JPH05162976A - Vehicle for work such as vehicle for container hadling work - Google Patents

Abstract

PURPOSE: To improve a field of vision and enhance workability and safety by providing display screens of less number than the number of video cameras for watching conditions of a front area, a rear area, and a load handling head of a vehicle, and a main switch circuit for selectively connecting a pair of the video cameras to the display screens. CONSTITUTION: First and second switches are automatically set at positions MA, NA when a crane is set in a forward position 11A, and an image of a front area of a chassis 1 captured by video cameras A1, A2 is displayed on video monitor screens V1, V2 via a video link. When a reverse lever of the crane is changed to a backward position 11B, a circuit operates to display an image in a backward direction of the crane on the video monitor screens. At a neutral position 11C, the circuit operates to display an image captured by video cameras C1, C2 on the monitor screens V1, V2. Accordingly, safety and controllability of a work vehicle operated by a loading/unloading worker or the like can be significantly improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a load handling vehicle or a cargo handling vehicle such as a container cargo handling vehicle.

[0002]

2. Description of the Related Art A cargo handling vehicle such as a crane vehicle or a working vehicle has a problem that the field of view of an operating vehicle is obstructed during traveling of a work site or during cargo handling work in some kinds of work. Such poor visibility may cause an accident due to delay in finding people, objects, etc. near the vehicle.

When such a cargo handling vehicle is provided with a spreader for handling the container, it may be difficult to fix the container to the spreader. In particular, it may be difficult to fix the container to the spreader when performing operations such as loading and unloading the container.

[0004]

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a cargo handling vehicle that improves the visibility of such a cargo handling vehicle, is easy to work, and has improved safety.

It is another object of the present invention to provide a cargo handling vehicle having an improved field of view by using a plurality of video cameras and a display for displaying images taken by these cameras.

[0006]

In order to achieve the above object, according to the structure of the present invention, a cargo handling work for a container having a movable chassis, a load handling device having a control room and a load handling head. A plurality of video cameras arranged to monitor the front and rear of the vehicle, which cannot be visually observed directly from the control room, and the state of the load handling head, Provided in the control room are a number of display screens less than the number of the video cameras, and a main switch circuit for selectively connecting a set of video cameras composed of a plurality of the video cameras to the display screens. A working vehicle is provided.

In the above configuration of the present invention, the main switch circuit automatically selects the combination of the plurality of video cameras and the display screen in accordance with the operation of the vehicle, so that the vehicle moves forward. The display of the load handling head may be configured to be switched between the front portion and the rear portion of the vehicle in accordance with the backward movement and the backward movement, and the state of the load handling head may be displayed on the display screen when the vehicle is in a fixed state. It is possible. In addition, a changeover switch that can be arbitrarily changed is provided, and the changeover switch can be directly operated by a user, and a connection between some of the video cameras and some of the screens can be selectively changed over so that In addition to the automatic selection of sets and display screens, manual connection of any video camera and display screen may be possible. Furthermore, at least one vehicle has an operating condition monitoring device for cooling water temperature of an internal combustion engine, an operating condition of a load handling device, etc., and the operating condition monitoring device is connected to a central data processing device, and the central data processing device is connected to the central data processing device. It is connected to at least one display screen and has a data display switch, and each data display switch generates a data display command when operated, and sends monitoring data from the selected monitoring device to the central data processing device. It is also possible to display on a connected display screen. In this case, it is convenient if the monitoring information is displayed by being overlaid on the image displayed on the display screen.

According to the embodiment of the configuration of the present invention, one is provided in the right front part of the chassis to photograph the front and left front of the chassis, and the other is provided in the left front part of the chassis to front and front of the chassis. Two front video cameras to shoot the right front, one on the right rear of the chassis to shoot the rear and right rear of the chassis, and the other on the left rear of the chassis to shoot the rear and left rear of the chassis A position at which a vehicle control unit having two rear video cameras, two handling head video cameras provided in the vicinity of the load handling device, and two display screens for controlling the driving of the vehicle advances the vehicle. The one front video camera is connected to one display screen, the other front video camera is connected to the other display screen, and the operation control member is The one rear video camera is connected to one display screen, the other rear video camera is connected to the other display screen, and the operation control member stops the vehicle in a neutral position when operated to a position for retracting the vehicle. One handling head video camera may be connected to one display screen and the other handling head video camera may be connected to the other display screen when operated.

