JP6535296B2 - Rough Terrain Carrier - Google Patents

Description

  The present invention relates to an irregular land transportation vehicle such as a claw carrier that carries out work on irregular land such as a wet area with high moisture content such as rivers, lakes, marshes, seas etc. The present invention relates to an irregularly landed truck equipped with a camera.

  The crawler carrier, which is a kind of uneven terrain carrier, has a structure in which a revolving unit is installed on a track type traveling unit via a revolving unit. A driver's cab is mounted on the front left side on a swing frame which is a base frame of the swing body, and a power source unit having an engine and a hydraulic pump is mounted on the front right side. At the rear of the pivot frame, a carrier (hereinafter referred to as a vessel) is mounted so as to be vertically movable about pivot pins extending left and right, and a vessel cylinder is attached between the pivot frame and the vessel. In recent years, a crawler carrier equipped with a rear surveillance camera has also been proposed (see Patent Document 1 etc.).

JP, 2011-105124, A

  Even if it is not necessary, if the image behind the aircraft is constantly displayed on the monitor, it may be difficult to confirm other information. There is a crawler-type rough terrain vehicle with a turning function represented by a crawler carrier, and moving travel to the loading location, positioning, turning, transport of the load, etc., to make the rear surveillance camera more meaningful. In a series of operations such as dumping of a load, it is an issue to consider at what timing the image of the rear surveillance camera should be displayed on the monitor at a minimum.

  The present invention has been made in view of the above problems, and it is an irregular ground transport vehicle in which a vessel is disposed on the rear side of a driver's cab on a revolving structure, and the image of the rear of the vehicle can be checked on a monitor in a timely manner. The purpose is to provide rough terrain vehicles.

In order to achieve the above object, according to the present invention, a crawler belt type traveling body, left and right traveling hydraulic motors for driving the traveling body, a turning frame rotatably provided on the traveling body, and the turning A rear monitoring system which is disposed at the front of the frame, a vessel provided at the rear of the swing frame, a monitor provided in the drive room, and a monitor provided at the swing frame to photograph the rear of the swing frame In a rough terrain vehicle provided with a camera, a first left traveling pressure detector for detecting a pressure A1 of a port on one side of a traveling hydraulic motor on the left side of the traveling body, and traveling of the left side of the traveling body Second left traveling pressure detector that detects the pressure A2 of the other port of the hydraulic motor, and the first right that detects the pressure B1 of the one port of the traveling hydraulic motor on the right side of the traveling body Front pressure sensor and front A second right traveling pressure detector that detects a pressure B2 of a port on the other side of the traveling hydraulic motor on the right side of the traveling body, a direction detector that detects the direction of the swing frame with respect to the traveling body, and the direction A direction determination device that determines the direction of the swing frame with respect to the traveling body based on a signal from a detector, and a determination result of the direction determination device, a magnitude relationship between the pressures A1 and A2, and a magnitude relationship between the pressures B1 and B2. And a reverse detection device for detecting reverse movement which is a traveling operation of the traveling body to the rear side, and the monitor the video captured by the rear surveillance camera when the reverse detection is detected by the reverse detection device. And the rear surveillance camera is provided on the turning frame so as to be located below the vessel .

  According to the present invention, it is possible to check on the monitor the image of the rear of the vehicle in a timely manner in the rough terrain vehicle in which the vessel is disposed behind the driver's cab on the revolving structure.

It is a side view of the crawler carrier which is an example of the rough terrain truck concerning one embodiment of the present invention. It is a top view of the crawler carrier shown in FIG. It is a front view of the crawler carrier shown in FIG. It is a perspective view showing the structure of connection part vicinity with the rotational body of the track frame in the crawler carrier shown in FIG. It is the perspective view which extracted and represented the connection part of the turning frame and vessel in the crawler carrier shown in FIG. It is a left side of the revolving unit rear part at the time of the conveyance posture which the vessel in the crawler carrier shown in Drawing 1 falls. It is a figure showing the left side of the revolving unit rear part at the time of the loading / unloading posture in which the vessel in the crawler carrier shown in Drawing 1 stands up. It is a circuit diagram of the hydraulic drive provided in the crawler carrier shown in FIG. It is a functional block diagram which extracted and expressed the part in connection with the image display control in the processing device with which the crawler career shown in Drawing 1 was equipped. It is a flowchart showing the procedure of the image display control by the processing apparatus with which the crawler carrier shown in FIG. 1 was equipped.

  Embodiments of the present invention will be described below with reference to the drawings.

1. Crawler Carrier FIG. 1 is a side view of a crawler carrier which is an example of an irregular terrain vehicle according to an embodiment of the present invention, FIG. 2 is a plan view, FIG. 3 is a front view, and FIG. It is a perspective view showing the composition of the connection part vicinity of. From then on, the front (left side in Figure 2), rear (same right), left (same lower), right (same) upper side of the operator who arrived at the driver's seat will be front, back, left, right of the crawler carrier The front side, the rear side, the left side, and the right side are simply described, respectively.

  The crawler carrier shown in FIGS. 1 to 4 is provided with the traveling body 1 and the revolving body 6, and as shown in FIG. 2, the vehicle of the traveling body 1 has the revolving body 6 covering the traveling body 1 in top view. It is formed in a rectangular shape along the width.

