A working machine

Abstract

A working machine 10 comprising a ground-engaging propulsion arrangement, a tow hitch mounted to a rear portion of the machine body for hitching a trailer to the working machine; and a camera 50 mount

Description

FIELD The present teachings relate to a working machine, and in particular to a working machine comprising a tow hitch for hitching a trailer to the working machine. BACKGROUND Off-highway vehicles or working machines are for example those used in construction or agricultural industries configured to transport loads over a surface (e.g. backhoe loaders, slew excavators, telescopic handlers, forklifts, skid-steer loaders. One such working machine is a telescopic handler, often referred to as a telehandler or a rotating telehandler, that is typically used to lift, move and place material or cargo. Many working machines include a hitch arrangement via which they can be hitched to a trailer, e.g. fortransporting tools, goods, crops etc. Typically, the hitch arrangement is on a rear portion of the working machine and obscured from the view of an operator seated in an operator station, such as a cab, of the working machine. As such, the operator usually requires assistance to hitch a trailer to the working machine, and is at risk of damaging the working machine and / or trailer if they attempt to hitch without such assistance. To assist operators of such working machines when hitching, it is known to provide a mirror protruding from a rear portion of the working machine, which is angled to enable the operator seated in the operator station to view the hitch arrangement. However, since such mirrors are required to protrude somewhat from the working machine, they are prone to being knocked and damaged by external objects such as trees. Furthermore, such mirrors are usually arranged to the rear of the operator station. As such, the operator is required to look over their shoulder for prolonged periods of time to look at the mirror, which can be inconvenient. It is known to mount a static camera on a rear portion of a working machine to enable the operator to see behind the machine when reversing, to improve safe operation of the machine (e.g. when parking). However, a machine's hitch arrangement tends to be outside the field of view of such cameras, and so they provide little assistance to the operator during a hitching operation. SUMMARY The present teachings seek to overcome or at least mitigate one or more problems associated with the prior art. The present teachings provide a working machine according to the appended claims. An aspect of the teachings provides a working machine. The working machine may comprise a ground-engaging propulsion arrangement. The working machine may comprise a machine body mounted to the ground-engaging propulsion arrangement. The working machine may comprise an operator station for an operator mounted to the machine body. The working machine may comprise a tow hitch mounted to a rear portion of the machine body for hitching a trailer to the working machine. The working machine may comprise a camera mounted to the rear portion of the machine body via a mounting arrangement. The mounting arrangement may be configured such that the camera is pivotable relative to the machine body about a pivot axis between at least first and second positions. In the first position, a field of view of the camera may include a reverse travelling view of the working machine. In the second position, the field of view of the camera may include the tow hitch. Advantageously, by using a single camera to capture images of the working machine's reverse travelling view and the tow hitch, there is no need for an additional optical component on the working machine, such as a mirror, to enable a driver in the operator station to view the tow hitch. Additional optical components may be prone to damage, and so removing such components helps to simplify maintenance of the working machine. Moreover, using a camera to view the tow hitch may make it less arduous for an operator of the working machine since they may view the image on a conveniently located screen in the operator station as opposed to having to look over their shoulder for example. The mounting arrangement may be configured such that the camera is spaced from the pivot axis. Advantageously, such a configuration of the mounting arrangement enables the camera to move away from the machine body so as to get a clearer view of the tow hitch in the second position. The camera may be spaced from the pivot axis via an elongate arm of the mounting arrangement. Advantageously, such a configuration helps to reduce the space envelope of the mounting arrangement, as well as reducing mass and cost. The arm may be substantially U-shaped. The mounting arrangement may be configured to apply a resistance force to the camera so as to resist pivoting of the camera about the pivot axis. The resistance force may be greater in the first and second positions relative to one or more intervening positions. Advantageously, such a configuration helps to maintain the camera in each of the first and second positions, and prevents the camera inadvertently moving away from said position. The resistance force may be greatest in three or more positions, including the first and second