Camera system and work vehicle

Abstract

To provide a camera system and a work vehicle that are able to check the front and side of a lifted load.SOLUTION: A camera system 3, which is a camera system for imaging the region around a forklift, includes: a camera 4; a lifting / lowering mechanism 5 that lifts / lowers the camera 4 in a vertical direction with respect to the forklift; a direction adjustment mechanism 6 that adjusts a vertical direction of the camera 4 and a direction in a horizontal plane thereof; an extending / retracting mechanism 7 that allows the camera to extend and retract in the forward / backward direction with respect to the forklift. The camera 4 is positioned by at least one of the lifting / lowering mechanism 5, the direction adjustment mechanism 6, and the extending / retracting mechanism 7 so as to be able to image an area in front of a claw tip of a fork of the forklift and above a backrest of the forklift.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a camera system and a work vehicle. [Background technology]

[0002] When a forklift is lifting a load, the load blocks the forward view from the driver's seat. To address this issue, a forklift work part visual inspection device is known that includes a video camera attached to the work movable part in order to visually check the work part of the work vehicle, and a monitor attached to the vehicle body in which the operator sits (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-026474 A Summary of the Invention [Problem to be solved by the invention]

[0004] When loading and unloading a load using a forklift, it is desirable to be able to check the front and sides of the load that is being lifted. With the technology described in Patent Document 1, it is difficult to check the front and sides of the load that is being lifted.

[0005] An aspect of the present disclosure aims to provide a camera system and a work vehicle that can check the front and sides of a lifted load. [Means for solving the problem]

[0006] According to an aspect of the present disclosure, there is provided a camera system for photographing an area around a forklift, comprising a camera, a lifting mechanism for raising and lowering the camera in a vertical direction relative to the forklift, a direction adjustment mechanism for adjusting the vertical direction and direction in a horizontal plane of the camera, and an extension mechanism for extending the camera in a forward / backward direction relative to the forklift, wherein the camera can be positioned by at least one of the lifting mechanism, the direction adjustment mechanism, and the extension mechanism so that it can photograph an area forward of the tips of the forks of the forklift and above the backrest of the forklift.

[0007] According to an aspect of the present disclosure, there is provided a work vehicle including the above camera system, a vehicle body, and a work implement. Effect of the Invention

[0008] According to aspects of the present disclosure, a camera system and a work vehicle are provided that are capable of viewing the front and sides of a lifted load. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic view of a forklift according to an embodiment, as viewed from the left side. [Diagram 2] FIG. 2 is a schematic diagram of the camera system according to the embodiment, showing the stored state of the camera system. [Diagram 3] FIG. 3 is a schematic diagram of the camera system according to the embodiment, showing the lifting mechanism in a raised state. [Figure 4] FIG. 4 is a schematic diagram of the camera system according to the embodiment, showing a state in which the up-down direction is changed by the direction adjustment mechanism. [Diagram 5] FIG. 5 is a schematic diagram of the camera system according to the embodiment, showing the extended state of the telescopic mechanism. [Figure 6] FIG. 6 is a schematic diagram of the lifting mechanism according to the embodiment, seen from the front side. [Figure 7] FIG. 7 is a partially enlarged view of FIG. [Figure 8] FIG. 8 is a schematic diagram of the lifting mechanism according to the embodiment as viewed from the front, showing the lifting mechanism in a lowered state. [Figure 9] FIG. 9 is a schematic diagram of the lifting mechanism according to the embodiment as viewed from the front, showing the lifting mechanism in a raised state. [Figure 10] FIG. 10 is a schematic diagram of a vertical direction adjustment mechanism of the direction adjustment mechanism according to the embodiment. [Figure 11] FIG. 11 is a schematic diagram of the up-down direction adjustment mechanism of the direction adjustment mechanism according to the embodiment, showing a state in which the up-down direction is changed. [Figure 12] FIG. 12 is a schematic diagram of a left-right direction adjustment mechanism of the direction adjustment mechanism according to the embodiment. [Figure 13] FIG. 13 is a schematic diagram of a direction adjustment mechanism according to an embodiment. [Figure 14] FIG. 14 is a schematic side view of the extension mechanism according to the embodiment. [Figure 15] FIG. 15 is a schematic diagram of the extension mechanism according to the embodiment, as viewed obliquely from above. [Figure 16] FIG. 16 is a schematic diagram of a slider of the expansion mechanism according to the embodiment. [Figure 17] FIG. 17 is a schematic diagram showing cross-sectional deformation of a fastener in an expansion mechanism according to an embodiment. [Figure 18] FIG. 18 is a schematic diagram showing a cross section of the expansion mechanism according to the embodiment in a state where the fastener is open. [Figure 19] FIG. 19 is a schematic diagram showing a cross section of the expansion mechanism according to the embodiment in a state where the fastener is closed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited thereto. The components of each embodiment described below can be appropriately combined. In addition, some components may not be used.

