JP7337669B2 - work vehicle - Google Patents

Description

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

As an example of a work vehicle, it is constructed based on a truck vehicle that has a driving cab at the front and can travel. An aerial work vehicle is known that includes a boom provided and a work platform rotatably supported at the tip of the boom. Such aerial work platforms are used in various work sites such as electric wire construction, maintenance and inspection work in road tunnels, and bridge maintenance and inspection work. In order to support the vehicle in a stable state during work, such aerial work vehicles are provided with outrigger jacks on the front, rear, left, and right sides of the vehicle. (see Patent Document 1, for example).

JP-A-8-324998

However, when there is an obstacle such as a guardrail on the side of the vehicle, the outrigger jacks are protruded to the side of the vehicle and grounded without coming into contact with the obstacle, which reduces work efficiency.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a work vehicle capable of improving work efficiency when grounding a jack.

In order to achieve such an object, the work vehicle according to the present invention (for example, the aerial work vehicle 1 in the embodiment) includes a vehicle body that can travel, and a work device (for example, a boom in the embodiment) provided on the vehicle body. 30 and workbench 40), an outrigger beam provided on the side of the vehicle body and capable of projecting to the side of the vehicle body, and a state in which the tip of the outrigger beam is telescopically provided and extended downward to the ground. A jack that supports the vehicle body, an obstacle detector that detects an obstacle located on the side of the vehicle body, a camera that is provided on the vehicle body and acquires image information around the vehicle body, and acquired by the camera. an image processing unit for generating a surrounding display image showing the surroundings of the vehicle body in a plan view using the obtained image information of the surroundings of the vehicle body; and a display for displaying the surrounding display image generated by the image processing unit. wherein the image processing unit superimposes a possible extension range, which represents a range in which the outrigger beam can extend to the side of the vehicle body , on the surrounding display image and displays it on the display device , and performs the image processing. When the obstacle detector detects the obstacle, the section sets the extension possible range to a range in which the jack does not contact the obstacle even if the outrigger beam extends to the side of the vehicle body.

In the above-described work vehicle, the work device has a boom provided on the vehicle body so as to be able to hoist and turn, and a workbench provided at the tip of the boom. It is preferable that a workable range representing a range in which the workbench is allowed to move according to the maximum amount of extension of the outrigger beams in the possible extension range is displayed on the display device superimposed on the surrounding display image. .

The above-described work vehicle includes a left tool storage section provided on the left side of the vehicle body capable of storing tools, and a right tool storage section provided on the right side of the vehicle body capable of storing tools, and the camera is provided in the front part of the vehicle body to acquire image information of the front part around the vehicle body; and a front camera installed in the rear part of the vehicle body to acquire image information of the rear part around the vehicle body. a rear camera, a left side camera provided on the upper part of the left tool storage section for acquiring image information of the left side portion around the vehicle body, and a left side camera provided on the upper part of the right tool storage section and on the right side around the vehicle body. and a right side camera for acquiring image information of a portion of the vehicle body, and the image processing unit acquires image information of a front portion around the vehicle body acquired by the front camera and image information of the vehicle body acquired by the rear camera. image information of the rear portion of the surroundings, image information of the left portion of the surroundings of the vehicle body acquired by the left side camera, and image information of the right portion of the surroundings of the vehicle body acquired by the right side camera. is preferably used to generate the surrounding display image.

In the above-described work vehicle, an outrigger drive unit (for example, the outrigger cylinder 15 in the embodiment) that projects the outrigger beam to the side of the vehicle body, and a control unit that controls the operation of the outrigger drive unit (for example, the outrigger cylinder 15 in the embodiment). and an operation control unit 61), the jack is capable of supporting the vehicle body in a grounded state via a jack base placed on the ground on the side of the vehicle body, and the jack is capable of supporting the vehicle body. a marker detector that detects a marker provided on a base and outputs a marker detection signal; It is preferable that the operation of the outrigger drive section is controlled so that the outrigger beam projects laterally of the vehicle body until the outrigger beam moves upward.

According to the present invention, the possible extension range representing the range in which the outrigger beams can extend to the side of the vehicle body is superimposed on the surrounding display image generated by the image processing unit, and displayed on the display device. The range is set so that when an obstacle is detected by the obstacle detector, the jack does not come into contact with the obstacle even if the outrigger beam protrudes to the side of the vehicle body. As a result, the surrounding display image showing the surroundings of the vehicle body in a plan view shows the extension possible range in which the outrigger beams can project to the side of the vehicle body. Thus, before extending the outrigger beams, it is possible to easily know the extendable range in which the jack does not come into contact with the obstacle. Therefore, it is possible to improve work efficiency when grounding the jack.

