JP2021080039A - Working vehicle - Google Patents

Abstract

To provide a working vehicle capable of easily determining whether or not a working table can approach a work object.SOLUTION: A working vehicle comprises a travelable car body, a boom mounted on the car body, a working table provided at the boom tip, outrigger beams capable of extending to the car body side direction, a jack telescopically provided at the tip of the outrigger beams, cameras 91-94 to acquire the image information around the car body, an image processing part 65 to generate a surroundings display image to display around the car body in a plan view using the image information around the car body acquired by the cameras 91-94, and a lower part display device 100 to display the surroundings display image generated by the image processing device 65. The surroundings display image displays a workable range where the movement of the working table is allowed according to the extending amount of the outrigger beams to the side direction of the car body.SELECTED DRAWING: Figure 5

Description

The present invention relates to a work vehicle equipped with an outrigger jack.

As an example of a work vehicle, it is constructed based on a truck vehicle that can run with a driving cab in the front, and has a swivel that can be turned horizontally on the car body, and the swivel can be undulated and expanded and contracted. There is known an aerial work platform equipped with a boom provided and a work platform rotatably supported at the tip of the boom. Such aerial work platforms are used at various work sites such as electric wire construction, maintenance and inspection work in road tunnels, and maintenance and inspection work of bridges. In such aerial work platforms, in order to support the vehicle in a stable state during work, outrigger jacks are provided on the front, rear, left and right sides of the vehicle, and these outrigger jacks are projected to the side of the vehicle to be grounded. It is configured (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 8-324998

The workable range in which the workbench is allowed to move varies depending on the amount of overhang of the outrigger jack and the like. Therefore, it is difficult to determine whether or not the workbench can approach a work object such as a utility pole in a place where the vehicle is supported by the outrigger jack.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a work vehicle capable of easily determining whether or not a work table can approach a work object. And.

In order to achieve such an object, the aerial work platform according to the present invention (for example, the aerial work platform 1 in the embodiment) includes a movable vehicle body, a boom provided on the vehicle body so as to be undulating and swivel, and the above. A workbench provided at the tip of the boom, an out-trigger beam (for example, the out-trigger 11 in the embodiment) provided on the side of the vehicle body and capable of projecting to the side of the vehicle body, and expansion and contraction at the tip of the out-trigger beam. A jack that is freely provided and extends downward to support the vehicle body, a camera that is provided on the vehicle body and acquires image information around the vehicle body, and a vehicle body that is acquired by the camera. It is provided with an image processing unit that generates a surrounding display image showing the surroundings of the vehicle body in a plan view using surrounding image information, and a display device that displays the surrounding display image generated by the image processing unit. The surrounding display image shows a workable range in which the workbench is allowed to move around the vehicle body according to the amount of protrusion of the outrigger beam toward the vehicle body.

The above-mentioned work vehicle includes a left-side tool storage portion provided on the left side of the vehicle body and capable of storing tools, and a right-side tool storage portion provided on the right side of the vehicle body and capable of storing tools. Is provided at the front part of the vehicle body to acquire image information of the front side portion around the vehicle body, and is provided at the rear portion of the vehicle body to acquire image information of the rear side portion around the vehicle body. A rear camera, a left side camera provided above the left tool storage portion to acquire image information of the left side portion around the vehicle body, and a right side camera provided above the right side tool storage portion and around the vehicle body. The image processing unit has a right-side camera that acquires image information of a portion.
The image information of the front side portion around the vehicle body acquired by the front camera, the image information of the rear side portion around the vehicle body acquired by the rear camera, and the image information of the vehicle body acquired by the left side camera. It is preferable to generate the surrounding display image by using the image information of the left side portion of the surroundings and the image information of the right side portion around the vehicle body acquired by the right side camera.