1-1. The Running Body The running body 1 is of the track type and comprises a track frame 2, a drive wheel 3, a driven wheel 4 and a track 5. The track frame 2 is an H-shaped frame as viewed from above. The drive wheels 3 are provided at the left and right front portions of the track frame 2 and are rotationally driven by left and right traveling hydraulic motors 33 and 34 (see FIG. 8) described later. The driven wheels 4 are rotatably provided at the left and right rear portions of the track frame 2. The crawler belt 5 is wound around the driving wheel 3 and the driven wheel 4 on the left and right sides, respectively. By driving the crawler belt 5 with the drive wheels 3, the traveling body 1 can travel on rough terrain such as mountainous areas, muddy lands, and mountain roads.

1-2. The revolving unit 6 includes a revolving frame 8, a cab 10, a power source unit (power unit) 12 and a vessel 9.

  The pivoting frame 8 is a base frame of the pivoting body 6 and is pivotably installed on the top of the track frame 2 via a pivoting device 7. The turning device 7 causes the turning body 6 to turn relative to the traveling body 1 about an axis extending in the vertical direction by means of a turning motor 55 (see FIG. 8) and a gear mechanism (not shown).

  The operator's cab 10 is provided on one side (left side in the present embodiment) in the left-right direction at the front of the turning frame 8. Although not shown in FIGS. 1 to 3, an operating device (FIG. 8 of FIG. 8) for instructing the operation of various driving devices in addition to a driver's seat (not shown) in which the operator sits inside Pilot operation devices 43, 44, 48, 49, etc.), gate lock lever 14, monitor 98 (FIG. 9) for notifying various information, center indicator 96 (FIG. 9), direction indicator 97 (FIG. 9), rear display And a display instruction device (not shown) for manually instructing. The monitor 98 is installed at a position where the operator sitting at the driver's seat in the cab 10 can easily view, for example, a pillar in front of the driver.

  The power source unit 12 is disposed in an L-shape from the area on the other side (right side in the present embodiment) of the cab 10 on the turning frame 8 in the left-right direction. The power source unit 12 is an element shown in FIG. 8 which will be described later, but in addition to the engine 21 which is a power source of the rough terrain vehicle, both tilting pumps 31 and 32, a pilot pump 41 and a hydraulic pump 51 , A radiator 22, an oil cooler 56, a hydraulic oil tank T, and the like.

  As shown in FIG. 2, the vessel 9 having a rectangular outer shape is disposed at the rear on the swing frame 8 so as to be located behind the cab 10 and the power source unit 12. The rear end portion on the lower side of the vessel 9 is connected to the rear end portion of the swing frame 8 via a pin 11 extending leftward and rightward. Further, the vessel 9 is also connected to the swing frame 8 by a vessel cylinder 57 (FIG. 5 and the like). The vessel cylinder 57 is disposed between the swing frame 8 and the vessel 9, and both ends thereof are rotatably connected to the swing frame 8 and the vessel 9. Along with the expansion and contraction of the vessel cylinder 57, the vessel 9 pivots relative to the swing frame 8 about the pin 11 and is undulated. Although the vessel 9 of the present embodiment is of a type having side plates on both sides, the configuration of the vessel 9 is not limited to that illustrated.

1-3. Direction Detector As shown in FIG. 4, a direction detector 15 for detecting the orientation of the swing body 6 with respect to the traveling body 1 is provided at the connection portion between the track frame 2 and the swing frame 8. The direction detector 15 includes proximity sensors 16 and 17 and strikers 18 and 19. The proximity sensors 16 and 17 are attached to the turning frame 8 side, and the strikers 18 and 19 are attached to the track frame 2 side. The positions of the proximity sensors 16 and 17 are determined in relation to the strikers 18 and 19.

  In this example, the striker 18 is a total of 180 ° from the point of intersection with the center line of the traveling body 1 extending parallel to the left and right crawler belts 5 through the turning center C, 90 ° on both sides in the circumferential direction about the turning center C It has a semicircular arc shape that extends. On the other hand, the proximity sensor 16 is located on the rear side of the pivoting center C on the center line of the swing body 6 extending back and forth through the pivoting center C. Therefore, the 360 ° turning range is divided into two ranges of 180 ° each on the drive wheel 3 side and the driven wheel 4 side divided by a line orthogonal to the center line of the traveling body 1 When (the part on the front side from the turning center C) is in the range on the drive wheel 3 side, the proximity sensor 16 is turned on close to the striker 18, and in the range on the driven wheel 4 side, the proximity sensor 16 is the striker 18 Away from off.

  On the other hand, two strikers 19 are provided on both sides of the turning center C, and a line connecting the two strikers 19 is disposed orthogonal to the center line of the traveling body 1 at the turning center C. In this example, strikers 19 are provided at both ends of the striker 18. In contrast, the proximity sensor 17 is located on a line perpendicular to the center line of the swing body 6 at the turning center C (in this example, to the left of the turning center C). Therefore, when the center line of the traveling body 1 and the center line of the revolving unit 6 coincide with each other, the proximity sensor 17 is turned on close to any of the strikers 19 and the revolving unit 6 swivels to strike from the detection range of the proximity sensor 17 When 19 is released, the proximity sensor 17 is turned off.

