, the situation on the opposite side (the right side in FIG. 6) of the worker 63 is monitored by a monitor. On the other hand, it becomes possible to move the road surface cutting machine 3 in the left-right direction, and there is no concern that the right-hand worker 63 is caught. In addition, since only the road surface cutting machine 3 can be shifted to the left and right, when the position of the road surface cutting machine 3 is shifted to the left and right, there is no need to move the road surface cutting vehicle 1 itself in the left and right direction.

Further, when the vehicle that has been moving forward stops, the display on the work monitor 40A on the left side is automatically switched to the three-part display, and the display of mode D is displayed, and the state behind the vehicle body can also be monitored.
As described above, in the safety monitoring device of the present embodiment, the monitor is arranged on the side of the vehicle body in addition to the driver's seat 9, and a blind spot is created depending on the cutting work state and the vehicle moving state depending on the installation position of each monitor. An image of a portion that is supposed to be displayed is displayed on each monitor while automatically switching depending on the traveling state or the like.

As a result, in the present embodiment, by setting a monitor other than the driver's seat 9, it is possible to perform monitoring for safety confirmation at a plurality of locations.
Furthermore, by selecting and displaying an image suitable for the installation position of the monitor on the monitor according to the traveling state of the vehicle, it is possible to prevent the displayed images from becoming smaller than necessary. Become. Further, by automatically selecting the image to be selected, it is possible to reduce the operator's troublesome operation for image selection.

1 Road surface cutting vehicle 2 Vehicle body 3 Road surface cutting machine 5 Conveyor 6 Wheels 20 Indication panel 21, 22 Control panel 30 Front camera 30A Left front camera 30B Right front camera 31 Work confirmation camera 31A Left work confirmation camera 31B Right side Work confirmation camera 32 Rear camera 40 Work monitor 40A Left work monitor 40B Right work monitor 41 Driver's seat monitor 50 Safety monitoring controller 50A Vehicle status acquisition unit 50B Operation operation detection unit 50C Image selection unit 50D Image supply unit

Claims (5)

A road surface cutting machine capable of cutting the road surface, a cutting material carrying device capable of carrying cutting waste material cut by the road surface cutting machine in the vehicle front-rear direction, a driver's seat provided on the upper part of the vehicle body, and a vehicle body side part provided above. A safety monitoring device for a road surface cutting vehicle, comprising an operation operator for instructing the operation of a road surface cutting machine,
A front imaging unit for imaging the front of the vehicle body, a rear imaging unit for imaging the rear of the vehicle body, a cutting imaging unit for imaging the road surface portion cut by the road surface cutting machine and a part of the road surface cutting machine,
A vehicle state acquisition unit that detects a vehicle movement state such as forward, backward, and stop of the road surface cutting vehicle,
An operation operation detection unit that detects an operation state of an operation operator that outputs an operation instruction to the road surface cutting machine,
A driver's seat monitor arranged in the driver's seat or in the vicinity thereof,
Left and right work monitors installed on both sides of the vehicle body side,
Depending on the vehicle movement state acquired by the vehicle state acquisition unit, the operation state of the operation operator detected by the operation operation detection unit, and the installation position of each monitor, an image to be displayed on each monitor, the front imaging unit, A safety monitoring device for a road surface cutting vehicle, comprising: an image selection unit that automatically selects from images captured by the rear imaging unit and the cutting imaging unit. When the image selecting unit determines that the work state of road surface cutting is based on the detection of the operation operation detecting unit and determines that the vehicle is moving forward, the front image capturing unit and the cutting image capturing unit display the images on the left and right work monitors. The road surface cutting according to claim 1, further comprising a first image selection mode for selecting an image captured by the front imaging unit as an image to be displayed on the driver's seat monitor by selecting an image captured by the image capturing unit. Vehicle safety monitoring device. The cutting material transfer device extends forward in the front-rear direction of the vehicle body,
The front imaging unit is provided on each of the left and right sides of the front of the vehicle body,
The cutting imaging unit is a cutting imaging unit on the right side that images the right side part of the road surface part that is cut by the road surface cutting machine, and a left side cutting that images the left side part of the vehicle body part of the road surface part that is cut by the road surface cutting machine. And an imaging unit,
In the first image selection mode, the images captured by the right front imaging unit and the right cutting imaging unit are selected as the images displayed on the left work monitor, and the left front images are displayed as the images displayed on the right work monitor. The image picked up by the image pickup unit and the left cutting image pickup unit is selected, and the images picked up by the left and right front image pickup units are selected as the images to be displayed on the driver's seat monitor. Safety monitoring device for road cutting vehicles. The image selection unit, when it is determined that the working state of road surface cutting based on the detection of the operation operation detection unit and the vehicle is stopped, as the image to be displayed on the left work monitor, the right front imaging unit, Select the image captured by the right cutting imaging unit and the rear imaging unit, and select the image captured by the left front imaging unit, the left cutting imaging unit and the rear imaging unit as the image displayed on the right work monitor. The road surface cutting vehicle safety according to claim 3, further comprising a second image selection mode for selecting images captured by the left and right front imaging units and the rear imaging unit as the images displayed on the driver's seat monitor. Monitoring equipment. 5. The image selection unit turns on the display on the work monitor when it is determined that the work state of road surface cutting is detected based on the detection of the operation operation detection unit. The safety monitoring device for a road surface cutting vehicle according to item 1.

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