In the work vehicle described above, the image processing unit displays a workable range representing a range in which the workbench is allowed to move according to the maximum amount of overhang of the outrigger beams in the overhangable range around the vehicle body, superimposed on the surrounding display image. Display on the device is preferred. As a result, the workable range in which the movement of the workbench is allowed is shown in the surrounding display image showing the surroundings of the vehicle body in a plan view. It becomes possible to easily determine whether or not the workbench can approach the work target located in the surroundings.

In the work vehicle described above, the cameras include a front camera provided in the front part of the vehicle body, a rear camera provided in the rear part of the vehicle body, a left side camera provided in the upper part of the left tool storage part, and a right tool storage part. It is preferred to have a right side camera mounted on the top of the unit. As a result, tool storage sections that can store tools are often formed in the same box-like shape, so by providing left and right side cameras above the left and right tool storage sections, Even if the device layout is changed in terms of design, it is possible to easily determine the arrangement of the left and right side cameras on the vehicle body.

In the work vehicle described above, the jack has a marker detector that detects a marker provided on the jack base and outputs a marker detection signal. Preferably, the operation of the outrigger drive is controlled so that the outrigger beams extend laterally of the vehicle body until the jack moves above the jack base. With this, when the jack base is placed on the ground on the side of the vehicle, the control section controls the operation of the outrigger drive section, and the outrigger beam automatically extends to the side of the vehicle until the jack moves above the jack base. Therefore, the jack can be easily grounded on the desired ground location via the jack base. Therefore, it is possible to improve work efficiency when grounding the jack.

It is the figure which looked at the aerial work vehicle from the left. It is the figure which looked at the aerial work vehicle from upper direction. It is the figure which looked at the aerial work vehicle from the front. It is the figure which looked at the aerial work vehicle from the back. FIG. 3 is a block diagram showing a control system of the aerial work platform; It is the figure which looked at the jack base from upper direction. FIG. 3 is a schematic diagram showing an example of a surrounding display image and a bird's-eye view image displayed on a display device; FIG. 3 is a schematic diagram showing an example of a surrounding display image and a map navigation image displayed on a display device; FIG. 4 is a schematic diagram showing an example of a surrounding display image and a left side display image displayed on a display device;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. A vehicle for high lift work 1 according to the present embodiment is shown in FIGS. 1 to 4. First, the overall configuration of the vehicle for high lift work 1 will be described with reference to these figures. As shown in FIG. 1, the aerial work vehicle 1 has a driving cab 7 in the front part of the vehicle body 2, and is configured based on a track-type vehicle that can run on wheels 3 arranged on the front, rear, left, and right sides of the vehicle body 2. It is

Outrigger jacks 10 are provided on the front, back, left and right of the vehicle body 2 for lifting and supporting the vehicle body 2 during high-place work. As shown in FIGS. 2 and 4, the outrigger jacks 10 include outriggers (outrigger beams) 11 that can extend and contract in the left-right direction (vehicle width direction) of the vehicle body 2, and outriggers 11 that are provided at the tips of the outriggers 11 and extend and contract in the vertical direction. It comprises a possible jack 12 and a ground plate 13 attached to the lower end of the jack 12 . The outrigger 11 is configured to be able to extend 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 vertically extendable by a jack cylinder 16 (see FIG. 5) provided inside the jack 12 . By extending the outriggers 11 to the left and right sides of the vehicle body 2 and extending the jacks 12 to ground the grounding plate 13 on the road surface, the vehicle body 2 is lifted and supported, and the whole vehicle can be kept in a stable state.

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

As shown in FIGS. 1 and 2, a boom swing motor 24 (see FIG. 5) is driven by a boom swing motor 24 (see FIG. 5) in the mounting area behind the operator cab 7 in the vehicle body 2 to horizontally swivel around the vertical axis. A swivel base 20 is provided. A base end of a boom 30 is attached to a post 21 extending upward from the swivel base 20 via a foot pin 22 so as to be vertically swingable (raising and lowering). A left tool storage section 26 and a right tool storage section 27 for storing work tools and work equipment are provided on the left and right sides of the mounting area of the vehicle body 2 . The left tool storage section 26 includes a box-shaped left lower tool box 26a arranged on the left side of the mounting area of the vehicle body 2, and a box-shaped upper left tool box 26b arranged above the left lower tool box 26a. and The right tool storage section 27 includes a box-shaped lower right tool box 27a arranged on the right side of the mounting area of the vehicle body 2, and a box-shaped upper right tool box 27b arranged above the lower right tool box 27a. and

