JP2016094693A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle remotely operable while securing the visual field around the machine even in a work site where visual observation is difficult.SOLUTION: In a work vehicle having a revolving superstructure revolvable to a lateral direction, a camera is provided on the revolving superstructure through a supporting part, and the arrangement of the camera to the revolving superstructure can be varied by the supporting part. The camera is movable in a vertical direction, a longitudinal direction and the lateral direction by the supporting part. The supporting part is arranged from one side toward the other side in the longitudinal direction of the revolving superstructure.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a work vehicle such as a backhoe.

  Patent Document 1 discloses a backhoe equipped with a receiver of a control signal from a portable transmitter so that at least the backhoe can travel, turn, and operate the crane by radio control (remote control).

JP 2013-184757 A

When remotely maneuvering a work vehicle such as a backhoe visually, there is a case where a visual field around the work vehicle cannot be sufficiently secured from a remote place.
Accordingly, an object of the present invention is to provide a work vehicle that can be remotely operated while securing a visual field around the machine even at a work site where visual observation is difficult.

  A work vehicle according to the present invention is a work vehicle including a turning body that can turn in a left-right direction, and a camera is provided on the turning body via a support portion, and the camera is disposed on the turning body by the support portion. It is configured to be changeable.

  The camera is configured to be movable in the vertical direction, the front-rear direction, and the left-right direction by the support portion.

  The support part is provided so as to be arranged from one side in the front-rear direction of the revolving structure toward the other side.

  The camera and the support part are configured to be housed in the revolving structure.

  The camera is configured to be able to photograph all directions without changing its posture.

  According to the present invention, remote control can be performed while securing a visual field around the machine.

It is a perspective view of a backhoe. It is a front view of a backhoe. It is a rear view of a backhoe. It is a top view of a backhoe. It is a bottom view of a backhoe. It is a left view of a backhoe. It is a right view of a backhoe. (A) It is a perspective view of a camera unit. (B) It is a top view of a camera unit. It is a figure which shows the structure of a link mechanism. It is a figure which shows the movement of a camera unit. It is a figure which shows the movement of a camera unit. It is a figure which shows tilting of a camera unit. It is a figure which shows accommodation of a camera unit. It is a figure which shows another embodiment of a link mechanism. It is a figure which shows another embodiment of a link mechanism. It is a figure which shows accommodation of a camera unit in the link mechanism of FIG. It is a top view which shows another embodiment of a backhoe. It is a top view which shows accommodation of a camera unit in the backhoe of FIG. It is a box figure which shows control of the remote operation of a backhoe. It is a figure which shows the left view of the turning body of another embodiment. It is a figure which shows the right view of the turning body of another embodiment. It is a figure which shows another embodiment of the cover provided in an excavation working machine.

A backhoe 1 which is a work vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings. In the present embodiment, the backhoe 1 is described as an embodiment of the work vehicle. However, the work vehicle is not limited to this, and may be other agricultural vehicles, construction vehicles, industrial vehicles, or the like.
The backhoe 1 in the present embodiment is a backhoe that enables remote control.
The backhoe 1 includes a left crawler travel device 11L and a right crawler travel device 11R, a revolving body 12 provided above the left crawler travel device 11L and the right crawler travel device 11R, a camera unit 13 provided above the revolving body 12, and a swivel. An excavation work machine 14 provided in front of the body 12 is provided.

The left crawler traveling device 11L is configured by winding an endless rubber body 25L around a driving wheel 22L driven by a left traveling actuator 21L, a driven wheel 23L that moves according to driving of the driving wheel 22L, and an idler wheel 24L. The The left crawler traveling device 11L is provided with a cover 11a that covers the outer side thereof.
The right crawler traveling device 11R is configured by winding an endless rubber body 25R around a driving wheel 22R driven by a right traveling actuator 21R, a driven wheel 23R that moves according to driving of the driving wheel 22R, and an idler wheel 24R. The The right crawler traveling device 11R is provided with a cover 11b that covers the outer side thereof.

  The swivel body 12 is provided in the left crawler travel device 11L and the right crawler travel device 11R via a swivel bearing 26 at a substantially central portion of the bottom surface. The swivel body 12 is supported by the swivel bearing 26 so as to be turnable in the left-right direction. The turning body 12 is turned in the left-right direction by driving the turning motor 27. The swivel body 12 is formed by being entirely covered with a triangular plate or the like. A side portion of the swivel body 12 is provided with a substantially V-shaped step formed so as to spread from the front toward the rear, and a plurality of light emitting portions 28a are provided at the step.