[0011] In the embodiment, the positional relationship of each part will be described using the terms left, right, front, rear, top, and bottom. These terms indicate relative positions or directions based on the origin of the vehicle body coordinate system defined for the forklift. Regarding left and right, the right side is the right when facing the front of the forklift, and the left side is the left.

[0012] <Overall configuration of forklift> The work vehicle has a work machine. In the embodiment, the work vehicle 1 is a forklift 1. In the embodiment, the work vehicle 1 is appropriately referred to as a forklift 1. Note that the work vehicle is not particularly limited to a forklift, and may be, for example, a shovel, a wheel loader, etc.

[0013] Fig. 1 is a schematic diagram of a forklift according to an embodiment, seen from the left side. The forklift 1 includes a vehicle body 10, a power source (not shown), a working machine 2 disposed in front of the vehicle body 10, a traveling device supporting the vehicle body 10, and a cab 20. The power source drives a hydraulic pump and a transmission (not shown). The power source is, for example, an engine.

[0014] A work machine 2 for lifting transported objects is installed in front of the vehicle body 10. The work machine 2 has a backrest 15, a mast 14, a fork 13, a lift cylinder (not shown), and a tilt cylinder (not shown). The mast 14 is attached to the front of the vehicle body 10 so as to be rotatable about a left-right axis. The mast 14 can be tilted forward or backward with respect to the vehicle body 10. The backrest 15 is supported by the mast 14. The backrest 15 rises and falls along the mast 14. The fork 13 is supported by the backrest 15. The fork 13 rises and falls along the mast 14 together with the backrest 15.

[0015] The lift cylinder moves the backrest 15 and the forks 13 up and down relative to the vehicle body 10. The tilt cylinder tilts the mast 14 forward and backward relative to the vehicle body 10. The side shift cylinder moves the backrest 15 and the forks 13 left and right relative to the vehicle body 10.

[0016] The traveling gear causes the forklift 1 to travel. The traveling gear controls the movement, braking, and steering of the forklift 1. The traveling gear has front wheels 11 and rear wheels 12.

[0017] The front wheels 11 and the rear wheels 12 each support the vehicle body 10. At least a portion of the front wheels 11 is disposed below the vehicle body 10. At least a portion of the rear wheels 12 is disposed below the vehicle body 10. The front wheels 11 are disposed forward of the rear wheels 12. The front wheels 11 are disposed on the left and right sides of the vehicle body 10. The rear wheels 12 are disposed on the left and right sides of the vehicle body 10. The front wheels 11 and the rear wheels 12 are each rotatable around a rotation axis.

[0018] The travel motor (not shown) generates a driving force for propelling the forklift 1. The travel motor rotates the front wheels 11 to move the forklift 1 forward or backward. The travel motor is driven by hydraulic oil discharged from a hydraulic pump (not shown).

[0019] The display device 25 is a monitor disposed in the operator's cab 20. The display device 25 processes and displays information relating to the entire work vehicle, for example.

[0020] The display device 25 may be a flat panel display such as a liquid crystal display or an organic EL (Electroluminescence) display that displays images captured by the camera 4. The display device 25 controls the display of images by a monitor controller (not shown).

[0021] The operation device 26 is an operation interface arranged in the cab 20. The operation device 26 inputs various operations for the camera system 3. The operation device 26 accepts operations by, for example, a joystick, a directional button, etc. The operation device 26 inputs operations to control the elevation and lowering of the lifting mechanism 5. The operation device 26 inputs operations to control direction adjustment by the direction adjustment mechanism 6. The operation device 26 inputs operations to control extension and retraction by the extension mechanism 7.

[0022] <Camera system> FIG. 2 is a schematic diagram of the camera system according to the embodiment, showing a stored state of the camera system. FIG. 3 is a schematic diagram of the camera system according to the embodiment, showing a raised state of the lifting mechanism. FIG. 4 is a schematic diagram of the camera system according to the embodiment, showing a state in which the vertical direction is changed by the direction adjustment mechanism. FIG. 5 is a schematic diagram of the camera system according to the embodiment, showing an extended state of the telescopic mechanism. The camera system 3 photographs the periphery of the forklift 1. The camera system 3 includes a camera 4, a lifting mechanism 5, a direction adjustment mechanism 6, and a telescopic mechanism 7. The camera system 3 goes from the stored state shown in FIG. 2 through the state shown in FIG. 3, which is a raised state, by the lifting mechanism 5, through the state shown in FIG. 4, in which the direction of the camera 4 is changed downward by the direction adjustment mechanism 6, to the state shown in FIG. 5, which is a forward extended state, by the telescopic mechanism 7. Note that even in the state shown in FIG. 5, the direction of the camera 4 can be adjusted.