As shown in FIG. 1, the boom 30 has a configuration in which a proximal boom 30a, an intermediate boom 30b, and a distal boom 30c are telescopically combined in order from the swivel base 20 side. The boom 30 can be telescopically moved in the axial direction (longitudinal direction) by the telescopic drive of the boom telescopic cylinder 31 (see FIG. 5). A boom hoisting cylinder 23 (see FIG. 5) is provided between the base end boom 30a and the strut 21. By extending and contracting the boom hoisting cylinder 23, the entire boom 30 can be moved vertically ( vertical plane).

A vertical post 35 (see FIG. 2) is pivotally supported at the tip of the tip boom 30c so as to be vertically swingable. The vertical post 35 consists of 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 end boom 30a and the strut 21. , regardless of the ups and downs of the boom 30, swing control (leveling control) is performed so that the vertical posture is maintained at all times. A workbench 40 for a worker to ride on is attached to the vertical post 35 . The workbench 40 can swing (horizontally turn) around the vertical post 35 by rotationally driving a workbench turning 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 having operation levers, operation switches, operation dials, etc., which are operated by a worker on the workbench 40 . Therefore, by operating the upper operating device 45, a worker on the workbench 40 can turn the swivel base 20 (rotational operation of the boom turning motor 24), raise and lower the boom 30 (extend and retract the boom raising and lowering cylinder 23), operation), expansion and contraction operation of the boom 30 (expansion and contraction operation of the boom telescopic cylinder 31), swing operation of the workbench 40 (rotational operation of the workbench turning motor 37), and the like. As shown in FIG. 4, a lower operating device 50 is provided at the rear portion of the vehicle body 2, and a worker on the ground or on the vehicle body 2 can operate the above-described operating device (an operation similar to that of the upper operating device 45). operation) and operation of the outrigger jacks 10 can be performed.

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

A power take-off mechanism PTO is incorporated in a transmission that shifts the power of the engine E and transmits it to the wheels 3 . When the PTO control lever 75 provided in the driving cab 7 is operated from the off position to the on position, the power take-off mechanism PTO switches the driving destination of the engine E from the wheels 3 to the hydraulic pump 72, and the power of the engine E is switched. The hydraulic pump 72 is driven by. The control valve unit 73 has electromagnetic proportional control valves V1 to V6 corresponding to the boom swing motor 24, boom hoisting cylinder 23, boom telescopic cylinder 31, work platform swing motor 37, outrigger cylinder 15 and jack cylinder 16, respectively. there is The hydraulic drive unit 70 controls the flow of hydraulic oil supplied to each hydraulic actuator according to a command signal from the operation control section 61 of the control unit 60 to operate each hydraulic actuator.

Thus, the operation of each hydraulic actuator is controlled by the control unit 60 (operation control section 61). Therefore, the aerial work vehicle 1 is provided with various detection devices, and detection signals output from these detection devices are input to the control unit 60 . For example, the control unit 60 receives a swing angle detection signal corresponding to the swing angle of the boom 30 (swivel base 20 ) from the boom swing angle sensor 81 , and a boom hoisting angle sensor 82 to the boom hoisting angle sensor 82 . An angle detection signal is input, an extension amount detection signal corresponding to the extension amount of the boom 30 is input from the boom length sensor 83, and a rotation angle detection signal corresponding to the rotation angle of the work table 40 is input from the work table rotation angle sensor 84. be done. Further, for example, the control unit 60 receives an extension amount detection signal corresponding to the amount of extension of the outrigger jacks 10 (outriggers 11) to the side of the vehicle body from the jack extension amount sensor 85, and outputs the outrigger jack from the jack contact sensor 86. 10 (ground plate 13) ground detection signal is input. Further, for example, the control unit 60 receives an inclination angle detection signal corresponding to the front/rear and left/right inclination angles of the vehicle body 2 (road surface) from the vehicle body inclination angle sensor 87, and the vehicle body 2 (road surface) is supplied with an inclination angle detection signal from the traveling speed sensor 88. A running speed detection signal corresponding to the speed is input.