[0009]

Embodiments of the present invention will be described below with reference to the accompanying drawings. The illustrated embodiment shows an example in which the present invention is applied to a crane truck for container handling. The mobile crane according to this embodiment includes a chassis 1, wheels 2 that support the chassis 1 on the ground 3, and a horizontal axis 5 on the chassis 1.
The telescopic arm 4 rotatably attached to the arm 4, the actuator 6 interposed between the arm 4 and the chassis 1 for adjusting the inclination angle of the arm with respect to the chassis, and the container attached to the tip 4A of the arm 4 And a spreader 7 for engagement. Furthermore, this mobile crane
A video camera A1 mounted on the right front part of the chassis 1 for shooting the front and left front, a video camera A2 mounted on the left front part for shooting the front and right front, and mounted on the right rear part of the chassis 1 for rear and right rear A video camera B1 for shooting a video camera B1 and a left rear part of the chassis 1, and a video camera B2 for shooting a rear part and a left rear part, mounted on the right side of the spreader 7, rearward and downward of the spreader, particularly a right engaging corner part with the container 9. Video camera C1 for shooting images and spreader 7
A video camera C mounted on the left side of the camera for photographing the rear side and the lower side of the spreader, particularly the left side engaging corner portion 8 with the container 9.
2 and.

The mobile crane is further provided with a control room 10. The control room 10 is provided with left and right video screens V1 and V2, and a reverse lever for selecting the moving direction of the crane, which can be switched to the forward direction 11A, the backward direction 11B, and the neutral position 11C. There is. Further, the control room 10 is provided with two changeover switch levers, GA and GA, respectively.
It is possible to switch to the positions of GB, GC and HA, HB, HC. Further, the control room 10 is provided with four push buttons E1, E2, E3, E4. The functions of these changeover switches and push buttons will be described later.

The switch circuit includes a reverse lever (11A,
11B, 11C) and three positions of reverse lever (11
A, 11B, 11C), the movable members (MA, M) of the first switch that can be switched to three positions respectively corresponding to
B, MC), reverse lever three positions (11A, 11
B, 11C) second switch movable member (NA, NB, NC) that can be switched to three positions respectively corresponding to
, Reverse lever (11A, 11B, 11C) and respective movable members (MA, MB, MC) and (NA, NB,
It is composed of links 12M and 12N connecting NC),
The position of the reverse lever and the two movable members are configured to surely correspond to each other. In addition, the switch circuit has 3
One video link 13A, 13B, 13C is provided, and the point of the first switch corresponding to the three positions MA, MB, MC of the movable member is the first switching having the three positions GA, GB, GC. It is connected to the corresponding point on the switch lever. Further, the switch circuit is provided with three video links 14A, 14B, 14C, and the points of the first switch corresponding to the three positions NA, NB, NC of the movable member are HA, HB, HC. A second transfer switch with one position is connected to the corresponding point on the lever. The first changeover switch comprises two pairs of positions R1, R2 and R.
3 and R4 and two contact terminals R6 and R7
Has a movable member R5 having
When the first selector switch levers (GA, GB, GC) are not operated by the user, the points R1 and R2 are connected by the terminal R6 and the points R3 and R4 are disconnected.
On the contrary, when the lever (GA, GB, GC) is operated, the terminal R7 connects between the points R3 and R4. At this time, the connection between the points R1 and R2 by the terminal R6 is disconnected. The second changeover switch comprises two pairs of positions S1, S2 and S3.
In addition to having S4, it has a movable member S5 having two contact terminals S6, S7, which is operative when the second changeover switch lever (HA, HB, HC) is not operated by the user. Terminal S6 between S1 and S2
And the points S3 and S4 are cut off. On the contrary, when the lever (HA, HB, HC) is operated,
Terminal S7 connects points S3 and S4. At this time, the terminal S
The connection of points S1 and S2 by 6 is disconnected.

Video link 15 connects point R1 to video link 12M. Video link 16 is at point R2
Is connected to the screen V1. Video link 17
Is the first switch lever (GA, GB, GC)
Is connected to point R3. Video link 18 is M point R4
Are connected to the video link 16. Video link 19
Connects point S1 to video link 12N. Video link 20 connects point S2 to screen V2. The video link 21 is connected to the point S3 of the second changeover switch lever (HA, HB, HC). The video link 22 connects the point S4 and the video link 20. The video links 21A1, 21B1, 21C1 are the video cameras A1, B1C1 and the video links 13A, 13
B and 13C are respectively connected. Video link 21
A2, 21B2, 21C2 are video cameras A2, B
2, C2 and video links 14A, 14B and 14C are connected respectively.

