Work vehicles

Abstract

To provide a work vehicle which can reduce a dead angle of a camera and expand a monitor area.SOLUTION: A tractor 1 comprises a cabin 7 which covers an operation part, and cameras 24 which image vehicle circumference. The cabin 7 comprises four struts 8F, 8R which are erected at four corners in a plan view, and a roof part 9 which is supported by four struts 8F, 8R. The cameras 24 are attached to four struts 8F, 8R respectively, and the cameras 24 arranged in a cross direction are so located as to face each other and image each other's dead angles.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a work vehicle such as a tractor. [Background technology]

[0002] Patent Document 1 describes a work vehicle in which a plurality of cameras are installed in a cabin that covers the driver's section, and images of the surroundings of the vehicle are captured by the plurality of cameras. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-66401 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the work vehicle of Patent Document 1, the cameras are arranged facing outward from the vehicle, so there is a problem that large blind spots remain below and near the vehicle even when capturing images with multiple cameras. [Means for solving the problem]

[0005] The present invention has been created in view of the above-mentioned circumstances and with the objective of solving these problems. The invention of claim 1 is a work vehicle equipped with a cabin covering a driver's section and a camera for capturing images of the surroundings of the vehicle, the cabin being provided with four pillars erected at the four corners in a plan view, a roof section supported by the four pillars, Boarding and alighting doors provided on the left and right sides of the cabin; The cameras are attached to the four columns, respectively. The front camera and the rear camera are provided on one side of the cabin in the left-right direction, and the front camera and the rear camera are arranged side by side in the front-rear direction and are provided on a support with a depression angle downward in the front-rear direction while facing each other, so that the front camera takes images from the front part of one side of the cabin in the left-right direction, passing over the rear part, to the rear which is the blind spot of the rear camera, and the rear camera takes images from the rear part of one side of the cabin in the left-right direction, passing over the front part, to the front which is the blind spot of the front camera, so that overlapped images of the boarding / alighting area on one side of the cabin in the left-right direction and images of the front blind spot of the front camera and the rear blind spot of the rear camera can be taken in a state continuing from the overlapped image taking area. This is a work vehicle characterized by the above. The invention of claim 2 is characterized in that the camera is attached to the support pole while being housed in a camera case, and an image processing unit that processes the image captured by the camera is disposed in the camera case. 1 It is a work vehicle described in. Effect of the Invention

[0006] According to the invention of claim 1, multiple cameras can be installed using the support pillars of the cabin. In addition, the cameras lined up in the front-rear direction are arranged to face each other and capture each other's blind spots, so the blind spots can be reduced and the monitoring area can be expanded. In areas where the imaging ranges overlap by facing each other, distance detection is also possible due to the parallax of the images, so that warnings of obstacles according to distance can be performed, improving safety. Moreover, the camera The camera can be mounted on a support with a depression angle, which not only further reduces blind spots below the vehicle, but also protects the camera from direct sunlight, rain, dust, etc. Also, claims 2 According to the invention, an image processing unit that processes the image captured by the camera is placed inside the camera case that houses the camera, thereby reducing the processing burden on the main control unit compared to when image processing is performed by the main control unit on the work vehicle side. [Brief description of the drawings]

[0007] [Figure 1] 1 is a side view of a tractor according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view of a main part of the tractor showing the mounting state of the camera. [Diagram 3] FIG. 2 is an exploded perspective view of a main part of the tractor, showing the mounting structure of the camera. [Figure 4] FIG. 2 is a plan view showing the imaging range of a camera. [Diagram 5] FIG. 2 is a cross-sectional view of the camera unit. [Figure 6] FIG. 2 is an exploded perspective view of the camera unit as viewed from the front side. [Figure 7] FIG. 2 is an exploded perspective view of the camera unit as viewed from the rear side. [Figure 8] FIG. 2 is a block diagram showing a control configuration of the tractor. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] [Tractor] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In Fig. 1, 1 is a tractor (work vehicle), and the tractor 1 includes an engine mounting section 2 on which an engine (not shown) is mounted, a transmission case 3 that changes the speed of engine power, front wheels 4 and rear wheels 5 that are driven to rotate by power output from the transmission case 3, a work machine coupling section 6 to which various types of work machines can be coupled, and a cabin 7 provided behind the engine mounting section 2 and covering a driver's section (not shown).

