Work vehicle

Abstract

To provide a working vehicle in which a camera for photographing the rear side of a vehicle body can be arranged below right and left frames of a working device.SOLUTION: The work vehicle includes a vehicle body, a work device connected to the vehicle body, and a camera configured to capture an image behind the vehicle body, the vehicle body includes a vehicle body front-rear frame extending in a front-rear direction and a vehicle body left-right frame extending in a left-right direction and connected to a rearmost portion of the vehicle body front-rear frame, the work device includes a device front-rear frame extending in the front-rear direction and a device left-right frame extending in the left-right direction and connected to a rearmost portion of the device front-rear frame, and the device left-right frame is disposed so as to overlap the vehicle body left-right frame in an up-down direction and has a gap with the vehicle body left-right frame in at least a part in the left-right direction. The camera is disposed in the gap.SELECTED DRAWING: Figure 12

Description

[Technical Field]

[0001] The present specification relates to a work vehicle. [Background technology]

[0002] Conventionally, for example, a work vehicle includes a vehicle body, a work implement connected to the vehicle body, and a camera that captures images behind the vehicle body. Patent Document 1 listed below discloses that in a work vehicle that includes a vehicle body frame (hereinafter referred to as the vehicle body frame) and a work implement frame (hereinafter referred to as the implement frame) that is provided on the vehicle body frame, the implement frame includes a pair of left and right front and rear frames that extend in the front-to-rear direction, and a cross member (hereinafter referred to as the left and right frames) that extends in the left-to-right direction and is connected to the rear ends of the pair of left and right front and rear frames, by arranging a rear camera (also referred to as a back camera) below the left and right frames, the rear camera is less likely to be interfered with by obstacles from above.

[0003] However, depending on the vehicle, the body frame may be disposed closely below the left and right frames of the work device, making it impossible to dispose the backup camera below the left and right frames of the work device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6737825 Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, an object of the present invention is to provide a work vehicle in which cameras that capture images behind the vehicle body can be disposed below the left and right frames of the work device. [Means for solving the problem]

[0006] The work vehicle includes a vehicle body, a work device connected to the vehicle body, and a camera that captures images behind the vehicle body. the vehicle body includes front and rear vehicle body frames extending in a front-rear direction, and left and right vehicle body frames extending in a left-right direction and connected to rearmost portions of the front and rear vehicle body frames, the working device includes a front-rear device frame extending in a front-rear direction, and a left-right device frame extending in a left-right direction and connected to a rearmost portion of the front-rear device frame, the left and right device frames are arranged to overlap the left and right vehicle body frames in the up-down direction, and have a gap between them in at least a portion of the left and right direction; The camera is positioned in the gap. [Brief explanation of the drawings]

[0007] [Figure 1] Overall view of a work vehicle according to this embodiment [Figure 2] 1 is a flow chart of a work vehicle according to the present embodiment (a: unloading work flow chart, b: loading work flow chart). [Figure 3] 1 is an explanatory diagram of a loading and unloading operation of a work vehicle according to the present embodiment; [Figure 4] 1 is an explanatory diagram of a loading and unloading operation of a work vehicle according to the present embodiment; [Figure 5] 1 is an explanatory diagram of a loading and unloading operation of a work vehicle according to the present embodiment; [Figure 6] 1 is an explanatory diagram of a loading and unloading operation of a work vehicle according to the present embodiment; [Figure 7] FIG. 10 is an explanatory diagram of a load moving operation of the work vehicle according to the present embodiment; [Figure 8] FIG. 1 is an explanatory diagram of a dumping operation of a work vehicle according to an embodiment of the present invention; [Figure 9] Control block diagram of a work vehicle according to this embodiment. [Figure 10] Control block diagram of the processing apparatus according to the present embodiment. [Figure 11] Enlarged view of region XI in Figure 1 [Figure 12] A view of Figure 11 DETAILED DESCRIPTION OF THE INVENTION

[0008] In each drawing, the dimensions of the components may be enlarged or reduced relative to the actual dimensions, for example, to facilitate understanding, and the dimensional ratios between the drawings may not be consistent. Note that in each drawing, for example, to facilitate understanding, some of the components may be omitted.

