Work vehicles

Abstract

To provide a work vehicle in which a traveling body can travel while confirming a video displayed on a display device, even in the case where a forward / backward direction of the traveling body does not coincide with a forward / backward direction of a revolving superstructure.SOLUTION: A work vehicle includes a traveling body, a revolving superstructure, a work device, an operation device, a plurality of imaging devices mounted on the revolving superstructure, a display device for displaying a video imaged by the imaging device, a display mode setting device, a revolving angle detection device, a traveling direction setting device, and a control device for controlling the display device. In the case where the traveling body is determined not to be in a state capable of traveling, the control device allows the video of a display mode set by the display mode setting device to be displayed in a predetermined display region of the display device, and in the case where the traveling body is determined to be in a state capable of traveling, based on the revolving angle of the revolving body, selects a video of a traveling direction of the traveling body out of the videos imaged by the plurality of imaging devices, and allows the video including the selected video to be displayed in the predetermined display region of the display device.SELECTED DRAWING: Figure 9

Description

[Technical field]

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

[0002] Patent Document 1 discloses a wheeled work vehicle equipped with a monitoring camera that captures images of the vehicle's surroundings, a monitor device having a first display screen that displays basic information related to the vehicle's operation and a second display screen that displays information other than the basic information among the multiple pieces of information together with the display on the first display screen, a driving operation unit that inputs driving operations for the vehicle, and a monitor control unit that controls the display operation of the monitor device in response to the input from the driving operation unit. Patent Document 1 describes that it is determined whether the vehicle is in a state where it can be driven, and when it is determined that the vehicle is in a state where it can be driven, an image from a rear monitoring camera attached to a rotating body is preferentially displayed on the second display screen of the monitor device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-181543 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the work vehicle described in Patent Document 1, depending on the angle (rotation angle) of the rotating body relative to the running body, the rear monitoring camera attached to the rotating body may not be able to properly capture the rear of the running body. For example, if the front-rear direction of the running body and the front-rear direction of the rotating body are perpendicular to each other, the image captured by the rear monitoring camera will be behind the rotating body and to the side of the running body. In this case, there is a problem that the operator of the work vehicle cannot move the running body in reverse while checking the image on the monitor device.

[0005] The present invention aims to provide a work vehicle that allows the running body to travel while checking the image displayed on a display device, even if the fore-and-aft direction of the running body and the fore-and-aft direction of the rotating body do not coincide. [Means for solving the problem]

[0006] A work vehicle according to one aspect of the present invention includes a wheeled running body, a rotating body rotatably attached on the running body, a working device attached to the rotating body, an operating device for operating the running body, the rotating body, and the working device, a plurality of photographing devices attached to the rotating body and photographing the surroundings of the rotating body, a display device for displaying images photographed by the photographing devices, a display mode setting device for setting a display mode of the images displayed on the display device, a rotation angle detection device for detecting a rotation angle of the rotating body, a traveling direction setting device for setting a traveling direction of the running body, and a control device for controlling the display device, in which the control device determines whether the running body is in a state where it can run, and if it is determined that the running body is not in a state where it can run, causes an image in a display mode set by the display mode setting device to be displayed in a predetermined display area of ​​the display device, The display mode set by the display mode setting device includes a display mode in which a first overhead view image generated from images captured by the plurality of imaging devices is displayed in the predetermined display area, and the control device: When it is determined that the running body is in a running state, an image in the traveling direction of the running body set by the traveling direction setting device is selected from the images captured by the plurality of image capturing devices based on the rotation angle of the rotating body, and the selected image and an image adjacent to the selected image, a second overhead image is generated in which a display area of ​​the image in the traveling direction of the running object is larger than a display area of ​​the image in the traveling direction of the running object in the first overhead image, The image is displayed in the predetermined display area of ​​the display device in place of the image in the display mode set by the display mode setting device. Effect of the Invention

[0007] According to the present invention, a work vehicle can be provided in which the running body can travel while checking the image displayed on the display device, even if the fore-and-aft direction of the running body and the fore-and-aft direction of the rotating body do not coincide. [Brief description of the drawings]

[0008] [Figure 1]Side view of a wheel excavator. [Diagram 2] A schematic diagram of the inside of the cab as seen from above. [Diagram 3] FIG. 1 is a diagram showing the main configuration of a wheel excavator, and illustrates a hydraulic system and a surrounding monitoring system mounted on the wheel excavator. [Figure 4] FIG. 2 is a schematic plan view of a wheel excavator, showing the shooting ranges of a plurality of shooting devices. [Diagram 5] FIG. 2 is a functional block diagram showing main functions of the surroundings monitoring system. [Figure 6] 1 is a schematic diagram of a wheel excavator viewed from above, showing a rotation angle r and angle thresholds r1, r2, r3, and r4. [Figure 7] FIG. 4 is a diagram showing an example of a display image displayed on a display device. [Figure 8] 10 is a flowchart showing a display process executed by the information controller. [Figure 9] 5 is a flowchart showing a driving display mode setting process executed by the information controller. [Figure 10] 11A and 11B are diagrams for explaining switching of the display mode from a stationary display mode to a running display mode. [Figure 11] FIG. 13 is a diagram showing a modified example of the traveling display mode, showing a rear image of a rotating body, which is an image in the traveling direction of the traveling body, and an overhead image generated based on a left image and a right image adjacent to the rear image. [Figure 12] FIG. 13 is a diagram showing a modified example of the traveling display mode, showing a right-hand image of a rotating body, which is an image in the traveling direction of the traveling body, and an overhead image generated based on a front image and a rear image adjacent to the right-hand image. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A work vehicle according to an embodiment of the present invention will now be described with reference to the drawings. Work vehicles are used for various types of work such as civil engineering work, construction work, and demolition work.

[0010] 1 is a side view of a wheeled hydraulic excavator (hereinafter referred to as a wheeled excavator 1) as an example of a work vehicle according to this embodiment. For ease of explanation, the front-rear and up-down directions are defined as shown in FIG.

[0011] The wheel excavator 1 comprises a wheeled running body 2 having four wheels (tires 2a), a rotating body 3 rotatably attached to the running body 2, and a working device 4 attached to the front of the rotating body 3. A hydraulic motor for traveling is mounted on the running body 2, and the tires 2a are rotated by driving the hydraulic motor for traveling.

[0012] The rotating body 3 has a rotating frame, a cab 107 provided on the front left side of the rotating frame, a counterweight provided at the rear of the rotating frame, and an engine room 108 provided on the rotating frame behind the cab 107. The engine room 108 accommodates an engine as a prime mover and hydraulic equipment such as a hydraulic pump driven by the engine. A working device 4 is rotatably connected to the center of the front part of the rotating frame. The engine is the power source of the wheel excavator 1 and is constituted by an internal combustion engine such as a diesel engine, for example.

[0013] The working device 4 is a multi-joint working device having a plurality of front members rotatably connected and a plurality of hydraulic cylinders (actuators) for driving the front members. In this embodiment, a lower boom 101, an upper boom 102, an arm 103, and a bucket 104 as four front members are connected in series. The lower boom 101 has a base end portion rotatably connected to the front of the revolving frame by a lower boom pin. The upper boom 102 has a base end portion rotatably connected to the tip of the lower boom 101 by an upper boom pin. The arm 103 has a base end portion rotatably connected to the tip of the upper boom 102 by an arm pin. The bucket 104 is rotatably connected to the tip of the arm 103 by a bucket pin.

[0014] The lower boom 101 is driven by a lower boom cylinder 101a and rotates relative to the revolving frame. The upper boom 102 is driven by an upper boom cylinder 102a and rotates relative to the lower boom 101. The arm 103 is driven by an arm cylinder 103a and rotates relative to the upper boom 102. The bucket 104 is driven by a bucket cylinder 104a and rotates relative to the arm 103. One end of the lower boom cylinder 101a is connected to the lower boom 101 and the other end is connected to the revolving frame. One end of the upper boom cylinder 102a is connected to the upper boom 102 and the other end is connected to the lower boom 101. One end of the arm cylinder 103a is connected to the arm 103 and the other end is connected to the upper boom 102. One end of the bucket cylinder 104a is connected to the bucket 104 via a link member and the other end is connected to the arm 103. By driving the hydraulic cylinders (101a, 102a, 103a, 104a) of the working device 4, work such as excavating the natural ground and leveling the ground is performed.

