Work vehicle

Abstract

To provide a work vehicle capable of enhancing the accuracy of an image showing the surroundings of the vehicle body.SOLUTION: A work vehicle includes a travelable vehicle body, a work device provided on the vehicle body, a jack provided on the vehicle body to be expandable and contractible so as to be expanded downward to support the vehicle body while being in contact with the ground, a jack grounding sensor 86 for detecting the grounding of the jack, cameras 91 to 94 for acquiring image information of the surroundings of the vehicle body, an image processing unit 65 for generating surrounding display image showing the surroundings of the vehicle body by using the image information of the surroundings of the vehicle body acquired by the cameras 91 to 94, and display devices 101 to 103 showing the surrounding display image. When the grounding of the jack is detected by the jack grounding sensor 86, the image processing unit 65 corrects the surrounding display image in accordance with the supporting height of the vehicle body that is supported by the jack.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] As an example of a work vehicle, a vehicle for working at height is known, which is based on a truck vehicle capable of traveling with a driver's cab at the front, and is equipped with a swivel platform mounted on the vehicle body so as to be horizontally rotatable, a boom mounted on the swivel platform so as to be able to be raised and lowered and extended, and a work platform supported so as to be rotatable at the tip of the boom. Such vehicles for working at height are used at various work sites, such as electric wire construction, maintenance and inspection work in road tunnels, and maintenance and inspection work on bridges. In such vehicles for working at height, outrigger jacks are provided on the front, rear, left and right sides of the vehicle in order to stably support the vehicle during work, and these outrigger jacks are configured to extend out to the sides of the vehicle and be grounded (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-324998 Summary of the Invention [Problem to be solved by the invention]

[0004] In addition, some high-altitude work vehicles are configured to display an image of the surroundings of the vehicle on a display device based on image information acquired by a camera. However, when the vehicle is supported by an outrigger jack, the position of the camera in the height direction changes, which can reduce the accuracy of the image displayed on the display device.

[0005] The present invention has been made in consideration of such problems, and has an object to provide a work vehicle that is capable of improving the accuracy of images showing the surroundings of the vehicle body. [Means for solving the problem]

[0006] In order to achieve such an object, a work vehicle according to the present invention (for example, the aerial work vehicle 1 in the embodiment) comprises a vehicle body capable of travelling, a working device provided on the vehicle body (for example, the boom 30 and the work platform 40 in the embodiment), a jack that is telescopically provided on the vehicle body and supports the vehicle body while being extended downward and in contact with the ground, a jack grounding detector (for example, a jack grounding sensor 86) that detects the grounding of the jack, a number of cameras that photograph the surroundings of the vehicle body, and an image capturing device that captures images captured by the plurality of cameras. Multiple The present invention includes an image processing unit that synthesizes images to generate a surrounding display image showing the surroundings of the vehicle body, and a display device that displays the surrounding display image, and when the jack grounding detector detects that the jack has grounded, the image processing unit: For the plurality of images taken by the plurality of cameras According to the support height of the vehicle body supported by the jack, Correction is performed using the correction information set in the image processing section, and the corrected images are then synthesized. the surrounding display image Generate .

[0007] In the above-mentioned work vehicle, a jack extension amount detector (for example, a jack extension amount sensor 89 in the embodiment) is provided to detect the extension amount of the jack, and the image processing unit is As the correction information, Based on the extension amount of the jack detected by the jack extension amount detector Use the correction information that is set It is preferable. Effect of the Invention

[0008] According to the present invention, when the jack grounding detector detects the grounding of the jack, the image processing unit corrects the surrounding display image according to the support height of the vehicle body supported by the jack. As a result, even if the vehicle body is supported by a jack and the height direction position of the camera changes, there is no risk of a portion of the surroundings display image being duplicated or lost, resulting in a decrease in the accuracy of the surroundings display image displayed on the display device. This makes it possible to increase the accuracy of the surroundings display image showing the surroundings of the vehicle body.

[0009] In the above-mentioned work vehicle, it is preferable that the image processing unit corrects the surroundings display image according to the support height of the vehicle body based on the extension amount of the jack detected by the jack extension amount detector. This allows the surroundings display image to be corrected according to the support height of the vehicle body with high accuracy, so that even if the vehicle body is supported by the jack and the height direction position of the camera changes, there is no duplication or disappearance of part of the surroundings display image, and the accuracy of the surroundings display image displayed on the display device is not reduced. Therefore, it is possible to increase the accuracy of the surroundings display image showing the surroundings of the vehicle body. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a left side view of the aerial work platform vehicle as seen from the left. [Diagram 2] FIG. 2 is a plan view of the high-altitude work vehicle as seen from above. [Diagram 3] FIG. [Figure 4] FIG. 2 is a rear view of the aerial work platform vehicle as seen from the rear. [Diagram 5] FIG. 2 is a block diagram showing a control system of the aerial work vehicle. [Figure 6] 1 is a schematic diagram showing an example of a planar image composite image and an overhead image composite image displayed on a display device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. An aerial work vehicle 1 according to this embodiment is shown in Fig. 1 to Fig. 4, and first, the overall configuration of the aerial work vehicle 1 will be described with reference to these figures. As shown in Fig. 1, the aerial work vehicle 1 has a driver's cab 7 at the front of a vehicle body 2, and is configured based on a truck-type vehicle that can run on wheels 3 arranged on the front, rear, left and right sides of the vehicle body 2.

