JP7518664B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle equipped with a work device.

One example of a work vehicle is a high-altitude work vehicle that is based on a truck vehicle that can run with a driver's cab at the front, and is equipped with a swivel platform mounted on the vehicle body so that it can rotate horizontally, a boom mounted on the swivel platform so that it can be raised and lowered and extended, and a work platform supported so that it can rotate at the tip of the boom. Such high-altitude work vehicles are used at various work sites, such as electric line construction, maintenance and inspection work in road tunnels, and bridge maintenance and inspection work. In such high-altitude work vehicles, outrigger jacks are provided on the front, rear, left and right sides of the vehicle to stably support the vehicle during work, and these outrigger jacks are configured to extend out to the sides of the vehicle and be grounded (see, for example, Patent Document 1).

Japanese Patent Application Publication No. 8-324998

Conventionally, it has been difficult to determine whether the location where a work vehicle is parked is suitable for work.

The present invention was made in consideration of these problems, and aims to provide a work vehicle that can easily determine whether the location where the work vehicle is parked is suitable for work.

In order to achieve this object, a first work vehicle according to the present invention (for example, the aerial work vehicle 1 in the embodiments) comprises a vehicle body capable of running using the driving force of an engine, a working device provided on the vehicle body (for example, the boom 30 and the work platform 40 in the embodiments), a power take-off mechanism that extracts the driving force of the engine for driving the working device, a camera that acquires image information about the surroundings of the vehicle body, an image processing unit that generates a surroundings display image showing the surroundings of the vehicle body using the image information about the surroundings of the vehicle body acquired by the camera, a display device that displays the surroundings display image, a power take-off detector (for example, the PTO operation lever 75 in the embodiments) that detects the operating state of the power take-off mechanism, and outriggers that are provided on the sides of the vehicle body and can be extended laterally of the vehicle body. The working device comprises a beam, a jack that is telescopically mounted on the tip of the outrigger beam and supports the vehicle body in a state where it is extended downward and grounded, and an extension detector that detects the amount of extension of the outrigger beam to the side of the vehicle body, and the working device has a boom that is mounted on the vehicle body so that it can be raised and swiveled freely, and a work platform provided at the tip of the boom, and the image processing unit generates an image composite image by combining the surrounding display image with a work range image image that indicates the workable range around the vehicle body within which movement of the work platform is permitted based on the amount of extension detected by the extension detector, and when the power take-off detector detects that the power take-off mechanism is in an activated state, the display device displays the image composite image .

A work vehicle according to a second aspect of the present invention (for example, the aerial work vehicle 1 in the embodiment) comprises a vehicle body capable of travelling, a working device provided on the vehicle body (for example, the boom 30 and work platform 40 in the embodiment), a camera for acquiring image information about the surroundings of the vehicle body, an image processing unit for generating a surroundings composite image by combining information related to the vehicle body with a surroundings display image showing the surroundings of the vehicle body using the image information about the surroundings of the vehicle body acquired by the camera, a display device for displaying the surroundings composite image, and a speed detector (for example, a traveling speed sensor 88 in the embodiment) for detecting the traveling speed of the vehicle body, wherein when the speed detector detects that the traveling speed of the vehicle body is equal to or lower than a predetermined speed, the display device displays the surroundings composite image , the vehicle body is capable of travelling using the driving force of an engine, a power take-off mechanism for extracting the driving force of the engine for driving the working device, and a power take-off mechanism for the power take-off mechanism. The working device comprises a power take-off detector which detects an operating state, an outrigger beam which is provided on the side of the vehicle body and can be extended laterally of the vehicle body, a jack which is provided telescopically at the tip of the outrigger beam and supports the vehicle body in a state where it is extended downward and grounded, and an extension detector which detects the amount of extension of the outrigger beam laterally of the vehicle body, and the working device has a boom which is provided on the vehicle body so as to be able to rise and fall and rotate freely, and a work platform which is provided at the tip of the boom, and the image processing unit generates an image composite image by combining the surrounding display image with a working range image image which indicates the workable range within which movement of the work platform is permitted around the vehicle body based on the extension amount detected by the extension detector, and when the power take-off detector detects that the power take-off mechanism is in an operating state, the display device displays the image composite image.