positions, relative to intervening positions. Advantageously, such a configuration provides more viewing options. The three or more positions may be substantially equally rotationally spaced about the pivot axis. The rear portion of the machine body may comprise a recess. The camera may be pivotable so as to be located wholly within said recess. Advantageously, the recess may help to protect the camera from damage when wholly located therein. The camera may be wholly within the recess in the first position. The camera may be mounted to a wall of the recess via the mounting arrangement. Advantageously, such a configuration may help improve the packaging of the camera and mounting arrangement on the working machine. The recess may comprise a pair of opposing side walls and a base wall extending therebetween. The camera may be mounted to one of the side walls. The tow hitch may be mounted to a base wall of the recess. The tow hitch and the camera may be laterally offset from each other. Advantageously, such a configuration may help ensure that the camera has a less obstructed view of the tow hitch. In the second position, the camera may be above the tow hitch with respect to a ground plane of the working machine. Advantageously, such a configuration may help ensure that the camera has a less obstructed view of the tow hitch. The mounting arrangement may comprise a shield member at least partially surrounding the camera for shielding the camera from debris. The shield member may comprise a handle for pivoting the camera about the pivot axis. The pivot axis may be substantially parallel to a ground plane of the working machine. The pivot axis may be substantially parallel to a lateral axis of the working machine. The pivot axis may be fixed relative to the machine body. Advantageously, such a configuration helps to simplify implementation of the mounting arrangement. In the first position, a line of sight of the camera may be substantially parallel to a ground plane of the working machine. In the second position, a line of sight of the camera may be substantially normal to a ground plane of the working machine. Advantageously, arranging the line of sight of the camera so to be normal to the ground plane in the second position may provide the camera with a clear view of the tow hitch. In the second position, a line of sight of the camera may be at an oblique angle to a ground plane of the working machine. Advantageously, arranging the line of sight of the camera so to at an oblique angle to the ground plane in the second position may provide the camera with a view of both the tow hitch and the rear travelling view, as well as the trailer. The oblique angle may be in the range of 40 to 50 degrees, for example, approximately 45 degrees. The mounting arrangement may be configured such that the camera is pivotable relative to the machine body to a third position, in which a field of view of the camera includes the reverse travelling view of the working machine and the tow hitch. In the third position, a line of sight of the camera may be at an oblique angle to a ground plane of the working machine. The oblique angle may be in the range of 40 to 50 degrees, for example, approximately 45 degrees. The mounting arrangement may comprise a handle for pivoting the camera about the pivot axis. An angular extent of a field of view of the camera may be in the range of 120 to 150 degrees; optionally, in the range of 130 to 140 degrees, for example, approximately 135 degrees. The working machine may further comprise an actuator arrangement configured to pivot the camera about the pivot axis. Advantageously, the actuator arrangement may enable the camera to be pivoted remotely. The working machine may further comprise a controller configured to control the actuator arrangement based on an input received from one or control input members in the operator station. Advantageously, such a configuration may enable the camera to be pivoted automatically in response to operation of the working machine. The controller may be configured to determine when the working machine is moving, or may imminently move, in a reverse travelling direction based on an input received from the one or control input members. On determining that the working machine is moving, or may imminently move, in the reverse travelling direction, the controller may control the actuator arrangement to pivot the camera to the first position. Advantageously, such a configuration reduces the workload of an operator of the working machine. The controller may be configured to determine when the working machine is being hitched, or may imminently be hitched, to a trailer via the tow hitch based on an input received from the one or control input members. On determining that the working machine is being hitched, or may imminently be hitched, to the trailer via the tow hitch, the controller may be configured to control the actuator arrangement to pivot the camera to the second position. Advantageously, such a configuration reduces the workload of an operator of the working machine. The working machine may further comprise a display system configured to display a live video feed from the camera on a display device in the operator station. The display system may be configured to determine when the working machine is