The central data processing unit 22 includes links 23,
24 is connected to the video screens D1 and D2. The central data processing device 22 is also connected to the devices D1, D2, D3, D4 for monitoring the operation of the vehicle. Device D1 monitors the cooling water temperature of the internal combustion engine, device D2 monitors the movement of the telescopic arm, device 3 monitors the condition of the spreader 7, and device 4 monitors the stability of the crane. The central data processing device 22 has push buttons E1, E
2, E3, E4, and monitoring devices D1, D2, D
3, the information monitored by D4 is displayed. This display is overlaid on the K portion of the image displayed on the screen.

The positions MA, MB, MC and NA, NB, NC of the movable members of the first and second changeover switches.
Are the reverse lever positions 11A, 11B, 1 of the crane.
It is configured to be automatically connected by selecting 1C.

However, the user uses the GA, G
It is also possible to select arbitrary positions of B, GC and HA, HB, HC independently of the positions 11A, 11B, 11C of the reverse lever of the crane.

FIGS. 5, 6, and 7 show the point R by the terminals R6 and S6 when the changeover switch levers (GA, GB, GC) and (HA, HB, HC) are not operated.
1, R2 and S1, S2 show different connection states from each other.

FIG. 5 shows the forward position 11A of the crane. Following this, the first and second changeover switches are automatically set to the positions of MA and NA, and the front portion of the chassis 1 photographed by the video cameras A1 and A2 is the video link 21A1-13A-MA-1S-. R6-16
And 21A2-14A-NA-19-S6-20 and displayed on the video monitor screens V1 and V2. Therefore, in the control room, even if the visual field directly visible from the control room is not sufficient, the user can observe at least the part in the advancing direction in front of the crane captured by the video cameras A1 and A2.

Reverse the reverse lever of the crane to the retracted position 11B.
When switched to, the circuit operates in a similar manner to display the crane backwards image on the video monitor screen as shown in FIG.

On the other hand, when the reverse lever of the crane is set to the neutral position 11C, that is, when the chassis 1 is fixed,
The circuit is at the position shown in FIG. 6, and the images taken by the video cameras C1 and C2 are displayed on the monitor screens V1 and V2. This allows the operator to accurately grasp the position of the spreader with respect to the container 9 even if the operator cannot directly observe it, and the user can operate the telescopic arm 4 and the spreader 7. Becomes

The state of the circuit shown in FIG. 8 is particularly advantageous.
In this state, the reverse lever of the crane is
Is set to the retracted position 11B. The first changeover switch lever is set to the position of HA, and the points S3 and S4 are connected via the terminal S7. Switch lever (GA, GB,
GC) is independently operated to the left to form a connection path of R1-R6-R2. In this state, by operating the push buttons E2 and E4, the information from the monitoring devices D2 and D4 can be displayed. When the reverse lever is operated to the retracted position 11B, the movable members of the first and second changeover switches are at the positions MB and NB, respectively. Therefore, the image of the video camera B1 is displayed on the video screen V1 along the path of the video link 21B1-13B-MB-15-R1-16. The video screen V2 also includes video links 21A2-14A-H.
Video camera A along the route A-21-S7-22-20
Two images are displayed. Monitoring device D2 for monitoring the operating state of the arm 4 and monitoring device D for monitoring the stability of the crane
The information from 4 is displayed overlaid on the video screens V1 and V2.

Therefore, the user can observe the rear of the chassis 1 by the image of the video camera B1 by operating the reverse lever to the retracted position, and know the state of the moving direction of the crane. In addition, the user can also observe the front by the image from the video camera A2, so that it is possible to prevent contact with obstacles and other vehicles. By operating the first changeover switch to the position of HA, the image of the video camera A2 can be displayed. While it may be necessary to monitor the front or rear of the crane to obtain information about the operating condition of the crane, this information is
It is possible to display the video screens V1 and V2 overlaid on one or both K portions.