[0009] As shown in Figures 1 and 2, the cabin 7 comprises four pillars 8 erected at the four corners in a plan view, a roof portion 9 supported by the four pillars 8, a windshield 10 covering the front of the cabin 7, a rear glass 11 covering the rear of the cabin 7, a door 13 that can be opened and closed to cover an entrance / exit 12 provided on the side of the cabin 7, and a side glass 14 covering the rear side of the cabin 7.

[0010] The support pillars 8 include a pair of left and right front support pillars 8F and a pair of left and right rear support pillars 8R. A turn signal light 15 that flashes when turning right or left, and a side mirror stay 17 that supports a side mirror 16 are attached to the pair of left and right front support pillars 8F, respectively. A turn signal light 19 that flashes when turning right or left, a work light 20 that is turned on when working at night, and an indicator light 21 that displays the state of the vehicle during remote control or automatic driving are attached to the pair of left and right rear support pillars 8R, respectively. An antenna stay 23 to which a GPS antenna 22 and the like are attached is installed between the upper ends of the pair of left and right rear support pillars 8R.

[0011] [Camera placement] As shown in Fig. 1 to Fig. 8, the tractor 1 is provided with a plurality of cameras 24 for capturing images of the surroundings of the vehicle in the form of camera units 26 housed in camera cases 25. The camera units 26 are attached to four pillars 8F, 8R of the cabin 7. As shown in Fig. 4, the camera units 26 arranged in the front-rear direction are disposed to face each other and capture images of each other's blind spots.

[0012] If the camera unit 26 attached to the left front support 8F of the cabin 7 is the left front camera unit 26, the camera unit 26 attached to the left rear support 8R of the cabin 7 is the left rear camera unit 26, the camera unit 26 attached to the right front support 8F of the cabin 7 is the right front camera unit 26, and the camera unit 26 attached to the right rear support 8R of the cabin 7 is the right rear camera unit 26, the left front camera unit 26 faces rearward to the left, and the area below the left rear camera unit 26, which is the blind spot of the left rear camera unit 26, As is clear from FIG. 4, the range beyond the lower area and extending to the rear of the left rear camera unit 26 is The left rear camera unit 26 is included in the imaging range, and faces forward to the left side, and the lower area of ​​the left front camera unit 26, which is a blind spot of the left front camera unit 26, is included in the imaging range. As is clear from FIG. 4, the range extending beyond the lower region to the front of the left front camera unit 26 is The right front camera unit 26 faces toward the rear right side and includes in the imaging range the area below the right rear camera unit 26 which is the blind spot of the right rear camera unit 26, and the right rear camera unit 26 faces toward the front right side and includes in the imaging range the area below the right front camera unit 26 which is the blind spot of the right front camera unit 26. With this configuration, as is clear from FIG. 4, it is possible to perform overlapping imaging of the boarding / alighting area on one side of the cabin 7 in the left / right direction, and in a state continuing from the overlapping imaging area, imaging of a blind spot on the front side with the front camera and imaging of a blind spot on the rear side with the rear camera.

[0013] According to such an arrangement of the camera units 26, a plurality of camera units 26 can be installed using the support pillars 8F of the cabin 7. Moreover, the camera units 26 arranged in the front-rear direction are arranged to face each other and capture images of each other's blind spots, thereby reducing blind spots and expanding the monitoring area.

[0014] In addition, the cameras 24 housed in each camera unit 26 are disposed at a depression angle. This not only further reduces blind spots below the vehicle, but also reduces the effects of direct sunlight. It also reduces wasted image areas (e.g., image areas above the horizontal) in obstacle detection, etc., thereby reducing the burden of image processing.

[0015] [Camera unit mounting structure] The left front camera unit 26 and the right front camera unit 26 are attached to the front support 8F via a side mirror stay 17, and the left rear camera unit 26 and the right rear camera unit 26 are attached to the rear support 8R via an antenna stay 23.