[0009] Terms including ordinal numbers such as "first" and "second" are used to describe various components, but these terms are used only to distinguish one component from another, and the components are not particularly limited by these terms. The number of components including ordinal numbers is not particularly limited, and may be, for example, one. Furthermore, the ordinal numbers used in the following specification and drawings may differ from the ordinal numbers described in the claims.

[0010] An embodiment of a work vehicle will be described below with reference to Figures 1 to 10. Note that the following embodiment is provided as an example to aid in understanding the configuration of the work vehicle, and is not intended to limit the configuration of the work vehicle.

[0011] As shown in Fig. 1, the work vehicle 1 includes a vehicle body 2 and a loading device 3 connected to the vehicle body 2. The work vehicle 1 may also include a processing device 4. The vehicle body 2 may include, for example, as in this embodiment, a driver's cab 2a located at the front, a vehicle body frame 2b located at the rear, and a plurality of wheels 2c.

[0012] In the following description and drawings, the first direction D1 is also referred to as the front-to-rear direction (also referred to as the "first lateral direction") D1, the second direction D2 is also referred to as the left-to-right direction (also referred to as the "second lateral direction") D2, and the third direction D3 is also referred to as the up-down direction D3. In other words, each of the directions D1 to D3 is the direction seen from the perspective of a person (driver) sitting in the driver's seat in the driver's cab 2a of the work vehicle 1 when the work vehicle 1 is traveling.

[0013] Of the front-to-rear direction D1, the direction of the arrow in the figure is the front direction, and the direction opposite to the arrow direction in the figure is the rear direction. Furthermore, of the left-to-right direction D2, the direction of the arrow in the figure is the left direction, and the direction opposite to the arrow direction in the figure is the right direction. Furthermore, of the up-down direction D3, the direction of the arrow in the figure is the up direction, and the direction opposite to the arrow direction in the figure is the down direction.

[0014] As shown in Figures 11 and 12, the body frame 2b may include, for example, front and rear body frames 2d, 2d extending in the fore-and-aft direction D1, and left and right body frames 2e extending in the left-right direction D2 and connected to the rearmost portions of the front and rear body frames 2d, 2d.

[0015] The front and rear vehicle body frames 2d and the left and right vehicle body frames 2e are formed, for example, from steel material with a substantially U-shaped cross section. The left and right vehicle body frames 2e cover the rear ends of the front and rear vehicle body frames 2d. Note that the left and right vehicle body frames 2e do not necessarily need to be connected to the rear ends of the front and rear vehicle body frames 2d, but are disposed at the rearmost position among the multiple left and right vehicle body frames including the left and right vehicle body frames 2e.

[0016] The left and right vehicle body frames 2e may be provided with license plate mounting portions 2f on their rear surfaces, to which a license plate may be attached, as shown in Fig. 12. The license plate mounting portions 2f may be located, for example, approximately in the center of the left and right vehicle body frames 2e in the left-right direction D2.

[0017] As in the present embodiment, the work vehicle 1 may be equipped with, for example, an engine 5 and a drive switching unit (also referred to as a "power take-off (PTO)") 6 that can switch the destination of the drive power of the engine 5. The drive switching unit 6 may be switchable, for example, between a first state (travelable state) in which the drive power of the engine 5 is transmitted to the wheels 2c, and a second state (workable state) in which the drive power of the engine 5 is transmitted to the cargo handling device 3.

[0018] The cargo handling device 3 loads and unloads the container 7 between a position where it is placed on the vehicle body 2 (see FIG. 3(a)) and a position where it is placed on the ground (see FIG. 6).

[0019] The cargo handling device 3 may include, for example, as in this embodiment, a device frame 8 fixed to the vehicle body frame 2b, a dump arm 9 rotatably connected to the device frame 8, a lift arm 10 rotatably connected to the dump arm 9, and a hook arm 11 rotatably connected to the lift arm 10. The hook arm 11 may include, for example, as in this embodiment, a hook 11a at its tip for hanging the container 7.

[0020] As shown in Figures 11 and 12, the device frame 8 may, for example, include front and rear device frames 81, 81 extending in the front-to-rear direction D1, and left and right device frames 82 extending in the left-to-right direction D2 and connected to the rearmost ends of the front and rear device frames 81, 81.