[0015] The rotating body 3 is provided with a vehicle body controller 130 which is a control device that controls each part of the wheel excavator 1, an information controller 120 which is a control device that collects information from each part of the wheel excavator 1 and controls the display device 190 to display predetermined information on a display screen 191a of the display device 190, and a battery 28 which serves as a power supply device that supplies power to equipment mounted on the wheel excavator 1.

[0016] 2 is a schematic diagram of the inside of the cab 107 as viewed from above. As shown in FIG. 2, the cab 107 is provided with a cab 70 where an operator sits, operation members (B1, B2, 172, 173, 174, 175, 176, 177, 178a, 179a) for operating each part of the wheel excavator 1, and a display device 190 for displaying a predetermined display image on a display screen 191a. The display device 190 is attached to a pillar on the front right side as viewed from the cab 70. The display device 190 is, for example, a touch panel monitor that functions as an input unit and a display unit, and displays images such as various information about the vehicle, predetermined icons, and messages, as well as an image of the surroundings of the revolving body 3 on the display screen 191a based on a control signal from the information controller 120.

[0017] A right operation lever (operating member) B1 for operating the bucket 104 and the upper boom 102 is provided on the right side of the driver's seat 70, and a left operation lever (operating member) B2 for operating the rotating body 3 and the arm 103 is provided on the left side of the driver's seat 70. A steering wheel (operating member) 172 for steering the front wheels left and right is provided in front of the driver's seat 70. An operation pedal (operating member) 176 for operating the lower boom 101 is provided on the left side below the steering wheel 172. A brake pedal (operating member) 177 for applying braking force to the wheel excavator 1, and an accelerator pedal (operating member) 178a for applying a travel driving force to the wheel excavator 1 and adjusting the travel speed and acceleration are provided on the right side below the steering wheel 172.

[0018] A brake switch 173 is provided near the steering wheel 172 for parking the wheel excavator 1 by braking the wheel excavator 1 and holding it at a stop. A forward / reverse switch 174, which is a forward / reverse switching device that can be selectively switched to any one of a forward position, a neutral position, and a reverse position, is provided on a grip of the left operation lever B2. The forward / reverse switch 174 is a traveling direction setting device for setting the traveling direction of the traveling body 2. When the forward / reverse switch 174 is switched to the forward position, the traveling direction of the traveling body 2 is set to the forward direction (forward), and when the forward / reverse switch 174 is switched to the reverse position, the traveling direction of the traveling body 2 is set to the reverse direction (rear). A lock lever 179a is provided on the left side (door side) of the left operation lever B2. The lock lever 179a is a member that can be selectively operated between a locked position (raised position) that allows entry and exit of the cab 107 and an unlocked position (lowered position) that prohibits entry and exit of the cab 107.

[0019] A display mode setting device for setting the display mode of the image displayed on the display screen 191a of the display device 190, a display mode changeover switch 175 capable of changing the display mode, is provided near the left operation lever B2.

[0020] Fig. 3 is a diagram showing the main configuration of the wheel excavator 1, and shows a hydraulic system 80 and a surroundings monitoring system 10 mounted on the wheel excavator 1. In the following, the lower boom cylinder 101a, the upper boom cylinder 102a, the arm cylinder 103a and the bucket cylinder 104a are collectively referred to as hydraulic cylinders 100a. The hydraulic system 80 is provided with a plurality of hydraulic cylinders 100a (101a, 102a, 103a, 104a), but Fig. 3 shows one hydraulic cylinder 100a as a representative.

[0021] As shown in FIG. 3, the hydraulic system 80 includes a main pump 25 which is a variable displacement hydraulic pump driven by the engine 21, a pilot pump 26 which is a fixed displacement hydraulic pump driven by the engine 21, a plurality of hydraulic actuators (hydraulic cylinder 100a, swing hydraulic motor 105a, and traveling hydraulic motor 106a) driven by hydraulic oil (pressurized oil) as a working fluid discharged from the main pump 25, and control valves 81, 82, and 83 which respectively control the flow of hydraulic oil supplied from the main pump 25 to each hydraulic actuator.

[0022] The hydraulic oil discharged from the pilot pump 26 is supplied to a work operation device 71 which is an operation device for operating the work device, a swing operation device 72 which is an operation device for operating the swing body 3, and a travel operation device 178 which is an operation device for operating the traveling body 2. The work operation device 71 is an actuator operation device that commands the operation of the hydraulic cylinder 100a of the work device 4, and has an operation member (corresponding to the right operation lever B1 and left operation lever B2 and the operation pedal 176 in FIG. 2) 71a which is tilted by the operator, and a pair of pressure reducing valves 71b of a hydraulic pilot type. The swing operation device 72 is an actuator operation device that commands the operation of the swing hydraulic motor 105a, and has an operation member (corresponding to the left operation lever B2 in FIG. 2) 72a which is tilted by the operator, and a pair of pressure reducing valves 72b of a hydraulic pilot type. The travel operation device 178 is an actuator operation device that commands the operation of the travel hydraulic motor 106a, and has an accelerator pedal 178a that is depressed by the operator, and a hydraulic pilot type pressure reducing valve 178b.

[0023] The pressure reducing valves 71b, 72b of the operating devices (71, 72) generate pilot pressures according to the amount and direction of operation of the operating members 71a, 72a, using the discharge pressure of the pilot pump 26 as the source pressure. The pilot pressures generated in this manner are guided to the pressure receiving chambers 81a, 81b, 82a, 82b of the control valves 81, 82 corresponding to the hydraulic actuators (100a, 105a), and are used as commands (signals) for driving the control valves 81, 82 to operate the actuators.

[0024] A forward / reverse switching valve 84 is provided between the pressure reducing valve 178b of the travel operation device 178 and the pressure receiving chambers 83a, 83b of the control valve 83. The forward / reverse switching valve 84 is controlled by a control signal output from the vehicle body controller 130 in response to an operation signal from the forward / reverse switching switch 174. When the forward / reverse switching switch 174 is switched to the forward position, the forward / reverse switching valve 84 is switched to a forward communication position that communicates the pressure receiving chamber 83a with the pressure reducing valve 178b and communicates the pressure receiving chamber 83b with the tank. When the forward / reverse switching switch 174 is switched to the reverse position, the forward / reverse switching valve 84 is switched to a reverse communication position that communicates the pressure receiving chamber 83b with the pressure reducing valve 178b and communicates the pressure receiving chamber 83a with the tank. When the forward / reverse switch 174 is switched to the neutral position, the forward / reverse selector valve 84 is switched to a tank communication position that communicates the pressure receiving chambers 83a, 83b with the tank.

[0025] The pressure reducing valve 178b of the travel operation device 178 generates a pilot pressure according to the amount of depression of the accelerator pedal 178a, using the discharge pressure of the pilot pump 26 as the base pressure. The pilot pressure thus generated is led to the pressure receiving chambers 83a, 83b of the control valve 83 via the forward / reverse switching valve 84, and is used as a command (signal) for driving the control valve 83 to operate the actuator.

[0026] The hydraulic oil discharged from the main pump 25 is supplied to the hydraulic actuators (hydraulic cylinder 100a, swing hydraulic motor 105a, traveling hydraulic motor 106a) through control valves 81, 82, and 83, thereby driving the working device 4, the swing body 3, and the traveling body 2, respectively.

[0027] The rotation of the traveling hydraulic motor 106a is changed in speed by a transmission 150 and transmitted to the tires 2a via an axle (not shown) and an axle (not shown), causing the wheel excavator 1 to travel.