[0016] 2 and 3, the side mirror stay 17 includes a side mirror bracket 27 protruding from the front support 8F, and an inverted U-shaped stay member 28 whose base end is supported by the side mirror bracket 27 so as to be rotatable back and forth and whose front end is attached with the side mirror 16 so as to be angle adjustable. A front camera mounting plate 29 to which the back surface of the camera unit 26 can be fixed with a bolt is provided on the upper part of the stay member 28. The front camera mounting plate 29 is supported by a base member 30 welded to the stay member 28 via a support shaft (not shown) so as to be rotatable left and right. This makes it possible not only to mount the camera unit 26 using the side mirror stay 17, but also to adjust the left and right orientation of the camera unit 26.

[0017] 2 and 3, the antenna stay 23 includes a pair of antenna brackets 31 protruding from the left and right rear columns 8R, a pair of left and right vertical stay members 32 fixed with bolts to each antenna bracket 31 and extending upward from the antenna bracket 31, and a horizontal stay member 33 fixed with bolts to the left and right vertical stay members 32 and installed between the left and right vertical stay members 32, and the GPS antenna 22 and the like are attached to the horizontal stay member 33. The rear camera mounting plate 34 to which the rear surface of the camera unit 26 can be fixed with bolts has a U-shape in a side view and is fastened together with a pair of bolts 35 that fix the top and bottom of the vertical stay member 32. This not only allows the camera unit 26 to be attached using the antenna stay 23, but also makes it possible to adjust the left and right orientation of the camera unit 26 by rotating it about the bolt 35 as a fulcrum.

[0018] [Camera unit configuration] As shown in Figures 5 to 7, camera unit 26 includes a camera board 36 on which camera 24 is mounted, an image processing board 37 (image processing unit) that processes the image captured by camera 24, and a camera case 25 that houses camera board 36 and image processing board 37.

[0019] The camera case 25 comprises a case body 38 to which a camera board 36 and an image processing board 37 are attached, and a case cover 39 fixed to the case body 38 so as to cover the camera board 36 and the image processing board 37.

[0020] The case body 38 includes a camera board mounting portion 38a to which the camera board 36 is attached, and an image processing board mounting portion 38b to which the image processing board 37 is attached. The camera board mounting portion 38a includes a pair of board support portions 38c protruding forward from the case body 38, and mounting grooves 38d for mounting the camera board 36 in a sliding manner from above are formed at the opposing tip portions of the pair of board support portions 38c. The mounting grooves 38d have an inclination that protrudes forward toward the upper side, and this inclination provides a depression angle to the camera 24. The image processing board mounting portion 38b includes a plurality of screw fixing portions 38e protruding forward from the case body 38, and the image processing board 37 is attached between the tip portions of these screw fixing portions 38e via screws (not shown).

[0021] The image processing board 37 is connected to the camera board 36 via a cable 40, and processes the image captured by the camera board 36. The image processing includes, for example, recognition processing for people and obstacles, image trimming processing, image compression processing, etc. With this camera unit 26, the processing load on the control unit 50 of the tractor 1 can be reduced compared to when the control unit 50 of the tractor 1 (see FIG. 8) performs image processing.

[0022] Case cover 39 includes an imaging window 39a facing camera 24, a visor 39b formed on the upper part of the outer surface of imaging window 39a to prevent rain from flowing into imaging window 39a, glass 42 covering imaging window 39a, and a pressing plate 43 that presses glass 42 via a packing (not shown). Case cover 39 is fitted into case body 38 with packing 44 sandwiched therebetween, and is fixed to case body 38 via a plurality of screws 45.

[0023] [Tractor control configuration] As shown in Fig. 8, the tractor 1 includes a control unit 50 that performs various controls. In addition to the camera unit 26 described above, the input side of the control unit 50 is connected to a GPS 51 that detects the position of the tractor 1 based on a GPS signal, an obstacle sensor 52 that detects obstacles around the vehicle, a remote control receiver 53 that receives a remote control signal from a remote control 53a, a vehicle speed sensor 54 that detects the vehicle speed, and an automatic operation on / off switch 55 that turns the automatic driving control on and off.

[0024] In addition to the indicator light 21 mentioned above, the output side of the control unit 50 is connected to a clutch valve 56 for operating the main clutch in automatic driving control or remote operation control, a PTO clutch valve 57 for turning the working power on and off in automatic driving control or remote operation control, a horn 58 for outputting an alarm sound, a gear shift hydraulic valve 59 for operating the gear shift switch in automatic driving control or remote operation control, an injection pump 60 for changing the engine speed in automatic driving control or remote operation control, and an engine stop relay 61 for emergency stopping the engine in automatic driving control or remote operation control.