[0023] The camera 4 captures images of the surroundings in front of the forklift 1. The camera 4 wirelessly transmits the captured images to a controller (not shown) of the forklift 1. The camera 4 is adjustable in its vertical position, front-rear position, vertical direction, and direction within the horizontal plane by the camera system 3. The camera 4 is disposed at the tip of the extension mechanism 7.

[0024] The camera 4 is positioned by at least one of the lifting mechanism 5, the direction adjustment mechanism 6, and the telescopic mechanism 7 so as to be able to capture an image in front of the tips of the forks 13 of the forklift 1 and above the backrest 15 of the forklift 1.

[0025] The camera 4 is suspended from the tip of the telescopic mechanism 7. The camera 4 may be suspended from the tip of the telescopic mechanism 7 via a bellows member or the like, for example. The suspended camera 4 hangs vertically from the tip of the telescopic mechanism 7 due to its own weight. This keeps the attitude of the camera 4 constant with respect to the ground, and stabilizes the direction of the captured image.

[0026] In the embodiment, the camera 4 is provided, but instead of the camera 4, a sensor may be provided.

[0027] <Lifting mechanism> FIG. 6 is a schematic diagram of the lifting mechanism according to the embodiment as viewed from the front side. FIG. 7 is a partially enlarged view of FIG. 6. FIG. 8 is a schematic diagram of the lifting mechanism according to the embodiment as viewed from the front side, showing the lifting mechanism in a lowered state. FIG. 9 is a schematic diagram of the lifting mechanism according to the embodiment as viewed from the front side, showing the lifting mechanism in an elevated state. The lifting mechanism 5 moves up and down. The lifting mechanism 5 lifts and lowers the camera 4, the direction adjustment mechanism 6, and the telescopic mechanism 7. The lifting mechanism 5 is fixed to the inside of the mast 14 in the left-right direction behind the backrest 15 of the forklift 1. The lifting mechanism 5 includes a frame 50, a slide rail 51, a wire 52, a pulley 53, and a motor 5M.

[0028] The frame 50 supports the entire camera system 3. The frame 50 is fixed to the inside of the mast 14 in the left-right direction behind the backrest 15 of the forklift 1. The frame 50 includes a base portion 50B, an arm portion 50L, and an arm portion 50R. The frame 50 is formed into a substantially U-shape by the base portion 50B, the arm portion 50L, and the arm portion 50R.

[0029] The frame 50 is located inside the backrest 15 in the left-right direction.

[0030] The base portion 50B is located below the entire camera system 3. The base portions 50B are disposed parallel to each other in the left-right direction.

[0031] The arm unit 50L is located on the left side of the entire camera system 3. The arm unit 50L is disposed parallel to the vertical direction. The lower end of the arm unit 50L is connected to the left end of the base unit 50B.

[0032] The arm unit 50R is disposed facing the arm unit 50L in the left-right direction. The arm unit 50R is located on the right side of the entire camera system 3. The arm unit 50R is disposed parallel to the up-down direction. The lower end of the arm unit 50R is connected to the right end of the base unit 50B.

[0033] The slide rail 51 is arranged with a pair of slide rails 51L and 51R facing each other on the left and right. The slide rail 51 moves up and down in multiple stages. The slide rails 51L and 51R are arranged spaced apart in the left and right direction. The slide rail 51L is arranged on the left side of the backrest 15. The slide rail 51R is arranged on the right side of the backrest 15. The slide rails 51L and 51R are configured in the same manner. When there is no particular need to distinguish between the slide rails 51L and 51R, they will be described as slide rails 51.

[0034] The slide rail 51 has multiple stages in the vertical direction. In the embodiment, the slide rail 51 is arranged in two stages in the vertical direction. In the embodiment, the slide rail 51 includes a lower stage slide rail 511 and an upper stage slide rail 515. The raised state of the slide rail 51 is a state in which at least one of the slide rail 511 and the slide rail 515 is raised. The lowered state of the slide rail 51 is a state in which the slide rail 511 and the slide rail 515 are lowered.

[0035] When the slide rail 51 is in the lowered state, it is stored inside in the left-right direction from the backrest 15. When the slide rail 51 is in the lowered state, it is preferable that the upper end of the slide rail 51 is located lower than the backrest 15. In other words, the upper end of the lifting mechanism 5 is located lower than the upper end of the backrest 15 when the slide rail 51 is lowered and stored.