1-4. Rear Surveillance Camera FIG. 5 is a perspective view extracting and showing the connecting portion between the swing frame and the vessel. As shown in FIG. 5, the rear end portion of the swing frame 8 is provided with a rear monitoring camera 13 for capturing the rear of the swing frame 8 (the rear of the swing body 6). The rear surveillance camera 13 is located on the center line of the revolving structure 6 and is located on the lower side of the rear near the rear end of the vessel 9 (overlaps with the vessel 9 as viewed from above). In more detail, it is provided at the upper end of the cross member extending leftward and rightward at the rear end of the turning frame 8.

  FIG. 6 is a view showing the left side of the rear of the swing body when the vessel is in the lowered transport orientation, and FIG. 7 is a view showing the left side of the rear of the swing body when the vessel is in the loading and unloading posture. As shown in FIG. 6, the rear surveillance camera 13 directs the optical axis rearward and downward so that the ground (loading and unloading position) of the rear of the revolving unit 6 from the space between the revolving frame 8 and the vessel 9 and its surroundings can be viewed. Installed in When the vessel 9 stands up, the field of view of the rear surveillance camera 13 is blocked at the rear end of the vessel 9 as shown in FIG. 7, but a distance is secured forward from the rear end of the vessel 9 when the vessel 9 stands up. Because the rear surveillance camera 13 does not interfere with the discharged load, the rear surveillance camera 13 does not interfere with the load. Although not shown in FIGS. 6 and 7, the crawler carrier of the present embodiment is provided with a standup detector 99 (FIG. 9) for detecting that the vessel 9 stands up. As the standing-up detector 99, an angle sensor provided on the rotating portion (portion connected to the pin 11) of the vessel 9, a proximity sensor provided on the opposing portion of the vessel 9 and the turning frame 8, a rear door 9a of the vessel 9 The angle sensor etc. which were provided in the rotation part of FIG. 7 can be used.

1-5. Others Here, the above-mentioned gate lock lever 14 (Fig. 8 etc.) is installed on the entry / exit side of the driver's seat, and in the closed state where it is laid down, it prevents the operator from getting off. It is configured such that the entrance to the driver's seat must be open. Hereinafter, as the position of the gate lock lever 14, the state of being laid down will be referred to as the “lock release position” of the operation system, and the state of being pulled up will be referred to as the “lock position” of the operation system. When the position of the gate lock lever 14 is at the lock position, the operation signal is not output from the various operating devices regardless of the presence or absence of the operation, the operation by the operating device is invalidated, and the traveling, turning and dumping operations are prohibited. . When the position of the gate lock lever 14 becomes the unlocking position, operation signals corresponding to the operation are output from the various operating devices, and the operation by the operating device is validated to allow the traveling, turning, and dumping operations. Ru.

2. Hydraulic Drive FIG. 8 is a circuit diagram of a hydraulic drive provided on the crawler carrier shown in FIGS. 1-7. The hydraulic drive system shown in this figure includes an engine unit 20, a traveling circuit 30, a pilot circuit 40, a dump and swing circuit 50, and the like.

2-1. Engine Unit The engine unit 20 includes an engine 21 and a radiator 22. The output shaft of the engine 21 is connected to the tilt pumps 31, 32, the pilot pump 41, the hydraulic pump 51, and the fan 24 via the shaft 23, couplings, etc., and these pumps and fans are driven by the engine 21. Ru. The radiator 22 is connected in a loop shape to the engine 21 via the pipelines 25 and 26, and cooling water is circulated between the radiator 22 and the engine 21 via the pipelines 25 and 26. The radiator 22 is cooled by the cooling air induced by the fan 24, and the engine 21 is cooled by the cooling water cooled by the radiator 22.

2-2. Driving Circuit The driving circuit 30 includes variable displacement double-displacement pumps (HST pumps) 31 and 32. The dual tilt pumps 31, 32 include a dual tilt swash plate mechanism having a pair of input / output ports, and regulators 31a, 32a for controlling the tilt angles of the dual tilt swash plates. The double-tilt pump 31 and the traveling hydraulic motor 33 for traveling the crawler belt 5 on the left side are connected in a loop shape by pipes 36 and 37 to form a closed circuit. Similarly, the both tilt pumps 32 and the traveling hydraulic motor 34 are connected in a loop by means of pipes 38 and 39 to constitute a closed circuit.

  The conduits 36-39 are provided with pressure detectors 36a-39a. The pressure detector 36a provided in the conduit 36 is a first left traveling pressure detector that detects the pressure A1 of the port on one side of the traveling hydraulic motor 33 on the left side. The pressure detector 37a provided in the conduit 37 is a second left traveling pressure detector that detects the pressure A2 of the other port of the left traveling hydraulic motor 33. The pressure detector 38a provided in the conduit 38 is a first right traveling pressure detector that detects the pressure B1 of the port on one side of the right traveling hydraulic motor 34. The pressure detector 39a provided in the conduit 39 is a second right traveling pressure detector that detects the pressure B2 of the other port of the right traveling hydraulic motor 34.