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

In the aerial work vehicle 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 provided at the front of the vehicle body 2 . The front camera 91 is mounted in the vicinity of the front bumper 28 in the front part of the vehicle body 2 so as to face the front of the vehicle body 2 . The front camera 91 includes a lens with a wide angle of view such as a fisheye lens or a super-wide-angle lens, acquires image information of the 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 portion of the vehicle body 2 . The rear camera 92 is mounted in the vicinity of the right tail lamp 29 at the rear of the vehicle body 2 so as to face the rear of the vehicle body 2 . The rear camera 92 is configured similarly to the front camera 91 , acquires image information of the 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. 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 part of the swivel base 20, the cable extending from the rear camera 92 is inserted through a slip ring (not shown) provided on the swivel base 20. good too. 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 of the left tool storage section 26 (upper left tool box 26b) on the left side of the vehicle body 2 so as to face the left side of the vehicle body 2 . The left side camera 93 is configured similarly to 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 of the right tool storage section 27 (upper right tool box 27b) on the right side of the vehicle body 2 so as to face the right side of the vehicle body 2 . The right side camera 94 is configured similarly to the front camera 91 , acquires image information of the right side portion around the vehicle body 2 , and outputs the acquired image information to the control unit 60 .

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

Further, as shown in FIGS. 1 and 2, an obstacle detector 96 is arranged near the outrigger jacks 10 on the vehicle body 2 . The obstacle detector 96 is configured using, for example, LiDAR (Light Detection and Ranging). and outputs an obstacle detection signal corresponding to the measured distance to the obstacle to the control unit 60 . Note that the detectable range SA of the obstacle detector 96 seen from above (in plan view) is indicated by a chain double-dashed line in FIG. The possible range SA is indicated by a chain double-dashed line in FIG.

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

The control unit 60 has the aforementioned operation control section 61, work range setting section 63, and image processing section 65, as shown in FIG. The working range setting unit 63 stores data of a workable range defined as a region in which the tip of the boom 30 (workbench 40) can be moved without overturning the vehicle body 2. The workable range setting unit 63 stores data of the workable range corresponding to each of the four stages of extension amounts of the outrigger jacks 10 (outriggers 11). The workable range setting unit 63 reads data of the workable range corresponding to the maximum amount of extension of the outriggers 11 to the left and right sides of the vehicle body 2 from the data group of the workable range. Hereinafter, the maximum amount of protrusion that the outriggers 11 can extend to the left and right sides of the vehicle body 2 is referred to as "maximum amount of protrusion". The workable range setting unit 63 permits the data of the workable range read out from the data group of the workable range according to the maximum amount of extension of the outriggers 11 when the outriggers 11 are extended by the maximum amount of extension. It is set as a movable area of the tip of the boom 30 that can be moved.

Although illustration is omitted, the outer edge of the workable range (movable range) is structurally set according to the relationship between the range that the length of the boom 30 can take and the range that the hoisting angle of the boom 30 can take. (operation limit line) and the limit line where movement of the tip portion of the boom 30 is prohibited from the viewpoint of preventing the overturning moment from becoming excessive although the tip portion of the boom 30 can be moved structurally. It consists of the set outer edge (regulatory limit line). Hereinafter, the outer edge of the workable range will be referred to as the "limit line" without distinguishing between the operating limit line and the regulatory limit line.

Image processing unit 65 receives image information from front camera 91, rear camera 92, left side camera 93, and right side camera 94, a protrusion amount detection signal from jack protrusion amount sensor 85, and an obstacle detector. An obstacle detection signal from 96 is input. The image processing unit 65 also stores image information of the aerial work platform 1 simplified as viewed from above (plan view) and simplified aerial work platform information viewed from the front and above (overhead view). 1 image information is stored in advance. The image processing unit 65 receives image information of the front portion around the vehicle body 2 input from the front camera 91 , image information of the rear portion around the vehicle body 2 input from the rear camera 92 , and image information from the left side camera 93 . The input image information of the left part around the vehicle body 2, the image information of the right part around the vehicle body 2 input from the right side camera 94, and the aerial work platform 1 simplified in plan view stored in advance. By performing predetermined image processing such as image synthesis and distortion correction using the image information of , a surrounding display image 110 (Fig. 7 ).

The image processing unit 65 also processes image information of the front portion around the vehicle body 2 input from the front camera 91, image information of the rear portion around the vehicle body 2 input from the rear camera 92, and image information of the rear portion around the vehicle body 2 input from the left side camera. The image information of the left portion around the vehicle body 2 input from the camera 93, the image information of the right portion around the vehicle body 2 input from the right side camera 94, and the pre-stored height simplified from a bird's-eye view. A bird's-eye view image showing the surroundings of the vehicle body 2 (that is, the aerial work vehicle 1) seen from above by performing predetermined image processing such as image synthesis and distortion correction using the image information of the work vehicle 1. 140 (see FIG. 7). Image processing unit 65 outputs image information of surrounding display image 110 and overhead image 140 thus generated to display device 100 on the cab side. Based on the image information input from the image processing unit 65, the cab-side display device 100 displays the surrounding display image 110 and the overhead image 140 side by side.