A work vehicle according to a third aspect of the present invention (for example, the aerial work vehicle 1 in the embodiment) includes a vehicle body having wheels on the front and rear and capable of running by driving at least one of the front and rear wheels, a work device (for example, the boom 30 and the work platform 40 in the embodiment) provided on the vehicle body, a camera that acquires image information about the surroundings of the vehicle body, an image processing unit that uses the image information about the surroundings of the vehicle body acquired by the camera to generate a surroundings composite image by combining information related to the vehicle body with a surroundings display image showing the surroundings of the vehicle body, a display device that displays the surroundings composite image, a parking brake that brakes at least one of the front and rear wheels, and a parking brake detector that detects the operating state of the parking brake, and when it is detected by the parking brake detector that the parking brake is in an operating state, the display device displays the surroundings composite image , and the vehicle body is capable of running using the driving force of an engine, and the driving force of the engine is taken out for driving the work device. The working device comprises a power take-off mechanism, a power take-off detector which detects the operating state of the power take-off mechanism, an outrigger beam which is provided on the side of the vehicle body and can be extended laterally of the vehicle body, a jack which is provided telescopically at the tip of the outrigger beam and supports the vehicle body in a state where it is extended downward and grounded, and an extension detector which detects the amount of extension of the outrigger beam laterally of the vehicle body, and the working device has a boom which is provided on the vehicle body so as to be able to rise and fall and rotate freely, and a work platform which is provided at the tip of the boom, and the image processing unit generates a composite image by combining the surrounding display image with a working range image image which indicates the workable range within which movement of the work platform is permitted around the vehicle body based on the amount of extension detected by the extension detector, and when the power take-off detector detects that the power take-off mechanism is in an operating state, the display device displays the composite image.

In the second and third work vehicles of the present invention, it is preferable that the image processing unit synthesizes an outrigger image image which diagrammatically shows the outrigger beam, and the work range image image with the surrounding display image based on the amount of overhang detected by the overhang amount detector , to generate the image composite image.

In the above-mentioned work vehicle, it is preferable that the information related to the vehicle body includes image information (e.g., image information of a circle display image 130 in the embodiment) showing a circle with a radius of a predetermined distance from the rotation center of the boom on the vehicle body.

In the above-mentioned work vehicle, the information related to the vehicle body preferably includes angle information indicating the inclination angle of the ground on which the vehicle body is located (e.g., image information of the angle display image 140 in the embodiment).

In the above-mentioned work vehicle, it is preferable that the surrounding composite image is generated by further combining the surrounding display image with an extension range display image (e.g., extension range display image 150 in the embodiment) which indicates the extension range within which the outrigger beam can be extended to the side of the vehicle body.

According to the first aspect of the present invention, when the power take-off detector detects that the power take-off mechanism is in an activated state, the display device displays a composite image. The composite image is generated by combining a surroundings display image showing the periphery of the vehicle body with a work range image. As a result, the surroundings display image showing the periphery of the vehicle body shows the workable range within which the movement of the work platform is permitted, so that by visually checking the composite image displayed on the display device, it becomes possible to easily determine whether the work platform can approach a work target located around the vehicle body when extending the outrigger beams.

According to the second aspect of the present invention, when the speed detector detects that the vehicle body's traveling speed is equal to or lower than a predetermined speed, the display device displays the surroundings composite image. Even in this way, by visually checking the surroundings composite image displayed on the display device, it is possible to easily determine whether or not the location where the work vehicle is stopped is suitable for work, based on the surroundings display image and information related to the vehicle body. Furthermore, in the second aspect of the present invention, when the power take-off detector detects that the power take-off mechanism is in an activated state, the display device displays an image composite image. The image composite image is generated by combining the surroundings display image showing the periphery of the vehicle body with the work range image image. As a result, the surroundings display image showing the periphery of the vehicle body shows the workable range within which the work platform is allowed to move, so by visually checking the image composite image displayed on the display device, it is possible to easily determine whether or not the work platform can approach a work object located around the vehicle body when extending the outrigger beams.

According to the third aspect of the present invention, when the parking brake detector detects that the parking brake is in an activated state, the display device displays a surroundings composite image. Even in this way, by visually checking the surroundings composite image displayed on the display device, it is possible to easily determine whether or not the location where the work vehicle is parked is suitable for work, based on the surroundings display image and information related to the vehicle body. Furthermore, in the third aspect of the present invention, when the power take-off detector detects that the power take-off mechanism is in an activated state, the display device displays an image composite image. The image composite image is generated by combining the surroundings display image showing the periphery of the vehicle body with the work range image image. As a result, the surroundings display image showing the periphery of the vehicle body shows the workable range within which the work platform is allowed to move, so by visually checking the image composite image displayed on the display device, it is possible to easily determine whether or not the work platform can approach a work object located around the vehicle body when extending the outrigger beam.