[0021] The device front and rear frames 81 are formed, for example, from steel material having a substantially rectangular cross section. The device front and rear frames 81 may be formed by combining steel material having a substantially U-shaped cross section with plate-shaped steel material, as shown in Fig. 12. The upper part of the rear end of the device front and rear frames 81 may be inclined with respect to the horizontal direction, as shown in Fig. 11, for example, so that the bottom surface of the container 7 does not come into contact with the upper part of the rear end of the device front and rear frames 81 when loading or unloading the container 7.

[0022] 11, the device left and right frames 82 are arranged so as to overlap the vehicle body left and right frames 2e in the up-down direction D3. The device left and right frames 82 are connected to the rear ends of the device front and rear frames 81, 81. Both end portions of the device left and right frames 82 in the left-right direction D2 cover approximately the lower half of the rear ends of the device front and rear frames 81, 81.

[0023] The device left and right frames 82 are not particularly limited, but as shown in FIG. 11 , for example, have an upside-down J-shape when viewed in the left-right direction D2. Specifically, the device left and right frames 82 are configured by connecting a rear wall 82a, an inclined wall 82b, an upper wall 82c, and a front wall 82d. This allows the device left and right frames 82 to have an internal space. As shown in FIG. 12 , the rear wall 82a and the inclined wall 82b cover the rear end of the device front and rear frames 81. The upper wall 82c and the front wall 82d are sandwiched between the pair of device front and rear frames 81, 81. The device left and right frames 82 may have an L-shape or a substantially U-shape when viewed in the left-right direction D2.

[0024] The rear walls 82a of the device left and right frames 82 may have a recess 82e recessed upward in the center in the left and right direction D2, as in this embodiment. As a result, both end portions of the device left and right frames 82 in the left and right direction D2 cover the lower portions of the rear ends of the device front and rear frames 81, 81, while the center portions of the device left and right frames 82 in the left and right direction D2 have a gap 8s between them and the upper surfaces of the vehicle body left and right frames 2e.

[0025] The cargo handling device 3 may include, for example, as in this embodiment, a lift cylinder 12 that connects the device frame 8 and the lift arm 10, and a hook cylinder 13 that connects the lift arm 10 and the hook arm 11. The cargo handling device 3 may also include, for example, as in this embodiment, a locking mechanism 14 that can be switched between a locked state in which the dump arm 9 and the lift arm 10 are locked and an unlocked state in which the lock is released.

[0026] As a result, when the locking mechanism 14 is set to the unlocked state, the lift arm 10 rotates relative to the dump arm 9, allowing the container 7 to be loaded / unloaded (see Figures 3 to 6) and the load moving operation (see Figure 7). On the other hand, when the locking mechanism 14 is set to the locked state, the lift arm 10 and the dump arm 9 rotate together relative to the equipment frame 8, allowing the container 7 to be dumped (see Figure 8).

[0027] Although not particularly limited, for example, as in this embodiment, the cylinders 12, 13 may be hydraulic cylinders, and the cargo handling device 3 may include a hydraulic pump 3a and valves 3b (see FIG. 9), etc. As a result, the hydraulic pump 3a is operated by driving the engine 5, and the plurality of valves 3b are opened and closed, causing the cylinders 12, 13 to expand and contract.

[0028] The work vehicle 1 may be equipped with, for example, a vehicle body tilt angle detection unit 15 that detects the tilt angle θ1 of the vehicle body 2 with respect to the horizontal (see the dashed line in FIG. 1), a lift tilt angle detection unit 16 that detects the tilt angle of the lift arm 10 with respect to the horizontal, and a hook tilt angle detection unit 17 that detects the tilt angle of the hook arm 11 with respect to the horizontal, as in this embodiment. The configuration of each of the tilt angle detection units 15 to 17 is not particularly limited, and may be, for example, a sensor that can detect the tilt angle of each of the units 2, 10, and 11 with respect to the horizontal.

[0029] Here, we will explain the operations of the cargo handling apparatus 3, specifically, loading and unloading operations, cargo moving operations, and dumping operations. As will be explained below, the cargo handling apparatus 3 is an apparatus that has a plurality of operation processes.

[0030] First, the unloading operation among the loading and unloading operations will be described with reference to FIG. 2(a) and FIGS. 3 to 6. FIG.