2-3. Pilot circuit (operation system)
The pilot circuit 40 includes a pilot pump 41, an electromagnetic switching valve 42, pilot operation devices 43, 44, 48, 49, and the like.

  The pilot pump 41 is, for example, a gear pump, and sucks in the hydraulic oil stored in the hydraulic oil tank T, and discharges it to the discharge pipeline 45 as pressure oil. The discharge pipe line 45 of the pilot pump 41 is connected to the pilot operating devices 43 and 44, and the electromagnetic switching valve 42 is provided in the middle of the discharge pipe line 45. The solenoid drive portion of the electromagnetic switching valve 42 is electrically connected to the position detection portion 14a of the gate lock lever 14 of the driver's cab 10 (FIG. 1 etc.), and the position is turned off according to the signal from the position detection portion 14a. Instead, the discharge line 45 is opened and closed. Specifically, when the gate lock lever 14 is pulled up to the lock position, the electromagnetic switching valve 42 is switched to the closed position and the discharge pipeline 45 is shut off, and when the gate lock lever 14 is lowered to the unlocked position, the electromagnetic switching valve 42 is switched to the open position and the discharge pipeline 45 is opened.

  The pilot operating device 43 for dumping operation of the vessel includes pressure reducing valves 43a and 43b and an operating lever 43c, and controls the flow of pressure oil from the pilot pump 41 with the pressure reducing valves 43a and 43b and outputs it as a pilot signal. Specifically, the discharge pipeline 45 is connected to the primary side ports of the pressure reducing valves 43a and 43b, and the pilot pipelines 43c and 43d are connected to the secondary side ports. The pilot pipelines 43 c and 43 d are connected to the pressure receiving portions 52 a and 52 b of the control valve 52, respectively. When the operation lever 43c is operated, the pressure reducing valve corresponding to the operation direction is opened by an amount according to the operation amount, and a pilot signal according to the operation is output. For example, when the control lever 43c is turned to the left in FIG. 8, the pressure reducing valve 43a is opened according to the amount of operation, and a pilot signal corresponding to the amount of operation is output to the pressure receiving portion 52a of the control valve 52 via the pilot conduit 43c. . Conversely, when the control lever 43c is turned to the right in FIG. 8, the pressure reducing valve 43b is opened according to the amount of operation, and a pilot signal according to the amount of operation is output to the pressure receiving portion 52b of the control valve 52 via the pilot pipeline 43d. Ru. However, when the discharge pipeline 45 is shut off by the electromagnetic switching valve 42, no pilot signal is output from the pilot operating device 43 regardless of the presence or absence of the operation.

  Similar to the pilot operating device 43, the pilot operating device 44 for turning is also provided with pressure reducing valves 44a and 44b and an operating lever 44c, and the flow of pressure oil from the pilot pump 41 is controlled by the pressure reducing valves 44a and 44b to control a pilot signal. Output as Specifically, the discharge pipeline 45 is connected to the primary side ports of the pressure reducing valves 44a and 44b, and the pilot pipelines 44c and 44d are connected to the secondary side ports. The pilot pipelines 44 c and 44 d are connected to pressure receiving portions 53 a and 53 b of the control valve 53, respectively. For example, when the control lever 44c is turned to the left in FIG. 8, a pilot signal corresponding to the amount of operation is output to the pressure receiving portion 53a of the control valve 53 via the pilot conduit 44c. However, when the discharge pipeline 45 is shut off by the electromagnetic switching valve 42, no pilot signal is output from the pilot operating device 44 regardless of the operation.

  The pilot operating device 48 for left travel and the pilot operation device 49 for right travel are also illustrated schematically but have the same configuration as the pilot operating devices 43 and 44. The pressure oil from the pilot pump 41 is led to the pilot operating devices 48 and 49 through a pipe branched from the downstream side of the discharge pipe 45 from the electromagnetic switching valve 42. The hydraulic pressure from the pilot pump 41 is controlled by the pilot operating devices 48 and 49 according to the operation direction and the amount of operation, and the regulators 31a and 32a are driven by the operation signals output from the pilot operating devices 48 and 49 accordingly. Be done. By driving the regulators 31a and 32a, the discharge direction and the discharge flow rate of the pressure oil of both the tilt pumps 31 and 32 are controlled.

  Further, a relief pipe line 47 is branched from the discharge pipe line 45 at a position upstream of the electromagnetic switching valve 42, and the discharge pipe line 45 and the hydraulic fluid tank T are connected via the relief pipe line 47. There is. The relief pipe 47 is provided with a relief valve 47 a. The relief valve 47 a functions to protect the discharge pipe 45 by defining the maximum pressure of the discharge pipe 45.

2-4. Dump and Turning Circuit The dump and turning circuit 50 includes a hydraulic pump 51 for dumping and turning, control valves 52 and 53, and the like.

  The hydraulic pump 51 is, for example, a gear pump, and sucks in the hydraulic oil stored in the hydraulic oil tank T, and discharges it to the discharge pipeline 54 as pressure oil. The discharge line 54 is connected to the control valves 52 and 53. In this example, the control valves 52, 53 are arranged in series on the discharge line 54.