In the first to third work vehicles according to the present invention, the composite image is preferably generated by combining the outrigger image and the work area image with the surroundings display image showing the surroundings of the vehicle body. As a result, the outrigger beams are shown in a schematic manner in the surroundings display image showing the surroundings of the vehicle body, so that by visually checking the composite image displayed on the display device, it is possible to easily determine whether or not the jack will come into contact with an obstacle when extending the outrigger beams. This makes it possible to improve the efficiency of the work when the jack is grounded.

In the above-mentioned work vehicle, the information related to the vehicle body preferably includes image information showing a circle with a radius of a predetermined distance from the center of rotation of the boom on the vehicle body. As a result, a circle with a radius of a predetermined distance from the center of rotation of the boom on the vehicle body is shown in the surroundings display image showing the periphery of the vehicle body, so that by visually checking the surroundings composite image displayed on the display device, the distance between the vehicle body and the work object or obstacle, etc. can be easily known. This makes it possible to easily determine whether the location where the work vehicle is parked is suitable for work.

In the above-mentioned work vehicle, the information related to the vehicle body preferably includes angle information indicating the inclination angle of the ground on which the vehicle body is located. As a result, the inclination angle of the ground on which the vehicle body is located is shown in the surroundings display image showing the periphery of the vehicle body, so that the inclination angle of the ground on which the vehicle body is located can be easily known by visually checking the surroundings composite image displayed on the display device. This makes it easy to determine whether the location where the work vehicle is parked is suitable for work.

In the above-mentioned work vehicle, it is preferable that the surroundings composite image is generated by further combining the surroundings display image with the extension range display image. As a result, the surroundings display image showing the surroundings of the vehicle body shows the extension range in which the outrigger beams can be extended to the side of the vehicle body, so that by visually checking the surroundings composite image displayed on the display device, it is possible to easily know the amount of extension that the outrigger beams can extend to the side of the vehicle body without coming into contact with an obstacle. This makes it easy to determine whether the location where the work vehicle is parked is suitable for work.

FIG. 2 is a left side view of the aerial work platform vehicle as seen from the left. FIG. 2 is a plan view of the high-altitude work vehicle as seen from above. FIG. FIG. 2 is a rear view of the aerial work platform vehicle as seen from the rear. FIG. 2 is a block diagram showing a control system of the aerial work vehicle. FIG. 2 is a schematic diagram showing an example of a surroundings composite image displayed on a display device. FIG. 13 is a schematic diagram showing an example of an image composite image displayed on a display device.

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

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

1 and 2, a swivel base 20 is provided in the mounting area behind the driver's cab 7 of the vehicle body 2. The swivel base 20 is driven by a boom rotation motor 24 (see FIG. 5) and is configured to rotate horizontally around a vertical axis. The base end of the boom 30 is attached to a support 21 extending upward from the swivel base 20 via a foot pin 22 so that it can swing (rise and fall) in the vertical direction. In addition, a left tool storage section 26 and a right tool storage section 27 are provided on the left and right sides of the mounting area of the vehicle body 2 for storing work tools, work equipment, etc. The left tool storage section 26 has a box-shaped lower left tool box 26a arranged on the left side of the mounting area of the vehicle body 2, and a box-shaped upper left tool box 26b arranged on the lower left tool box 26a. The right-side tool storage section 27 has a box-shaped lower right tool box 27a arranged on the right side of the mounting area of the vehicle body 2, and a box-shaped upper right tool box 27b arranged above the lower right tool box 27a.

As shown in FIG. 1, the boom 30 has a configuration in which, from the rotating base 20 side, a base boom 30a, an intermediate boom 30b, and a tip boom 30c are nested together, and the boom 30 can be extended and retracted in the axial direction (longitudinal direction) by the extension and retraction drive of a boom extension cylinder 31 (see FIG. 5) provided inside. In addition, a boom hoisting cylinder 23 (see FIG. 5) is provided between the base boom 30a and the support 21, and the entire boom 30 can be raised and lowered in the upper and lower planes (vertical planes) by driving the boom hoisting cylinder 23 to extend and retract.

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

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

When the upper operating device 45 or the lower operating device 50 is operated, an operation signal corresponding to the operation is output to the control unit 60 provided on the vehicle body 2, as shown in FIG. 5. The operation control section 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 has 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 control valve unit 73 that controls the supply of hydraulic oil discharged from the hydraulic pump 72 to each hydraulic actuator in a supply direction and amount based on the command signal.