[0031] As shown in FIG. 3(a), when the cargo handling apparatus 3 is in the initial state, the container 7 is placed on the vehicle body 2. Then, in the rear swing process, the hook cylinder 13 (not shown in FIGS. 3 to 8) extends, causing the hook arm 11 to rotate rearward (clockwise in each of the figures). As a result, as shown in FIG. 3(b), the cargo handling apparatus 3 enters the first unloading state. Note that in the rear swing process, the lift cylinder 12 (not shown in FIGS. 3 to 8) does not extend or retract.

[0032] Furthermore, although not particularly limited, for example, as in this embodiment, the rotation of the hook arm 11 relative to the lift arm 10 may be linked to the switching of the lock mechanism 14 (see FIG. 1). Specifically, the lock mechanism 14 (see FIG. 1) may be switched from a locked state to an unlocked state by the hook arm 11 rotating backward relative to the lift arm 10.

[0033] Then, in the first unloading lifting process, the lift cylinder 12 extends, causing the lift arm 10 to rotate backward (clockwise in each drawing) relative to the dump arm 9 (see FIG. 1). As a result, the cargo handling device 3 enters the second unloading state, as shown in FIG. 4(a). Note that in the first unloading lifting process, the hook cylinder 13 does not extend or retract.

[0034] Then, in the second unloading lifting step, not only the lift cylinder 12 but also the hook cylinder 13 extends, causing the lift arm 10 and the hook arm 11 to rotate backward, respectively. As a result, the cargo handling device 3 enters the third unloading state as shown in FIG. 4(b).

[0035] Then, in the third unloading lifting step, the lift cylinder 12 extends, causing the lift arm 10 to rotate backward. As a result, the cargo handling device 3 enters the fourth unloading state, as shown in Figure 5(a). Note that in the third unloading lifting step, the hook cylinder 13 does not extend or retract.

[0036] In the fourth unloading lifting step, the lift cylinder 12 extends, causing the lift arm 10 to rotate backward, while the hook cylinder 13 retracts, causing the hook arm 11 to rotate forward (counterclockwise in each figure). As a result, the cargo handling device 3 enters the fifth unloading state as shown in Figure 5(b).

[0037] Then, in the final unloading lifting process, the lift cylinder 12 extends, causing the lift arm 10 to rotate backward. As a result, the container 7 is placed on the ground as shown in Figure 6, and the cargo handling device 3 reaches the completed state. Note that in the final unloading lifting process, the hook cylinder 13 does not extend or retract.

[0038] Next, the loading operation among the loading and unloading operations will be described with reference to FIG. 2(b) and FIGS.

[0039] As shown in Figure 6, when the cargo handling apparatus 3 is in the initial state, the container 7 is placed on the ground. Then, in the first loading lifting step, the lift cylinder 12 extends, causing the lift arm 10 to rotate forward (counterclockwise in each figure). As a result, as shown in Figure 5(b), the cargo handling apparatus 3 enters the first loading state. Note that in the first loading lifting step, the hook cylinder 13 does not extend or retract.

[0040] Then, in the second loading lifting step, the lift cylinder 12 contracts, causing the lift arm 10 to rotate forward, while the hook cylinder 13 extends, causing the hook arm 11 to rotate backward, thereby placing the cargo handling device 3 in the second loading state as shown in Figure 5(a).

[0041] Then, in the third loading lifting step, the lift cylinder 12 contracts, causing the lift arm 10 to rotate forward. As a result, the cargo handling device 3 enters the third loading state, as shown in Figure 4(b). Note that in the third loading lifting step, the hook cylinder 13 does not extend or retract.

[0042] Then, in the fourth loading lifting step, not only the lift cylinder 12 but also the hook cylinder 13 is retracted, causing the lift arm 10 and the hook arm 11 to rotate forward, respectively. As a result, the cargo handling device 3 enters the fourth loading state as shown in FIG. 4(a).

[0043] Then, in the final loading lifting process, the lift cylinder 12 contracts, causing the lift arm 10 to rotate forward. As a result, the cargo handling device 3 enters the fifth loading state, as shown in Figure 3(b). Note that in the final loading lifting process, the hook cylinder 13 does not extend or retract.