[0025] When executing the automatic driving control and the remote operation control, the control unit 50 judges the presence or absence of an obstacle based on the image captured by the camera 24, and performs a corresponding action such as an emergency stop. The image captured by the camera 24 may be displayed on a monitor (not shown) disposed in the cabin 7. The monitor may be installed on the upper inside of the windshield 10, on a steering wheel (not shown), or in a meter panel (not shown). When the monitor is installed on the upper inside of the windshield 10, it may obstruct the forward visibility, so it is preferable that the monitor can be folded and stored when not needed, or removed and stored in an audio unit (not shown). The camera 24 may be provided instead of the side mirror 16, and the image captured by the camera 24 may be displayed on a monitor in the cabin 7.

[0026] In addition, a transmitting unit (not shown) for wirelessly transmitting the image data of the camera 24 may be provided so that the image data can be viewed on the monitor's computer, smartphone, tablet, etc. In this case, the burden on the monitor can be reduced by transmitting the image data after image processing.

[0027] [Effects of the embodiment] According to the present embodiment configured as described above, the tractor 1 includes a cabin 7 that covers the driver's section and a camera 24 that captures the surroundings of the vehicle. The cabin 7 includes four pillars 8F, 8R erected at the four corners in a plan view and a roof section 9 supported by the four pillars 8F, 8R. The cameras 24 are attached to the four pillars 8F, 8R, and the cameras 24 arranged in the front-rear direction are arranged to face each other and capture each other's blind spots. This not only allows multiple cameras 24 to be installed using the pillars 8F, 8R of the cabin 7, but also reduces blind spots and expands the monitoring area. In addition, in areas where the imaging ranges overlap by facing each other, distance detection is possible due to the parallax of the images, so that an alarm for an obstacle according to the distance can be given, improving safety.

[0028] Furthermore, since the camera 24 is attached to the pillars 8F, 8R at a depression angle, not only can the blind spot below the vehicle be further reduced, but also the effects of direct sunlight, rain, dust, and the like can be reduced.

[0029] In addition, the camera 24 is attached to the pillars 8F, 8R while being housed in the camera case 25, and an image processing board 37 that processes the image captured by the camera 24 is disposed within the camera case 25. This reduces the processing burden on the control unit 50 compared to when image processing is performed by the control unit 50 on the tractor 1 side. [Explanation of symbols]

[0030] 1 Tractor 7 Cabin 8 pillars 8F front pillar 8R rear strut 9 Roof 16 Side mirror 17 Side mirror stay 23 Antenna stay 24 Camera 25 Camera Case 26 Camera Unit 27 Side mirror bracket 36 Camera Board 37 Image processing board 50 Control section

Claims

1. A cabin covering the driver's section; A work vehicle equipped with a camera that captures an image of the surroundings of the vehicle, The cabin comprises: Four pillars are erected at the four corners in plan view, A roof portion supported by the four pillars; and a boarding / alighting door provided on the left and right side surfaces of the cabin, The cameras include a front camera and a rear camera attached to each of the four pillars, The front and rear cameras are installed on one side of the cabin in the left and right direction, and are aligned in the front-to-rear direction. The cameras are mounted on pillars facing each other and at a downward depression angle in the front-to-rear direction. The front camera captures images from the front part of one side of the cabin in the left or right direction, passing through the rear part and reaching the rear, which is the blind spot of the rear camera, The rear camera captures images from the rear part of one side of the cabin in the left or right direction, passing through the front part and reaching the front, which is the blind spot of the front camera, This work vehicle is characterized by being configured to capture overlapping images of the boarding / alighting area on one side of the cabin in the left or right direction, and to capture images of the forward blind spot area with a front camera and the rear blind spot area with a rear camera in a state continuing from the overlapping image capturing area.

2. the camera is attached to the pole while being housed in a camera case; 2. The work vehicle according to claim 1, wherein an image processing unit that processes images captured by the camera is disposed inside the camera case.

Images