  The revolving unit 12 houses an engine, a fuel tank, a battery, a hydraulic valve, and the like. Above the revolving unit 12, a camera unit 13 capable of photographing all directions used for remote operation is arranged. Since the camera unit 13 is provided with a plurality of cameras 31 along the outer periphery, the camera unit 13 can photograph all directions without changing the posture. The camera unit 13 can display an around view image on the monitor 101 (to be described later) by synthesizing videos obtained by photographing all directions at the same time. The camera unit 13 is supported by the revolving body 12 via a support part. In the present embodiment, a link mechanism 32 is provided as a support portion.

  Concave portions 12a and 12b are provided on the front surface of the swivel body 12 symmetrically. The recesses 12 a are respectively provided on the upper part of the revolving unit 12. The recesses 12b are provided below the recesses 12a and below the revolving unit 12, respectively. The concave portion 12a is provided with a light emitting portion 28b formed in a vertically long shape near the center thereof. The concave portion 12b is provided with a light emitting portion 28c formed in a vertically long shape near the center thereof.

  The light emitting units 28a, 28b, and 28c are configured by so-called LED light emitting diodes or the like. LED light emitting diodes emit light using the electroluminescence effect. The LED light-emitting diode is characterized by being bright and excellent in durability.

  The excavation work machine 14 is mounted via a work machine mounting part 41 provided so as to protrude from the front center of the revolving structure 12. The excavation work machine 14 includes a boom 43 that is rotationally driven in the vertical direction by the boom cylinder 42, an arm 45 that is rotationally driven in the front-rear direction by the arm cylinder 44, a bucket 47 that is rotationally driven in the front-rear direction by the bucket cylinder 46, and the like. Is done. The boom 43 is provided with a cover 43a covering its side, and the arm 45 is provided with a cover 45a covering its side.

  A work light 49 is provided on the bracket 48 on which the upper end of the boom cylinder 42 is supported. The work light 49 is fixed to the front portion of the bracket 48 so as to illuminate the arm 45 side. A cover 49 a for mudguard is provided in the illumination part of the work light 49. The mudguard cover 49a is made of a translucent material. The work light 49 is constituted by a so-called LED light emitting diode or the like.

The camera unit 13 will be described with reference to FIG.
In the present embodiment, the camera unit 13 can photograph all directions by arranging the cameras 31 radially at intervals of 72 degrees. The camera 31 includes two lenses 51 and a light (not shown) that is provided in the vicinity of the lens 51 and illuminates the direction in which the lens 51 is projected. A wireless antenna 52 is provided on the upper surface of the camera unit 13.
That is, the camera unit 13 is formed in a substantially pentagonal shape in plan view, and the camera 31 is disposed on each side. Two lenses 51 are arranged side by side at the center of each side. By arranging two lenses 51 side by side, it is possible to measure the distance to the object using parallax.

  Like the lens 51, the light is provided on the outer peripheral surface of the camera unit 13, so that the shadow of the light is not reflected in the video imaged by the lens 51. Therefore, the camera 31 can shoot a good video.

As shown in FIG. 9, the camera unit 13 is provided on the revolving structure 12 via a link mechanism 32. The link mechanism 32 extends upward through an opening 53 (see FIGS. 1 and 4) provided on the upper surface of the revolving structure 12.
The link mechanism 32 includes a parallel link including a hinge 60, a lower link 61, a posture holding link 62, and a bracket 63, a bracket 63, an upper link 64, a posture holding link 65, and a plate 66. And a parallel link constituted by:

The hinge 60 is fixed at an appropriate position inside the swing body 12. A lower end of the lower link 61 is fixed to a rotating shaft 67 provided on the hinge 60. The rotation shaft 67 is supported to be rotatable with respect to the hinge 60. The bracket 63 is formed in a triangular shape, and the rotation shaft 68 is rotatably supported. The upper end of the lower link 61 is attached to the rotation shaft 68. The rotating shaft 68 is rotatably attached to the lower link 61. The posture holding link 62 is provided in parallel with the lower link 61 and is rotatably attached to the hinge 60 and the bracket 63, respectively.
A motor 69 (see FIG. 19) is connected to the rotating shaft 67. The rotation of the rotation shaft 67 by the drive of the motor 69 causes the lower link 61 to rotate in the vertical direction around the rotation shaft 67.

The lower end of the upper link 64 is fixed to the rotating shaft 68 of the bracket 63. An upper end of the upper link 64 is rotatably attached to the plate 66. The posture holding link 65 is provided in parallel with the upper link 64, and is rotatably attached to the bracket 63 and the plate 66, respectively.
A motor 70 (see FIG. 19) is connected to the rotating shaft 68. When the rotation shaft 68 is rotated by driving the motor 70, the upper link 64 is rotated in the vertical direction around the rotation shaft 68.