[0036] When the slide rail 51 is displaced from the lowered state to the raised state, the slide rail 515 rises, and then the slide rail 511 rises. More specifically, the slider 517 slides and rises along the guide rail 516. Then, the slider 513 to which the guide rail 516 is fixed rises along the guide rail 512. In this manner, the slide rail 511 and the slide rail 515 rise relative to the backrest 15.

[0037] When the slide rail 51 changes from the raised state to the lowered state, the slide rail 515 descends, and then the slide rail 511 descends. More specifically, the slider 517 slides and descends along the guide rail 516. Then, the slider 513 to which the guide rail 516 is fixed descends along the guide rail 512. In this manner, the slide rail 511 and the slide rail 515 descend relative to the backrest 15.

[0038] The slide rail 511 is disposed on the arm portion 50L or the arm portion 50R of the frame 50. The slide rail 511 includes a guide rail 512 and a slider 513.

[0039] The guide rails 512 are fixed to the arm portion 50L or the arm portion 50R of the frame 50. The guide rails 512 are disposed parallel to each other in the vertical direction.

[0040] The slider 513 is disposed so as to be slidable relative to the guide rail 512. The slider 513 moves up and down along the guide rail 512. A slide rail 515 is fixed to the slider 513. The slider 513 moves up and down while the slide rail 515 is in a raised state.

[0041] The slide rail 515 is disposed inside the slide rail 511 in the left-right direction. The slide rail 515 is connected to the slide rail 511. The slide rail 515 includes a guide rail 516 and a slider 517.

[0042] The guide rails 516 are fixed to the slider 513. The guide rails 516 rise and fall in conjunction with the rise and fall of the slider 513. The guide rails 516 are disposed parallel to each other in the vertical direction.

[0043] The slider 517 is disposed so as to be slidable relative to the guide rail 516. The slider 517 moves up and down while the slider 513 is in the lowered state. A direction adjustment mechanism 6 is disposed on the upper end of the slider 517.

[0044] The wire 52 raises and lowers the slide rail 51. When the wire 52 is wound up, the slide rail 51 is in an elevated state. When the wire 52 is let out, the slide rail 51 is in a lowered state. One wire 52 is disposed on the pair of left and right slide rails 51 via a plurality of pulleys 53. One end of the wire 52 is connected to a winding drum 54L, which will be described later, and the other end is connected to a winding drum 54R, which will be described later.

[0045] The pulley 53 includes a pulley 531L, a pulley 532L, a pulley 533L, a pulley 534L, a pulley 531R, a pulley 532R, a pulley 533R, and a pulley 534R.

[0046] The pulley 531L is disposed at the upper end of the guide rail 512L. The pulley 532L is disposed at the lower end of the guide rail 516L. The pulley 533L is disposed at the upper end of the guide rail 516L. The pulley 534L is disposed at the upper end of the slider 517L.

[0047] Pulley 531R is disposed at the upper end of guide rail 512R. Pulley 532R is disposed at the lower end of guide rail 516R. Pulley 533R is disposed at the upper end of guide rail 516R. Pulley 534R is disposed at the upper end of slider 517R.

[0048] Between the winding drum 54L side and the winding drum 54R, the wire 52 is hung around the pulley 531L, the pulley 532L, the pulley 533L, the pulley 534L, the pulley 534R, the pulley 533R, the pulley 532R, and the pulley 531R in this order.

[0049] The winding drum 54 winds or unwinds the wire 52. The winding drum 54 is disposed on a rotating shaft AX1, which is an output shaft of the motor 5M. The winding drum 54 rotates together with the rotating shaft AX1. When the winding drum 54 is rotated by the motor 5M to wind the wire 52, the lifting mechanism 5 is raised. When the winding drum 54 is rotated by the motor 5M to unwind the wire 52, the lifting mechanism 5 is lowered. The motor M controls the rotation speed of the winding drum 54, thereby controlling the lifting speed of the lifting mechanism 5. The winding drum 54 is disposed as a pair on the left and right, with the winding drum 54L and the winding drum 54R.

[0050] The winding drum 54L is disposed at one end of the rotary shaft AX1 in the axial direction, on the lower end side of the guide rail 512L. The winding drum 54L winds up one end of the wire 52.

[0051] The winding drum 54R is disposed at the other axial end of the rotary shaft AX1, on the lower end side of the guide rail 512R. The winding drum 54L winds up the other end of the wire 52.

[0052] The motor 5M is a power source for the lifting mechanism 5. The motor 5M supplies power for driving the lifting mechanism 5. The motor 5M rotates the rotation axis AX1 via a plurality of gears (not shown).

[0053] The lifting mechanism 5 may include a compensation mechanism 58 .

[0054] The compensation mechanism 58 compensates for the device load of the camera system 3. The compensation mechanism 58 includes a gas spring 581.