[0022]

As described above, according to the present invention, it is possible to use a plurality of circuits and a small number of video screens to switch and observe the conditions such as the surroundings of a vehicle, thereby enabling a cargo worker to operate. The safety and maneuverability of the work vehicle can be dramatically improved.

The present invention is not limited to the above-described embodiment, but various modifications can be made to the invention, and all the structures are within the scope not departing from the gist of the invention described in the claims. Is included.

For example, the above configuration can be applied not only to the cargo handling vehicle but also to various vehicles.
Further, the detection information such as the operation information of the crane can be displayed on the entire K screen in addition to being displayed by overlaying on the K portion.

[Brief description of drawings]

FIG. 1 is a side view of a cargo handling vehicle according to an embodiment of the present invention.

FIG. 2 is a plan view of the vehicle of FIG. 1 viewed from a direction of an arrow F.

FIG. 3 is a side view showing a working state of the vehicle shown in FIG.

FIG. 4 is a diagram showing a configuration of a control room of the work vehicle shown in FIGS. 1 to 3;

FIG. 5 is a diagram showing an operating state of a control circuit in the vehicle shown in FIGS. 1 to 4;

FIG. 6 is a diagram showing an operating state of a control circuit in the vehicle shown in FIGS. 1 to 4;

FIG. 7 is a diagram showing an operating state of a control circuit in the vehicle shown in FIGS. 1 to 4;

FIG. 8 is a diagram showing another operation state of the same circuit as the circuits shown in FIGS. 5 to 7;

[Explanation of symbols]

 1 Chassis 4 Telescopic Arm 7 Spreader 9 Container A1, A2 Video Camera B1, B2 Video Camera C1, C2 Video Camera V1, V2 Video Monitor Screen

Claims (6)

[Claims] 1. In a working vehicle such as a cargo handling vehicle for a container having a movable chassis and a load handling device having a control room and a load handling head, (a) direct visual observation from the control room A plurality of video cameras arranged to monitor the condition of the front and rear parts of the impossible vehicle and the load handling head; and (b) less than the number of video cameras provided in the control room. A work vehicle, comprising: a plurality of display screens; and (c) a main switch circuit for selectively connecting a set of video cameras composed of a plurality of the video cameras to the display screens. 2. The set of the plurality of video cameras by the main switch circuit and the selection of the display screen are automatically selected according to the movement of the vehicle, and (d) according to the forward and backward movements of the vehicle. The display on the display screen is switched between the front portion and the rear portion of the vehicle to be selected, and (e) the state of the load handling head is displayed on the display screen when the vehicle is in a fixed state. The work vehicle according to claim 1. 3. A switch which can be optionally switched, said switch being directly operable by a user, said connection being selectively switchable between some of said video cameras and some of said screens. The work vehicle according to claim 2, wherein, in addition to the automatic selection of a set of video cameras and a display screen, manual connection of an arbitrary video camera and a display screen is possible. 4. An operating condition monitoring device for at least one of a cooling water temperature of an internal combustion engine of a vehicle, an operating condition of a load handling device, etc., the operating condition monitoring device being connected to a central data processing device. The processing device is connected to at least one display screen and has a data display switch, each data display switch generating a data display command when operated to centralize the monitoring data from the selected monitoring device. A display screen connected to the processing device is used for displaying.
Work vehicle according to any one of 1 to 3. 5. The work vehicle according to claim 4, wherein the monitoring information is displayed by being overlaid on an image displayed on a display screen. 6. Two front video cameras, one of which is provided on the right front part of the chassis to photograph the front and left front of the chassis, and the other of which is provided on the left front part of the chassis to photograph the front and right front of the chassis. , Two rear video cameras, one of which is provided on the right rear part of the chassis to photograph the rear and the right rear of the chassis, and the other of which is provided on the left rear of the chassis to photograph the rear and the left rear of the chassis, and the load handling device. Has two handling head video cameras provided in close proximity to each other and two display screens, and (f) a driving control member for controlling the driving of the vehicle is operated when the vehicle is moved forward. The front video camera is connected to one display screen, the other front video camera is connected to the other display screen, and (g) the driving control member is operated to move the vehicle backward. The one rear video camera is connected to one display screen, the other rear video camera is connected to the other display screen, and (h) the driving control member is operated to a neutral position where the vehicle is stopped. 6. One of the handling head video cameras is connected to one of the display screens, and the other handling head video camera is connected to the other of the display screens. Working vehicle.