  The plate 66 rotatably supports a tilt shaft 71 fixed to the bottom surface of the camera unit 13. A tilting motor 72 (see FIG. 19) that tilts the camera unit 13 in the vertical direction is connected to the tilting shaft 71. The tilt motor 72 is fixed to the plate 66 through a hinge or the like.

The lower link 61 is disposed from the front to the rear with respect to the swivel body 12, and the upper link 64 is disposed from the rear to the front with respect to the swivel body 12, so that the link mechanism 32 is substantially omitted. It is arranged in a letter shape.
The link mechanism 32 is offset from the excavation work machine 14 in the machine width direction (see FIGS. 2 and 3). That is, the camera unit 13 attached to the upper end of the link mechanism 32 is offset with respect to the excavation work machine 14 in the machine width direction.

As shown in FIGS. 10 and 11, the camera unit 13 can move in the vertical direction and the front-rear direction by driving the motors 69 and 70.
As shown in FIG. 10, when the upper link 64 is rotated downward by driving the motor 70, the camera unit 13 is moved forward and downward without changing its posture by the action of the parallel link mechanism. The
When the upper link 64 is rotated upward by the driving of the motor 70, the camera unit 13 is moved rearward and upward without changing its posture by the action of the parallel link mechanism.

As shown in FIG. 11, when the lower link 61 is rotated downward by the driving of the motor 69, the camera unit 13 is moved rearward and downward without changing its posture by the action of the parallel link mechanism. The
When the lower link 61 is rotated upward by the drive of the motor 69, the camera unit 13 is moved forward and upward without changing its posture by the action of the parallel link mechanism.

By driving the motor 69 or the motor 70 or the motors 69 and 70 as described above, the camera unit 13 can be moved in the vertical direction and the front-rear direction without changing the posture of the camera unit 13.
In addition, by providing a plurality of parallel links, fine adjustment of the vertical position and the front-back position of the camera unit 13 can be realized.
The camera unit 13 can be moved in the left-right direction by providing a turntable (not shown) on the hinge 60 and turning the turntable left and right.

As described above, the disposition of the camera unit 13 with respect to the revolving structure 12 can be changed by the link mechanism 32, so that a far field of view and a field of view around the body can be secured.
Moreover, the camera unit 13 can be offset from the excavation work machine 14 in the body width direction to ensure a field of view in front of the body.

  Further, the upper link 64 is provided from the bracket 63 provided at the rear portion of the revolving structure 12 toward the front upper side. As described above, the link mechanism 32 is arranged from one side to the other side in the longitudinal direction of the machine body, so that the link length of the link mechanism 32 can be increased as compared with the case where the link mechanism 32 extends upward from the machine body center. . For this reason, the movable range of the camera unit 13 can be widened, and the field of view around the camera can be further secured.

As shown in FIG. 12, the camera unit 13 can change the tilt of the camera unit 13 by rotating a tilt shaft 71 provided on the bottom surface thereof by a tilt motor 72 (see FIG. 19).
The tilt of the camera unit 13 fixed to the tilt shaft 71 can be changed by rotating the tilt shaft 71 by driving the tilt motor 72.

  As described above, by making it possible to change the tilt of the camera unit 13, it is possible to look upward or look downward, and for example, it is easy to check the excavation site ahead.

As shown in FIG. 13, the camera unit 13 can be stored in the revolving structure 12.
The link mechanism 32 can be folded by driving the motor 69 to rotate the lower link 61 downward and driving the motor 70 to rotate the upper link 64 downward. By folding the link mechanism 32, the height of the link mechanism 32 can be lowered, and the camera unit 13 provided on the upper part of the link mechanism 32 is moved into the revolving structure 12 through the opening 53 (see FIGS. 1 and 4). Can be stored.
The opening 53 is provided with a lid that can be opened and closed, so that the camera unit 13 can be shielded from the outside.

As described above, by allowing the camera unit 13 to be stored, when the camera unit 13 is not needed, for example, when visual operation is possible, the camera unit 13 is stored in the revolving unit 12. The camera unit 13 can be protected.
Further, since the camera unit 13 is housed in the revolving body 12 with the excavation work machine 14 removed, the machine body can be made compact, so that it can be easily moved and transported.