[0028] The transmission 150 is a well-known one having a planetary reduction mechanism consisting of a sun gear, planetary gears, and a ring gear (not shown), and clutches 150a, 150b provided on the sun gear side and the ring gear side, respectively. Although not shown, the clutches 150a, 150b each have a clutch cylinder with a built-in spring, and the clutch cylinder is pressed against a disk by the biasing force of the spring, so that the clutches 150a, 150b are engaged. The clutches 150a, 150b are released by removing the pressing force of the clutch cylinder by the hydraulic force from the pilot hydraulic source 88 acting against the spring force. The hydraulic force acting on the clutches 150a, 150b is controlled by the drive of an electromagnetic switching valve (hereinafter referred to as a clutch switching valve) 151 provided between the pilot hydraulic source 88 and the clutches 150a, 150b. A clutch that is brought into an engaged state by the biasing force of a spring and brought into a released state by hydraulic force is called a negative type clutch.

[0029] The clutch switching valve 151 is controlled by a control signal output from the vehicle body controller 130 in response to the operation of a speed change switch (not shown) and a brake switch 173. When the clutch switching valve 151 is switched to the low-speed position, pressure oil from the pilot hydraulic source 88 acts on the clutch 150a. This releases the clutch 150a, engages the clutch 150b, and the transmission 150 has a predetermined gear ratio R1 (low gear), enabling low-speed, high-torque, first-speed running. When the clutch switching valve 151 is switched to the high-speed position, pressure oil from the pilot hydraulic source 88 acts on the clutch 150b. This releases the clutch 150b, engages the clutch 150a, and the transmission 150 has a predetermined gear ratio R2 (high gear), enabling high-speed, low-torque, second-speed running. The gear ratio R1 is greater than the gear ratio R2.

[0030] When the clutch changeover valve 151 is switched to the park position, the clutches 150a, 150b are connected to the tank. In this case, the clutches 150a, 150b are engaged by the spring force, so that the transmission 150 is locked and the axle is prevented from rotating.

[0031] In this embodiment, the transmission 150 having clutches 150a, 150b that prevent rotation of the axle functions as a parking brake device for parking the wheel excavator 1. When releasing the parking brake device, pressurized oil (brake release pressure) is applied to one of the clutches (150a or 150b) to release the clutch (150a or 150b). A brake that is activated by the biasing force of a spring and released by hydraulic pressure is called a negative type parking brake device. The clutch changeover valve 151 switches to the parking position when the brake switch 173 is switched to the activated position, and switches to either the low speed position or the high speed position according to the operating position of the gear change switch when the brake switch 173 is switched to the released position.

[0032] The shutoff valve 89 is provided in a pilot line connecting the pilot pump 26 and the pressure reducing valves 71b, 72b, 178b of the operating device (71, 72, 178), and is an electromagnetic switching valve that is switched between a communication position that allows pilot pressure to be supplied from the pilot pump 26 to the pressure reducing valves 71b, 72b, 178b and a cutoff position that prohibits pilot pressure from being supplied from the pilot pump 26 to the pressure reducing valves 71b, 72b, 178b. The shutoff valve 89 is operated by a lock lever device 179.

[0033] The lock lever device 179 is an operating device used to operate the actuators, and has a lock lever 179a that is selectively operated to a locked position (raised position) that allows entry and exit of the cab 107 and disables operation of the actuators (100a, 105a, 106a) by the operating devices 71, 72, 178, and an unlocked position (lowered position) that prohibits entry and exit of the cab 107 and enables operation of the actuators (100a, 105a, 106a) by the operating devices 71, 72, 178, a shutoff relay 179c for supplying or cutting off power from the battery 28, and a lock lever sensor 179b that is an operation detection device that detects the operating position of the lock lever 179a of the lock lever device 179.

[0034] When the lock lever 179a is operated to the unlocked position, the shutoff relay 179c is turned on, i.e., the shutoff relay 179c is closed, and power is supplied from the battery 28 to the shutoff valve 89. When power is supplied to the shutoff valve 89, the solenoid is excited and the shutoff valve 89 is switched to the communicating position. Therefore, when the lock lever 179a is in the unlocked position, a command pilot pressure corresponding to the operation amount of the operating members 71a, 72a, 178a is generated by the pressure reducing valves 71b, 72b, 178b, and the hydraulic actuators (100a, 105a, 106a) corresponding to the operated operating members 71a, 72a, 178a are operated.

[0035] When the lock lever 179a is operated to the lock position, the shutoff relay 79c is turned off, i.e., the shutoff relay 79c is opened, and the supply of power from the battery 28 to the shutoff valve 89 is cut off. When the supply of power to the shutoff valve 89 is cut off, the solenoid is demagnetized and the shutoff valve 89 is switched to the cut-off position. This cuts off the pilot source pressure to the pressure reducing valves 71b, 72b, and 178b, and disables operation by the operating members 71a, 72a, and 178a.

[0036] In this manner, the lock lever device 179 can be selectively switched between a locked position, which disables operation of the operating devices (71, 72, 178), and an unlocked position, which enables operation of the operating devices (71, 72, 178).

[0037] The surroundings monitoring system 10 is a system for monitoring the surroundings of the wheel excavator 1, and includes a plurality of imaging devices 30 that capture images of the surroundings of the rotating body 3, a display device 190 that displays images captured by the imaging devices 30 on a display screen 191a, and an information controller 120 which is a control device that controls the display device 190.

[0038] The information controller 120 causes the display device 190 to display information (data) relating to the operating state of the wheel excavator 1 and the image captured by the imaging device 30 on the display screen 191a.

[0039] The information controller 120 is composed of a microcomputer including a CPU (Central Processing Unit) 120a as an operating circuit, a volatile memory 120b called RAM (Random Access Memory) as a storage device, an EEPROM (Electrically Erasable Programmable Read Only Memory) as a storage device, a non-volatile memory 120c such as a flash memory, an input / output interface, and other peripheral circuits. The information controller 120 may be composed of one microcomputer or multiple microcomputers.

[0040] The non-volatile memory 120c stores programs capable of executing various calculations. That is, the non-volatile memory 120c of the information controller 120 is a storage medium capable of reading programs that realize the functions of this embodiment. The volatile memory 120b is a work memory that directly inputs and outputs data to and from the CPU 120a. The volatile memory 120b temporarily stores necessary data while the CPU 120a is executing the program. The information controller 120 may further include a storage device such as a hard disk drive.

[0041] The CPU 120a is a processing device that loads a control program stored in the non-volatile memory 120c into the volatile memory 120b and executes the control program, and performs predetermined arithmetic processing on signals received from the input / output interface, the non-volatile memory 120c, and the volatile memory 120b in accordance with the control program. Signals from various devices are input to the input / output interface. The input / output interface converts the input signals so that they can be calculated by the CPU 120a. The input / output interface generates an output signal according to the result of the calculation by the CPU 120a, and outputs the signal to the display device 190.

[0042] Fig. 4 is a schematic plan view of the wheel excavator 1, and shows the shooting ranges of the multiple camera devices 30. As shown in Fig. 4, the multiple camera devices 30 are attached to the rotating body 3. The multiple camera devices 30 include a left camera 31 that shoots the left direction of the rotating body 3, a right camera 32 that shoots the right direction of the rotating body 3, a front camera 33 that shoots the front direction of the rotating body 3, and a rear camera 34 that shoots the rear direction of the rotating body 3. Each of the camera devices 30 (31, 32, 33, 34) is, for example, a wide-angle video camera equipped with a durable and weather-resistant imaging element such as a CCD or CMOS, and a wide-angle lens.