[0055] An example of the compensation mechanism 58 will be described with reference to Fig. 7. The compensation mechanism 58 includes a pair of gas springs 581L and 581R on the left and right, a wire 582, a winding drum 583, a pulley 584, a pulley 585, and a gear 586. The gas springs 581L and 581R are arranged parallel to the vertical direction. The wire 582 is wound by the winding drum 583. The winding drum 583 is connected to a motor 5M via a gear 586. The winding drum 583 is rotated by the motor 5M.

[0056] By the lifting mechanism 5 configured in this manner, the camera 4 is positioned so as to be able to photograph the area above the backrest 15 of the forklift 1.

[0057] <Direction adjustment mechanism> FIG. 10 is a schematic diagram of the vertical direction adjustment mechanism of the direction adjustment mechanism according to the embodiment. FIG. 11 is a schematic diagram of the vertical direction adjustment mechanism of the direction adjustment mechanism according to the embodiment, and is a diagram showing a state in which the vertical direction is changed. FIG. 12 is a schematic diagram of the left-right direction adjustment mechanism of the direction adjustment mechanism according to the embodiment. FIG. 13 is a schematic diagram of the direction adjustment mechanism according to the embodiment. FIG. 15 is a schematic diagram of the direction adjustment mechanism according to the embodiment, and is a diagram showing a state in which the vertical direction is changed. The direction adjustment mechanism 6 adjusts the vertical direction and the direction in the horizontal plane of the camera 4 and the telescopic mechanism 7. The direction adjustment mechanism 6 adjusts the direction in the horizontal plane perpendicular to the vertical direction and the vertical direction. The direction adjustment mechanism 6 is disposed between the upper end of the lifting mechanism 5 and one end of the telescopic mechanism 7. The direction adjustment mechanism 6 includes a frame 60, a first bearing 61, and a second bearing 65. In the embodiment, the direction adjustment mechanism 6 adjusts the direction when the slide rail 51 is in the raised state by the lifting mechanism 5.

[0058] The frame 60 includes a wall portion 60A, a wall portion 60B, and a bottom portion 60C. The wall portion 60A, the wall portion 60B, and the bottom portion 60C are formed of plate material. The wall portion 60A and the wall portion 60B are disposed facing each other. The bottom portion 60C is formed on a plane when viewed in the up-down direction. The bottom portion 60C connects the lower end portion of the wall portion 60A to the lower end portion of the wall portion 60B. The lower end portion of the wall portion 60A and the lower end portion of the wall portion 60B are disposed on the peripheral portion of the bottom portion 60C.

[0059] The first bearing 61 supports the rotation axis AX2 for adjusting the yaw angle. The first bearing 61 supports the rotation axis AX2 that is parallel in the vertical direction. The upper end of the rotation axis AX2 is fixed to the bottom part 60C. The lower end of the rotation axis AX2 is fixed to the attachment part 62. The attachment part 62 is fixed to the upper end of the lifting mechanism 5.

[0060] The direction adjustment mechanism 6 includes a wire 621, a winding drum 622, a support portion 623, and a spring 624. One end of the wire 621 is fixed to the winding drum 622, and the other end is fixed to the support portion 623. The winding drum 622 winds up the wire 621. The support portion 623 is fixed to the telescopic mechanism 7. A part of the periphery of the support portion 623 is formed in an arc shape. The wire 621 is located in an arc-shaped groove portion 625 of the support portion 623. The springs 624 are arranged as a pair on the left and right. Both ends of the spring 624 are fixed to both side surfaces of the support portion 623 and a wall portion erected from the bottom portion 60C of the frame 60. The spring 624 is biased in a direction that tilts the camera and the telescopic mechanism 7 forward as shown in FIG. 11 from the basic position shown in FIG. 10.

[0061] The motor 6M1 transmits power to the rotating shaft AX5 via multiple gears 6G1. The rotating shaft AX5 rotates the winding drum 622. When the wire 621 is wound around the winding drum 622, the camera 4 and the telescopic mechanism 7 are raised upward to their basic positions as shown in FIG.

[0062] The second bearing 65 supports the rotation axis AX3 and the rotation axis AX4 for adjusting the pitch angle. The second bearing 65 supports the rotation axis AX3 and the rotation axis AX4 arranged in a plane perpendicular to the up-down direction. The direction adjustment mechanism 6 is connected to the telescopic mechanism 7 via the rotation axis AX3 and the rotation axis AX4.

[0063] The motor 6M2 transmits power to the rotation shaft AX6 via multiple gears 6G2. When the rotation shaft AX6 rotates, the directions of the camera 4 and the telescopic mechanism 7 in the horizontal plane are adjusted.