moving, or may imminently move, in a reverse travelling direction based on an input received from one or control input members in the operator station. On determining that the working machine is moving, or may imminently move, in the reverse travelling direction, the display system may be configured to display the live video feed on the display device. Advantageously, such a configuration reduces the workload of an operator of the working machine. The display system may be configured to determine when the working machine has ceased moving in the reverse travelling direction based on an input received from the one or control input members. The display system may be configured to cease displaying the live video feed on the display device only once a predetermined period has elapsed after determining that the working machine has ceased moving in the reverse travelling direction. Advantageously, such a configuration enables the live video feed to keep being displayed even when the working machine is moved forward temporarily to adjust the position of the working machine relative to a trailer when hitching, enabling an operator of the working machine to maintain sight of the relative positions of the tow hitch and trailer. The predetermined period may be in the range of 1 to 5 seconds, for example, approximately 3 seconds. BRIEF DESCRIPTION OF DRAWINGS Embodiments will now be described by way of example only with reference to the accompanying figures, in which: Figure 1 is a side view of a working machine according to an embodiment towing a trailer; Figure 2 is a rear view of part of the working machine of Figure 1 according to an embodiment; Figure 3 is a rear isometric view of part of the working machine of Figure 1 according to an embodiment; Figure 4 is a view along section A-A in Figure 2; Figure 5 is a detail view of a camera and mounting arrangement of the working machine of Figure 1 according to an embodiment; Figure 6 is a block diagram representation of components of the working machine of Figure 1 according to a further embodiment; Figure 7 is a rear isometric view of part of the working machine of Figure 1 according to a further embodiment; and Figure 8 is a rear isometric view of part of the working machine of Figure 1 according to a further embodiment. DETAILED DESCRIPTION In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of various embodiments and the teachings. However, those skilled in the art will understand that: the present teachings may be practiced without these specific details or with known equivalents of these specific details; that the present teachings are not limited to the described embodiments; and, that the present teachings may be practiced in a variety of alternative embodiments. It will also be appreciated that well known methods, procedures, components, and systems may not have been described in detail. References to vertical and horizontal in the present disclosure should be understood to be in relation to the machine when stood on horizontal ground in a non-working condition. The term axial is generally used in relation to the longitudinal axis of the machine. The term width is generally used in relation to the longitudinal length, that is, transverse to the length. With reference to Figures 1, there is illustrated a working machine 10 on a ground plane P. The working machine 10 may be a load handling machine. In this embodiment, the working machine 10 is a telescopic handler. In other embodiments the load handling machine 10 may be a rotating telescopic handler, a forklift, an excavator, a skid-steer loader, a compact track loader, a wheel loader, or a telescopic wheel loader, a tractor, for example. Such working machines may be denoted as off-highway vehicles or as non-road mobile machinery. The working machine 10 has a body 12 mounted to, and supported on, a ground-engaging propulsion arrangement 11. An operator station 14 in the form of a cab is mounted to the body 12. The ground-engaging propulsion arrangement 11 includes a first, or front, axle Al and a second, or rear, axle A2, each axle being coupled to a pair of wheels 16, 18. In other embodiments, the ground-engaging propulsion arrangement 11 may include a pair of endless tracks. The working machine 10 includes a drive arrangement (not shown) for providing motive power to the ground-engaging propulsion arrangement 11. The drive arrangement may comprise a prime mover, such as an internal combustion engine or electric motor, and a transmission. The transmission may include a hydraulic pump arrangement configured to be driven by the prime mover. The operator station 14 includes an operator seat 53. It will be appreciated that in some arrangements, the operator station 14 may be an open canopy rather than an enclosed cab. In the illustrated embodiment, the operator station 14 is mounted on the body 12 so as to be offset from a centre of the body 12. Although in alternative arrangements, the operator station 14 may be substantially central. A working arm 20 is pivotally connected to the body 12 via a mount 15 on the body 12. The working arm 20 may be a telescopic arm. A working implement 22, such as a bucket or pair of forks, may be mounted to a distal end of the arm 20. In some arrangements, the body 12 may include an undercarriage mounted to the