[0043] The left camera 31 is a photographing device that continuously photographs the area on the left side of the revolving body 3 in a direction looking down diagonally with a viewing angle of about 180° left and right. The right camera 32 is a photographing device that continuously photographs the area on the right side of the revolving body 3 in a direction looking down diagonally with a viewing angle of about 180° left and right. The front camera 33 is a photographing device that continuously photographs the area in front of the revolving body 3 in a direction looking down diagonally with a viewing angle of about 180° left and right. The rear camera 34 is a photographing device that continuously photographs the area behind the revolving body 3 in a direction looking down diagonally with a viewing angle of about 180° left and right. The front camera 33 is attached in a position that does not interfere with the working device 4.

[0044] In the figure, each rectangular area (A1, A2, A3, A4) around the wheel excavator 1 indicates the area that can be photographed by each camera 31, 32, 33, 34, and each photographed area A1, A2, A3, A4 is designed to overlap with adjacent areas at both ends of its longitudinal direction.

[0045] 3, the information controller 120 is connected to another controller, for example, a vehicle body controller 130, via an in-vehicle network 20 called a CAN (Controller Area Network) so as to be able to communicate with each other. The in-vehicle network 20 may use a communication standard other than CAN, for example, Ethernet (registered trademark).

[0046] The vehicle body controller 130 receives signals from various sensors and switches, and based on the input signals, controls each part of the wheel excavator 1. Like the information controller 120, the vehicle body controller 130 is configured with a microcomputer equipped with a CPU, a storage device, an input / output interface, etc.

[0047] When the brake switch 173 is switched to the actuated position and an ON signal is input from the brake switch 173, the vehicle body controller 130 demagnetizes the solenoid of the clutch changeover valve 151 and switches the clutch changeover valve 151 to the parking position. This locks the transmission 150 and prevents the axle from rotating, resulting in an actuated parking brake state. When the brake switch 173 is switched to the released position and an OFF signal is input from the brake switch 173, the vehicle body controller 130 excites either the first solenoid or the second solenoid of the clutch changeover valve 151 based on a signal from a speed change switch (not shown), thereby switching the clutch changeover valve 151 to the low speed position or the high speed position.

[0048] When the forward / reverse selector switch 174 is switched to the forward position and a forward position signal is input from the forward / reverse selector switch 174, the vehicle body controller 130 switches the forward / reverse selector valve 84 to the forward communicating position. When the forward / reverse selector switch 174 is switched to the reverse position and a reverse position signal is input from the forward / reverse selector switch 174, the vehicle body controller 130 switches the forward / reverse selector valve 84 to the reverse communicating position. When the forward / reverse selector switch 174 is switched to the neutral position and a neutral position signal is input from the forward / reverse selector switch 174, the vehicle body controller 130 switches the forward / reverse selector valve 84 to the tank communicating position.

[0049] The information controller 120 acquires basic information related to the operation of the vehicle body from the vehicle body controller 130. The basic information related to the operation of the vehicle body is, for example, information such as the rotation speed (engine RPM) of the engine 21, the discharge pressure of the main pump 25, the temperature of the hydraulic oil, the temperature of the engine coolant, and the remaining amount of fuel. The information controller 120 displays the information acquired from the vehicle body controller 130 on the display screen 191a of the display device 190.

[0050] Fig. 5 is a functional block diagram showing main functions of the surroundings monitoring system 10. Although a plurality of image capturing devices 30 (four in this embodiment) are provided, only one is shown as a representative. As shown in Fig. 5, the information controller 120 executes a program stored in the non-volatile memory 120c to function as a travel direction determination unit 121, a driving feasibility determination unit 122, a turning angle calculation unit 123, a display mode selection unit 124, a display mode setting unit 125, a captured image acquisition unit 126, and a display image generation unit 127.

[0051] The information controller 120 receives, as inputs, an operation signal (forward position signal, neutral position signal, reverse position signal) from the forward / reverse switch 174, a detection signal (locked position signal, unlocked position signal) from the lock lever sensor 179b, an operation signal (on signal, off signal) from the brake switch 173, an operation signal from the display switch 175, a detection signal from the turning angle sensor 161, and a video signal from the photographing device 30.

[0052] The traveling direction determination unit 121 determines the traveling direction of the traveling object 2 based on a signal from the forward / reverse switch 174. When the forward / reverse switch 174 is switched to the forward position, the traveling direction determination unit 121 determines that the traveling direction of the traveling object 2 is forward, and when the forward / reverse switch 174 is switched to the reverse position, the traveling direction determination unit 121 determines that the traveling direction of the traveling object 2 is reverse. Also, when the forward / reverse switch 174 is switched to the neutral position, the traveling direction determination unit 121 determines that the traveling direction of the traveling object 2 has not been set.

[0053] The traveling feasibility determination unit 122 determines whether the traveling object 2 is in a traveling state based on the operation states of the forward / reverse switch 174, the lock lever device 179, and the brake switch 173. If at least one of the following conditions 1 to 3 is satisfied, the traveling feasibility determination unit 122 determines that the traveling object 2 is not in a traveling state (i.e., the traveling object 2 is in a state in which it cannot be traveled), and if all of the following conditions 1 to 3 are not satisfied, the traveling feasibility determination unit 122 determines that the traveling object 2 is in a traveling state.

[0054] Condition 1: The lock lever device 179 is switched to the lock position. Condition 2: The parking brake device (150) is in an activated state (i.e., the wheel excavator 1 is in a parked state). Condition 3: The forward / reverse switch 174 is switched to the neutral position.

[0055] The travel permission / non-permission determination unit 122 determines whether the lock lever device 179 is switched to the locked position based on a signal from the lock lever sensor 179b. When a locked position signal is input from the lock lever sensor 179b, the travel permission / non-permission determination unit 122 determines that the lock lever device 179 is switched to the locked position, and when an unlocked position signal is input from the lock lever sensor 179b, the travel permission / non-permission determination unit 122 determines that the lock lever device 179 is switched to the unlocked position. When the lock lever device 179 is switched to the locked position, the travel permission / non-permission determination unit 122 determines that the condition 1 is met and that the traveling object 2 is not in a state in which it can travel.

[0056] The travel possibility determination unit 122 determines whether or not the parking brake device (150) is in an activated state based on a signal from the brake switch 173. When an ON signal is input from the brake switch 173, the travel possibility determination unit 122 determines that the parking brake device (150) is in an activated state, and when an OFF signal is input from the brake switch 173, the travel possibility determination unit 122 determines that the parking brake device (150) is in a released state. When the parking brake device (150) is in an activated state, the travel possibility determination unit 122 determines that the condition 2 is satisfied and that the traveling object 2 is not in a state in which it can travel.

[0057] The traveling feasibility determination unit 122 determines whether the forward / reverse switch 174 is switched to the neutral position based on the determination result by the traveling direction determination unit 121. When the traveling direction determination unit 121 determines that the forward / reverse switch 174 is switched to the neutral position, the traveling feasibility determination unit 122 determines that the condition 3 is established and that the traveling object 2 is not in a state where it can travel.

[0058] The turning angle calculation unit 123 calculates the turning angle r based on a signal from the turning angle sensor 161. The turning angle sensor 161 is a turning angle detection device that detects the turning angle r, which is the angle of the turning body 3 with respect to the running body 2. The turning angle sensor 161 is, for example, a potentiometer that outputs a signal (voltage) according to the acquired angle.

[0059] 6 is a schematic diagram of the wheel excavator 1 viewed from above, and shows the swing angle r and angle thresholds r1, r2, r3, and r4. In this embodiment, the swing angle calculation unit 123 calculates the angle between the Xc axis that passes through the swing central axis O and extends in the front-to-rear direction of the traveling body 2, and the Xs axis that passes through the swing central axis O and extends in the front-to-rear direction of the swing body 3, as the swing angle r. The swing angle r is 0 (zero) degrees when the Xs axis coincides with the Xc axis, and when the swing body 3 swings to the right from this position, the swing angle r increases, and when it rotates 360 degrees, the swing angle r becomes 0 (zero) degrees.