[0064] The direction adjustment mechanism 6 configured in this manner enables the camera 4 to be positioned forward of the tips of the forks 13 of the forklift 1 and above the backrest 15 of the forklift 1 so as to be able to capture images in any direction.

[0065] <Extension mechanism> FIG. 14 is a schematic diagram of the telescopic mechanism according to the embodiment seen from the side. FIG. 15 is a schematic diagram of the telescopic mechanism according to the embodiment seen from the diagonal upper side. FIG. 16 is a schematic diagram of the slider of the telescopic mechanism according to the embodiment. FIG. 17 is a schematic diagram showing the cross-sectional deformation of the fastener in the telescopic mechanism according to the embodiment. FIG. 18 is a schematic diagram showing a cross-section of the telescopic mechanism according to the embodiment in an open state of the fastener. FIG. 19 is a schematic diagram showing a cross-section of the telescopic mechanism according to the embodiment in a closed state of the fastener. In FIG. 14 and FIG. 16, the shape of the arm 71 is illustrated typically. The telescopic mechanism 7 moves the camera 4 in the front-rear direction relative to the forklift 1. The telescopic mechanism 7 is disposed at the upper end of the direction adjustment mechanism 6. The telescopic mechanism 7 includes a case 70, an arm 71, a winding roller 72, a delivery roller 73, and a fastener slider 74. The telescopic mechanism 7 extends the arm 71 on which the camera 4 is disposed in the front-rear direction. In this embodiment, the extension / retraction mechanism 7 extends and retracts the arm 71 when the slide rail 51 is in the raised state by the lifting mechanism 5.

[0066] The case 70 is formed in a box shape and accommodates the members of the extension mechanism 7, such as the arm 71, the take-up roller 72, the delivery roller 73, and the fastener slider 74, in the internal space of the case 70.

[0067] The arm 71 supports the camera 4. The arm 71 is made of a flexible material. The arm 71 includes an arm body 711 and a fastener 714 made of a tape 712 and an element 713.

[0068] The arm body 711 is formed of a windable plate material. The arm body 711 has a planar shape and is wound up around the winding roller 72. The camera 4 is disposed on one end of the arm body 711 in the longitudinal direction.

[0069] The shape of the arm body 711 changes between when it is being let out and when it is being taken up. When the fastener 714 is open, the arm body 711 is in the shape of a flat plate, and when the fastener 714 is closed, tension acts on the arm body 711 in the width direction and the arm body 711 is curved. The arm body 711 is sent forward by the delivery roller 73 with the center part in the width direction curved. The arm body 711 sent forward has a narrower width in a plan view than when it is taken up by the take-up roller 72. The ends of the tape 712 in the width direction are fixed to the ends of the arm body 711 in the width direction.

[0070] The fastener 714 is closed by meshing the meshing portions 713a of the pair of elements 713 with each other. The fastener 714 is opened by disengaging the meshing portions 713a of the pair of elements 713 with each other. The fastener 714 separates or integrates the pair of tapes 712 by opening and closing the elements 713. The width of the fastener 714 with the elements 713 closed is narrower than the width of the arm main body 711 in the wound state. The fastener 714 is opened and closed by a fastener slider 74 described later.

[0071] The tapes 712 are arranged as a pair corresponding to the pair of elements 713. The tapes 712 are folded back at the middle in the width direction. The width of the tape 712 in the folded back state is narrower than half the width of the arm body 711. The tape 712 in the folded back state is arranged with the openings on the opposite sides to the fold facing each other. The pair of tapes 712 are arranged to sandwich the arm body 711 from both ends in the width direction.

[0072] An element 713 is fixed to an end 712a in the width direction of one of the pair of tapes 712. An element 713 is fixed to an end 712a in the width direction of the other of the pair of tapes 712. An end 712b in the width direction of one of the pair of tapes 712 is fixed to an end 711c in the width direction of the arm body 711. An end 712b in the width direction of the other of the pair of tapes 712 is fixed to an end 711d in the width direction of the arm body 711. An intermediate portion in the width direction of the pair of tapes 712 is not fixed to the arm body 711. This allows the pair of tapes 712 to slide relative to the arm body 711. By closing the element 713, the fastener 714 is closed and the arm body 711 is curved. By opening the element 713, the fastener 714 is opened and the arm body 711 becomes flat.

[0073] The motor 7M is a power source for the extension mechanism 7. The motor 7M supplies power for driving the extension mechanism 7. The motor 7M rotates the rollers 727 and 738 via a plurality of gears 7G.

[0074] The winding roller 72 winds up the arm 71. The winding roller 72 winds up the arm 71 when the fastener 714 is opened and the arm body 711 is in a flat state. The winding roller 72 is disposed inside the case 70 on the side closer to the direction adjustment mechanism 6. The roll-shaped arm 71 wound around the winding roller 72 is regulated from shifting in position inside the case 70 by guide rollers 722, 723, 724, and 725.