[0044] Then, in the forward swing process, the hook cylinder 13 contracts, causing the hook arm 11 to rotate forward. As a result, as shown in Figure 3(a), the container 7 is placed on the vehicle body 2, and the cargo handling device 3 reaches the completed state. Note that in the forward swing process, the lift cylinder 12 does not contract or retract.

[0045] Next, regarding the pre-load transfer work among the load transfer work, we will explain it with reference to Figures 6 and 7(a). explain.

[0046] As shown in Figure 6, when the cargo handling device 3 is in the initial state, the hook 11a of the hook arm 11 is hooked onto the container 7 resting on the ground. Then, in the cargo front movement process, the lift cylinder 12 contracts, causing the lift arm 10 to rotate forward, while the hook cylinder 13 extends, causing the hook arm 11 to rotate backward. As a result, the container 7 moves forward, as shown in Figure 7(a), and the cargo handling device 3 reaches the completed state.

[0047] Next, among the load moving operations, the load post-moving operation will be described with reference to FIG. 6 and FIG. 7(b).

[0048] As shown in Figure 6, when the cargo handling device 3 is in the initial state, the hook 11a of the hook arm 11 is hooked onto the container 7 resting on the ground. Then, in the cargo rearward movement process, the lift cylinder 12 extends, causing the lift arm 10 to rotate backward, while the hook cylinder 13 retracts, causing the hook arm 11 to rotate forward. As a result, the container 7 moves backward as shown in Figure 7(b), and the cargo handling device 3 reaches the completed state.

[0049] Next, the dump lifting operation, which is one of the dump operations, will be described with reference to FIG.

[0050] As shown in Figure 8(a), when the cargo handling apparatus 3 is in the initial state, the container 7 is horizontal. Then, during the dump lifting process, because the locking mechanism 14 (see Figure 1) is in the locked state, the lift cylinder 12 extends, causing the dump arm 9 and the lift arm 10 to rotate backward together. As a result, as shown in Figure 8(b), the container 7 tilts, and the cargo handling apparatus 3 reaches the completed state.

[0051] Next, the dump lowering operation, which is one of the dump operations, will be described with reference to FIG.

[0052] As shown in Figure 8(b), when the cargo handling apparatus 3 is in the initial state, the container 7 is tilted. Then, in the dump lowering process, the lift cylinder 12 contracts, causing the dump arm 9 and the lift arm 10 to rotate forward together. As a result, the container 7 becomes horizontal as shown in Figure 8(a), and the cargo handling apparatus 3 reaches the completed state.

[0053] 9, the work vehicle 1 may also be equipped with, for example, a lock detection unit 18 that detects the locked state of the lock mechanism 14 (for example, that it is in a locked state), a lift position detection unit 19 that detects the position of the lift arm 10 (for example, the lift arm 10 positioned at a reference position), and a hook position detection unit 20 that detects the position of the hook arm 11 (for example, the hook arm 11 positioned at a reference position). Although not particularly limited, each of the detection units 18 to 20 may be, for example, various types of sensors (for example, a proximity sensor, a contact sensor, a photoelectric sensor, etc.).

[0054] In this embodiment, the hydraulic pump 3a is operated by driving the engine 5, and therefore the rotation speed of the hydraulic pump 3a is controlled by the rotation speed of the engine 5. As a result, the operating speed of each of the cylinders 12, 13 changes depending on the hydraulic pressure (the rotation speed of the hydraulic pump 3a), and therefore the operating speed of each of the cylinders 12, 13 is controlled by controlling the rotation speed of the engine 5.

[0055] Furthermore, the work vehicle 1 may include, for example, an input unit 21 to which various data are input, and an output unit 22 that outputs various data. As in the present embodiment, the output unit 22 may include, for example, a display unit (e.g., an electronic bulletin board, a signal light) 22a that displays data, a sound generation unit (e.g., a buzzer, a speaker) 22b that emits the data as sound, and an external output unit 22c that outputs data to the outside (e.g., a terminal device, etc.).

[0056] 10, the processing device 4 is a computer including, for example, a processor 401, a memory 402, and various interfaces 403. For example, the memory 402 stores a program 402a and a database 402b, the processor 401 executes the program 402a, and the various components of the processing device 4 are realized by the software and hardware working together.

[0057] The processor 401 is configured to be capable of executing computer-executable instructions. The processor 401 is not limited to a central processing unit (CPU), a microprocessor (MPU), or the like.