FIG. 7 shows an example of the surrounding display image 110 and the overhead image 140 generated by the image processing section 65. As shown in FIG. The example of FIG. 7 shows a case where the aerial work vehicle 1 is parked near a utility pole WK, which is the object to be worked on. The utility pole WK is erected in the vicinity of the guardrail GR, which is an obstacle. In the surroundings display image 110 shown in FIG. 7, the turning center C of the turning platform 20 is displayed in the aerial work vehicle 1 . 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 simplified in plan view.

In addition, an overhang range display image 121 is superimposed and displayed on the surrounding display image 110 of the cab-side display device 100, as indicated by a two-dot chain line in FIG. The extension range display image 121 indicates a possible extension range in which the tip portion (jack 12 ) of the outrigger 11 can extend to the left and right sides of the vehicle body 2 . When there is no obstacle on the side of the vehicle body 2 and no obstacle detection signal is output from the obstacle detector 96, the possible extension range is such that the outriggers 11 can extend to the left and right sides of the vehicle body 2 by design. Set to the largest possible range. When an obstacle (for example, a guardrail GR) exists on the side of the vehicle body 2 and an obstacle detection signal is output from the obstacle detector 96, the overhangable range is the same as when the outriggers 11 extend to the side of the vehicle body 2. The range is set so that the jack 12 does not come into contact with an obstacle. In this case, the image processing unit 65 obtains the overhangable range corresponding to the distance from the side of the vehicle body 2 to the obstacle based on the obstacle detection signal input from the obstacle detector 96, An overhang range display image 121 is set to indicate the range. Then, the image processing unit 65 performs predetermined image processing such as image synthesis to generate the surrounding display image 110 so that the overhang range display image 121 is superimposed and displayed.

In the example shown in FIG. 7, the extension range display image 121 located on the right side of the vehicle body 2 indicates that the outriggers 11 are located on the right side of the vehicle body 2 as the extension possible range because there is no obstacle on the right side of the vehicle body 2 . Indicates the maximum range that can be projected from the design. The extension range display image 121 positioned on the left side of the vehicle body 2 has the guard rail GR as an obstacle on the left side of the vehicle body 2, so that the extension range is such that even if the outriggers 11 extend to the left side of the vehicle body 2, the jacks 12 can be used. indicates the range where does not contact the guardrail GR. At this time, based on the obstacle detection signal input from the obstacle detector 96, the image processing section 65 obtains the overhangable range corresponding to the distance from the left side of the vehicle body 2 to the guardrail GR.

In addition, a work range display image 125 is superimposed on the surrounding display image 110 of the cab-side display device 100, as indicated by the two-dot chain line in FIG. The work range display image 125 indicates the aforementioned workable range around the vehicle for high lift work 1 . The work range display image 125 has a limit line display image 126 formed in a ring. A limit line display image 126 indicates the limit line in the workable range described above. The image processing unit 65 selects the maximum amount of extension of the outriggers 11 in the possible extension range from the data group of the possible extension range stored in the work range setting unit 63 based on the previously obtained extension range. The workable range data is read, and the limit line display image 126 is set so as to indicate the limit line in the read workable range. Then, the image processing unit 65 performs predetermined image processing such as image synthesis so that the limit line display image 126 (that is, the work range display image 125) is superimposed and displayed around the aerial work vehicle 1. , the surrounding display image 110 is generated.

The limit line shown in the limit line display image 126 is an envelope showing the workable radius of the boom 30 over all turning positions (360 degrees), and is surrounded by the limit line shown in the limit line display image 126. The area that is covered indicates the aforementioned workable range. In addition, the limit line shown in the limit line display image 126 is when the tip of the boom 30 (workbench 40) is at a predetermined reference height (for example, the maximum height to which the tip of the boom 30 can be moved). The limit line in plan view is shown.

In addition, an overhang range display image 151 is superimposed on the bird's-eye view image 140 of the cab-side display device 100, as indicated by the two-dot chain line in FIG. The overhang range display image 151 of the bird's-eye view image 140 indicates the above-described overhangable range, similarly to the overhang range display image 121 of the surrounding display image 110 . The image processing unit 65 sets the overhang range display image 151 of the overhead image 140 in the same manner as the overhang range display image 121 of the surrounding display image 110 . Then, the image processing unit 65 performs predetermined image processing such as image synthesis to generate the bird's-eye view image 140 so that the overhang range display image 151 is superimposed and displayed.