[0075] A timing belt 721 is wound around the winding roller 72, the roller 726, and the roller 727. The winding roller 72 is rotated by the motor 7M when the extension mechanism 7 is contracted, and winds up the arm 71.

[0076] The feed-out roller 73 feeds out the arm 71. The feed-out roller 73 feeds out the arm 71 when the fastener 714 is closed and the arm body 711 is curved. The feed-out roller 73 is disposed inside the case 70 on the side farther from the direction adjustment mechanism 6. The feed-out roller 73 is disposed spaced apart from the take-up roller 72 in the feed-out direction of the arm 71. The feed-out roller 73 supports the arm 71 from below.

[0077] A friction member such as rubber may be disposed on the outer circumferential surface of the delivery roller 73 in order to increase friction with the arm 71.

[0078] A timing belt 731 is wound around rollers 732, 737, and 738, which are arranged on the same rotation axis as the feed roller 73. When the extension mechanism 7 is extended, the feed roller 73 is rotated by the motor 7M to feed the arm 71 forward.

[0079] The arm 71 sent out from the sending roller 73 is regulated in its positional deviation within the case 70 by the guide rollers 733 , 734 , 735 and 736 .

[0080] The guide roller 733 is disposed opposite the feed roller 73 with the arm 71 in between. The guide rollers 734 and 735 are spaced apart from the feed roller 73 in the feed direction of the arm 71. The guide rollers 734 and 735 are disposed opposite to each other with the arm 71 in between.

[0081] The fastener slider 74 opens and closes the fastener 714 of the arm 71. The fastener slider 74 is disposed between the take-up roller 72 and the feed roller 73. The fastener slider 74 engages with the element 713 of the fastener 714 of the arm 71. The fastener slider 74 includes a pressing plate 741 and a slider body 742. The pressing plate 741 is formed in a plate shape. The pressing plate 741 is disposed between the take-up roller 72 and the feed roller 73. The pressing plate 741 presses the arm 71 on the take-up roller 72 side from above with respect to the slider body 742. The slider body 742 is disposed in a position of the pressing plate 741 away from the take-up roller 72.

[0082] The slider body 742 protrudes from the pressing plate 741. When the arm 71 is being advanced, the fastener 714 of the arm 71 that has passed through the slider body 742 closes. When the arm 71 is being wound up, the fastener 714 of the arm 71 that has passed through the slider body 742 opens.

[0083] At a portion where the fastener 714 of the arm 71 is spaced from the slider body 742, the fastener 714 of the arm 71 closes.

[0084] By the telescopic mechanism 7 configured in this manner, the camera 4 can be positioned so as to be able to photograph the area in front of the tips of the forks 13 of the forklift 1.

[0085] <Action and action> When the camera system 3 is stored (not in use), the camera system 3 is stored behind the backrest 15 as shown in Fig. 2. The lifting mechanism 5 is in a lowered state. The telescopic mechanism 7 is in a state in which the winding roller 72 has wound up the arm 71.

[0086] When the camera system 3 is activated, the attitude of the camera system 3 changes from the stored state shown in FIG. 2 to that shown in FIG.

[0087] First, from the stored state, the lifting mechanism 5 is raised to the raised state as shown in Fig. 3. The height of the lifting mechanism 5 in the raised state is controlled by the operation of the operating device 26.

[0088] Then, as shown in FIG. 4, the direction adjustment mechanism 6 causes the camera 4 and the telescopic mechanism 7 to tilt forward.

[0089] Then, as shown in FIG. 5, the camera 4 is sent forward by the arm 71 through the telescopic mechanism 7.

[0090] In this manner, the camera 4 is moved to a position where it can capture images of the front and sides of the lifted baggage.

[0091] <Effects> As described above, in the embodiment, the camera 4 is positioned by at least one of the lifting mechanism 5, the direction adjustment mechanism 6, and the telescopic mechanism 7 so as to be able to capture an image of the area in front of the tips of the forks 13 of the forklift 1 and above the backrest 15 of the forklift 1. In this way, according to the embodiment, it is possible to check the front and sides of the lifted load.

[0092] In the embodiment, in the telescopic mechanism 7, the fastener 714 closes as the fed arm 71 passes through the fastener slider 74, and the cross-sectional shape of the arm 71 changes. In the embodiment, the width of the fastener 714 is narrower than the width of the arm body 711 when the fastener 714 is closed. In the embodiment, the arm body 711 is flat and plate-like when the fastener 714 is open, and curves due to tension acting in the width direction when the fastener 714 is closed. According to the embodiment, sufficient strength for supporting the camera 4 can be obtained when extended (when in use). According to the embodiment, when wound (when not in use), the camera can be wound around the winding roller 72 and stored in a space-saving manner.