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

In this manner, the operation of each hydraulic actuator is controlled by the control unit 60 (operation control section 61). For this purpose, various detection devices are provided in the vehicle for working at height 1, and detection signals output from these detection devices are input to the control unit 60. For example, to the control unit 60, a swing angle detection signal corresponding to the swing angle of the boom 30 (swivel platform 20) is input from a boom swing angle sensor 81, a hoisting angle detection signal corresponding to the hoisting angle of the boom 30 is input from a boom hoisting angle sensor 82, an extension amount detection signal corresponding to the extension amount of the boom 30 is input from a boom length sensor 83, and a swing angle detection signal corresponding to the swing angle of the work platform 40 is input from a work platform swing angle sensor 84. Also, for example, the control unit 60 receives an extension amount detection signal corresponding to the extension amount of the outrigger jack 10 (outriggers 11) toward the side of the vehicle body from a jack extension amount sensor 85, and a ground contact detection signal of the outrigger jack 10 (ground contact plate 13) from a jack ground contact sensor 86. Also, for example, the control unit 60 receives an inclination angle detection signal corresponding to the inclination angle in the front-rear and left-right directions of the vehicle body 2 (road surface) from a vehicle body inclination angle sensor 87, and a traveling speed detection signal corresponding to the traveling speed of the aerial work vehicle 1 from a traveling speed sensor 88. Also, for example, the control unit 60 receives an operation state detection signal corresponding to the operation state of a parking brake (not shown) from a parking brake detector 89.

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

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

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

2 and 4, a left side camera 93 is disposed on the left side of the vehicle body 2. The left side camera 93 is attached to the upper end of the left tool storage section 26 (upper left tool box 26b) on the left side of the vehicle body 2, facing the left side of the vehicle body 2. The left side camera 93 is configured in the same manner as the front camera 91, and acquires image information of the left side of the surroundings of the vehicle body 2 and outputs the acquired image information to the control unit 60. A right side camera 94 is disposed on the right side of the vehicle body 2. The right side camera 94 is attached to the upper end of the right tool storage section 27 (upper right tool box 27b) on the right side of the vehicle body 2, facing the right side of the vehicle body 2. The right side camera 94 is configured in the same manner as the front camera 91, and acquires image information of the right side of the surroundings of the vehicle body 2 and outputs the acquired image information to the control unit 60. The left side camera 93 may be attached not only to the upper end of the left tool storage section 26, but also to the upper left side of the driver's cab 7. Additionally, the right side camera 94 may be attached to the upper right side of the driver's cab 7, not necessarily to the upper end of the right tool storage section 27.

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

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

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

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

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

The image processing unit 65 receives image information from the front camera 91, rear camera 92, left side camera 93, and right side camera 94, an extension amount detection signal from the jack extension amount sensor 85, an inclination angle detection signal from the vehicle body inclination angle sensor 87, a traveling speed detection signal from the traveling speed sensor 88, and an operation signal from the PTO operation lever 75. The image processing unit 65 also stores in advance image information of the aerial work vehicle 1 in a simplified planar view.

The image processing unit 65 generates a surroundings composite image 110 as shown in FIG. 6 when the traveling speed of the vehicle body 2 (i.e., the aerial work vehicle 1) detected by the traveling speed sensor 88 is equal to or lower than a predetermined speed. The predetermined speed is, for example, a slow speed, i.e., a speed at which the vehicle body 2 can be stopped immediately. The predetermined speed may also be the speed at which the vehicle body 2 is stopped (i.e., zero). The surroundings composite image 110 is an image obtained by superimposing a circle display image 130, an angle display image 140, and an overhang range display image 150 on a surroundings display image 120. As shown in FIG. 6, the surroundings display image 120 is an image obtained by superimposing a circle display image 130, an angle display image 140, and an overhang range display image 150 on the surroundings display image 120.
6 shows the surroundings of the vehicle 1 for high altitude work, which is parked near a utility pole WK, which is the object of work. The utility pole WK is erected near a guard rail GR, which is an obstacle. The surroundings display image 120 shown in FIG. 6 shows the center of rotation C of the swivel platform 20 (boom 30) of the vehicle body 2 in a planar view. Image information of this center of rotation C is stored in advance in the image processing unit 65 as image information of the vehicle 1 for high altitude work, which is in a planar view.

As shown by the dashed line in FIG. 6, the circle display image 130 shows a circle with a radius of a predetermined distance from the turning center C of the boom 30 in the vehicle body 2. The predetermined distance is the distance from the turning center C to the vicinity of the vehicle body 2. For example, the radius of the first circle 131 in the circle display image 130 is set to the radius of the distance from the turning center C to the side of the vehicle body 2 by 1 m. Also, for example, the radius of the second circle 132 in the circle display image 130 is set to a radius of the distance from the turning center C to the side of the vehicle body 2 by 3 m, which is larger than the radius of the first circle 131. The angle display image 140 shows the inclination angle in the front-rear direction of the road surface (ground) on which the vehicle body 2 is located in the upper left of the surroundings display image 120, as shown by the dashed frame in FIG. 6. The extension range display image 150 shows the extension possible range in which the outrigger 11 can be extended to the left and right sides of the vehicle body 2, as shown by the dashed line in FIG. 6. In the example of FIG. 6, an image of the outrigger 11 in a plan view corresponding to the four levels of extension amount described above is shown as a specific possible extension range. Note that image information regarding the circle display image 130 and image information regarding the extension range display image 150 are stored in advance in the image processing unit 65.