In addition, a work range display image 155 is superimposed on the bird's-eye view image 140 of the cab-side display device 100, as indicated by the two-dot chain line in FIG. The work range display image 155 of the bird's-eye view image 140 indicates the workable range described above, similarly to the work range display image 125 of the surrounding display image 110 . The working range display image 155 has an arc-shaped limit line display image 156 . The limit line display image 156 shows the rear limit line in the workable range described above. The image processing unit 65 sets the limit line display image 156 of the overhead image 140 in the same manner as the limit line display image 126 of the surrounding display image 110 . Then, the image processing unit 65 performs predetermined image processing such as image synthesis so that the limit line display image 156 (that is, the work range display image 155) is superimposed and displayed around the aerial work vehicle 1. , a bird's-eye view image 140 is generated.

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

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

When a display switching operation is performed on the third display switching switch 103, a display switching operation signal is output from the third display switching switch 103 to the control unit 60, and the surrounding display image 110 changes from the overhang range display image 121 and the working range. Switching is made between a display state in which the display image 125 is superimposed and a non-display state in which the overhang range display image 121 and the work range display image 125 are not displayed. Further, when a display switching operation is performed on the third display changeover switch 103, the bird's-eye view image 140 is changed into a display state in which an overhang range display image 151 and a work range display image 155 are superimposed and a display state in which the overhang range display image 151 is displayed. and a non-display state in which the work range display image 155 is not displayed.

In the peripheral display image 110, for example, as shown in FIG. 7, when there is a guardrail GR as an obstacle on the left side of the vehicle body 2, the overhang range display image 121 is used to extend the jack 12 so as not to contact the guardrail GR. It is easy to know the possible range. In the bird's-eye view image 140 as well, the overhang range display image 151 can be used to easily know the possible overhang range in which the jack 12 does not contact the guardrail GR. As a result, by visually recognizing the surrounding display image 110 or the bird's-eye view image 140 displayed on the cab-side display device 100, before the outriggers 11 are extended, the jacks 12 can easily determine the overhangable range in which the jacks 12 do not contact the guardrail GR. can know. Therefore, it is possible to improve work efficiency when grounding the jack 12 .

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

According to the present embodiment, the surrounding display image 110 generated by the image processing unit 65 indicates the possible extension range in which the outriggers (outrigger beams) 11 can extend to the left and right sides of the vehicle body 2, and the extension possible range is shown. The range is set so that when an obstacle (guard rail GR) is detected by the obstacle detector 96, the jack 12 does not come into contact with the obstacle even if the outriggers 11 protrude to the left and right sides of the vehicle body 2. As a result, since the surroundings display image 110 showing the surroundings of the vehicle body 2 in a plan view shows the extension possible range in which the outriggers 11 can extend to the left and right sides of the vehicle body 2, the driving cab side display device 100 By visually recognizing the surrounding display image 110 that is displayed, before extending the outriggers 11, it is possible to easily know the possible extension range in which the jacks 12 do not come into contact with obstacles. Therefore, it is possible to improve work efficiency when grounding the jack 12 .

In addition, the surrounding display image 110 generated by the image processing unit 65 indicates the workable range in which the workbench 40 is allowed to move around the vehicle body 2 according to the maximum amount of extension of the outriggers 11 in the range of possible extension. is preferred. As a result, the workable range in which the workbench 40 is allowed to move is shown in the surroundings display image 110 showing the surroundings of the vehicle body 2 in plan view, so that the surroundings display image 110 displayed on the driving cab side display device 100. By visually recognizing , it is possible to easily determine whether or not the work table 40 can approach the work target (telephone pole WK) located around the vehicle body 2 .

In addition, each camera includes a front camera 91 provided in the front part of the vehicle body 2, a rear camera 92 provided in the rear part of the vehicle body 2, a left side camera 93 provided in the upper part of the left tool storage part 26, A right side camera 94 is preferably provided in the upper portion of the right tool storage section 27 . As a result, the tool storage section is often formed in the same box-like shape. Even if the device layout is changed in terms of design, it is possible to easily determine the arrangement of the left and right side cameras on the vehicle body.