[0093] In this embodiment, the telescopic mechanism 7 can perform extension and winding by a single motor 7M.

[0094] In the embodiment, the camera 4 is suspended from the tip of the extension mechanism 7 via a bellows member or the like. According to the embodiment, the suspended camera 4 hangs vertically from the tip of the extension mechanism 7 due to its own weight. According to the embodiment, the attitude of the camera 4 with respect to the ground becomes constant, and the direction of the captured image can be naturally stabilized.

[0095] In this embodiment, when stored (not in use), the lifting mechanism 5 is stored inside in the left-right direction of the backrest 15. In this embodiment, it can be stored in a small space.

[0096] In the embodiment, the lifting mechanism 5 lifts and lowers the slide rail 51 by letting out and taking up the wire 52. According to the embodiment, the slide rail 51 can be lifted and lowered smoothly. According to the embodiment, when the slide rail 51 of the lifting mechanism 5 or the like comes into contact with a surrounding object, the flexibility of the wire 52 causes the slide rail 51 to deform, thereby suppressing the impact caused by the contact.

[0097] In the embodiment, the lifting mechanism 5 winds or feeds the wire 52 by driving the motor 5M via a plurality of gears. According to the embodiment, it is possible to prevent the slide rail 51 from accidentally dropping.

[0098] In the embodiment, the slide rails 51L and 51R of the lifting mechanism 5 are disposed spaced apart in the left-right direction. According to the embodiment, when the slide rails 51 are raised, visibility from the driver's seat can be ensured.

[0099] In the embodiment, the lifting mechanism 5 can compensate for the device load by a gas spring 581 .

[0100] In the embodiment, the direction adjustment mechanism 6 can adjust the vertical direction by the wire 621 and the spring 624. According to the embodiment, when the camera 4 and the telescopic mechanism 7 whose directions have been adjusted come into contact with a surrounding object, the change in direction can suppress the impact caused by the contact.

[0101] In the embodiment, the direction adjustment mechanism 6 winds or unwinds the wire 621 by driving the motor 6M1 via a plurality of gears 6G1. According to the embodiment, it is possible to prevent the camera 4 and the telescopic mechanism 7 from accidentally changing their directions. [Explanation of symbols]

[0102] 1...forklift (work vehicle), 3...camera system, 4...camera, 5...lifting mechanism, 5M...motor, 6...direction adjustment mechanism, 6G1...gear, 6G2...gear, 6M1...motor, 6M2...motor, 7...telescopic mechanism, 7M...motor, 10...vehicle body, 11...front wheel, 12...rear wheel, 13...fork, 14...mast, 15...backrest, 20...operator cab, 25...display device, 26...operating device, 50...frame , 51...slide rail, 52...wire, 53...pulley, 54...winding drum, 60...frame, 60A...wall portion, 60B...wall portion, 60C...bottom portion, 61...first bearing, 62...mounting portion, 65...second bearing, 70...case, 71...arm, 72...winding roller, 73...feed roller, 74...fastener slider, 711...arm body, 712...tape, 713...element, 714...fastener.

Claims

1. A camera system for photographing an area around a forklift, A camera and a lifting mechanism for lifting the camera up and down relative to the forklift; a direction adjustment mechanism for adjusting the vertical direction and the direction in the horizontal plane of the camera; an extension mechanism for extending the camera in a front-rear direction relative to the forklift; Equipped with The camera is positioned by at least one of the lifting mechanism, the direction adjustment mechanism, and the telescopic mechanism so as to be able to photograph an area in front of the tips of the forks of the forklift and above the backrest of the forklift. Camera system.

2. The lifting mechanism is disposed behind the backrest of the forklift and on the inside in the left-right direction of the mast of the forklift. The camera system of claim 1 .

3. The lifting mechanism is fixed to a backrest of the forklift, The direction adjustment mechanism is disposed at an upper end of the lift mechanism, The telescopic mechanism is disposed at an upper end of the direction adjustment mechanism, The camera is disposed at the tip of the telescopic mechanism. The camera system of claim 1 .

4. The lifting mechanism includes a pair of slide rails arranged in multiple stages in the vertical direction and facing each other in the width direction, When the slide rail is lowered and stored, the upper end of the lifting mechanism is located below the upper end of the backrest. The camera system of claim 1 .

5. The camera is suspended from the tip of the telescopic mechanism. The camera system of claim 1 .

6. A camera system according to any one of claims 1 to 5; The car body and A working machine, A work vehicle equipped with:

Images