[0060] The angle threshold r1 is a threshold for determining whether the revolving body 3 faces the front of the running body 2 or faces the right of the running body 2, and is set to, for example, 45 degrees. The angle threshold r2 is a threshold for determining whether the revolving body 3 faces the right of the running body 2 or faces the rear of the running body 2, and is set to, for example, 135 degrees. The angle threshold r3 is a threshold for determining whether the revolving body 3 faces the rear of the running body 2 or faces the left of the running body 2, and is set to, for example, 225 degrees. The angle threshold r4 is a threshold for determining whether the revolving body 3 faces the left of the running body 2 or faces the front of the running body 2, and is set to, for example, 315 degrees. The angle thresholds r1 to r4 are stored in the non-volatile memory 120c. The angle thresholds r1 to r4 are provided in the same number as the number of the image capturing devices 30. In this embodiment, since four image capturing devices 30 are provided, four angle thresholds r1 to r4 are set.

[0061] 5, the photographed image acquisition unit 126 acquires images photographed by the photographing device 30 (31 to 34). The photographed image acquisition unit 126 acquires the image photographed by the left camera 31 as a left image, the image photographed by the right camera 32 as a right image, the image photographed by the front camera 33 as a forward image, and the image photographed by the rear camera 34 as a rearward image.

[0062] The display mode selection unit 124 selects a display mode based on an operation signal from the display changeover switch 175. The display changeover switch 175 has a first operation unit and a second operation unit. The display mode selection unit 124 selects the display mode in the order of the first display mode, the second display mode, and the third display mode each time the first operation unit of the display changeover switch 175 is operated. Note that, when the third display mode is selected, if the first operation unit of the display changeover switch 175 is operated, the display mode selection unit 124 selects the first display mode as the display mode. Also, when the second operation unit of the display changeover switch 175 is operated, the display mode selection unit 124 selects the display mode in the order of the third display mode, the second display mode, and the first display mode. When the first display mode is selected, if the second operation unit of the display changeover switch 175 is operated, the display mode selection unit 124 selects the third display mode as the display mode. The display modes (first display mode, second display mode, and third display mode) selected by the display mode selection unit 124 are display modes used when the vehicle is in a driving disabled state, and are therefore also referred to as stop display modes.

[0063] The display mode setting unit 125 sets the display mode of the display device 190 based on the determination result of the proceeding direction determination unit 121, the determination result of the traveling feasibility determination unit 122, and the calculation result of the turning angle calculation unit 123. When the traveling feasibility determination unit 122 determines that the traveling object 2 is not in a traveling state, the display mode setting unit 125 sets (stores) the display mode selected by the display mode selection unit 124.

[0064] When the running feasibility determination unit 122 determines that the running body 2 is in a state in which it can run, the display mode setting unit 125 selects an image capturing the traveling direction of the running body 2 from among the images (left image, right image, forward image, and rear image) captured by the multiple imaging devices 30 based on the turning angle r calculated by the turning angle calculation unit 123 and the operating position (forward or reverse) of the forward / reverse switch 174, and sets (stores) a display mode for displaying the image including the selected image on the display device 190.

[0065] In this embodiment, the display mode setting unit 125 selects only one image captured in the direction of travel of the running body 2, which is set by the forward / reverse switch 174, and sets a single display mode in which only the selected image is displayed on the display device 190.

[0066] The display image generating unit 127 generates a display image in a display mode set by the display mode setting unit 125, based on the image captured by the imaging device 30 and basic information related to the operation of the vehicle, etc. The display image generating unit 127 outputs a display control signal to the display device 190 for displaying the generated display image on the display screen 191a.

[0067] FIG. 7 is a diagram showing an example of a display image displayed on the display device 190. In this embodiment, the display screen 191a of the display device 190 is divided into a first display area 91, a second display area 92, and a third display area 93. The first display area 91 has an icon display section 192 in which a predetermined icon is displayed, an instrument display section 193 in which a water temperature meter showing the temperature of the engine coolant and a fuel meter showing the remaining amount of fuel are displayed, and a time display section 195 in which the operating time of the wheel excavator 1 and the current time are displayed. The icon display section 192 displays an icon showing the set mode, an icon showing an abnormal state when an abnormality occurs, and the like. The third display area 93 has an air conditioner temperature display section 196 in which the air conditioner temperature is displayed, and a radio display section 197 in which the frequency of a radio station is displayed.

[0068] The second display area 92 displays an image captured by the image capturing device 30. The image displayed in the second display area 92 is displayed in a display mode selected from a plurality of predetermined display modes. The first display mode, as shown in the figure, is a display mode in which an overhead image 194 generated from a left image, a right image, a front image, and a rear image is displayed in the entire second display area 92 (overhead display). The second display mode, not shown, is a display mode in which the second display area 92 is divided into two, left and right, and the rear image is displayed in the left divided area, and the right image is displayed in the right divided area (left and right split display). The third display mode, not shown, is a display mode in which the second display area 92 is divided into two, top and bottom, and the upper divided area is further divided into two, left and right, and the rear image is displayed in the lower divided area, the left image is displayed in the upper left divided area, and the right image is displayed in the upper right divided area (left and right rear split display).

[0069] Thus, in this embodiment, the first display area 91 and the third display area 93 are areas in which information relating to the operation of the vehicle body and various setting information are displayed, and the display mode does not change regardless of whether the wheel excavator 1 is in a state in which it is capable of traveling. On the other hand, the second display area 92 is an area in which an image captured by the photographing device 30 is displayed in a display mode set by the display mode setting unit 125. Therefore, when the wheel excavator 1 is in a state in which it is unable to travel, the display mode of the second display area 92 is switched every time the display changeover switch 175 is operated. Also, when the wheel excavator 1 is in a state in which it is capable of traveling, the display mode of the second display area 92 is set in accordance with the swing angle r and the operating position of the forward / reverse changeover switch 174.

[0070] In this embodiment, a display mode (left only display) in which the image captured by the left camera 31 (left image) is displayed alone in the second display area 92, a display mode (right only display) in which the image captured by the right camera 32 (right image) is displayed alone in the second display area 92, a display mode (front only display) in which the image captured by the front camera 33 (forward image) is displayed alone in the second display area 92, and a display mode (rear only display) in which the image captured by the rear camera 34 (rear image) is displayed alone in the second display area 92 are predefined.

[0071] The contents of the display process executed by the information controller 120 will be described with reference to Fig. 8 and Fig. 9. Fig. 8 and Fig. 9 show the flow of setting the display mode of the image to be displayed in the second display area 92. The process of the flowchart shown in Fig. 8 is started, for example, when the ignition switch is turned on (i.e., the key is turned on), and after the initial setting is performed, the processes from steps S110 to S190 are repeatedly performed.

[0072] 8, in step S110, the information controller 120 executes information acquisition processing, and proceeds to step S120. In the information acquisition processing (S110), the information controller 120 acquires a detection signal (information on the operation position of the lock lever 179a) from the lock lever sensor 179b, an operation signal (information on the operation position of the forward / reverse switch 174) from the forward / reverse switch 174, an operation signal (information on the operation position of the brake switch 173) from the brake switch 173, and a detection signal (information on the turning angle r) from the turning angle sensor 161. In addition, in the information acquisition processing (S110), the information controller 120 acquires information on the selected stop display mode (i.e., any one of the first to third display modes).

[0073] In step S120, the information controller 120 judges whether or not the lock lever device 179 is switched to the unlocked position based on the detection signal from the lock lever sensor 179b acquired in step S110. If it is judged in step S120 that the lock lever device 179 is switched to the unlocked position, the process proceeds to step S125, and if it is judged that the lock lever device 179 is not switched to the unlocked position (i.e., switched to the locked position), the process proceeds to step S187.

[0074] In step S125, the information controller 120 determines whether or not the parking brake device (150) is in a released state based on the detection signal from the brake switch 173 acquired in step S110. If the detection signal from the brake switch 173 is an OFF signal, the information controller 120 determines that the parking brake device (150) is in a released state, and proceeds to step S130. If the detection signal from the brake switch 173 is an ON signal, the information controller 120 determines that the parking brake device (150) is in an activated state, and proceeds to step S187.