As described above, the jack 12 can lift and support the vehicle body 2 while being grounded via the jack bases 200 placed on the ground on the left and right sides of the vehicle body 2 . In the vehicle for high lift work 1 according to the present embodiment, the outriggers 11 automatically project to the left and right sides of the vehicle body 2 until the jack 12 moves above the jack base 200 . In this case, the operator places the jack bases 200 on the ground on the left and right sides of the vehicle body 2 and automatically extends the outriggers 11 with respect to the lower operating device 50 . When the jack base 200 is placed on the ground on the left and right sides of the vehicle body 2, the jack base 200 is displayed in the surrounding display image 110. Therefore, it is displayed on the driving cab side display device 100 before the outriggers 11 are automatically extended. It is possible to easily determine whether or not the jack base 200 is placed at an appropriate location on the ground by visually recognizing the surrounding display image 110 .

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

A marker detection signal from the marker detection camera 97 is input to the operation control unit 61 . In addition, the operation control unit 61 has a final movement amount of the jack 12 required for the jack 12 to move from the above-described jack base detection position to a position directly above the jack base 200 (directly above), that is, , information on the final extension amount of the outriggers 11 is stored in advance. When the marker detection signal from the marker detection camera 97 is input, the operation control section 61 outputs a command signal based on the final extension amount of the outriggers 11 to the hydraulic drive unit 70 . The hydraulic drive unit 70 controls the flow of hydraulic oil supplied to the outrigger cylinders 15 according to the command signal from the operation control unit 61, and the outriggers 11 are adjusted to the current extension amount (that is, the jack 12 is at the jack base detection position). The outrigger cylinder 15 is actuated so that the outrigger cylinder 15 is further extended by the final extension amount from the extension amount of the outrigger 11 when moved. As a result, when the jack 12 moves from the jack base detection position to the position directly above the jack base, the outriggers 11 stop.

In this manner, the outriggers 11 are automatically extended to the left and right sides of the vehicle body 2 until the jack 12 moves above the jack base 200 (position directly above the jack base). With the jack 12 moved above the jack base 200 , the operator can easily move the jack 12 to the desired ground via the jack base 200 by extending the jack 12 with respect to the lower operating device 50 . can be grounded at Note that the jack 12 may be automatically extended downward toward the jack base 200 when the outriggers 11 are automatically extended to move above the jack base 200 . Further, when only three or less of the four detection markers 221 of the jack base 200 are detected by the marker detection camera 97, the position of the jack base 200 causes the jack 12 to reach above the jack base 200 (true). to the top). In this case, the operation control section 61 may stop outputting the command signal to the hydraulic drive unit 70 and perform control to stop the automatic extension of the outriggers 11 .

According to this embodiment, the jack 12 has a marker detection camera 97 that detects a marker provided on the jack base 200 and outputs a marker detection signal. Based on the marker detection signal, the operation of the outrigger cylinders 15 is controlled so that the outriggers 11 project to the left and right sides of the vehicle body 2 until the jack 12 moves above the jack base 200 . As a result, when the jack base 200 is placed on the ground on the left and right sides of the vehicle body 2 , the operation control unit 61 controls the operation of the outrigger cylinders 15 to automatically move the outriggers until the jack 12 moves above the jack base 200 . Since the jacks 11 protrude to the left and right sides of the vehicle body 2, the jacks 12 can be easily grounded on desired ground locations via the jack bases 200.例文帳に追加Therefore, it is possible to improve work efficiency when grounding the jack 12 .

In the above-described embodiment, the detection marker 221 is configured using a two-dimensional code, but is not limited to this. Any configuration that can be detected by a sensor, camera, or the like may be used. Further, the detection markers 221 are provided on the upper surface side of the four corners of the jack base 200 (frame portion 220), but are not limited to this. may be provided only one.

In the above-described embodiment, the obstacle detector 96 is configured using LiDAR, but is not limited to this, and may be configured using, for example, a stereo camera or the like. to an obstacle can be measured.

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

In the above-described embodiment, the working range display image 125 of the surrounding display image 110 has the limit line display image 126 indicating the limit line when the load on the workbench is a predetermined load. In addition to the limit line display image 126, a second limit line display indicating a limit line in the case of a second load that differs from the predetermined (first) load on the workbench 40 is displayed. It may have an image 126'. Similarly, in addition to the limit line display image 156, the work range display image 155 of the bird's-eye view image 140 is a limit line in the case where the load on the workbench 40 is a second load different from the predetermined (first) load. may have a second limit line display image 156' showing the .

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

In the above-described embodiment, the image processing unit 65 sets the limit line display image 126 of the work range display image 125 (and the limit line display image 156 of the overhead image 140) based on the overhangable range. It is not limited to this. For example, in place of the possible extension range, information regarding the maximum extension amount of the outriggers 11 is input to the image processing section 65 by an input operation to an input section (not shown) provided in the cab 7. good too.