  The control valve 52 is connected to the hydraulic pump 51, the swing motor 55 and the hydraulic fluid tank T. The control valve 52 is driven by receiving the pilot signal generated by the pilot operating device 43 in the pressure receiving portion 52a or the pressure receiving portion 52b, and the flow of pressure oil supplied from the hydraulic pump 51 to the swing motor 55 (direction and flow rate ) Has a function of controlling When the pressure oil from the hydraulic pump 51 is supplied to the swing motor 55 via the control valve 52, the swing motor 55 is driven in the direction and speed according to the switching position of the control valve 52, thereby turning the swing body 6 Do. The pressure oil driven by the swing motor 55 returns to the hydraulic oil tank T via the control valve 52.

  The control valve 53 is connected to the hydraulic pump 51, the vessel cylinder 57 and the hydraulic oil tank T. The control valve 53 is driven by receiving the pilot signal generated by the pilot operating device 44 in the pressure receiving portion 53a or the pressure receiving portion 53b, and the flow (direction and flow rate of pressure oil supplied from the hydraulic pump 51 to the vessel cylinder 57). ) Has a function of controlling When the pressure oil from the hydraulic pump 51 is supplied to the vessel cylinder 57 via the control valve 53, the vessel cylinder 57 is driven at a direction and speed according to the switching position of the control valve 53, whereby the vessel 9 is undulated. . The pressure oil driving the vessel cylinder 57 returns to the hydraulic oil tank T via the control valve 53.

  An oil cooler 56 is provided in a pipe connected to the hydraulic oil tank T, and the pressure oil returned to the hydraulic oil tank T is cooled by the oil cooler 56. A relief pipe line 59 branches from the discharge pipe line 54, and the discharge pipe line 54 and the hydraulic fluid tank T are connected via the relief pipe line 59. The relief pipe 59 is provided with a relief valve 59a. The relief valve 59 a serves to define the maximum pressure of the discharge line 54 to protect the discharge line 54.

  As described above, the control valves 52 and 53 are arranged in series, and the pressure oil is led to the control valve 53 via the control valve 52. That is, the vessel cylinder 57 can not be driven unless the turning is stopped.

3. Control Device For example, in the operator's cab 10, a processing device 60 for controlling the operation of the crawler carrier is provided. Particularly in the processing apparatus 60 of the present embodiment, from the relationship between the direction of rotation of the traveling hydraulic motor 33, 34 and the forward / backward movement determined from the direction of the swing body 6 with respect to the traveling body 1, rear monitoring It has a function of displaying an image taken by the camera 13 on the monitor 98 of the cab 10. The functional block diagram which extracted and represented the part in connection with the video display control in the processing apparatus 60 is shown in FIG.

  As shown in FIG. 9, the processing device 60 includes an input interface 61, a storage device 62, a direction determination device 63, a reverse detection device 64, a display control device 65, an output interface 66, and the like.

  The input interface 61 is electrically connected to the gate lock lever 14, the direction detector 15, the pressure detectors 36a to 39a, the rise detector 99, and the like. A lock lever signal from the gate lock lever 14, a direction signal from the direction detector 15 (proximity sensor 16, 17), a pressure signal from the pressure detectors 36a to 39a, and a rising signal from the rising detector 99 are input interfaces. It is input to 61.

  The storage device 62 is a memory for storing variables used for execution of various processing programs and programs, mass data which is an operation result of a loaded mass, a signal input through the input interface 61, and the like. The stored program also includes a program related to image display control.

  The direction determination device 63 is a functional unit that determines the direction of the swing body 6 with respect to the traveling body 1 based on the signal of the direction detector 15.

  As a result of the determination by the direction determination device 63, the reverse detection device 64 determines the magnitude relationship between the pressures A1 and A2 detected by the pressure detectors 36a and 37a, and the magnitude relationship between the pressures B1 and B2 detected by the pressure detectors 38a and 38b. And a reverse movement which is a traveling operation of the traveling body 1 to the rear side of the revolving structure 6 (determines whether or not the traveling body 1 moves backward with respect to the revolving structure 6). Furthermore, in the present embodiment, the reverse movement detection device 64 is configured to detect reverse movement on condition that the lock lever signal is a signal for identifying the unlocking position of the gate lock lever 14.

  The display control device 65 is a functional unit that causes the monitor 98 to display an image captured by the rear monitoring camera 13 when the reverse detection is detected by the reverse detection device 64. Although it is not intended that the display stop of the image of the rear surveillance camera 13 other than reverse is essential, the display control device 65 of this embodiment is the rear surveillance camera 13 except when the reverse detection is detected by the reverse detection device 64. The display output to the monitor 98 of the image photographed in the above is stopped. However, when it is determined that the vessel 9 is standing up based on the signal of the standing-up detector 99, the display control device 65 monitors the video taken by the rear surveillance camera 13 exceptionally even in the reverse mode. Stop the display output for 98.

  The output interface 66 is electrically connected to the monitor 98, the direction indicator 97, and the center indicator 96, and the display signal from the display controller 65 is transmitted via the output interface 66 to the monitor 98, the direction indicator 97, and the center. It is output to the display 96 to control these display devices.

4. Image Display Control Procedure FIG. 10 is a flowchart showing a procedure of image display control by the processing device 60.