[0075] In step S130, the information controller 120 calculates the turning angle r based on the detection signal from the turning angle sensor 161 acquired in step S110, and proceeds to step S135.

[0076] In step S135, the information controller 120 determines whether the forward / reverse switch 174 is operated to the neutral position based on the operation signal acquired in step S110 from the forward / reverse switch 174. If it is determined in step S135 that the forward / reverse switch 174 is operated to the neutral position, the process proceeds to step S187, and if it is determined that the forward / reverse switch 174 is not operated to the neutral position, the process proceeds to step S140.

[0077] In step S140, the information controller 120 executes a driving display mode setting process. In step S140, the information controller 120 sets a predetermined display mode (for example, left only display, right only display, front only display, and rear only display), and proceeds to step S190. The details of the driving display mode setting process (S140) will be described later.

[0078] In step S187, the information controller 120 executes a stop display mode setting process. In step S187, the information controller 120 sets the stop display mode (any of the first to third display modes) acquired in step S110, and proceeds to step S190.

[0079] In step S190, the information controller 120 causes the display device 190 to display the video captured by the imaging device 30 in the display mode set in the traveling display mode setting process (S140) or the stop display mode setting process (S187) in the second display area 92 of the display screen 191a.

[0080] Referring to FIG. 9, the traveling display mode setting process (S140) executed by the information controller 120 will be described in detail. As shown in FIG. 9, in step 143, the information controller 120 determines whether the forward / backward changeover switch 174 has been operated to the backward position based on the operation signal from the forward / backward changeover switch 174 acquired in step S110. In step S143, if it is determined that the forward / backward changeover switch 174 has been operated to the backward position, the process proceeds to step S146; if it is determined that the forward / backward changeover switch 174 has not been operated to the backward position (i.e., if it is determined that the forward / backward changeover switch 174 has been operated to the forward position), the process proceeds to step S166.

[0081] In step S146, the information controller 120 determines whether the revolving body 3 (in front of the revolving body 3) is facing the front of the traveling body 2 based on the turning angle r calculated in step S130. In step S146, if the information controller 120 determines that the turning angle r satisfies 0° ≤ r ≤ r1 or r4 < r < 360°, it determines that the revolving body 3 is facing the front of the traveling body 2 and the process proceeds to step S181. In step S146, if the information controller 120 determines that the turning angle r does not satisfy either 0° ≤ r ≤ r1 or r4 < r < 360°, it determines that the revolving body 3 is not facing the front of the traveling body 2 and the process proceeds to step S149.

[0082] In step S149, the information controller 120 determines whether the revolving body 3 (front of the revolving body 3) faces the right side of the traveling body 2 based on the turning angle r calculated in step S130. In step S149, when the turning angle r satisfies r1 < r ≤ r2, the information controller 120 determines that the revolving body 3 faces the right side of the traveling body 2 and proceeds to step S183. In step S149, when the turning angle r does not satisfy r1 < r ≤ r2, the information controller 120 determines that the revolving body 3 does not face the right side of the traveling body 2 and proceeds to step S152.

[0083] In step S152, the information controller 120 determines whether the revolving body 3 (front of the revolving body 3) faces the rear of the traveling body 2 based on the turning angle r calculated in step S130. In step S152, when the turning angle r satisfies r2 < r ≤ r3, the information controller 120 determines that the revolving body 3 faces the rear of the traveling body 2 and proceeds to step S185. In step S152, when the turning angle r does not satisfy r2 < r ≤ r3, the information controller 120 determines that the revolving body 3 does not face the rear of the traveling body 2 and proceeds to step S155.

[0084] In step S155, the information controller 120 determines whether the revolving body 3 (front of the revolving body 3) faces the left side of the traveling body 2 based on the turning angle r calculated in step S130. In step S155, when the turning angle r satisfies r3 < r ≤ r4, the information controller 120 determines that the revolving body 3 faces the left side of the traveling body 2 and proceeds to step S187. In step S155, when the turning angle r does not satisfy r3 < r ≤ r4, the information controller 120 determines that the revolving body 3 does not face the left side of the traveling body 2 and proceeds to step S158.

[0085] In step S166, similar to step S152, the information controller 120 determines whether the revolving body 3 faces the rear of the traveling body 2 based on the turning angle r calculated in step S130. In step S166, when the turning angle r satisfies r2 < r ≤ r3, the information controller 120 determines that the revolving body 3 faces the rear of the traveling body 2 and proceeds to step S181. In step S166, when the turning angle r does not satisfy r2 < r ≤ r3, the information controller 120 determines that the revolving body 3 does not face the rear of the traveling body 2 and proceeds to step S169.

[0086] In step S169, similar to step S155, the information controller 120 determines whether the revolving body 3 faces the left side of the traveling body 2 based on the turning angle r calculated in step S130. In step S169, when the turning angle r satisfies r3 < r ≤ r4, the information controller 120 determines that the revolving body 3 faces the left side of the traveling body 2 and proceeds to step S183. In step S169, when the turning angle r does not satisfy r3 < r ≤ r4, the information controller 120 determines that the revolving body 3 does not face the left side of the traveling body 2 and proceeds to step S172.

[0087] In step S172, similar to step S146, the information controller 120 determines whether the revolving body 3 faces the front of the traveling body 2 based on the turning angle r calculated in step S130. In step S172, when the turning angle r satisfies 0° ≤ r ≤ r1 or r4 < r < 360°, the information controller 120 determines that the revolving body 3 faces the front of the traveling body 2 and proceeds to step S185. In step S172, when the turning angle r satisfies neither 0° ≤ r ≤ r1 nor r4 < r < 360°, the information controller 120 determines that the revolving body 3 does not face the front of the traveling body 2 and proceeds to step S175.

[0088] In step S175, similar to step S149, the information controller 120 determines whether the revolving body 3 is facing the right side of the traveling body 2 based on the turning angle r calculated in step S130. In step S175, when the turning angle r satisfies r1 < r ≤ r2, the information controller 120 determines that the revolving body 3 is facing the right side of the traveling body 2 and proceeds to step S187. In step S175, when the turning angle r does not satisfy r1 < r ≤ r2, the information controller 120 determines that the revolving body 3 is not facing the right side of the traveling body 2 and proceeds to step S158.

[0089] If the turning angle sensor 161 malfunctions, an abnormal signal is output from the turning angle sensor 161, or the signal from the turning angle sensor 161 is interrupted, a negative determination is made in step S155 or step S175, and the process proceeds to step S158. In step S158, the information controller 120 executes abnormal display mode setting processing. In step S158, the information controller 120 sets an abnormal display mode in which an icon, message, etc. indicating the abnormal state is added to the stop display mode acquired in step S110 as the abnormal display mode, ends the traveling display mode setting processing (S140), and proceeds to step S190.

[0090] In step S181, the information controller 120 sets the rear single display as the display mode, ends the traveling display mode setting processing (S140), and proceeds to step 190. In step S183, the information controller 120 sets the right single display as the display mode, ends the traveling display mode setting processing (S140), and proceeds to step S190. In step S185, the information controller 120 sets the front single display as the display mode, ends the traveling display mode setting processing (S140), and proceeds to step S190. In step S187, the information controller 120 sets the left single display as the display mode, ends the traveling display mode setting processing (S140), and proceeds to step S190.

[0091] An example of the operation of the wheel excavator 1 according to this embodiment will be described. The operator gets into the cab 107, operates the lock lever device 179 to the unlocked position, and then operates the ignition switch to start the engine 21. At this time, the parking brake device (150) is in an activated state, and the forward / reverse changeover switch 174 is in a neutral position. Therefore, the information controller 120 determines that the traveling body 2 is not in a state in which it can travel (N in S125 of FIG. 8), and causes the second display area 92 of the display device 190 to display an image in a display mode (any of the first to third display modes) set by the display changeover switch 175 (S187, S190 of FIG. 8). That is, as shown in FIG. 10(a), an image in a stop display mode (for example, an overhead image 194) is displayed on the display screen 191a of the display device 190. In this state, the operator can select any of the first display mode, the second display mode, and the third display mode by operating the display changeover switch 175.