[0012] Outrigger jacks 10 are provided on the front, rear, left and right sides of the vehicle body 2 to lift and support the vehicle body 2 during high-altitude work. As shown in Figs. 2 and 4, the outrigger jack 10 is configured to have outriggers (outrigger beams) 11 that can be extended and retracted in the left-right direction (vehicle width direction) of the vehicle body 2, a jack 12 that is provided at the tip of the outrigger 11 and can be extended and retracted in the up-down direction, and a ground plate 13 attached to the lower end of the jack 12. The outrigger 11 is configured to be extendable and retractable in the left-right direction (vehicle width direction) by an outrigger cylinder 15 (see Fig. 5) provided inside the outrigger 11. The jack 12 is configured to be extendable and retractable in the up-down direction by a jack cylinder 16 (see Fig. 5) provided inside the jack 12. The vehicle body 2 is lifted and supported by extending the outriggers 11 to the left and right sides of the vehicle body 2 and extending the jack 12 to ground the ground plate 13 on the road surface (ground), thereby making it possible to stabilize the entire vehicle.

[0013] As shown in Figs. 1 and 2, a swivel base 20 is provided in the mounting area behind the driver's cab 7 of the vehicle body 2, which is driven by a boom rotation motor 24 (see Fig. 5) and configured to be horizontally rotatable about a vertical axis. A base end of a boom 30 is attached to a support 21 extending upward from the swivel base 20 via a foot pin 22 so as to be vertically swingable (raised and lowered). In addition, a left tool storage section 26 and a right tool storage section 27 are provided on the left and right sides of the mounting area of ​​the vehicle body 2 for storing work tools, work equipment, and the like. The left tool storage section 26 has a box-shaped left lower tool box 26a arranged on the left side of the mounting area of ​​the vehicle body 2, and a box-shaped left upper tool box 26b arranged on the left lower tool box 26a. The right tool storage section 27 has a box-shaped right lower tool box 27a arranged on the right side of the mounting area of ​​the vehicle body 2, and a right lower tool box 27b arranged on the right lower tool box 27a. and a box-shaped upper right tool box 27b disposed on top of the tool box 27a.

[0014] As shown in Fig. 1, the boom 30 has a configuration in which, from the swivel base 20 side, a base boom 30a, an intermediate boom 30b, and a tip boom 30c are nested together, and the boom 30 can be extended and retracted in the axial direction (longitudinal direction) by the extension and retraction drive of a boom telescopic cylinder 31 (see Fig. 5) provided inside. In addition, a boom hoisting cylinder 23 (see Fig. 5) is provided between the base boom 30a and the support 21, and by driving the boom hoisting cylinder 23 to extend and retract, the entire boom 30 can be raised and retracted in the up-down plane (vertical plane).

[0015] A vertical post 35 (see FIG. 2) is pivotally supported at the tip of the tip boom 30c so as to be freely swingable up and down. This vertical post 35 is swing-controlled (leveling-controlled) by an upper leveling cylinder (not shown) straddling the tip of the tip boom 30c and a lower leveling cylinder 25 straddling between the base boom 30a and the support 21 so as to be always kept in a vertical position regardless of the elevation of the boom 30. A work platform 40 for an operator to sit on is attached to the vertical post 35. The work platform 40 can be swung (horizontally rotated) around the vertical post 35 by rotating a work platform rotation motor 37 (see FIG. 5) provided on the vertical post 35.

[0016] As shown in Fig. 2, the work platform 40 is provided with an upper operation device 45 having operation levers, operation switches, operation dials, etc., which are operated by a worker on the work platform 40. Therefore, by operating the upper operation device 45, a worker on the work platform 40 can perform various operations such as the rotation operation of the swivel base 20 (rotation operation of the boom rotation motor 24), the raising and lowering operation of the boom 30 (extension and retraction operation of the boom hoisting cylinder 23), the extension and retraction operation of the boom 30 (extension and retraction operation of the boom telescopic cylinder 31), and the swing operation of the work platform 40 (rotation operation of the work platform rotation motor 37). As shown in Fig. 4, a lower operation device 50 is provided at the rear of the vehicle body 2, and a worker on the ground or on the vehicle body 2 can perform the above-mentioned operations (operations similar to those of the upper operation device 45) and the operation of the outrigger jacks 10.

[0017] When the upper operating device 45 or the lower operating device 50 is operated, an operation signal corresponding to the operation is output to a control unit 60 provided on the vehicle body 2, as shown in Fig. 5. An operation control section 61 of the control unit 60 outputs a command signal based on the operation signal to a hydraulic drive unit 70. As shown in Fig. 5, the hydraulic drive unit 70 has a hydraulic oil tank 71 that stores hydraulic oil, a hydraulic pump 72 that is driven by the power of an engine E mounted on the vehicle body 2, and a control valve unit 73 that controls the supply of hydraulic oil discharged from the hydraulic pump 72 to each hydraulic actuator in a supply direction and supply amount based on the command signal.