Step S101
The process of FIG. 10 is executed by the processing device 60 according to the program read from the storage device 62. First, at step S101, the processing device 60 determines whether or not the lock lever signal from the gate lock lever 14 is a signal identifying that the lock release signal is at the lock release position. If the determination in step S101 is not satisfied by the signal identifying that the lock lever signal is at the lock position, the processing device 60 ends the procedure of FIG. 10 without executing the procedure of the subsequent video display control. If the determination in step S101 is satisfied by a signal identifying that the lock lever signal is the unlocking position, the processing device 60 transfers the procedure to step S102. That is, the present step 101 is a determination unit that determines the operation state of the gate lock lever 14. Although not shown in the flow, in the case where the determination in step S101 is not satisfied, it is assumed that the video output of the rear surveillance camera 13 is not performed as in steps S108 and S118 described later. When the determination in step S101 is not satisfied, the video display is stopped. The same applies to the case where the determination in the subsequent step S102 is not satisfied.

Step S102
After shifting the procedure to step S102, the processing device 60 turns on / off the signal of the proximity sensor 17 of the direction detector 15 by the direction determination device 63 (whether the center lines of the traveling body 1 and the revolving body 6 coincide). Determine When the center lines of the traveling body 1 and the revolving structure 6 coincide with each other and a signal is input from the proximity sensor 17, the processing device 60 shifts the procedure to step S103. When the centers of the traveling body 1 and the revolving structure 6 do not match and the signal is not input from the proximity sensor 17, the processing device 60 performs the procedure of FIG. 10 without executing the procedure of the image display control thereafter. finish. Step S102 is a first posture determination unit that determines whether the posture suitable for the traveling operation in which the front-rear direction of the swing body 6 matches the traveling direction of the traveling body 1 or not.

  When the determination in step S102 is satisfied, the processing device 60 generates a display signal for the center display 96 by the display control device 65, and causes the center display 96 to be lit. By this lighting display, the operator can easily confirm that the center lines of the traveling body 1 and the revolving unit 6 coincide with each other and that the vehicle body is in a posture suitable for traveling operation.

Step S103
When the procedure is shifted to step S103, the processing device 60 turns on / off the signal of the proximity sensor 16 of the direction detector 15 by the direction determination device 63, specifically, the traveling body 1 is turned backward with respect to the swing body 6 Determine if there is. The state in which the traveling body 1 is directed backward with respect to the revolving structure 6 is a state in which the vehicle moves backward when the pilot operating devices 48 and 49 for traveling are turned forward, that is, the operation direction of the pilot operating devices 48 and 49 It says the driving direction is reversed. When the traveling body 1 is backward and the signal from the proximity sensor 16 is not input, the processing device 60 proceeds to step S104, and when the traveling body 1 is forward and the signal from the proximity sensor 16 is input, The processing device 60 moves the procedure to step S114. Step S103 is a second posture determination unit that determines whether or not the traveling body 1 and the swing body 6 are in the opposite direction.

  When the traveling object 1 is backward and the determination in step S103 is satisfied (in the case of Yes), the processing device 60 generates a display signal for the direction indicator 97 by the display control device 65 and turns on the direction indicator 97. Display. The operator can easily confirm that the operation direction and the traveling direction of the pilot operating devices 48 and 49 are reversed by the lighting display.

Steps S104 and S114
After shifting the procedure to step S104, the processing device 60 inputs the pressure signals A1, A2, B1 and B2 of the pressure detectors 36a to 39a, and shifts the procedure to step S105. Similarly, when the procedure moves to step S114, the processing device 60 inputs the pressure signals A1, A2, B1 and B2 of the pressure detectors 36a to 39a, and shifts the procedure to step S115.

Step S105, S115
After shifting the procedure to steps S105 and S115, the processing device 60 causes the reverse detection device 64 to perform an operation to reverse the machine based on the determination result of the direction determination device 63 and the pressure signals A1, A2, B1 and B2. It is determined whether or not it is in the Specifically, in step S105 in which the operation direction of the pilot operation device 48 and the traveling direction of the traveling object 1 are reverse, whether the reverse detection device 64 is A1> A2 and B1> B2 (this is the case in step S105) It is determined whether or not the aircraft moves backward under the conditions. In step S115 in which the operation direction of the pilot operation device 48 matches the traveling direction of the traveling body 1, the reverse detection device 64 determines whether A1 <A2 and B1 <B2 (in step S115, the aircraft reverses under this condition) Determine whether or not to If the determination at step S105 is satisfied, the processing device 60 transfers the procedure to step S106, and if not, the processing proceeds to step S108. Similarly, if the determination at step S115 is satisfied, the processing device 60 transfers the procedure to step S116, and if not, the processing proceeds to step S118. Step S105 is a first reverse determination unit that determines whether the traveling object 1 is in reverse in the reverse state. Step S115 is a second reverse determination unit that determines whether the traveling object 1 is a reverse in the forward state.

Steps S106 and S116
After shifting the procedure to steps S106 and S116, the processing device 60 determines whether the vessel 9 is in the standing state based on the signal of the standing detector 99. In step S106, the processing device 60 moves the procedure to step S107 if the vessel 9 is in the upright state, and moves the procedure to step S108 if in the fallen state. Similarly, in step S116, the processing device 60 moves the procedure to step S117 when the vessel 9 is in the upright state, and moves the procedure to step S118 when in the collapsed state.