[0092] When the operator operates the brake switch 173 to release the parking brake device (150) and operates the forward / reverse switch 174 to the reverse position, the traveling body 2 becomes capable of traveling backward.

[0093] When the running body 2 is in a state where it can run backward, and the rotating body 3 (the front of the rotating body 3) faces forward of the running body 2, rear alone display is selected as the running display mode (Y at S143→Y at S146→S181 in FIG. 9). Therefore, in the second display area 92 of the display screen 191a of the display device 190, the rear image 198 captured by the rear camera 34 is displayed alone, as shown in FIG. 10(b).

[0094] When the running body 2 is in a state where it can travel backward and the revolving body 3 faces the rear of the running body 2, the front only display is selected as the running display mode (Y at S143, then N at S146, then N at S149, then N at S152, then Y at S185 in FIG. 9). Therefore, in the second display area 92 of the display screen 191a of the display device 190, the front image of the revolving body 3 captured by the front camera 33 (i.e., the rear image of the running body 2) is displayed solely on the display device 190. When the running body 2 is in a state where it can travel backward and the revolving body 3 faces the left of the running body 2, the left only display is selected as the running display mode (Y at S143, then N at S146, then N at S149, then N at S152, then N at S155, then Y at S187 in FIG. 9). Therefore, in the second display area 92 of the display screen 191a of the display device 190, the left image of the revolving unit 3 (i.e., the rear image of the running unit 2) captured by the left camera 31 is displayed alone on the display device 190. When the running unit 2 is in a state where it can travel backwards and the revolving unit 3 faces right, right-only display is selected as the traveling display mode (Y at S143→N at S146→Y at S149→S183 in FIG. 9). Therefore, in the second display area 92 of the display screen 191a of the display device 190, the right image of the revolving unit 3 (i.e., the rear image of the running unit 2) captured by the right camera 32 is displayed alone on the display device 190.

[0095] After the engine has started, when the operator operates the brake switch 173 to release the parking brake device (150) and operates the forward / reverse switch 174 to the forward position, the traveling body 2 becomes capable of traveling forward.

[0096] When the running body 2 is in a state where it can travel forward and the revolving body 3 faces the rear of the running body 2, the rear alone display is selected as the running display mode (N in S143→Y in S166→S181 in FIG. 9). Therefore, in the second display area 92 of the display screen 191a of the display device 190, the rear image of the revolving body 3 captured by the rear camera 34 (i.e., the front image of the running body 2) is displayed alone on the display device 190. When the running body 2 is in a state where it can travel forward and the revolving body 3 faces the left of the running body 2, the right alone display is selected as the running display mode (N in S143→N in S166→N in S169→Y in S183 in FIG. 9). Therefore, in the second display area 92 of the display screen 191a of the display device 190, the right image of the revolving body 3 captured by the right camera 32 (i.e., the front image of the running body 2) is displayed alone on the display device 190. When the running body 2 is in a state where it can run forward and the revolving body 3 faces rightward, left-only display is selected as the running display mode (N→S143, N→S166, N→S169, N→S172, N→S175, Y→S187 in FIG. 9). Therefore, in the second display area 92 of the display screen 191a of the display device 190, the left image of the revolving body 3 captured by the left camera 31 (i.e., the front image of the running body 2) is displayed alone on the display device 190. When the running body 2 is in a state where it can run forward and the revolving body 3 faces forward of the running body 2, front-only display is selected as the running display mode (N→S143, N→S166, N→S169, N→S172, Y→S185 in FIG. 9). Therefore, in the second display area 92 of the display screen 191a of the display device 190, the front image of the revolving body 3 captured by the front camera 33 (that is, the front image of the traveling body 2) is displayed solely on the display device 190.

[0097] In this manner, in this embodiment, when it is determined that the traveling body 2 is in a state in which it can travel (Y at S120 in FIG. 8, Y at S125, and N at S135), the information controller 120 selects an image of the traveling direction of the traveling body 2 set by the forward / reverse switch 174 from among the images captured by the multiple image capture devices 30 based on the rotation angle r of the rotating body 3 (S140 in FIG. 8), and displays the selected image in the second display area 92 of the display device 190 in place of the image in the display mode set by the display switch 175 (S190 in FIG. 8). This allows the operator to travel the wheel excavator 1 by operating the steering wheel 172 and the accelerator pedal 178a while checking the traveling direction of the wheel excavator 1 on the display screen 191a of the display device 190.

[0098] When the operator stops the wheel excavator 1, operates the brake switch 173 to activate the parking brake device (150), and operates the forward / reverse switch 174 to the neutral position, the display screen 191a of the display device 190 is switched to a display image in the stopped display mode (see FIG. 10(a)).

[0099] According to the above-described embodiment, the following advantageous effects are obtained.

[0100] (1) A wheeled excavator (work vehicle) 1 comprises a wheeled running body 2, a rotating body 3 rotatably mounted on the running body 2, a work implement 4 mounted on the rotating body 3, operation devices (work operation device 71, rotating operation device 72 and traveling operation device 178) for operating the running body 2, the rotating body 3 and the work implement 4, a plurality of image capturing devices 30 mounted on the rotating body 3 and capturing images of the surroundings of the rotating body 3, a display device 190 for displaying images captured by the image capturing devices 30, a display changeover switch (display mode setting device) 175 for setting the display mode of the images displayed on the display device 190, a turn angle sensor (turn angle detection device) 161 for detecting the turn angle r of the rotating body 3, a forward / reverse changeover switch (travel direction setting device) 174 for setting the travel direction of the running body 2, and an information controller (control device) 120 for controlling the display device 190.

[0101] The information controller (control device) 120 judges whether the running object 2 is in a state where it can run, and when it is judged that the running object 2 is not in a state where it can run, the information controller (control device) 120 displays an image in a display mode (any of the first to third display modes) set by the display changeover switch (display mode setting device) 175 in a predetermined display area (second display area 92) of the display device 190. When it is judged that the running object 2 is in a state where it can run, the information controller (control device) 120 selects an image in the traveling direction of the running object 2 set by the forward / reverse changeover switch (traveling direction setting device) 174 from among the images captured by the multiple image capture devices 30 based on the rotation angle r of the rotating body 3, and displays an image including the selected image (a single image in this embodiment) in the above-mentioned predetermined display area (second display area 92) of the display device 190 in place of the image in the display mode set by the display changeover switch (display mode setting device) 175.

[0102] As a result, regardless of the attitude of the rotating body 3 relative to the running body 2, an image in the traveling direction of the running body 2 is displayed on the display device 190. In other words, according to this embodiment, even if the fore-and-aft direction of the running body 2 and the fore-and-aft direction of the rotating body 3 do not match, it is possible to provide a wheel excavator 1 that allows the running body 2 to start and travel while checking the image displayed on the display device 190. This allows smooth movement of the work location, thereby improving work efficiency at the work site.

[0103] (2) The wheel excavator (work vehicle) 1 is provided with a lock lever device 179 that can be selectively switched between a locked position that disables operation by the operating devices (work operating device 71, swing operating device 72, and traveling operating device 178), and an unlocked position that enables operation by the operating devices (work operating device 71, swing operating device 72, and traveling operating device 178). When the lock lever device 179 is switched to the locked position, the information controller (control device) 120 determines that the traveling body 2 is not in a state in which it can travel. Therefore, by switching the lock lever device 179 to the locked position, the operator can select any of the stop display modes (first to third display modes) using the display changeover switch 175.