In the above-mentioned work vehicle, the overhang amount detector (for example, the jack overhang amount sensor 85 in the embodiment) for detecting the overhang amount of the outrigger beam toward the vehicle body side is provided, and the image processing unit has the overhang amount. It is preferable to generate the surrounding display image showing the workable range based on the overhang amount detected by the detector.

According to the present invention, the surrounding display image generated by the image processing unit indicates a workable range in which the workbench is allowed to move around the vehicle body according to the amount of protrusion of the outrigger beam toward the vehicle body. As a result, the workable range in which the workbench is allowed to move is shown in the surrounding display image showing the surroundings of the vehicle body in a plan view. Therefore, by visually recognizing the surrounding display image displayed on the display device, the vehicle body can be moved. It becomes possible to easily determine whether or not the workbench can approach the work object located in the surrounding area.

In the above-mentioned work vehicle, the cameras are a front camera provided at the front of the vehicle body, a rear camera provided at the rear of the vehicle body, a left side camera provided at the upper part of the left tool storage portion, and a right tool storage. It is preferable to have a right side camera provided on the upper part of the portion. As a result, the tool storage unit is often formed in a similar shape, for example, in the shape of a box. Therefore, by providing the left and right side cameras above the left and right tool storage units, the device layout on the vehicle body can be designed. Even if it changes to, it is possible to easily determine the arrangement of the left and right side cameras on the vehicle body.

In the above-mentioned work vehicle, it is preferable that the image processing unit generates a surrounding display image showing the workable range of the work table based on the overhang amount of the outrigger beam detected by the overhang amount detector. As a result, the workable range of the workbench can be obtained based on the overhang amount of the outrigger beam detected by the overhang amount detector. Therefore, by visually recognizing the surrounding display image displayed on the display device, the vehicle body It becomes possible to easily and accurately determine whether or not the workbench can approach the work object located in the surrounding area.

It is the figure which looked at the aerial work platform from the left. It is the figure which looked at the aerial work platform from above. It is the figure which looked at the aerial work platform from the front. It is the figure which looked at the aerial work platform from the rear. It is a block diagram which shows the control system of an aerial work platform. It is a schematic diagram which shows an example of the surrounding display image displayed on the display device.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The aerial work platforms 1 according to the present embodiment are shown in FIGS. 1 to 4, and first, the overall configuration of the aerial work platform 1 will be described with reference to these figures. As shown in FIG. 1, the aerial work platform 1 is configured based on a truck-type vehicle having a driving cab 7 at the front portion of the vehicle body 2 and capable of traveling by wheels 3 arranged on the front, rear, left and right sides of the vehicle body 2. Has been done.

Outrigger jacks 1 that lift and support the vehicle body 2 when working at heights on the front, back, left, and right sides of the vehicle body 2.
0 is provided. As shown in FIGS. 2 and 4, the outrigger jack 10 has an outrigger (outrigger beam) 11 that can be expanded and contracted in the left-right direction (vehicle width direction) of the vehicle body 2 and an outrigger (outrigger beam) 11 that is provided at the tip of the outrigger 11 and expands and contracts in the vertical direction. It is configured to have a possible jack 12 and a grounding plate 13 attached to the lower end of the jack 12. The outrigger 11 is configured to be able to expand and contract 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 able to expand and contract in the vertical direction by a jack cylinder 16 (see FIG. 5) provided inside the jack 12. By projecting the outriggers 11 to the left and right sides of the vehicle body 2 and extending the jack 12 to bring the grounding plate 13 into contact with the road surface, the vehicle body 2 can be lifted and supported, and the entire vehicle can be stabilized.