[0058] The memory 402 is configured to be able to store computer data. The memory 402 includes not only a memory that temporarily stores data when the processor 401 executes processing, but also a storage that permanently stores data. The memory 402 is not particularly limited, and may be, for example, a semiconductor memory (various ROMs, various RAMs, etc.), an optical disk (CD, DVD, etc.), a magnetic disk (hard disk, MO, etc.), a magnetic tape, a storage medium using a flash memory (SD card, USB memory, etc.), etc.

[0059] 9, the processing device 4 may include, for example, an acquisition unit 4a that acquires each piece of data from each unit 15 to 21, a storage unit 4b that stores each piece of data, a calculation unit 4c that calculates each piece of data, and a control unit 4d that controls each unit 3, 5, 22. Then, for example, the calculation unit 4c and the control unit 4d may be configured as a processor 401 (see FIG. 10), and the acquisition unit 4a and the storage unit 4b may be configured as a memory 402 (see FIG. 10).

[0060] As a result, the processor 401 executes a program 402a (see FIG. 10) stored in the memory 402, and the software and hardware work together to realize the units 4a to 4d of the processing device 4. The processing device 4 may be configured, for example, by a software circuit, or may be configured, for example, by a hardware circuit, or may be configured, for example, by a combination of a software circuit and a hardware circuit.

[0061] The processing device 4 may be configured as a single device, or may be configured as a plurality of devices that can communicate with each other. Specifically, the units 4a to 4d of the processing device 4 may be provided in a single device, or may be distributed across a plurality of devices that can communicate with each other.

[0062] The processing device 4 controls the units 3, 5, and 22 by outputting output data (output signals, output information) to the units 3, 5, and 22 based on input data (input signals, input information) acquired from the units 15 to 21. Specifically, the processing device 4 controls the cargo handling device 3 by acquiring input data from the units 15 to 21 and outputting output data to the units 3a and 3b of the cargo handling device 3.

[0063] As shown in Fig. 1, the work vehicle 1 is equipped with a camera 40 that captures images behind the vehicle body 2. The camera 40 is not particularly limited and may be, for example, a CCD camera or a CMOS camera. Images captured by the camera 40 may be displayed, for example, on a display device (not shown) in the driver's cab 2a.

[0064] The camera 40 is disposed in a gap 8s (specifically, in a recess 82e of the device left and right frame 82) formed between the vehicle body left and right frames 2e and the device left and right frames 82 when viewed in the front-rear direction D1. This allows the camera 40 to be disposed below the device left and right frames 82 even when the vehicle body left and right frames 2e are disposed closely below the device left and right frames 82.

[0065] The camera 40 is disposed in the internal space of the device left and right frames 82. This allows for effective use of the internal space of the device left and right frames 82, which would otherwise be dead space. Furthermore, as shown in FIG. 11 , the camera 40 may be disposed so that substantially the entirety of the camera 40 overlaps with the device left and right frames 82 in the up-down direction D3. This allows for appropriate protection of the camera 40 from obstacles above. Furthermore, the rear end of the camera 40 is substantially aligned with the rear end of the rear wall 82a of the device left and right frames 82 in the front-to-back direction D1. This allows for the camera 40 to be protected from obstacles above while still ensuring a sufficient angle of view.

[0066] The camera 40 is fixed to the left and right device frames 82. The camera 40 may be fixed to the center of the left and right device frames 82 in the left-right direction D2. The camera 40 is fixed to the upper walls 82c of the left and right device frames 82, for example, via brackets 41. The brackets 41 may be fixed with bolts and nuts into bolt holes formed in the upper wall 82c, for example. The brackets 41 are arranged together with the camera 40 in the internal space of the left and right device frames 82. This makes it possible to effectively utilize the internal space of the left and right device frames 82, which would otherwise be dead space.

[0067] The vertical dimension D3 of the camera 40 may be larger than the vertical dimension D3 of the recess 82e, as in this embodiment. However, as shown in Fig. 12, the vertical dimension D3 of the camera 40 is set so that the camera 40 does not come into contact with the upper surfaces of the left and right vehicle body frames 2e when the device frame 8 is fixed to the vehicle body frame 2b via the buffer members 8a.