[0104] (3) The wheel excavator (work vehicle) 1 is equipped with a transmission 150 that functions as a parking brake device for parking the wheel excavator (work vehicle) 1. When the parking brake device (150) is in an activated state, the information controller (control device) 120 determines that the traveling object 2 is not in a state in which it can travel. Therefore, by keeping the parking brake device (150) in an activated state, the operator can select any of the stop display modes (first to third display modes) using the display changeover switch 175.

[0105] (4) The forward / reverse switch (travel direction setting device) 174 is a forward / reverse switching device that can be selectively switched to any one of a forward position, a neutral position, and a reverse position, and the information controller (control device) 120 determines that the traveling body 2 is not in a state in which it can travel when the forward / reverse switch 174 is switched to the neutral position. Therefore, by switching the forward / reverse switch 174 to the neutral position, the operator can select any stop display mode (first to third display modes) with the display switch 175.

[0106] (5) When it is determined that the running object 2 is in a state in which it can run, the information controller (control device) 120 displays the selected image alone in a predetermined display area (second display area 92) of the display device 190. As a result, the image of the traveling direction of the running object 2 is displayed large on the display device 190, so that the operator can easily grasp the situation in the traveling direction of the running object 2.

[0107] The following modified examples are also within the scope of the present invention, and it is possible to combine the configurations shown in the modified examples with the configurations described in the above-mentioned embodiments, or to combine the configurations described in the different modified examples below.

[0108] <Variation 1> In the above embodiment, an example has been described in which the transmission 150 functions as a parking brake device, but the present invention is not limited to this. A parking brake device may be provided separately from the transmission 150.

[0109] <Variation 2> In the above embodiment, an example has been described in which it is determined whether the parking brake device (150) is activated based on the operation information of the brake switch 173, but the present invention is not limited to this. When the transmission 150 is used as the parking brake device, it may be determined whether the parking brake device (150) is activated based on the pressure of hydraulic oil acting on the clutches 150a, 150b. When a hydraulic parking brake device is provided in addition to the transmission 150, it may be determined whether the parking brake device is activated based on the hydraulic oil pressure of the parking brake device.

[0110] <Modification 3> In the above embodiment, an example has been described in which the information controller 120 displays the selected image alone in the second display area 92 of the display device 190 when it is determined that the running object 2 is in a runnable state, but the present invention is not limited to this. When it is determined that the running object 2 is in a runnable state, the information controller 120 may generate an overhead image based on the selected image and images adjacent to the selected image around the turning center axis, and display the generated overhead image in the second display area 92 of the display device 190.

[0111] 11 , when forward / reverse switch 174 is switched to the reverse position, the running body 2 is capable of running backward, and the revolving body 3 faces forward of the running body 2, the information controller 120 selects the rear image (image captured by rear camera 34) as the image in the traveling direction of the running body 2. Information controller 120 generates overhead image 194A based on the selected rear image and the left image and right image adjacent to the rear image, and displays it in second display area 92 of display device 190.

[0112] 12, for example, when the forward / reverse switch 174 is switched to the reverse position, the running body 2 is capable of running backward, and the revolving body 3 faces to the right of the running body 2, the information controller 120 selects the right image (image captured by the right camera 32) as the image in the traveling direction of the running body 2. The information controller 120 generates an overhead image 194B based on the selected right image and the forward image and rear image adjacent to the right image, and displays it in the second display area 92 of the display device 190.

[0113] In this way, by displaying not only the image in the traveling direction of the running object 2 but also the adjacent images on the display device 190, the operator can properly grasp the situation in the traveling direction of the running object 2 even if the angle of view of the photographing device 30 photographing the traveling direction of the running object 2 is narrow. In this modification, the image in the traveling direction of the running object 2 (for example, the rear image) is enlarged and displayed so that the display area is larger than the image (for example, the rear image) in the overhead image 194 in the stopped display mode. This makes it easy to grasp the situation in the traveling direction of the running object 2.

[0114] <Variation 4> In the above embodiment, an example in which four photographing devices 30 (left camera 31, right camera 32, front camera 33, and rear camera 34) are attached to the rotating body 3 has been described, but the present invention is not limited to this. Five or more photographing devices 30 may be attached to the rotating body 3. Also, three or less photographing devices 30 may be attached to the rotating body 3. For example, the left camera 31, right camera 32, and rear camera 34 may be attached to the rotating body 3, and the front camera 33 may be omitted. In this case, in step S185 of FIG. 9, it is preferable that the information controller 120 selects a display mode in which an overhead image generated based on images captured by the left camera 31, right camera 32, and rear camera 34 is displayed instead of the front only display.

[0115] <Variation 5> In the above embodiment, an example of applying the present invention to a wheel excavator 1 has been described, but the present invention is not limited to this, and can be applied to various work vehicles equipped with a wheel-type running body, a rotating body, and a working device, such as a wheel crane.

[0116] Although the embodiments of the present invention have been described above, the above-mentioned embodiments merely show some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above-mentioned embodiments. [Explanation of symbols]

[0117] 1...wheel excavator (work vehicle), 2...traveling body, 3...rotating body, 4...working device, 7...operator's cab, 10...surroundings monitoring system, 30...photographing device, 31...left camera (photographing device), 32...right camera (photographing device), 33...front camera (photographing device), 34...rear camera (photographing device), 71...work operation device (operation device), 72...rotation operation device (operation device), 91...first display area, 92...second display area (predetermined display area), 93...third display area, 107...operator's cab, 108...engine room, 120...information controller ( control device), 150...transmission (parking brake device), 174...forward / reverse switch (travel direction setting device), 175...display switch (display mode setting device), 178...travel operation device (operation device), 179...lock lever device, 190...display device, 191a...display screen, 194...overhead image, 194A, 194B...overhead image (image including image in the traveling direction of the traveling body), 198...rear image (image in the traveling direction of the traveling body), O...turning center axis, r...turning angle, r1, r2, r3, r4...angle threshold

Claims

1. A work vehicle comprising: a wheeled running body, a rotating body rotatably attached on the running body, a working device attached to the rotating body, an operation device for operating the running body, the rotating body, and the working device, a plurality of photographing devices attached to the rotating body and photographing the surroundings of the rotating body, a display device for displaying images photographed by the photographing devices, a display mode setting device for setting a display mode of the images displayed on the display device, a rotation angle detection device for detecting a rotation angle of the rotating body, a traveling direction setting device for setting a traveling direction of the running body, and a control device for controlling the display device, The control device includes: determining whether the vehicle is in a state in which it can run; When it is determined that the traveling object is not in a state in which the traveling object can travel, an image of a display mode set by the display mode setting device is displayed in a predetermined display area of ​​the display device; the display mode set by the display mode setting device includes a display mode in which a first overhead view image generated from images captured by the plurality of imaging devices is displayed in the predetermined display area; When it is determined that the running body is in a state where it can run, the control device selects, based on the rotation angle of the rotating body, from the images captured by the multiple imaging devices, an image in the running direction of the running body that has been set by the running direction setting device, and generates, based on the selected image and images adjacent to the selected image, a second overhead image in which a display area of ​​the image in the running direction of the running body is larger than a display area of ​​the image in the running direction of the running body in the first overhead image, and displays the second overhead image in the specified display area of ​​the display device in place of an image in a display mode that has been set by the display mode setting device. A work vehicle characterized by:

2. The work vehicle according to claim 1, a lock lever device that can be selectively switched between a locked position that disables operation by the operating device and an unlocked position that enables operation by the operating device, The control device determines that the traveling body is not in a state in which it can travel when the lock lever device is switched to the lock position. A work vehicle characterized by:

3. The work vehicle according to claim 1, A parking brake device for parking the work vehicle is provided, The control device determines that the traveling object is not in a state in which it can travel when the parking brake device is in an activated state. A work vehicle characterized by:

4. The work vehicle according to claim 1, the travel direction setting device is a forward / reverse switching device that is selectively switched to any one of a forward position, a neutral position, and a reverse position, The control device determines that the traveling object is not in a traveling state when the forward / reverse switching device is switched to a neutral position. A work vehicle characterized by:

Images