[0018] A power take-off mechanism PTO is incorporated in the transmission, which changes the speed of the power of the engine E and transmits it to the wheels 3, to extract the driving force of the engine E for driving each hydraulic actuator. When a PTO operation lever 75 disposed in the driver's cab 7 is operated from the OFF position to the ON position, the power take-off mechanism PTO switches the drive destination of the engine E from the wheels 3 to the hydraulic pump 72, and the hydraulic pump 72 is driven by the power of the engine E. The control valve unit 73 has electromagnetic proportional control valves V1 to V6 corresponding to the boom rotation motor 24, the boom hoisting cylinder 23, the boom extension cylinder 31, the platform rotation motor 37, the outrigger cylinder 15, and the jack cylinder 16, respectively. The hydraulic drive unit 70 controls the flow of hydraulic oil supplied to each hydraulic actuator in response to a command signal from the operation control section 61 of the control unit 60 to operate each hydraulic actuator.

[0019] In this manner, the operation of each hydraulic actuator is controlled by the control unit 60 (operation control section 61). For this reason, various detection devices are provided in the aerial work vehicle 1, and detection signals output from these detection devices are input to the control unit 60. For example, the control unit 60 receives a swing angle detection signal corresponding to the swing angle of the boom 30 (swivel platform 20) from a boom swing angle sensor 81, a hoisting angle detection signal corresponding to the hoisting angle of the boom 30 from a boom hoisting angle sensor 82, an extension amount detection signal corresponding to the extension amount of the boom 30 from a boom length sensor 83, and a swing angle detection signal corresponding to the swing angle of the work platform 40 from a platform swing angle sensor 84. Also, for example, the control unit 60 receives an extension amount detection signal corresponding to the extension amount of the outrigger jack 10 (outriggers 11) toward the side of the vehicle body from a jack extension amount sensor 85, and a ground contact detection signal of the outrigger jack 10 (ground plate 13) from a jack ground contact sensor 86. Also, for example, the control unit 60 receives an inclination angle detection signal corresponding to the inclination angle in the front-rear and left-right directions of the vehicle body 2 (road surface) from a vehicle body inclination angle sensor 87, and a traveling speed detection signal corresponding to the traveling speed of the aerial work vehicle 1 from a traveling speed sensor 88.

[0020] The jack extension sensor 85 detects the extension amount of the outrigger jack 10 (outrigger 11) in the vehicle width direction (i.e., the extension amount to the left and right sides with respect to the vehicle body 2) in four stages. In this embodiment, the four stages of extension amount are "Middle 1 extension (MID1)", "Middle 2 extension (MID2)", and "Maximum extension (MAX)" are set. The minimum extension corresponds to the retracted state of outrigger 11. , the maximum extension amount corresponds to the maximum extension state of the outriggers 11. In other words, the extension amount of the outriggers 11 increases by one step at a time in the order of minimum extension amount < intermediate 1 extension amount < intermediate 2 extension amount < maximum extension amount. Note that, instead of a configuration for detecting the extension amount of the outriggers 11 in stages, the jack extension amount sensor 85 may be configured to continuously detect the extension amount of the outriggers 11.

[0021] In the aerial work vehicle 1 according to this embodiment, cameras are disposed on the front, rear, left and right sides of the vehicle body 2, and image information output from each camera is input to the control unit 60. As shown in FIGS. 1 and 3, a front camera 91 is disposed at the front of the vehicle body 2. The front camera 91 is attached near the front bumper 28 at the front of the vehicle body 2 and faces forward of the vehicle body 2. The front camera 91 is configured with a lens with a wide angle of view, such as a fisheye lens or an ultra-wide-angle lens, and obtains image information of the front part around the vehicle body 2 and outputs the obtained image information to the control unit 60.

[0022] As shown in FIG. 2 and FIG. 4, a rear camera 92 is disposed at the rear of the vehicle body 2. The rear camera 92 is attached near the right tail lamp 29 at the rear of the vehicle body 2, facing toward the rear of the vehicle body 2. The rear camera 92 is configured similarly to the front camera 91, and acquires image information of the rear portion around the vehicle body 2, and outputs the acquired image information to the control unit 60. The rear camera 92 may be attached not only near the tail lamp 29, but also to a protective cover (not shown) that covers the lower operation device 50 when not in use, or may be attached to the base end of the boom 30 or the rear of the swivel base 20. When the rear camera 92 is attached to the base end of the boom 30 or the rear of the swivel base 20, a cable extending from the rear camera 92 may be inserted into a slip ring (not shown) provided on the swivel base 20. In this case, the image information output from the rear camera 92 may be transmitted to the control unit 60 by wireless communication.