In the above-described embodiment, the telescopic boom type aerial work platform equipped with the telescopic boom 30 and the workbench 40 has been exemplified and explained as the working device, but the present invention is not limited to this, for example, a bending and stretching boom. The present invention can be applied to any work vehicle provided with at least a boom and a workbench that can be hoisted and swiveled freely.

In the above-described embodiment, the PTO-driven aerial work vehicle that takes out the power of the engine E by the power take-off mechanism PTO and drives the hydraulic pump 72 has been described as an example. type (battery-driven) aerial work vehicle, or a hybrid aerial work vehicle that has both of the above and selectively switches the power source.

In the above-described embodiment, the utility pole WK was exemplified as an object to be worked on, but the object is not limited to this, and may be a structure in a road tunnel or a bridge pier.

1 aerial work vehicle 2 vehicle body 10 outrigger jack 11 outrigger (outrigger beam)
12 Jack 15 Outrigger Cylinder 26 Left Tool Storage Section 27 Right Tool Storage Section 30 Boom 40 Workbench 60 Control Unit 61 Operation Control Section 63 Work Range Setting Section 65 Image Processing Section 85 Jack Extension Sensor 91 Front Camera 92 Rear Camera 93 Left Side camera 94 Right side camera 96 Obstacle detector 97 Marker detection camera 100 Driving cab side display device 110 Perimeter display image 121 Overhang range display image 125 Work range display image 200 Jack base 221 Detection marker WK Utility pole GR Guardrail

Claims (4)

a drivable vehicle; and
a working device provided on the vehicle body;
an outrigger beam provided on a side portion of the vehicle body and capable of projecting to the side of the vehicle body;
a jack that is telescopically provided at the tip of the outrigger beam and extends downward to support the vehicle body in a grounded state;
an obstacle detector that detects an obstacle when there is an obstacle on the side of the vehicle body;
a camera provided on the vehicle body for acquiring image information around the vehicle body;
an image processing unit that generates a surrounding display image showing the surroundings of the vehicle body in a plan view using image information of the surroundings of the vehicle body acquired by the camera;
a display device that displays the surrounding display image generated by the image processing unit;
The image processing unit displays, on the display device, an overhangable range representing a range in which the outrigger beam can be overhanged to the side of the vehicle body , superimposed on the surrounding display image ;
When the obstacle detector detects the obstacle, the image processing unit sets the extension possible range to a range in which the jack does not come into contact with the obstacle even if the outrigger beam extends to the side of the vehicle body. A work vehicle characterized by: The working device is
a boom provided on the vehicle body so as to be undulating and rotatable;
a workbench provided at the tip of the boom,
The image processing unit superimposes a workable range representing a range in which the workbench is allowed to move according to the maximum extension amount of the outrigger beams in the extensionable range around the vehicle body on the surrounding display image. 2. The work vehicle according to claim 1, wherein the information is displayed on a display device . a left tool storage section provided on the left side of the vehicle body and capable of storing tools;
a right tool storage section provided on the right side of the vehicle body and capable of storing tools,
The camera is
a front camera provided in the front part of the vehicle body for acquiring image information of a front part around the vehicle body;
a rear camera provided at the rear part of the vehicle body for acquiring image information of a rear part around the vehicle body;
a left-side camera provided on the upper part of the left-side tool storage section for acquiring image information of a left-side portion around the vehicle body;
a right side camera provided in the upper part of the right tool storage section and acquiring image information of a right side portion around the vehicle body;
The image processing unit processes image information of a front portion around the vehicle body acquired by the front camera, image information of a rear portion around the vehicle body acquired by the rear camera, and image information of the rear portion around the vehicle body acquired by the rear camera, and The peripheral display image is generated by using the obtained image information of the left portion of the surroundings of the vehicle body and the image information of the right portion of the surroundings of the vehicle body obtained by the right side camera. The working vehicle according to claim 1 or 2. an outrigger drive unit for projecting the outrigger beam to the side of the vehicle body;
A control unit that controls the operation of the outrigger drive unit,
The jack can support the vehicle body in a grounded state via a jack base placed on the ground on the side of the vehicle body,
The jack has a marker detector that detects a marker provided on the jack base and outputs a marker detection signal,
The controller drives the outriggers based on the marker detection signal input from the marker detector so that the outrigger beams extend laterally of the vehicle until the jack moves above the jack base. 4. The work vehicle according to any one of claims 1 to 3, wherein the operation of a part is controlled.

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