groundengaging propulsion arrangement 11, and a superstructure including the operator station 14 and arm 20. The superstructure may be mounted to the undercarriage so as to be supported by the undercarriage. The superstructure may be rotatable (e.g. about a substantially vertical axis) relative to the undercarriage. Put another way, the superstructure may be rotatable relative to the ground engaging propulsion structure. In Figure 1, the working machine 10 is hitched to a trailer 30. The trailer 30 includes a tow member 32, such as a towbar, chain or rope for example, via which the trailer 30 is connected to the working machine 10. With further reference to Figures 2 and 3, the working machine 10 includes a tow hitch 34 for hitching the trailer 30 to the working machine 10. In the illustrated embodiment, the tow hitch 34 includes a clevis 36 and a clevis pin 38. The clevis 36 includes opposing clevis arms 37. Each clevis arm 37 includes a hole 39. The holes 39 are aligned along a common axis such that the clevis pin 38 is receivable in both holes 39. To connect the tow member 32 to the tow hitch 34, an aperture (not shown) in the tow member 32 is aligned with the holes 39 in the clevis arms 37, and the clevis pin 38 is then inserted through both holes 39 and the aperture in the tow member 32 to secure the tow member 32 to the tow hitch 34. The tow hitch 34 is mounted to a rear portion 12R of the body 12 with respect to a fore-aft axis of the working machine 10. In the illustrated embodiment, the rear portion 12R of the body 12 corresponds to a rear portion of an arm housing 40 for housing the arm 20. The arm housing 40 includes the mount 15. In the illustrated embodiment, the operator station 14, which is represented by a rectangle in Figure 2, is forward and to the left of the tow hitch 34. It can be appreciated from at least Figures 1 to 3 that the rear portion 12R of the body 12 obscures the visibility of the tow hitch 34 by an operator O seated in the operator station 14. In Figure 2, the field of view FO of the operator O is represented by a dashed quadrilateral area. The rightmost extent of the operator's field of view FO is delimited by the rear left corner 42 of the arm housing 40. The tow hitch 34 is mounted to a rear wall 44 of the arm housing 40, which is to the right of the rear left corner 42. As such, the operator O when seated in the operator station 14 is unable to view the tow hitch 34 directly (i.e. without assistance). To enable the operator O to see the tow hitch 34, a camera 50 is mounted to the rear portion 12R of the body 12 via a mounting arrangement 52. With further reference to Figure 4, which shows a view along section A-A in Figure 2, the camera 50 has a field of view FC. In the illustrated embodiment, an angular extent of the camera's field of view FC is approximately 135 degrees, but in alternative embodiments may be any angle in the range of 120 to 150 degrees, e.g. in the range of 130 to 140 degrees. The mounting arrangement 52 is configured such that the camera 50 is pivotable relative to the body 12 about a pivot axis X between at least first, second and third positions Pl, P2, P3. In the first position Pl, the field of view FC of the camera 50 includes a reverse travelling view of the working machine 10. By 'reverse travelling view' it is intended to mean a view from the working machine 10 towards a direction in which the working machine 10 is travelling when moving in reverse. In the illustrated embodiment, a line of sight L of the camera 50 in the first position Pl is substantially parallel to the ground plane P, but may be at an angle of less than or equal to 45 degrees to the ground plane P in alternative embodiments. As will be discussed more below, the first position Pl may be considered a stowed position of the camera 50. In the second position P2, the field of view FC of the camera 50 includes the tow hitch 34. In the illustrated embodiment, the line of sight L of the camera 50 in the second position P2 is substantially normal to the ground plane P, but may be at an angle of greater than or equal to 45 degrees to the ground plane P in alternative embodiments. The second position P2 may be considered a hitching position of the camera 50 since it is useful when hitching the working machine 10 to the trailer 30 as the view may give a clear indication of the alignment of the aperture or eye of the tow member 32 relative to the hitch. In the third position P3, the field of view FC of the camera 50 includes both the reverse travelling view of the working machine 10 and the tow hitch 34. In the illustrated embodiment, the line of sight L of the camera 50 in the third position P3 is at an oblique angle to the ground plane P. Such an oblique angle may be in the range of 40 to 50 degrees, for example, approximately 45 degrees. The third position P2 may be considered a hybrid position of the camera 50 since it enables a view of both the reverse travelling direction and the tow hitch 34. In at least the first and third positions Pl, P3, the field of view FC of the camera 50 may include the trailer 30, enabling the contents of the trailer 30 and / or its position relative to obstacles to be monitored. The first, second and third positions Pl, P2, P3, and potential further positions in alternative embodiments, may be