[0023] As shown in Figs. 2 and 4, a left side camera 93 is provided on the left side of the vehicle body 2. The left side camera 93 is attached to the upper end of the left tool storage section 26 (upper left tool box 26b) on the left side of the vehicle body 2, facing leftward of the vehicle body 2. The left side camera 93 is attached to the front The left side camera 93 is configured similarly to the front camera 91, and obtains image information of the left side portion around the vehicle body 2, and outputs the obtained image information to the control unit 60. A right side camera 94 is disposed on the right side of the vehicle body 2. The right side camera 94 is attached to the upper end of the right tool storage section 27 (upper right tool box 27b) on the right side of the vehicle body 2, facing the right side of the vehicle body 2. The right side camera 94 is configured similarly to the front camera 91, and obtains image information of the right side portion around the vehicle body 2, and outputs the obtained image information to the control unit 60. The left side camera 93 may be attached not only to the upper end of the left tool storage section 26, but also to the upper left side of the driver's cab 7. The right side camera 94 may be attached not only to the upper end of the right tool storage section 27, but also to the upper right side of the driver's cab 7.

[0024] The vehicle for work at height 1 according to this embodiment is provided with a plurality of display devices. A driver's cab-side display device 101 (see FIG. 5) is disposed in the driver's cab 7 of the vehicle body 2. An operator who drives the vehicle for work at height 1 in the driver's cab 7 can visually confirm images displayed on the driver's cab-side display device 101. The driver's cab-side display device 101 is configured using, for example, a liquid crystal display or the like, and can display images generated by the image processing unit 65 of the control unit 60.

[0025] A lower display device 102 (see FIG. 5) is disposed near the lower operation device 50 in the vehicle body 2. An operator who operates the lower operation device 50 can visually recognize an image displayed on the lower display device 102. The lower display device 102 is configured using, for example, a liquid crystal display or the like, and can display an image generated by the image processing unit 65 of the control unit 60.

[0026] An upper display device 103 (see FIG. 5) is disposed near the upper operation device 45 on the workbench 40. An operator who operates the upper operation device 45 can visually recognize an image displayed on the upper display device 103. The upper display device 103 is configured using, for example, a liquid crystal display, and can display an image generated by the image processing unit 65 of the control unit 60.

[0027] As shown in FIG. 5, the control unit 60 has the above-mentioned operation control unit 61, a working range setting unit 63, and an image processing unit 65. The working range setting unit 63 stores data on a workable range that is determined as an area in which the tip of the boom 30 (work platform 40) can be moved without causing the vehicle body 2 to overturn. The working range setting unit 63 also stores data on a workable range corresponding to each of the four stages of extension of the outrigger jack 10 (outrigger 11). The working range setting unit 63 reads out data on the workable range corresponding to the current extension of the outrigger 11 from the workable range data group based on the extension detection signal input from the jack extension sensor 85. The working range setting unit 63 then sets the data on the workable range read out according to the extension of the outrigger 11 from the workable range data group as the movable area of ​​the tip of the boom 30 that is allowable for the current extension of the outrigger 11.

[0028] Although not shown in the figures, the outer edge of the workable range (movable area) consists of an outer edge (operational limit line) that is set structurally based on the relationship between the range of possible lengths of the boom 30 and the range of possible hoisting angles of the boom 30, and an outer edge (regulatory limit line) that is set as a limit line where the tip of the boom 30 can be moved structurally but where movement of the tip of the boom 30 must be prohibited from the standpoint of preventing an excessive tipping moment. Hereinafter, the outer edge of the workable range will be referred to as the "limit line" without distinguishing between the operational limit line and the regulatory limit line.

[0029] The image processing unit 65 receives image information from a front camera 91, a rear camera 92, a left side camera 93, and a right side camera 94, and a projection amount detection signal from a jack projection amount sensor 85. A ground contact signal from the jack ground contact sensor 86, a ground contact detection signal from the jack ground contact sensor 86, and an operation signal from the PTO operation lever 75 are input to the image processing unit 65. The image processing unit 65 also stores in advance image information of the vehicle 1 for aerial work which is simplified when viewed from above (in a plan view) and image information of the vehicle 1 for aerial work which is simplified when viewed from above (in a bird's-eye view).

[0030] When the jack 12 is grounded, the image processor 65 generates a planar image composite image 110 and an overhead image composite image 160 as shown in FIG. 6 when an ON operation signal is input from the PTO operation lever 75 and it is detected that the power take-off mechanism PTO is in an operating state. The planar image composite image 110 is an image obtained by superimposing a planar outrigger image image 130 and a planar work range image image 140 on a planar surroundings display image 120. As shown in FIG. 6, the planar surroundings display image 120 shows the surroundings of the vehicle body 2 (i.e., the vehicle for aerial work 1) in a planar view. The example of FIG. 6 shows a case where the vehicle for aerial work 1 is parked in a location near a utility pole WK, which is a work object. The utility pole WK is erected near a guard rail GR, which is an obstacle. In the planar surroundings display image 120 shown in FIG. 6, the center of rotation C of the rotating platform 20 (boom 30) of the vehicle body 2 in a planar view is displayed. The image information of the turning center C is stored in advance in the image processing unit 65 as image information of the vehicle 1 for high altitude work that is simplified in plan view.

[0031] The outrigger image 130 in plan view typically shows the outriggers 11 in plan view, as indicated by the two-dot chain line in Fig. 6. For example, the outrigger image 130 in plan view typically shows the outriggers 11 in plan view according to the above-mentioned four stages of protrusion amount (or a protrusion amount that changes continuously).