As shown in FIGS. 1 and 2, the mounting region behind the driving cab 7 in the vehicle body 2 is driven by a boom swivel motor 24 (see FIG. 5) and is configured to be horizontally swivel around the vertical axis. A swivel base 20 is provided. The base end portion of the boom 30 is attached to the support column 21 extending upward from the swivel base 20 via a foot pin 22 so as to be swingable (undulating) in the vertical direction. Further, on the left and right sides of the mounting area of the vehicle body 2, left side tool storage portions 26 and right side tool storage portions 27 for storing work tools, work equipment, and the like are provided. The left tool storage unit 26 is a box-shaped lower left tool box 26a arranged on the left side of the mounting area in the vehicle body 2, and a box-shaped upper left tool box 26b arranged on the lower left tool box 26a. And have. The right tool storage unit 27 is a box-shaped lower right tool box 27a arranged on the right side of the mounting area in the vehicle body 2, and a box-shaped upper right tool box 27b arranged on the lower right tool box 27a. And have.

As shown in FIG. 1, the boom 30 has a configuration in which a base end boom 30a, an intermediate boom 30b, and a tip boom 30c are nested in order from the swivel base 20 side, and is provided inside the boom 30. The boom 30 can be expanded and contracted in the axial direction (longitudinal direction) by the expansion and contraction drive of the boom expansion and contraction cylinder 31 (see FIG. 5). Further, a boom undulating cylinder 23 (see FIG. 5) is straddled between the base end boom 30a and the support column 21, and by expanding and contracting the boom undulating cylinder 23, the entire boom 30 is moved up and down (see FIG. 5). It can be moved up and down in a vertical plane).

A vertical post 35 (see FIG. 2) is pivotally supported at the tip of the tip boom 30c so as to swing in the vertical direction. The vertical post 35 includes 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 column 21. As a result, swing control (leveling control) is performed so that the boom 30 is always held in a vertical posture regardless of the undulations of the boom 30. A workbench 40 for boarding workers is attached to the vertical post 35. The workbench 40 can swing (horizontally swivel) around the vertical post 35 by rotationally driving the workbench swivel motor 37 (see FIG. 5) provided on the vertical post 35.

As shown in FIG. 2, the work table 40 is provided with an upper operation device 45 provided with an operation lever, an operation switch, an operation dial, and the like operated by an operator on the work table 40. Therefore, the worker on the workbench 40 operates the upper operation device 45 to rotate the swivel table 20 (rotational operation of the boom swivel motor 24) and to raise and lower the boom 30 (expansion and contraction of the boom hoisting cylinder 23). Each operation operation such as expansion / contraction operation of the boom 30 (expansion / contraction operation of the boom expansion / contraction cylinder 31), swing operation of the workbench 40 (rotational operation of the workbench swivel motor 37) can be performed. As shown in FIG. 4, a lower operation device 50 is provided at the rear portion of the vehicle body 2, and an operator on the ground or on the vehicle body 2 can perform the above operation operation (operation similar to the upper operation device 45). Operation) and operation of the outrigger jack 10 can be performed.

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

A power take-off mechanism PTO is incorporated in the transmission that shifts the power of the engine E and transmits it to the wheels 3. When the PTO operating lever 75 arranged in the operating 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 power of the engine E is changed. The hydraulic pump 72 is driven by the engine. The control valve unit 73 has electromagnetic proportional control valves V1 to V6 corresponding to each of the boom swivel motor 24, the boom undulating cylinder 23, the boom telescopic cylinder 31, the workbench swivel motor 37, the out trigger cylinder 15 and the jack cylinder 16. There is. The hydraulic drive unit 70 operates each hydraulic actuator by controlling the flow of hydraulic oil supplied to each hydraulic actuator in response to a command signal from the operation control unit 61 of the control unit 60.