Step S107, S117
When the procedure proceeds to steps S107 and S117, the processing device 60 causes the display control device 65 to output the image captured by the rear surveillance camera 13 from the output interface 66 to the monitor 98, and the procedure of FIG. 10 is ended. The live image of the rear of the machine is displayed on the monitor 98 by the execution of the procedure of steps S107 and S117. Step S107 corresponds to the first display determination switching unit that determines the standing state of the vessel 9 and switches the display content of the monitor 98 together with the previous step S106. Step S117 corresponds to the second display determination switching unit that determines the standing state of the vessel 9 and switches the display content of the monitor 98 together with the previous step S116.

Steps S108 and S118
On the other hand, when the procedure is shifted to steps S108 and S118, the processing device 60 causes the display control device 65 to stop the display output of the image captured by the rear surveillance camera 13, and ends the procedure of FIG. By the execution of the procedure of steps S108 and S118, the display of the live image behind the machine on the monitor 98 is stopped.

5. Effect 5-1. Optimization of monitor display The typical operation of the crawler carrier is a combination of operations such as moving to the loading place, positioning, loading of the load, transport of the load, and dumping of the load. For example, moving traveling to the loading place or carrying traveling of the load is a forward movement operation, and there is little need to confirm an image behind the aircraft. At the time of loading of the load, it is stationary at the place, and at the time of dumping, the field of view of the rear surveillance camera 13 is blocked by the vessel 9. On the other hand, at the time of positioning operation, in order to align the position of the vessel 9 with the loading position or dumping position by heavy equipment etc., the reverse operation is appropriately performed, and it is significant that the live video of the rear surveillance camera 13 can be confirmed at the driver's seat .

  In the present embodiment, the video of the rear surveillance camera 13 is displayed on the monitor 98 at the time of reverse travel. Although it is not intended to exclude video display other than during reverse travel, as in the present embodiment, the video of the rear surveillance camera 13 is displayed on the monitor 98 only during reverse travel, thereby facilitating positioning work. Besides, the display of the monitor 98 is simplified in many other situations where there is no need to check the image, and it is prevented from being an obstacle to the confirmation of other necessary information (such as the operation information of the crawler carrier such as the engine speed). Effects are expected.

  In addition, the crawler carrier having the turning function as in the present embodiment changes the direction of the swing body 6 with respect to the traveling body 1 so that the operating direction and the traveling direction of the pilot operating devices 48 and 49 for traveling are Relationship changes. Therefore, the traveling direction can not simply be determined by the operation directions of the pilot operation devices 48 and 49. Therefore, by devising to switch the determination condition of the reverse movement according to the direction of the swing body 6 with respect to the traveling body 1, it is possible to realize detection of a proper reverse movement which is not affected by the direction of the swing body 6.

  As described above, according to the present embodiment, in the irregular ground transport vehicle in which the vessel 9 is disposed on the rear side of the driver's cab 10 on the revolving structure 6, the image of the rear of the vehicle can be checked on a monitor in a timely manner. This can be expected to be effective in facilitating the positioning operation of the machine and improving the visibility of the monitor by optimizing the display information.

5-2. Protection of the rear surveillance camera Although the image of the rear surveillance camera 13 is useful for the work of aligning the airframe to the discharge position of the load, the rear surveillance camera 13 of the stage of discharging the cargo after the alignment of the airframe is completed. Video is not necessary. In the present embodiment, based on this viewpoint, the image output of the rear surveillance camera 13 is stopped when the vessel 9 stands up. Therefore, there is no particular problem even if the field of vision of the rear surveillance camera 13 is blocked by the upright vessel 9. Therefore, in the present embodiment, the rear surveillance camera 13 is disposed at a position between the vessel 9 and the turning frame 8, and from the load discharged from the vessel 9, the scattered matter that may come flying at the operation site, etc. The rear surveillance camera 13 is protected by the vessel 9. Thereby, the rear surveillance camera 13 can be effectively protected without interfering with the function of the rear surveillance camera 13.

5-3. In the present embodiment, when the interlock by the gate lock lever 14 is engaged, the image of the rear surveillance camera 13 with respect to the monitor 98 is not displayed on the monitor 98 regardless of the condition. Therefore, the machine can not be operated unless the gate lock lever 14 is in the unlocked position, but no image is displayed, so if you want to check the image, you must lower the gate lock lever 14 and follow the normal procedure. Must also contribute to promoting the use of the gate lock lever 14.

6. Others In the above embodiment, the case where the lock release of the gate lock lever 14 (step S101 in FIG. 10) and the center detection (step S102) are added to the condition of reverse detection is illustrated. As long as it does, at least one of these conditions can be omitted. When center detection is omitted from the conditions, reverse travel can be detected even if the center lines of the traveling body 1 and the swing body 6 do not match exactly. In this case, for example, in a state where the traveling body 1 and the revolving body 6 are substantially orthogonal, the backward monitoring camera 13 can not capture the image in the reverse direction, so the proximity sensor 17 and the striker 19 are angled like the proximity sensor 16 and the striker 18 It is detected that the turning angle of the swing body 6 is included in the set angle range centered on a state where the center lines of the traveling body 1 and the swing body 6 coincide by changing to a configuration for detecting the range or the like. It may be a condition. The set angular range is a range in which at least the rear region on the center line of the swing body 6 enters the field of view of the rear monitoring camera 13.