[0032] The planar working range image 140 shows a limit line 141 in the above-mentioned workable range around the aerial work vehicle 1, as shown by the two-dot chain line in Fig. 6. The limit line 141 shown in the planar working range image 140 is an envelope line showing the workable radius of the boom 30 over all rotation positions (360 degrees), and the area surrounded by the limit line 141 shows the above-mentioned workable range. The limit line 141 shown in the planar working range image 140 shows the limit line in plan view when the tip of the boom 30 (work platform 40) is at a predetermined reference height (for example, the maximum height to which the tip of the boom 30 can be moved).

[0033] The overhead image composite image 160 is an image obtained by superimposing an overhead outrigger image 180 and an overhead work range image 190 on an overhead surroundings display image 170. The overhead surroundings display image 170 shows the surroundings of the vehicle body 2 (i.e., the aerial work vehicle 1) seen from an overhead perspective, as shown in Fig. 6. The overhead outrigger image 180 shows the outriggers 11 as shown by the two-dot chain line in Fig. 6. The overhead outrigger image 180 shows the outriggers 11 as seen from an overhead perspective in accordance with the four levels of overhang amount (or the overhang amount that changes continuously), similar to the planar outrigger image 130. The overhead work space image 190 shows a rear limit line 191 in the above-mentioned workable space, as shown by a two-dot chain line in Fig. 6. The limit line 191 shown in the overhead work space image 190 is a bird's-eye view of the limit line 141 shown in the planar work space image 140.

[0034] The image processing unit 65 generates a surroundings display image 120 in a planar view using image information of the front portion around the vehicle body 2 input from the front camera 91, image information of the rear portion around the vehicle body 2 input from the rear camera 92, image information of the left portion around the vehicle body 2 input from the left side camera 93, image information of the right portion around the vehicle body 2 input from the right side camera 94, and pre-stored image information of the aerial work vehicle 1 simplified in a planar view. The image processing unit 65 generates an outrigger image picture 130 in a planar view based on the extension detection signal input from the jack extension sensor 85 (i.e., the extension amount of the outrigger 11). The image processing unit 65 also reads out data on the workable range corresponding to the current extension amount of the outriggers 11 from the workable range data group stored in the workable range setting unit 63 based on the extension detection signal input from the jack extension sensor 85, and generates a planar view workable range image 140 set to show a limit line 141 of the read workable range. The image processing unit 65 generates a planar image composite image 110 by combining the planar view outrigger image 130 and the planar view workable range image 140 with the generated planar view surroundings display image 120.

[0035] The image processing unit 65 generates an overhead surroundings display image 170 using image information of the front part of the surroundings of the vehicle body 2 input from the front camera 91, image information of the rear part of the surroundings of the vehicle body 2 input from the rear camera 92, image information of the left part of the surroundings of the vehicle body 2 input from the left side camera 93, image information of the right part of the surroundings of the vehicle body 2 input from the right side camera 94, and image information of the aerial work vehicle 1 simplified from an overhead view that has been stored in advance. The image processing unit 65 generates an overhead outrigger image image 180, similar to the planar outrigger image image 130. The image processing unit 65 generates an overhead work range image image 190, similar to the planar work range image image 140. The image processing unit 65 generates a bird's-eye view composite image 160 by combining the bird's-eye view outrigger image image 180 and the bird's-eye view work range image image 190 with the generated bird's-eye view surroundings display image 170.

[0036] The image processing unit 65 outputs the generated image information of the planar image composite image 110 and the overhead image composite image 160 to the driver cab side display device 101, the lower display device 102, and the upper display device 103. Based on the image information input from the image processing unit 65, the driver cab side display device 101, the lower display device 102, and the upper display device 103 display the planar image composite image 110 and the overhead image composite image 160 side by side.

[0037] In the planar image composite image 110, the outrigger image 130 in plan view shows the outrigger 11 in plan view in the surrounding display image 120 in plan view. For example, in the case shown in FIG. 6, the distance between the tip of the outrigger 11 (jack 12) and the guardrail GR in plan view can be seen. In the overhead image composite image 160, the distance between the tip of the outrigger 11 (jack 12) and the guardrail GR seen from above can be seen by using the overhead outrigger image 180. This makes it easy to determine whether the jack 12 will come into contact with the guardrail GR when extending the outrigger 11 by visually checking the planar image composite image 110 or the overhead image composite image 160 displayed on the driver's cab side display device 101 or the like. This makes it possible to improve the work efficiency when the jack 12 is grounded.

[0038] In addition, in the planar image composite image 110, the limit line 141 in the above-mentioned workable range is displayed in the planar surroundings display image 120 by the planar work range image image 140. For example, if the utility pole WK is located inside the limit line 141 shown in FIG. 6, that is, inside the workable range, it can be easily determined that the work platform 40 can approach the utility pole WK. If the utility pole WK is located outside the limit line 141' shown in FIG. 6, that is, outside the workable range, it can be easily determined that the work platform 40 cannot approach the utility pole WK. In the overhead image composite image 160, the limit line 191 (or the limit line 191') of the overhead work range image image 190 can be used to easily determine whether the work platform 40 can approach the utility pole WK. As a result, by visually checking the planar image composite image 110 or the overhead image composite image 160 displayed on the driver's cab side display device 101, etc., it becomes possible to easily determine whether or not the work platform 40 can approach the utility poles WK located around the vehicle body 2 when extending the outriggers 11.