substantially equally rotationally spaced about the pivot axis X. Advantageously, by using a single camera 50 to capture images of the working machine's reverse travelling view and the tow hitch 34, there is no need for any additional optical components on the working machine 10, such as a mirror, to enable the operator seated in the operator station 14 to view the tow hitch 34. Optical components such as mirrors are prone to damage, being knocked out of position or requiring the position to be adjusted for different operators. As such, avoiding the use of such additional optical components helps to improve visibility of the tow hitch 34 and simplify maintenance of the working machine 10, and may reduce costs, especially by comparison with machines fitted with a fixed rear view camera and a mirror to view the hitch. Referring to Figure 2, the working machine 10 incudes a display system 102 configured to display an image captured by the camera 50 on a display device 54 in the operator station 14. In the illustrated embodiment, the camera 50 is connected to provide a live video feed to the display device 54 in line of sight of the operator O when seated in a seat 53 in the operator station 14. In this embodiment the display device 54 is mounted in the operator station 14 forward and to the right of the seat 53, below the eyeline of the operator O. This location is beneficial as it is generally the same direction in which the operator O will naturally look when seated in the seat 53. Hence, using the camera 50 to view the tow hitch 34 may make it less arduous for the operator O to view the tow hitch 34 compared to the prior art since they can maintain their normal driving seated position, and are not required to look over their shoulder for prolonged periods of time. In this embodiment, the camera 50 is a digital video camera with a CMOS or CCD-type sensor whose video signal is transmitted to a controller 100 via a dedicated signal cable. In other embodiments, the video signal may be transmitted wirelessly to the controller 100. The controller 100 may process the video signal e.g. to adjust brightness, sharpness or contrast or to overlay markings or data thereon, before transmitting the signal in near real-time to the display 54. In this embodiment the display 54 is a multi-function screen, such as a TFT LCD that may be utilised by the controller 100 to display machine operating data, such a fuel level, engine speed, machine settings etc. As such, the camera video signal may occupy only part of the total area of the display 54, with other data on a separate area. In addition or alternatively, a user input 55 such a button, dial or touch-sensitive part of the display 54 itself may be utilised by the operator O to signal the controller 100 to switch between different display layouts, some of which may not include the camera output. Further, the operator O may be able to use the user input 55 to alter the view from the camera 50 shown on the display 54. For example, the operator O may be able to digitally or optically zoom in on part of the field of view FC. If a digital zoom, the effect of the zoom may be achieved by displaying the output of a subset of the individual photosensors of the camera 50 on the display 54. For example, for a camera having a 4000x3000 array of photosensors (pixels), a cropped array of 1000x750 photosensor signals may be shown on the display 54 to achieve a narrower, zoomed in field of view. The camera 50 may also be able to digitally create an effect of panning or tilting the camera by moving the cropped view around the complete photosensor array utilising the user input 55 by the movement of a box signifying the cropped field of view. The controller 100 is configured to control the display 54 based on an input received from one or control input members 82 in the operator station 14. Such control input members 82 may include the user input 55, a joystick, a gear selector, a steering wheel, and a foot pedal for example. In some embodiments, the controller 100 is configured to determine that the working machine 10 is moving, or may imminently move, in a reverse travelling direction based on an input received from the one or control input members 82 e.g. when a reverse gear is selected. On determining that the working machine 10 is moving, or may imminently move, in the reverse travelling direction, the controller 100 is configured to display the live video feed from the camera 50 on the display device 54. Advantageously, automatically showing the live feed of the camera 50 on the display device when the machine 10 is or is likely to reverse increases the visibility of the operator O when it is needed without them having to provide any additional inputs to the controller 100, reducing their workload. The controller 100 is configured to determine when the working machine 10 has ceased, or will imminently cease, moving in the reverse travelling direction based on an input received from the one or control input members 82. In some embodiments, the controller 100 is configured to cease displaying the live video feed from the camera on the display device 54 only once a predetermined period has elapsed after determining that the working machine 10 has ceased, or will imminently cease, moving in the reverse travelling direction. The