  In the present embodiment, the crawler carrier provided with a traveling system using both tilting pumps 31 and 32 has been described as an example, but the pressure oil discharged from a general hydraulic pump in which the discharge direction of the pressure oil does not change Naturally, the present invention can be applied to a traveling system in which a traveling hydraulic motor is driven by controlling the control valve with a control valve.

  Further, although the video output of the rear monitoring camera 13 to the monitor 98 at the time other than reverse is not specifically described, when it is desired to check the video of the rear monitoring camera 13 arbitrarily, the display instruction device described above is operated. Thus, the monitor 98 can be made to display an image manually. In addition, although automatic display of the image of the rear surveillance camera 13 during reverse is essential in principle, automatic display in other cases is not necessarily excluded. If there is another necessary operation timing, the video can be automatically displayed also at that time. In addition, in the case of a camera arrangement in which the field of view of the rear surveillance camera 13 is not blocked by the raised vessel 9, the image display does not have to be stopped when the vessel 9 is raised.

DESCRIPTION OF SYMBOLS 1 ... driving | running | working body, 8 ... turning frame, 10 ... driving room, 9 ... vessel, 13 ... back surveillance camera, 14 ... gate lock lever, 15 ... direction detector, 16, 17 ... proximity sensor (direction detector), 31 , 32: double-tilt pump (hydraulic pump), 31a, 32a: regulator, 33: left traveling hydraulic motor, 34: right traveling hydraulic motor, 36a: pressure detector (first left traveling pressure detection , 37a ... pressure detector (second left traveling pressure detector) 38a ... pressure detector (first right traveling pressure detector) 39a ... pressure detector (second right traveling pressure) Detector), 41: pilot pump, 42: electromagnetic switching valve, 43, 44, 48, 49: pilot operation device, 51: hydraulic pump, 63: direction determination device, 64: reverse detection device, 65: display control device, 98: Monitor, 99 Standing detector

Claims (4)

A track type traveling body, left and right traveling hydraulic motors for driving the traveling body, a swing frame rotatably provided on the travel body, and a cab provided at a front portion on the swing frame; A vessel provided at the rear on the turning frame, a driver's seat provided in the driver's cab, a monitor provided in the driver's cab, and a rear monitoring camera disposed on the turning frame and photographing the rear of the turning frame In rough terrain vehicles equipped with
A first left traveling pressure detector that detects a pressure A1 of a port on one side of a traveling hydraulic motor on the left side of the traveling body;
A second left traveling pressure detector that detects a pressure A2 of a port on the other side of the traveling hydraulic motor on the left side of the traveling body;
A first right traveling pressure detector that detects a pressure B1 of a port on one side of a traveling hydraulic motor on the right side of the traveling body;
A second right traveling pressure detector that detects a pressure B2 of a port on the other side of the traveling hydraulic motor on the right side of the traveling body;
A direction detector for detecting the direction of the turning frame with respect to the traveling body;
A direction determination device that determines the direction of the turning frame with respect to the traveling body based on the signal of the direction detector;
A reverse detection device for detecting reverse movement which is a traveling operation of the traveling body to the rear side based on the determination result of the direction determination device, the magnitude relationship between the pressure A1 and A2, and the magnitude relationship between the pressure B1 and B2. When,
And a display control device for displaying an image captured by the rear monitoring camera on the monitor when the reverse detection device detects a reverse movement .
The rough ground transport vehicle , wherein the rear surveillance camera is provided on the swing frame so as to be located below the vessel . In the irregular land transport vehicle of claim 1,
A hydraulic pump for supplying pressure oil to the left and right traveling hydraulic motors;
A regulator for controlling the hydraulic pump;
With a pilot pump,
A pilot control device that controls pressure oil from the pilot pump and outputs a pilot signal to the regulator;
An electromagnetic switching valve provided in a discharge line of the pilot pump connected to the pilot operation device;
A lock lever signal for switching the electromagnetic switching valve to the closed position is output when the lock position is set on the entry / exit side of the driver's seat and pulled up to open the entry / exit of the operator's cab, and let the operator get off And a gate lock lever for outputting a lock lever signal for switching the electromagnetic switching valve to the open position when the lock release position prevents the lock release position.
The irregular ground carriage according to claim 1, wherein the reverse detection device detects reverse movement on the condition that the lock lever signal is a signal identifying an unlocking position of the gate lock lever. In the irregular land transport vehicle of claim 1,
The irregular ground carriage according to claim 1, wherein the display control device stops the display output of the image captured by the rear monitoring camera to the monitor except when reverse is detected by the reverse detection device. In the irregular land transport vehicle of claim 1 ,
A standup detector for detecting that the vessel is standing,
When it is determined that the vessel is standing up based on the signal of the standing-up detector, the display control device outputs the display image of the video taken by the rear surveillance camera to the monitor even during reverse operation. Rough terrain carrier characterized by stopping.

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