[0039] Incidentally, when generating the surroundings display image 120 in planar view, the image processing unit 65 first performs a coordinate correction process to assign coordinates based on the ground in planar view to the image information of the front part of the surroundings of the vehicle body 2 input from the front camera 91, the image information of the rear part of the surroundings of the vehicle body 2 input from the rear camera 92, the image information of the left part of the surroundings of the vehicle body 2 input from the left side camera 93, and the image information of the right part of the surroundings of the vehicle body 2 input from the right side camera 94, using the plane correction information. Then, the image processing unit 65 performs image processing to paste and synthesize an image of the front part of the surroundings of the vehicle body 2 (i.e., the aerial work vehicle 1), an image of the rear part of the surroundings of the vehicle body 2, an image of the left part of the surroundings of the vehicle body 2, and an image of the right part of the surroundings of the vehicle body 2 onto the image of the aerial work vehicle 1 simplified in planar view, using each image information that has been subjected to the coordinate correction process using the plane correction information, thereby generating the surroundings display image 120 in planar view.

[0040] In this way, the image processing unit 65 performs coordinate correction processing using the plane correction information on the image information of the front part of the surroundings of the vehicle body 2 input from the front camera 91, the image information of the rear part of the surroundings of the vehicle body 2 input from the rear camera 92, the image information of the left part of the surroundings of the vehicle body 2 input from the left side camera 93, and the image information of the right part of the surroundings of the vehicle body 2 input from the right side camera 94, thereby generating a surrounding display image 120 in plan view. The plane correction information includes first plane correction information and second plane correction information. The first plane correction information and the second plane correction information are stored in the image processing unit 65 in advance.

[0041] When no grounding detection signal is input from the jack grounding sensor 86, i.e., when the jack grounding sensor 86 does not detect the jack 12 touching the ground, the image processing unit 65 performs coordinate correction processing using the first plane correction information on the image information of the front part around the vehicle body 2 input from the front camera 91, the image information of the rear part around the vehicle body 2 input from the rear camera 92, the image information of the left part around the vehicle body 2 input from the left side camera 93, and the image information of the right part around the vehicle body 2 input from the right side camera 94, thereby generating a surrounding display image 120 in a planar view. The first plane correction information is correction information set on the assumption that the vehicle body 2 is not supported by the jack 12 (for example, the jack 12 is in a stored state).

[0042] On the other hand, when a grounding detection signal is input from the jack grounding sensor 86, that is, when the jack grounding sensor 86 detects that the jack 12 has grounded, the image processing unit 65 performs coordinate correction processing using the second plane correction information on the image information of the front part of the periphery of the vehicle body 2 input from the front camera 91, the image information of the rear part of the periphery of the vehicle body 2 input from the rear camera 92, the image information of the left part of the periphery of the vehicle body 2 input from the left side camera 93, and the image information of the right part of the periphery of the vehicle body 2 input from the right side camera 94, thereby generating a surroundings display image 120 in plan view. The second plane correction information is correction information set according to the support height of the vehicle body 2 in a state where it is supported by the jack 12 extended to the maximum extension amount.

[0043] As described above, when the jack grounding sensor 86 detects the grounding of the jack 12, the image processing unit 65 corrects the planar surroundings display image 120 according to the support height of the vehicle body 2 supported by the jack 12. As a result, even if the vehicle body 2 is supported by the jack 12 and the height direction positions of the front camera 91, the rear camera 92, the left side camera 93, and the right side camera 94 change, a coordinate correction process can be performed with high accuracy to assign coordinates based on the ground in a planar view to the image information of the surroundings of the vehicle body 2 input from the front camera 91, the rear camera 92, the left side camera 93, and the right side camera 94. Therefore, there is no risk of duplication or disappearance of a part of the planar surroundings display image 120, which will result in a decrease in the accuracy of the planar surroundings display image 120 displayed on the driver's cab side display device 101, etc. Therefore, by increasing the accuracy of the planar surroundings display image 120 showing the surroundings of the vehicle body 2, This makes it possible.

[0044] When generating the bird's-eye view surrounding display image 170, the image processing unit 65 first performs a coordinate correction process to assign coordinates based on the ground as viewed from above using bird's-eye view correction information to the image information of the front part of the surroundings of the vehicle body 2 input from the front camera 91, the image information of the rear part of the surroundings of the vehicle body 2 input from the rear camera 92, the image information of the left part of the surroundings of the vehicle body 2 input from the left side camera 93, and the image information of the right part of the surroundings of the vehicle body 2 input from the right side camera 94. Then, the image processing unit 65 performs image processing to paste and synthesize an image of the front part of the surroundings of the vehicle body 2 (i.e., the aerial work vehicle 1), an image of the rear part of the surroundings of the vehicle body 2, an image of the left part of the surroundings of the vehicle body 2, and an image of the right part of the surroundings of the vehicle body 2 onto an image of the aerial work vehicle 1 simplified as viewed from above, using each image information that has been subjected to the coordinate correction process using the bird's-eye view correction information, thereby generating the bird's-eye view surrounding display image 170.