In this way, the operation of each hydraulic actuator is controlled by the control unit 60 (operation control unit 61). Therefore, various detection devices are arranged on the aerial work platform 1, and the detection signals output from the detection devices are input to the control unit 60. For example, a turning angle detection signal corresponding to the turning angle of the boom 30 (swivel base 20) is input from the boom turning angle sensor 81 to the control unit 60, and the boom undulation angle sensor 82 receives undulations according to the undulation angle of the boom 30. An angle detection signal is input, an extension amount detection signal corresponding to the extension amount of the boom 30 is input from the boom length sensor 83, and a turning angle detection signal corresponding to the turning angle of the workbench 40 is input from the workbench turning angle sensor 84. Will be done. Further, for example, an overhang amount detection signal corresponding to the overhang amount of the outrigger jack 10 (outrigger 11) toward the vehicle body is input from the jack overhang amount sensor 85 to the control unit 60, and the outrigger jack is input from the jack ground sensor 86. The grounding detection signal of 10 (grounding plate 13) is input. Further, for example, the control unit 60 is input with tilt angle detection signals corresponding to the front-rear and left-right tilt angles of the vehicle body 2 (road surface) from the vehicle body tilt angle sensor 87, and the traveling speed sensor 88 is used to travel the high-altitude work vehicle 1. A traveling speed detection signal corresponding to the speed is input.

The jack overhang sensor 85 detects the overhang amount of the outrigger jack 10 (outrigger 11) in the vehicle width direction (that is, the overhang amount to the left and right sides with respect to the vehicle body 2) in four stages. In the present embodiment, the "minimum overhang amount (MIN)", as the overhang amount of the above four stages,
"Intermediate 1 overhang amount (MID1)", "Intermediate 2 overhang amount (MID2)", and "Maximum overhang amount (MAX)" are set. The minimum overhang amount corresponds to the retracted state of the outrigger 11, and the maximum overhang amount corresponds to the maximum overhang state of the outrigger 11. That is, the overhang amount of the outrigger 11 increases by one step in the order of minimum overhang amount <intermediate 1 overhang amount <intermediate 2 overhang amount <maximum overhang amount. As the jack overhang amount sensor 85, a configuration that continuously detects the overhang amount of the outrigger 11 may be applied instead of the configuration that detects the overhang amount of the outrigger 11 stepwise.

In the aerial work platform 1 according to the present embodiment, cameras are arranged 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 arranged at the front portion of the vehicle body 2. The front camera 91 is attached to the vicinity of the front bumper 28 in the front portion of the vehicle body 2 so as to face the front of the vehicle body 2. The front camera 91 is configured to include a lens having a wide angle of view such as a fisheye lens or an ultra-wide-angle lens, acquires image information of a front portion around the vehicle body 2, and outputs the acquired image information to the control unit 60.

As shown in FIGS. 2 and 4, a rear camera 92 is arranged at the rear of the vehicle body 2. The rear camera 92 is attached to the rear portion of the vehicle body 2 in the vicinity of the tail lamp 29 on the right side so as to face the rear of the vehicle body 2. The rear camera 92 is configured in the same manner as the front camera 91, acquires image information of a rear portion around the vehicle body 2, and outputs the acquired image information to the control unit 60. The rear camera 92 is not limited to the vicinity of the tail lamp 29, and may be attached to a protective cover (not shown) that covers the lower operating device 50 when not in use, such as the base end of the boom 30 or the swivel base 20. It may be attached to the rear. When the rear camera 92 is attached to the base end of the boom 30 or the rear of the swivel base 20, the cable extending from the rear camera 92 is inserted into a slip ring (not shown) provided on the swivel base 20. May be good. Further, in this case, the image information output from the rear camera 92 may be transmitted to the control unit 60 by wireless communication.

As shown in FIGS. 2 and 4, a left side camera 93 is arranged on the left side of the vehicle body 2. The left side camera 93 is attached to the upper end portion of the left tool storage portion 26 (upper left tool box 26b) on the left side portion of the vehicle body 2 so as to face the left side of the vehicle body 2. The left side camera 93 is configured in the same manner as the front camera 91, acquires image information of the left side portion around the vehicle body 2, and outputs the acquired image information to the control unit 60. A right side camera 94 is arranged on the right side of the vehicle body 2. The right side camera 94 is attached to the upper end portion of the right tool storage portion 27 (upper right tool box 27b) on the right side portion of the vehicle body 2 so as to face the right side of the vehicle body 2. The right side camera 94 is configured in the same manner as the front camera 91, acquires image information of the right side portion around the vehicle body 2, and outputs the acquired image information to the control unit 60.