[0068] As described above, the work vehicle 1, as in this embodiment, The vehicle includes a vehicle body 2, a work device (in this embodiment, a cargo handling device) 3 connected to the vehicle body 2, and a camera 40 that photographs an area behind the vehicle body 2. The vehicle body 2 includes front and rear vehicle body frames 2d, 2d extending in a front-rear direction D1, and left and right vehicle body frames 2e extending in a left-right direction D2 and connected to rearmost portions of the front and rear vehicle body frames 2d, 2d, The working device (in this embodiment, the loading / unloading device) 3 includes device front / rear frames 81, 81 extending in a front-rear direction D1, and device left / right frames 82 extending in a left / right direction D2 and connected to the rearmost portions of the device front / rear frames 81, 81, The device left and right frames 82 are arranged to overlap the vehicle body left and right frames 2e in the up-down direction D3, and have a gap 8s between them in at least a part of the vehicle body left and right frames 2e in the left-right direction D2 (in this embodiment, a central part in the left-right direction D2), It is preferable that the camera 40 is arranged in the gap 8s.

[0069] According to this configuration, even if the left and right vehicle body frames 2e are positioned closely below the left and right device frames 82, the camera 40 can be positioned below the left and right device frames 82 by placing the camera 40 in the gap 8s.

[0070] Furthermore, in the work vehicle 1, as in this embodiment, It is preferable that the camera 40 is fixed to the left and right frames 82 of the device.

[0071] According to this configuration, the device frame 8 can be mounted on the body frame 2b with the camera 40 fixed to the left and right device frames 82. As a result, if the device frame 8 is mounted on the body frame 2b with the camera 40 fixed to the body frame 2b, the camera 40 does not protrude above the body frame 2b compared to when the camera 40 is fixed to the body frame 2b, and therefore it is possible to prevent the device frame 8 from interfering with the camera 40 and making mounting difficult.

[0072] Furthermore, as in this embodiment, the work vehicle 1 The device left and right frames 82 are provided with a recess 82e recessed upward in the center in the left-right direction D2, Preferably, the camera 40 is disposed within the recess 82e.

[0073] With this configuration, even if the left and right vehicle body frames 2e are positioned closely below the left and right device frames 82, the camera 40 can be positioned below the left and right device frames 82 by placing the camera 40 within the recess 82e.

[0074] Furthermore, as in this embodiment, the work vehicle 1 The left and right vehicle body frames 2e are provided on their rear surfaces with license plate mounting portions 2f to which license plates are attached, It is preferable that the camera 40 is arranged above the license plate attachment portion 2f.

[0075] With this configuration, the license plate is easily visible to following vehicles.

[0076] The work vehicle 1 is not limited to the configuration of the embodiment described above, nor is it limited to the effects described above. Furthermore, it goes without saying that various modifications can be made to the work vehicle 1 without departing from the spirit of the present invention. For example, it goes without saying that one or more of the configurations, methods, etc. relating to the various modified examples described below may be selected arbitrarily and adopted in the configurations, methods, etc. relating to the embodiment described above.

[0077] (A) In the work vehicle 1 according to the above embodiment, the camera 40 is configured to be fixed to the left and right device frames 82. However, the work vehicle 1 is not limited to this configuration. For example, the camera 40 may be configured to be fixed to the left and right vehicle body frames 2e.

[0078] (B) Furthermore, in the work vehicle 1 according to the above embodiment, the left and right device frames 82 are configured to have an upwardly recessed recess 82e in the center in the left-right direction D2, and the camera 40 is disposed within the recess 82e. However, the work vehicle 1 is not limited to this configuration. For example, the left and right device frames 82 do not have to have the recess 82e. In this case, the left and right device frames 82 are connected to the device front and rear frame 81 with the lower ends of the left and right device frames 82 spaced apart from the vehicle body left and right frames 2e so that a gap is formed between them and the vehicle body left and right frames 2e.

[0079] (C) Furthermore, in the work vehicle 1 according to the above embodiment, the left and right vehicle body frames 2e are provided with license plate mounting portions 2f on their rear surfaces to which a license plate is attached, and the camera 40 is disposed above the license plate mounting portions 2f. However, the work vehicle 1 is not limited to this configuration. For example, the license plate mounting portions 2f may be provided in a location other than the left and right vehicle body frames 2e.