[0045] In this way, the image processing unit 65 performs coordinate correction processing using the overhead correction information on the image information of the front part of the surroundings of the vehicle body 2 input from the front camera 91, the image information of the rear part of the surroundings of the vehicle body 2 input from the rear camera 92, the image information of the left part of the surroundings of the vehicle body 2 input from the left side camera 93, and the image information of the right part of the surroundings of the vehicle body 2 input from the right side camera 94, thereby generating an overhead surroundings display image 170. The overhead correction information includes first overhead correction information and second overhead correction information. The first overhead correction information and the second overhead correction information are stored in advance in the image processing unit 65.

[0046] When no grounding detection signal is input from the jack grounding sensor 86, i.e., when the jack grounding sensor 86 does not detect the jack 12 touching the ground, the image processing unit 65 performs coordinate correction processing using the first overhead correction information on the image information of the front part around the vehicle body 2 input from the front camera 91, the image information of the rear part around the vehicle body 2 input from the rear camera 92, the image information of the left part around the vehicle body 2 input from the left side camera 93, and the image information of the right part around the vehicle body 2 input from the right side camera 94, thereby generating an overhead surroundings display image 170. The first overhead correction information is correction information set on the assumption that the vehicle body 2 is not supported by the jack 12 (for example, the jack 12 is in a stored state).

[0047] On the other hand, when a grounding detection signal is input from the jack grounding sensor 86, that is, when the jack grounding sensor 86 detects that the jack 12 has grounded, the image processing unit 65 performs coordinate correction processing using the second overhead correction information on the image information of the front part of the periphery of the vehicle body 2 input from the front camera 91, the image information of the rear part of the periphery of the vehicle body 2 input from the rear camera 92, the image information of the left part of the periphery of the vehicle body 2 input from the left side camera 93, and the image information of the right part of the periphery of the vehicle body 2 input from the right side camera 94, thereby generating an overhead surroundings display image 170. The second overhead correction information is correction information set according to the support height of the vehicle body 2 in a state where it is supported by the jack 12 extended to the maximum extension amount.

[0048] As described above, when the jack grounding sensor 86 detects the jack 12 touching the ground, the image processing unit 65 corrects the bird's-eye view surroundings display image 170 according to the support height of the vehicle body 2 supported by the jack 12. As a result, even if the vehicle body 2 is supported by the jack 12 and the heightwise positions of the front camera 91, the rear camera 92, the left side camera 93, and the right side camera 94 change, a coordinate correction process can be performed with high accuracy to assign coordinates based on the ground as viewed from a bird's-eye view to the image information of the surroundings of the vehicle body 2 input from the front camera 91, the rear camera 92, the left side camera 93, and the right side camera 94. Therefore, there is no risk of a part of the bird's-eye view surroundings display image 170 overlapping or disappearing, resulting in a decrease in accuracy of the bird's-eye view surroundings display image 170 displayed on the driver's cab side display device 101, etc. Therefore, it is possible to improve the accuracy of the bird's-eye view surroundings display image 170 showing the surroundings of the vehicle body 2.

[0049] According to this embodiment, when the jack grounding sensor 86 detects the grounding of the jack 12, the image processing unit 65 corrects the planar surroundings display image 120 and the bird's-eye view surroundings display image 170 according to the support height of the vehicle body 2 supported by the jack 12. As a result, even if the vehicle body 2 is supported by the jack 12 and the height direction positions of the front camera 91, the rear camera 92, the left side camera 93, and the right side camera 94 change, there is no overlap or disappearance of a part of the planar surroundings display image 120 and the bird's-eye view surroundings display image 170, and the accuracy of the planar surroundings display image 120 and the bird's-eye view surroundings display image 170 displayed on the driver's cab side display device 101, etc. is not reduced. Therefore, it is possible to increase the accuracy of the planar surroundings display image 120 and the bird's-eye view surroundings display image 170 that show the surroundings of the vehicle body 2.

[0050] In the above embodiment, the second planar correction information and the second overhead view correction information are correction information set according to the support height of the vehicle body 2 when supported by the jack 12 extended to the maximum extension amount, but are not limited to this. For example, the second planar correction information and the second overhead view correction information may be correction information set according to the support height of the vehicle body 2 when supported by the jack 12 extended to an intermediate extension amount (e.g., half the maximum extension amount).

[0051] 5, the jack 12 may be provided with a jack extension amount sensor 89 for detecting the amount of downward extension of the jack 12, and an extension amount detection signal corresponding to the amount of extension of the jack 12 may be input from the jack extension amount sensor 89 to the control unit 60 (image processing unit 65). In this case, for example, the image processing unit 65 may set the second plane correction information and the second overhead view correction information by calculation or the like based on the extension amount detection signal (i.e., the extension amount of the jack 12) input from the jack extension amount sensor 89. Also, for example, the image processing unit 65 may set the second plane correction information and the second overhead view correction information by selecting from a data group related to the second plane correction information and the second overhead view correction information stored in advance in the image processing unit 65 based on the extension amount detection signal input from the jack extension amount sensor 89.