Further, in the aerial work platform 1 according to the present embodiment, the lower display device 100 (see FIG. 5) is arranged in the vicinity of the lower operation device 50 in the vehicle body 2. The operator who operates the lower operation device 50 can visually recognize the image displayed on the lower display device 100. The lower display device 100 is configured by 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.

As shown in FIG. 5, the control unit 60 includes the above-mentioned operation control unit 61, a work range setting unit 63, and an image processing unit 65. The work range setting unit 63 stores data in a workable range defined as an area in which the tip end portion (work table 40) of the boom 30 can be moved without overturning the vehicle body 2. Further, the work range setting unit 63 stores data on the workable range corresponding to each of the four-stage overhang amounts of the outrigger jack 10 (outrigger 11). Based on the overhang amount detection signal input from the jack overhang amount sensor 85, the work range setting unit 63 sets the workable range data according to the current overhang amount of the out trigger 11 from the workable range data group. Is read. Then, the work range setting unit 63 can allow the data of the workable range read from the data group of the workable range according to the overhang amount of the outrigger 11 by the current overhang amount of the outrigger 11 of the boom 30. Set as a movable area at the tip.

Although not shown, the outer edge of the workable range (movable area) is structurally set according to the relationship between the range in which the length of the boom 30 can be taken and the range in which the undulation angle of the boom 30 can be taken. (Operating limit line) and structurally, the tip of the boom 30 can be moved, but from the viewpoint of preventing the overturning moment from becoming excessive, the movement of the tip of the boom 30 must be prohibited. It consists of the outer edge (regulation limit line) that is set. In the following, as the outer edge of the workable range, the operating limit line and the regulation limit line are not distinguished and are referred to as "limit lines".

Image information from the front camera 91, the rear camera 92, the left side camera 93, and the right side camera 94 and the overhang amount detection signal from the jack overhang amount sensor 85 are input to the image processing unit 65. Further, the image processing unit 65 stores in advance the image information of the aerial work platform 1 in a plan view. The image processing unit 65 receives the image information of the front side portion around the vehicle body 2 input from the front camera 91, the image information of the rear side portion around the vehicle body 2 input from the rear camera 92, and the left side camera 93. The input image information of the left side portion around the vehicle body 2, the image information of the right side portion around the vehicle body 2 input from the right side camera 94, and the pre-stored image of the high-altitude work vehicle 1 in a plan view. Peripheral display image 110 (see FIG. 6) showing the surroundings of the vehicle body 2 (that is, the high-altitude work vehicle 1) in a plan view by performing predetermined image processing such as image composition and distortion correction using the information. ) Is generated. The image processing unit 65 outputs the image information of the generated surrounding display image 110 to the lower display device 100. The lower display device 100 displays the surrounding display image 110 based on the image information input from the image processing unit 65.

FIG. 6 shows an example of the surrounding display image 110 generated by the image processing unit 65. In the example of FIG. 6, the aerial work platform 1 is stopped at a place near the utility pole WK, which is the work object. The utility pole WK is erected in the vicinity of the guardrail GR, which is an obstacle. In the surrounding display image 110 shown in FIG. 6, the turning center C of the turning table 20 is displayed on the aerial work platform 1. The image information of the turning center C is stored in advance in the image processing unit 65 as image information of the aerial work platform 1 in a plan view.