Another embodiment of the link mechanism will be described with reference to FIG.
The link mechanism 81 includes a lower link 82, a lower link drive motor (not shown) that drives the lower link 82, an upper link 83, an upper link drive motor (not shown) that drives the upper link 83, and the camera unit 13. And a tilting motor 72 (see FIG. 19) for driving a tilting shaft 84 fixed to the bottom surface.

The lower end of the lower link 82 is fixed to a rotating shaft 85 that is rotatably supported at an appropriate position inside the revolving structure 12. A lower link drive motor is connected to the rotation shaft 85. The upper end of the lower link 82 is attached to a rotating shaft 86 that is fixed to the lower end of the upper link 83. The rotation shaft 86 is rotatably attached to the lower link 82. An upper link drive motor is connected to the rotation shaft 86. The upper end of the upper link 83 is rotatably attached to the tilting shaft 84.
When the lower link drive motor is driven, the lower link 82 is rotated up and down with the rotary shaft 85 as a fulcrum, and when the upper link drive motor is driven, the upper link 83 is moved up and down with the rotary shaft 86 as a fulcrum. To be rotated. When the tilt motor 72 is driven, the tilt of the camera unit 13 can be changed.
When the lower link driving motor or the upper link driving motor is driven, the tilting motor 72 is prevented in order to prevent the tilt of the camera unit 13 from changing as the lower link 82 or the upper link 83 or the lower link 82 and the upper link 83 rotate. By controlling the driving of the camera unit 13, the camera unit 13 can be moved with the inclination kept constant.

Another embodiment of the link mechanism will be described with reference to FIG.
The link mechanism 91 is configured by using, in place of the upper link 64 and the attitude holding link 65 of the link mechanism 32, an extendable upper link 92 and an extendable attitude holding link 93 provided in parallel with the upper link 92.
The upper link 92 and the posture maintaining link 93 are configured to be extendable and contractable by an elevating cylinder (not shown). As shown in FIG. 16, in a state where the upper link 92 and the posture maintaining link 93 are contracted by the elevating cylinder, the motor 69 is driven so that the lower link 61 is rotated downward. The camera unit 13 can be accommodated in the revolving structure 12 in the backhoe 111 of another embodiment through the opening 94. By providing a lid that can be opened and closed in the opening 94, the camera unit 13 can be shielded from the outside.
As described above, by using the upper link 92 and the posture maintaining link 93 configured to be extendable and retractable, the camera unit 13 can be accommodated even if the opening is small like the opening 94.

The control apparatus 100 which controls the backhoe 1 and implement | achieves remote operation using FIG. 19 is demonstrated.
The operator senses the periphery of the machine by operating the control device 102 while looking at the monitor 101 that enables the image of an arbitrary camera 31 provided in the camera unit 13 to be displayed at a position away from the machine. Remote operation is possible.

The control device 102 is a device that operates the backhoe 1 remotely, and can be configured to operate with a lever, a switch, or the like, or with a portable personal computer such as a notebook computer or tablet PC.
The control device 100 includes a left traveling actuator 21L of the left crawler traveling device 11L and a right traveling actuator 21R of the right crawler traveling device 11R, a boom cylinder 42, an arm cylinder 44, a bucket cylinder 46 of the excavating work machine 14, and a swing motor of the swing body 12. 27, the motors 69 and 70 for operating the link mechanism 32, the tilting motor 72 for tilting the camera unit 13, and the camera unit 13, respectively, are connected to control the backhoe 1.

The control device 102 is connected to the transmission / reception device 103. By connecting the transmission / reception device 104 to the control device 100, the wireless signal input from the control device 102 via the transmission / reception device 103 and the transmission / reception device 104 is transmitted to the control device 100 and the wireless signal from the control device 100. A signal can be transmitted to the control device 102.
In the present embodiment, the control device 102 and the control device 100 transmit and receive signals by wireless signals, but may be wired signals.

By operating the control device 102, the motors 69 and 70 and the tilting motor 72 are driven.
Specifically, the motors 69 and 70 are driven to move the camera unit 13 in the vertical direction, the front-rear direction, and the left-right direction, and the tilt motor 72 is driven to change the tilt of the camera unit 13 in the vertical direction. The

By operating the control device 102, an image of an arbitrary camera 31 can be displayed on the monitor 101.
The monitor 101 is connected to a transmission / reception device 103. When the control device 102 is operated, a radio signal is transmitted to the control device 100 via the transmission / reception device 103 and the transmission / reception device 104. The camera unit 13 transmits a video signal of an arbitrary camera 31 among the plurality of cameras 31 provided in the camera unit 13 to the monitor 101 via the transmission / reception device 103 and the transmission / reception device 104 by the wireless signal transmitted to the control device 100. To do. The video of the arbitrary camera 31 is displayed on the screen of the monitor 101 by the transmitted video signal.