[0080] (D) Furthermore, in the work vehicle 1 according to the above embodiment, the vertical dimension D3 of the camera 40 is larger than the vertical dimension D3 of the recess 82e. However, the work vehicle 1 is not limited to this configuration. For example, the vertical dimension D3 of the recess 82e may be larger than the vertical dimension D3 of the camera 40. With this configuration, the camera 40 does not protrude below the lower end of the rear wall 82a of the left and right device frames 82, so the rear wall 82a is positioned to the side of the camera 40 and guards the camera 40. Therefore, for example, when mounting the device frame 8 on the body frame 2b during installation, even if the device frame 8 to which the camera 40 is fixed beforehand shakes, interference of the camera 40 with the body frame 2b can be suppressed.

[0081] (E) Furthermore, in the work vehicle 1 according to the above embodiment, the working device is a loading / unloading device 3 that loads and unloads the container 7 between a position where it is placed on the vehicle body 2 and a position where it is placed on the ground. However, the work vehicle 1 is not limited to this configuration. For example, the work vehicle 1 may be configured as a dump truck, a garbage truck, a tanker truck, a powder and granular material transport vehicle, a concrete pump truck, or a vehicle equipped with a loading platform lifting device.

[0082] (F) Note that, for example, the order of execution of each process, such as operations, procedures, steps, and stages, in the systems, methods, programs, and devices shown in the claims, specifications, and drawings, can be realized in any order, as long as the output of a previous process is not used in a subsequent process. For example, even if a description is made using "first," "next," etc. for convenience, it does not mean that execution is required in that order. [Explanation of symbols]

[0083] 1...work vehicle, 2...vehicle body, 2a...operator's cab, 2b...vehicle body frame, 2c...wheel, 2d...front and rear vehicle body frames, 2e...left and right vehicle body frames, 2f...license plate mounting section, 3...loading device, 3a...hydraulic pump, 3b...valve, 4...processing device, 4a...acquisition section, 4b...storage section, 4c...calculation section, 4d...control section, 5...engine, 6...drive switching section, 7...container, 8...device frame, 8a...buffer member, 8s...gap, 9...dump arm, 10...lift arm, 11...hook arm, 11a...hook, 12...lift cylinder, 13...hook cylinder, 14...locking mechanism, 15...vehicle body inclination angle detection section, 1 6...lift tilt angle detection unit, 17...hook tilt angle detection unit, 18...lock detection unit, 19...lift position detection unit, 20...hook position detection unit, 21...input unit, 22...output unit, 22a...display unit, 22b...sound generation unit, 22c...external output unit, 40...camera, 41...bracket, 81...front and rear frames of device, 82...left and right frames of device, 82a...rear wall, 82b...inclined wall, 82c...upper wall, 82d...front wall, 82e...recess, 401...processor, 402...memory, 402a...program, 402b...database, 403...interface, θ1...tilt angle, D1...front and rear direction, D2...left and right direction, D3...up and down direction

Claims

1. The vehicle includes a vehicle body, a working device connected to the vehicle body, and a camera that photographs an area behind the vehicle body, the vehicle body includes front and rear vehicle body frames extending in a front-rear direction, and left and right vehicle body frames extending in a left-right direction and connected to rearmost portions of the front and rear vehicle body frames, the working device includes a front-rear device frame extending in a front-rear direction, and a left-right device frame extending in a left-right direction and connected to a rearmost portion of the front-rear device frame, the left and right device frames are arranged to overlap the left and right vehicle body frames in the up-down direction, and have a gap between them in at least a portion of the left and right direction; The work vehicle, wherein the camera is positioned in the gap.

2. The work vehicle according to claim 1 , wherein the camera is fixed to the left and right device frames.

3. The left and right frames of the device each have a recessed portion recessed upward in the center in the left-right direction, The work vehicle according to claim 1 or 2, wherein the camera is disposed within the recess.

4. The work vehicle according to claim 3 , wherein a vertical dimension of the recess is greater than a vertical dimension of the camera.

5. The left and right vehicle body frames each include a license plate mounting portion on a rear surface thereof to which a license plate is attached, The work vehicle according to claim 1 or 2, wherein the camera is disposed above the license plate attachment portion.

Images