Further, in the peripheral display image 110 shown in FIG. 6, the range display image 120 is superimposed and displayed as shown by the alternate long and short dash line in FIG. The range display image 120 shows the above-mentioned workable range around the aerial work platform 1. The range display image 120 has a limit line display image 121 formed in a ring shape. The limit line display image 121 shows the limit line in the above-mentioned workable range. The image processing unit 65 is a workable range data group stored in the work range setting unit 63 based on the overhang amount detection signal (that is, the overhang amount of the out trigger 11) input from the jack overhang amount sensor 85. The data in the workable range corresponding to the current overhang amount of the outrigger 11 is read out from the inside, and the limit line display image 121 is set so as to show the limit line in the read workable range. Then, the image processing unit 65 performs predetermined image processing such as image composition so that the limit line display image 121 (that is, the range display image 120) is superimposed and displayed around the aerial work platform 1. A peripheral display image 110 is generated.

The limit line shown in the limit line display image 121 is an envelope showing the workable radius of the boom 30 over the entire turning position (360 degrees), and is surrounded by the limit line shown in the limit line display image 121. The area indicated by the above-mentioned workable range. Further, the limit line shown in the limit line display image 121 is when the tip portion (working table 40) of the boom 30 has a predetermined reference height (for example, the maximum height at which the tip portion of the boom 30 can be moved). Shows the limit line in plan view.

In the surrounding display image 110, for example, as shown in FIG. 6, when the utility pole WK is located inside the limit line display image 121 of the range display image 120, the workbench 40 can approach the utility pole WK. Can be easily determined. On the other hand, when the utility pole WK is located outside the limit line display image 121 of the range display image 120, it can be easily determined that the work table 40 cannot approach the utility pole WK. As a result, by visually recognizing the surrounding display image 110 displayed on the lower display device 100, it is possible to easily determine whether or not the workbench 40 can approach the utility pole WK located around the vehicle body 2. Will be possible.

According to the present embodiment, the surrounding display image 110 generated by the image processing unit 65 is a work table 40 around the vehicle body 2 according to the amount of protrusion of the outrigger (outrigger beam) 11 to the left and right sides of the vehicle body 2. Indicates the workable range in which movement is allowed. As a result, the peripheral display image 110 showing the periphery of the vehicle body 2 in a plan view shows the workable range in which the work table 40 is allowed to move, so that the peripheral display image 110 displayed on the lower display device 100 is visually recognized. By doing so, it becomes possible to easily determine whether or not the workbench 40 can approach the work object (telephone pole WK) located around the vehicle body 2. The image processing unit 65 generates a surrounding display image 110 showing the workable range of the workbench 40 based on the overhang amount of the outrigger (outrigger beam) 11 detected by the jack overhang amount sensor 85. It is possible to easily and accurately determine whether or not the workbench 40 can approach the work object (telephone pole WK) located around 2.

Further, each camera includes a front camera 91 provided at the front portion of the vehicle body 2, a rear camera 92 provided at the rear portion of the vehicle body 2, and a left side camera 93 provided above the left tool storage portion 26. It is preferable to have a right side camera 94 provided above the right tool storage portion 27. As a result, the tool storage portion is often formed in a similar shape, for example, in the shape of a box. Even if the device layout is changed in terms of design, it is possible to easily determine the arrangement of the left and right side cameras on the vehicle body.

In the above-described embodiment, the range display image 120 has a limit line display image 121 showing a limit line when the load of the workbench is a predetermined load, but the present invention is not limited to this. In addition to the limit line display image 121, there is a second limit line display image 121'showing a limit line when the load of the workbench 40 is a second load different from the predetermined (first) load. You may.

In the above-described embodiment, the image processing unit 65 has the work stored in the work range setting unit 63 based on the overhang amount detection signal (that is, the overhang amount of the out trigger 11) input from the jack overhang amount sensor 85. From the data group of the possible range, the data of the workable range corresponding to the current overhang amount of the outrigger 11 is read out, and the limit line display image 121 is set so as to show the limit line in the read workable range. , Not limited to this. For example, when applying a configuration for continuously detecting the overhang amount of the outrigger 11 as the jack overhang amount sensor 85, the image processing unit 65 is based on the workable range corresponding to the four-step overhang amount of the outrigger 11. The workable range may be obtained from the current overhang amount of the outrigger 11 by interpolation or the like, and the limit line display image 121 may be set so as to show the limit line in the obtained workable range.