predetermined period may be in the range of 1 to 5 seconds, for example, approximately 3 seconds. Advantageously, such a configuration enables the live video feed to keep being displayed on the display 54 even when the working machine 10 is moved forward briefly to adjust the position of the working machine 10 relative to the trailer 30 when hitching, enabling the operator O to maintain sight of the relative positions of the tow hitch 34 and trailer 30. The controller 100 may comprise: control circuitry; and / or processor circuitry; and / or at least one application specific integrated circuit (ASIC); and / or at least one field programmable gate array (FPGA); and / or single or multi-processor architectures; and / or sequential / parallel architectures; and / or at least one programmable logic controllers (PLCs); and / or at least one microprocessor; and / or at least one microcontroller; and / or a central processing unit (CPU), to perform the described methods. The controller may include an associated memory or the memory may be located locally to the controller or remotely. The memory may be a non-volatile flash memory. As shown in Figure 2, the tow hitch 34 and the camera 50 are laterally offset from each other with respect to a centre plane CP of the working machine 10. Such an arrangement provides space on the rear portion 12R of the body 12 for electrical or hydraulic components of a range of tow hitches in other embodiments as described in more detail below. In the illustrated embodiment, the camera 50 is above the tow hitch 34 with respect to the ground plane P in all three positions Pl, P2, P3. Arranging the camera 50 so as to be above the tow hitch 34 in the second position P2 ensures that the field of view FC of the camera 50 shows the interaction between the tow member 32 of the trailer 30 and the clevis 36 more clearly. With reference to Figures 2 to 4, the rear portion 12R of the body 12 includes a recess 60 formed of a pair of opposing side walls 62 and a base wall 44 extending therebetween. In the illustrated embodiment, the base wall 44 corresponds to the rear wall 44 of the arm housing 40, and the side walls 62 correspond to longitudinal side plates of the arm housing 40, which are major structural members of the chassis. The camera 50 is mounted to one of the side walls 62 (the rightmost in the illustrated embodiment) via the mounting arrangement 52. The tow hitch 34 is mounted to the base wall 44. In alternative embodiments (not shown), the camera 50 may additionally or alternatively be mounted to the base wall 44 via the mounting arrangement 52. In alternative embodiments (not shown), the recess 60 may have any suitable mounting arrangement. The camera 50 is pivotable via the mounting arrangement 52 so as to be located wholly within the recess 60. In the illustrated embodiment, the camera 50 is located wholly within the recess 60 when in the first position Pl, as shown in Figure 4. As such, when the camera 50 is in the first position Pl, the side walls 62 of the recess 60 help to protect the camera 50 from damage caused by knocks from external objects. Hence, the camera 50 may be stowed in the first position Pl when not in use to reduce the risk of damage to the camera 50. In the illustrated embodiment, the pivot axis X is substantially parallel to a lateral axis of the working machine 10 (i.e. a horizontal axis perpendicular to a fore-aft axis of the machine 10). In alternative embodiments, the pivot axis X may have any suitable orientation, e.g. any orientation in which the pivot axis X is substantially parallel to the ground plane P. In the illustrated embodiment, the pivot axis X is fixed relative to the body 12, but may be movable relative thereto in alternative embodiments. For example, the pivot axis X may itself be pivotable relative to the body 12 about a further axis. With reference to Figure 5, the mounting arrangement 52 includes an arm 70, a pivot mechanism 72 and a mounting bracket 74. The camera 50 is mounted to the mounting bracket 74. The pivot mechanism 72 is mounted to the rear portion 12R of the body 12 (i.e. the side wall 62 in the illustrated embodiment). A first end 70a of the arm is mounted to the pivot mechanism 72. A second end 70b of the arm 70 is mounted to the bracket 74. In the illustrated embodiment, the camera 50 and the mounting bracket 74 are spaced from the pivot axis X via the arm 70. As such, pivoting the camera 50 about the pivot axis X varies a horizontal distance between the camera 50 and the body 12, as shown in Figure 4. This helps ensure that the camera 50 has an unobstructed view of the tow hitch 34 in the second position P2. In alternative embodiments (not shown), the pivot axis X may intersect the camera 50 and / or the bracket 74. In the illustrated embodiment, the arm 70 is elongate and is provided as a tube or rod, but may have any suitable configuration in alternative embodiments. The arm 70 is substantially U-shaped, and may be formed via bending of the tube or rod. The first end 70a of the arm 70 is aligned with the pivot axis X. The second 70b of the arm 70 is parallel to, and spaced from, the pivot axis X. In some embodiments, the mounting arrangement 52 may be configured such that the bracket 74 is pivotable relative to the second end 70b of the arm 70. The bracket 