[0052] As a result, even if the vehicle body 2 is supported by the jack 12 and the height-direction positions of the front camera 91, the rear camera 92, the left side camera 93, and the right side camera 94 change, the planar surroundings display image 120 and the bird's-eye surroundings display image 170 can be corrected with high accuracy according to the support height of the vehicle body 2 based on the extension amount of the jack 12 detected by the jack extension amount sensor 89. Therefore, there is no risk of overlapping or disappearing of a part of the planar surroundings display image 120 and the bird's-eye surroundings display image 170, which would result in a decrease in accuracy of the planar surroundings display image 120 and the bird's-eye surroundings display image 170 displayed on the driver's cab side display device 101, etc. This makes it possible to increase the accuracy of the planar surroundings display image 120 and the bird's-eye surroundings display image 170 that show the surroundings of the vehicle body 2.

[0053] In the above-described embodiment, the outrigger image 130 in plan view is not limited to only showing the outrigger 11 in a schematic view, but may also show, for example, a numerical projection amount of the outrigger 11 (a ratio to a maximum projection amount: one example is "40%") in addition to showing the outrigger 11 in a schematic view. Moreover, the outrigger image 180 in a bird's-eye view is not limited to only showing the outrigger 11 in a schematic view, but may also show, for example, a numerical projection amount of the outrigger 11 (a ratio to a maximum projection amount: one example is "40%").

[0054] In the above embodiment, the planar work range image 140 is not limited to only showing the limit line 141 in the workable range in plan view, but may also show, for example, the limit line 141 in the workable range, as well as the numerical angle range (for example, "70°") of the arc portion in front and behind the limit line 141. The overhead work range image 190 is not limited to only showing the rear limit line 191 in the workable range, but may also show, for example, the limit line 191 in the workable range, as well as the numerical angle range (for example, "70°") of the arc portion in the limit line 191.

[0055] In the above embodiment, the image processor 65 reads out the data of the workable range corresponding to the current extension amount of the outriggers 11 from the data group of the workable range stored in the workable range setting unit 63 based on the extension amount detection signal input from the jack extension amount sensor 85 (i.e., the extension amount of the outriggers 11), and generates the planar view workable range image 140 and the bird's-eye view workable range image 190 set to show the limit lines 141, 191 of the read workable range, but is not limited to this. For example, when a configuration that continuously detects the extension amount of the outriggers 11 is applied as the jack extension amount sensor 85, the image processor 65 may obtain the workable range by interpolation or the like from the current extension amount of the outriggers 11 based on the workable range corresponding to the four stages of extension amount of the outriggers 11, and generate the planar view workable range image 140 and the bird's-eye view workable range image 190 set to show the limit lines 141, 191 of the obtained workable range.

[0056] In the above embodiment, the limit line 191 shown in the overhead work range image 190 is an overhead view of the limit line 141 shown in the planar work range image 140, but is not limited to this. For example, the overhead work range image 190 may show the limit line in the vertical plan view or overhead view (i.e., in the height direction) of the above-mentioned workable range.

[0057] In the above-described embodiment, a telescopic boom type aerial work vehicle was used as an example, however, this is not limited to this and may be, for example, an articulating boom type aerial work vehicle, etc., and the present invention is applicable to any work vehicle equipped with working equipment such as a boom 30 and a work platform 40.

[0058] In the above embodiment, the utility pole WK is exemplified as the work target, but the work target is not limited to this and may be a structure in a road tunnel or a bridge pier. [Explanation of symbols]

[0059] 1. Aerial work platform 2. Body 10 Outrigger Jack 11 Outrigger (outrigger beam) 12 Jack 30 Boom 40 Workbench 60 Control Unit 61 Operation control section 63 Work Scope Setting Division 65 Image Processing Unit 85 Jack extension sensor 86 Jack ground sensor 89 Jack extension sensor 91 Front Camera 92 Rear Camera 93 Left side camera 94 Right side camera 101 Driver's cab side display device 102 Lower display unit 103 Upper display unit 110 Planar image composite image 120 Planar surroundings display image 130 Planar image of outrigger 140 Plan view of working area 160 Overhead image composite image 170 Bird's-eye view of surroundings 180 Bird's-eye view of outriggers 190 Bird's-eye view of the work area WK utility pole GR Guardrail

Claims

1. A drivable vehicle body; A working device provided on the vehicle body; a jack that is telescopically provided on the vehicle body and extends downward to support the vehicle body in a grounded state; a jack grounding detector that detects the grounding of the jack; A plurality of cameras for photographing the surroundings of the vehicle body; an image processing unit that synthesizes a plurality of images captured by the plurality of cameras to generate a surroundings display image that shows the surroundings of the vehicle body; a display device for displaying the surrounding display image, The work vehicle is characterized in that, when the jack grounding detector detects the jack grounding, the image processing unit corrects the multiple images taken by the multiple cameras using correction information set according to the support height of the vehicle body when supported by the jack, and generates the surrounding display image by combining the corrected multiple images.

2. A jack extension detector is provided for detecting an extension amount of the jack, 2. The work vehicle according to claim 1, wherein the image processing unit utilizes, as the correction information, correction information that is set based on the extension amount of the jack detected by the jack extension amount detector.

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