Further, when an image of an arbitrary camera 31 is displayed on the monitor 101, only the light of the arbitrary camera 31 can be turned on.
By illuminating the direction in which the operator is gazing with a light, the operator's gazing direction can be transmitted to an assistant operating near the machine. Therefore, it becomes easy to grasp the operator's intention, and the work efficiency and safety can be improved.

  In addition, according to the turning motion of the turning body 12, an image of the turning destination camera 31 can be displayed on the monitor 101. By displaying the video of the camera 31 at the turn destination during the turning operation on the monitor 101, it is possible to secure the field of view of the turn destination, and to improve work efficiency and safety.

The control device 102 has a function of switching the control mode of the machine, and can be switched to an around view mode or the like.
When switched to the around view mode, the motors 69 and 70 and the tilting motor 72 are driven, and the camera unit 13 is moved up and down to a predetermined raised position. The predetermined ascending position is a height position at which the surroundings of the machine can be sensed and the distance can be seen.
Since the periphery of the machine can be looked far away, the driving operation can be safely performed remotely.

A swivel body 121 according to another embodiment will be described with reference to FIGS. 20 and 21.
As shown in FIG.20 and FIG.21, the side part of the turning body 121 is covered with various substantially triangular plates. A substantially rectangular recess 122 is formed in the center of the side portion of the swivel body 121. A step 123 is provided around the recess 122. The step 123 includes a step that spreads from the front to the rear and a step that narrows from the rear to the front. A light emitting portion 124 formed along the depression 122 side is provided at the step that widens from the front to the rear.

  As shown in FIG. 20, a suction port 125 is provided on one side surface of the swing body 121. Specifically, a suction port 125 is provided in a triangular plate 126 disposed at the rear upper part of the swing body 121. The suction port 125 is configured by attaching a dustproof member formed in a substantially triangular shape smaller than the plate 126 to the plate 126. In order to cool the engine, air is taken into the swivel body 121 via the inlet 125.

  As shown in FIG. 21, an exhaust port 127 is provided on the other side surface of the swing body 121. Specifically, an exhaust port 127 is provided in a triangular plate 126 disposed in the upper rear part of the revolving structure 121. The exhaust port 127 is configured by attaching a dustproof member formed in a substantially triangular shape smaller than the plate 126 to the plate 126. The air that has cooled the engine is discharged out of the revolving structure 121 through the exhaust port 127.

  As shown in FIG. 22, light emitting units 130 and 130 are provided on the side surface of the cover 43 a that covers the boom 43. A light emitting unit 130 is provided on the side surface of the cover 45 a that covers the arm 45. The light emitting unit 130 emits light through a pair of grooves formed in the shape of a long hole provided on the side surfaces of the covers 43a and 45a. When the arm 45 and the boom 43 are in a predetermined positional relationship, the slot formed in the shape of a long hole is formed to be substantially parallel. Therefore, the angle of the boom 43 and the arm 45 can be recognized from the distance by the direction of the slot formed in the shape of the long hole provided in the boom 43 and the arm 45.

  The light emitting units 124 and 130 are configured by so-called LED light emitting diodes or the like. LED light emitting diodes emit light using the electroluminescence effect. The LED light-emitting diode is characterized by being bright and excellent in durability.

  1: Backhoe, 11L: Left crawler traveling device, 11R: Right crawler traveling device, 12: Revolving body, 13: Camera unit, 14: Excavator, 31: Camera, 32: Link mechanism, 51: Lens, 60: Hinge 61: lower link, 63: bracket, 64: upper link, 66: plate, 67: rotating shaft, 68: rotating shaft, 69: motor, 70: motor, 71: tilting shaft, 72: tilting motor, 100: control Device 101: monitor 102: control device

Claims (5)

A work vehicle including a revolving body that can turn in a left-right direction,
A camera is provided on the revolving body via a support,
A work vehicle configured to be capable of changing an arrangement of the camera with respect to the revolving structure by the support portion.   The work vehicle according to claim 1, wherein the camera is configured to be movable in a vertical direction, a front-rear direction, and a left-right direction by the support portion.   The work vehicle according to claim 1 or 2, wherein the support portion is provided so as to be arranged from one side in the front-rear direction of the revolving structure toward the other side.   4. The work vehicle according to claim 1, wherein the camera and the support unit are configured to be housed in the revolving structure. 5.   The work vehicle according to any one of claims 1 to 4, wherein the camera is configured to be capable of photographing all directions without changing its posture.

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