74 includes a shield member 76 at least partially surrounding the camera 50 for shielding the camera 50 from debris and impact. In the illustrated embodiment, the shield member 76 is a U-shaped channel which covers top, base and rear portions of the camera 50 as shown in Figure 4. The shield member 76 includes a handle 78 for pivoting the camera 50 about the pivot axis X. The pivot mechanism 72 is aligned with the pivot axis X, and is configured to enable the camera 50 to pivot relative to the body 12. In the illustrated embodiment, the pivot mechanism 72 is configured to apply a resistance force to the arm 70 acting to resist pivoting of the camera 50 about the pivot axis X. This resistance force must be overcome to pivot the camera 50 about the pivot axis X, e.g. by pulling on the handle 78 with sufficient force. The resistance force applied to the arm 70 is non-uniform and is greatest in the first, second and third positions Pl, P2, P3 relative to intervening positions. The pivot mechanism 72 may apply the resistance force via a cam and spring type arrangement, e.g. such as a knockback mechanism. Such an arrangement helps to maintain the camera 50 in each of the first, second and third positions Pl, P2, P3 during operation of the working machine 10, but may enables the camera 50 to be moved between the positions Pl, P2, P3 by manually pivoting the camera 50. Moreover, when the camera 50 is in the third position P3, for example, such a configuration of the pivot mechanism 72 enables the camera 50 to move relative to the body 12 of the working machine 10 when knocked so as to reduce risk of damage to the camera 50 and / or the mounting arrangement 52. In the foregoing embodiment, the camera 50 is pivoted about the pivot axis X manually (e.g. via the hand of the operator O pulling on the handle 78). With reference to Figure 6, in an alternative embodiment, the working machine 10 may include an actuator arrangement 80 configured to pivot the camera 50 about the pivot axis X. The actuator arrangement 80 may include a rotary actuator, such as a motor, within the pivot mechanism 72 for example, or a linear actuator connected between the arm 70, bracket 74 or camera 50 and the body 12, for example. The controller 100 may be configured to control the actuator arrangement 80 based on an input received from one or control input members 82 in the operator station 14. In an exemplary mode of the controller 100, the controller 100 may control the actuator arrangement 80 to pivot the camera 50 to the first position Pl on determining that the working machine 10 is moving, or may imminently move, in the reverse travelling direction. The controller 100 may simultaneously display the live video feed from the camera 50 on the display device 54 as previously discussed. As such, the operator O is able to view the rear travelling view of the working machine 10 automatically when reversing the machine, allowing them to reverse safely whilst reducing their workload. In an exemplary mode of the controller 100, the controller 100 may be configured to determine when the working machine 10 is to be hitched to the trailer 30 via the tow hitch 34 based on an input received from the one or control input members 82, e.g. when the working machine 10 is controlled to (e.g. hydraulically or electrically) move the tow hitch 34 such that it can be connected to a tow member 32, in embodiments in which the tow hitch 34 has such functionality (see below). On determining that the working machine 10 is being hitched, or may imminently be hitched, to a trailer 30 via the tow hitch 34, the controller 100 may control the actuator arrangement 80 to pivot the camera 50 to the second position P2. The controller 100 may simultaneously display the live video feed from the camera 50 on the display device 54. As such, the operator O is able to view the tow hitch 34 automatically when hitching the machine 10 to the trailer 30, allowing them to perform the hitching operation effectively whilst reducing their workload. In the foregoing embodiments, the tow hitch 34 is of the fixed clevis fastener type requiring manual insertion of a pin to attach the trailer. In alternative embodiments, the tow hitch may instead be a hydraulically operated hitch 34' shown in Figure 7 which enables the trailer to be attached remotely by hooking and lifting a suitable trailer tow member with a tow hook 200 connected to a hydraulic actuator (not visible) operable from an auxiliary hydraulic service of the machine, until the tow member is securely held between the hook 200 and an abutment 202. Figure 8 illustrates a further embodiment of hitch, referred to as a ladder hitch 34". The ladder hitch provides multiple vertical positions to mount a clevis for tow members of different trailers that are arranged at different heights. Both hitches 34' and 34" extend up a significant portion of the base wall and project rearwardly. The position of camera 50 and its ability to move rearwardly as 5 it pivots down is such that it is able to work with hitches 34, 34' and 34" and have visibility of the clevises / hook. The one or more embodiments are described above by way of example only and it will be appreciated that the variations are possible without departing from the scope of protection afforded by the appended claims. 10