In the above-described embodiment, the image processing unit 65 determines the limit line display image 121 of the range display image 120 based on the overhang amount detection signal (that is, the overhang amount of the out trigger 11) input from the jack overhang amount sensor 85. Is set, but it is not limited to this. For example, instead of the overhang amount detection signal of the jack overhang amount sensor 85, information regarding the overhang amount of the out trigger 11 can be obtained by an input operation to an input unit (not shown) provided in the lower display device 100. It may be input to 65.

In the above-described embodiment, the telescopic boom type aerial work platform has been described as an example, but the present invention is not limited to this, and for example, a bending / stretching boom type aerial work platform may be used, and at least undulating and turning movements. The present invention can be applied to any work platform provided with a flexible boom and a work platform.

In the above-described embodiment, the PTO-driven aerial work platform in which the power of the engine E is taken out by the power take-off mechanism PTO to drive the hydraulic pump 72 has been described as an example. It may be a type (battery-powered) aerial work platform or a hybrid type aerial work platform equipped with both of the above and selectively switching the power source.

In the above-described embodiment, the utility pole WK has been exemplified as the work object, but the work object is not limited to this, and may be a structure in a road tunnel or a pier.

1 Aerial work platform 2 Body 10 Outrigger jack 11 Outrigger (outrigger beam)
12 Jack 26 Left tool storage 27 Right tool storage 30 Boom 40 Worktable 60 Control unit 61 Operation control 63 Work range setting 65 Image processing 85 Jack overhang sensor 91 Front camera 92 Rear camera 93 Left side camera 94 Right side camera 100 Lower display device 110 Surrounding display image 120 Range display image WK Electric pole GR guard rail

Claims (3)

A car body that can run and
A boom provided on the vehicle body that can be undulated and swiveled,
A workbench provided at the tip of the boom and
An outrigger beam provided on the side of the vehicle body and capable of projecting to the side of the vehicle body,
A jack that is stretchably provided at the tip of the outrigger beam and supports the vehicle body in a state where it extends downward and is in contact with the ground.
A camera provided on the vehicle body and acquiring image information around the vehicle body,
An image processing unit that generates a surrounding display image showing the surroundings of the vehicle body in a plan view by using the image information of the surroundings of the vehicle body acquired by the camera.
A display device for displaying the surrounding display image generated by the image processing unit is provided.
The surrounding display image is a work vehicle characterized in that the workable range in which the work table is allowed to move around the vehicle body is shown according to the amount of the outrigger beam protruding toward the vehicle body side. The left side tool storage part provided on the left side of the vehicle body and capable of storing tools,
It is provided with a right tool storage unit provided on the right side of the vehicle body and capable of storing tools.
The camera
A front camera provided at the front part of the vehicle body and acquiring image information of a front side portion around the vehicle body, and a front camera.
A rear camera provided at the rear of the vehicle body and acquiring image information of a rear portion around the vehicle body,
A left side camera provided on the upper part of the left tool storage portion and acquiring image information of the left side portion around the vehicle body, and a left side camera.
It has a right side camera provided on the upper part of the right tool storage portion and acquires image information of the right side portion around the vehicle body.
The image processing unit uses the image information of the front side portion around the vehicle body acquired by the front camera, the image information of the rear side portion around the vehicle body acquired by the rear camera, and the left side camera. It is characterized in that the surrounding display image is generated by using the acquired image information of the left side portion around the vehicle body and the image information of the right side portion around the vehicle body acquired by the right side camera. The work vehicle according to claim 1. A protrusion amount detector for detecting the amount of protrusion of the outrigger beam toward the vehicle body is provided.
The work vehicle according to claim 1 or 2, wherein the image processing unit generates the surrounding display image indicating the workable range based on the overhang amount detected by the overhang amount detector. ..

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