Claims

1. A working machine comprising:a ground-engaging propulsion arrangement;a machine body mounted to the ground-engaging propulsion arrangement;an operator station for an operator mounted to the machine body;a tow hitch mounted to a rear portion of the machine body for hitching a trailer to the working machine; anda camera mounted to the rear portion of the machine body via a mounting arrangement,wherein the mounting arrangement is configured such that the camera is pivotable relative to the machine body about a pivot axis between at least first and second positions, wherein, in the first position, a field of view of the camera includes a reverse travelling view of the working machine, andwherein, in the second position, the field of view of the camera includes the tow hitch.

2. The working machine of claim 1, wherein the mounting arrangement is configured such that the camera is spaced from the pivot axis.

3. The working machine of claim 2, wherein the camera is spaced from the pivot axis via an elongate arm of the mounting arrangement; optionally, wherein the arm is substantially U-shaped.

4. The working machine of any preceding claim, wherein the mounting arrangement is configured to apply a resistance force to the camera so as to resist pivoting of the camera about the pivot axis, and wherein the resistance force is greater in the first and second positions relative to one or more intervening positions.

5. The working machine of claim 4, wherein the resistance force is greatest in three or more positions, including the first and second positions, relative to intervening positions; optionally, wherein the three or more positions are substantially equally rotationally spaced about the pivot axis.

6. The working machine of any preceding claim, wherein the rear portion of the machine body comprises a recess, and wherein the camera is pivotable so as to be located wholly within said recess; optionally, wherein the camera is wholly within the recess in the first position.

7. The working machine of claim 6, wherein the camera is mounted to a wall of the recess via the mounting arrangement; optionally, wherein the recess comprises a pair of opposing side walls and a base wall extending therebetween, and wherein the camera is mounted to one of the side walls.

8. The working machine of claim 7, wherein the tow hitch is mounted to a base wall of the recess.

9. The working machine of any preceding claim, wherein the tow hitch and the camera are laterally offset from each other.

10. The working machine of any preceding claim, wherein, in the second position, the camera is above the tow hitch with respect to a ground plane of the working machine.

11. The working machine of any preceding claim, wherein the mounting arrangement comprises a shield member at least partially surrounding the camera for shielding the camera from debris; optionally, wherein the shield member comprises a handle for pivoting the camera about the pivot axis.

12. The working machine of any preceding claim, wherein the pivot axis is substantially parallel to a ground plane of the working machine.

13. The working machine of claim 12, wherein the pivot axis is substantially parallel to a lateral axis of the working machine.

14. The working machine of any preceding claim, wherein the pivot axis is fixed relative to the machine body.

15. The working machine of any preceding claim, wherein, in the first position, a line of sight of the camera is substantially parallel to a ground plane of the working machine.

16. The working machine of any preceding claim, wherein, in the second position:a line of sight of the camera is substantially normal to a ground plane of the working machine; ora line of sight of the camera is at an oblique angle to a ground plane of the working machine; optionally, wherein the oblique angle is in the range of 40 to 50 degrees, for example, approximately 45 degrees.

17. The working machine of any preceding claim, wherein the mounting arrangement is configured such that the camera is pivotable relative to the machine body to a third position, in which a field of view of the camera includes the reverse travelling view of the working machine and the tow hitch; optionally, wherein, in the third position, a line of sight of the camera is at an oblique angle to a ground plane of the working machine; optionally, wherein the oblique angle is in the range of 40 to 50 degrees, for example, approximately 45 degrees.

18. The working machine of any preceding claim, wherein the mounting arrangement comprises a handle for pivoting the camera about the pivot axis.

19. The working of any preceding claim, wherein an angular extent of a field of view of the camera is in the range of 120 to 150 degrees; optionally, in the range of 130 to 140 degrees, for example, approximately 135 degrees.

20. The working machine of any preceding claim, further comprising an actuator arrangement configured to pivot the camera about the pivot axis.

21. The working machine of claim 20, further comprising a controller configured to control the actuator arrangement based on an input received from one or control input members in the operator station.

22. The working machine of claim 21, wherein the controller is configured to: determine when the working machine is moving, or may imminently move, in a reverse travelling direction based on an input received from the one or control input members, and on determining that the working machine is moving, or may imminently move, in the reverse travelling direction, control the actuator arrangement to pivot the camera to the first position; and / ordetermine when the working machine is being hitched, or may imminently be hitched, to a trailer via the tow hitch based on an input received from the one or control input members, and on determining that the working machine is being hitched, or may imminently be hitched, to the trailer via the tow hitch, control the actuator arrangement to pivot the camera to the second position.

23. The working machine of any preceding claim, further comprising a display system configured to display a live video feed from the camera on a display device in the operator station.

24. The working machine of claim 23, wherein the display system is configured to determine when the working machine is moving, or may imminently move, in a reverse travelling direction based on an input received from one or control input members in the 5 operator station, and on determining that the working machine is moving, or may imminently move, in the reverse travelling direction, display the live video feed on the display device.

25. The working machine of claim 24, wherein the display system is configured to 10 determine when the working machine has ceased moving in the reverse travelling direction based on an input received from the one or control input members, and cease displaying the live video feed on the display device only once a predetermined period has elapsed after determining that the working machine has ceased moving in the reverse travelling direction; optionally, wherein the predetermined period is in the range of 1 to 5 seconds, 15 for example, approximately 3 seconds.

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