The image processing unit 65 generates the surroundings display image 120 by performing predetermined image processing such as image synthesis and distortion correction using image information of the front part around the vehicle body 2 input from the front camera 91, image information of the rear part around the vehicle body 2 input from the rear camera 92, image information of the left part around the vehicle body 2 input from the left side camera 93, image information of the right part around the vehicle body 2 input from the right side camera 94, and image information of the aerial work vehicle 1 in a plan view that has been stored in advance. The image processing unit 65 generates the angle display image 140 based on the inclination angle detection signal input from the vehicle body inclination angle sensor 87 (i.e., the inclination angle in the fore-aft direction of the vehicle body 2 (road surface)).

The image processing unit 65 generates the surroundings composite image 110 by combining the generated surroundings display image 120 with the circle display image 130, the angle display image 140, and the projection range display image 150. The image processing unit 65 outputs image information of the generated surroundings composite image 110 to the driver cab side display device 101, the lower display device 102, and the upper display device 103. The driver cab side display device 101, the lower display device 102, and the upper display device 103 display the surroundings composite image 110 based on the image information input from the image processing unit 65.

In the surroundings composite image 110, a first circle 131 and a second circle 132 with a radius of a predetermined distance from the center of rotation C of the boom 30 in the vehicle body 2 are displayed in the surroundings display image 120 showing the surroundings of the vehicle body 2 in a plan view by the circular display image 130. For example, in the case shown in FIG. 6, it is possible to easily determine whether the vehicle body 2 is too close to the utility pole WK or the guard rail GR by using the first circle 131 of the circular display image 130 as a guide. Also, for example, it is possible to easily determine whether the work platform 40 can approach the utility pole WK by using the second circle 132 of the circular display image 130 as a guide. As a result, by visually checking the surroundings composite image 110 displayed on the driver's cab side display device 101, etc., it is possible to easily know the distance between the vehicle body 2 and the utility pole WK or the guard rail GR, etc. Therefore, it is possible to easily determine whether the place where the high-altitude work vehicle 1 is stopped is a place suitable for work.

In addition, in the surroundings composite image 110, the inclination angle in the front-rear direction of the road surface (ground) on which the vehicle body 2 is located is displayed in the surroundings display image 120 showing the surroundings of the vehicle body 2 in a plan view by the angle display image 140. As shown in FIG. 6, since the surroundings display image 120 shows the surroundings of the vehicle body 2 in a plan view, it is difficult to know the inclination angle of the road surface on which the vehicle body 2 is located intuitively, but the inclination angle can be known numerically by the angle display image 140. As a result, by visually checking the surroundings composite image 110 displayed on the driver's cab side display device 101 or the like, the inclination angle of the road surface on which the vehicle body 2 is located can be easily known. Therefore, it becomes possible to easily determine whether or not the place where the aerial work vehicle 1 is stopped is a place suitable for work.

Furthermore, in the surroundings composite image 110, the extension range display image 150 shows the extension possible range of the outrigger 11 to the left and right sides of the vehicle body 2 in the surroundings display image 120 showing the surroundings of the vehicle body 2 in a plan view. For example, in the case shown in FIG. 6, it can be seen that the outrigger 11 on the left side of the vehicle body 2 does not contact the guardrail GR even if it is extended by the minimum extension amount or the middle 1 extension amount described above, but it contacts the guardrail GR if it is extended by the middle 2 extension amount or the maximum extension amount described above. On the other hand, it can be seen that the outrigger 11 on the right side of the vehicle body 2 does not contact the guardrail GR even if it is extended by the maximum extension amount. As a result, by visually checking the surroundings composite image 110 displayed on the driver's cab side display device 101, etc., it is possible to easily know the extension amount that the outrigger 11 can extend to the left and right sides of the vehicle body 2 without contacting the guardrail GR. Therefore, it becomes possible to easily determine whether the place where the aerial work vehicle 1 is stopped is a place suitable for work.

When an ON operation signal is input from the PTO operation lever 75 and it is detected that the power take-off mechanism PTO is in an operating state, the image processing unit 65 generates an image composite image 160 as shown in FIG. 7 in place of the surroundings composite image 110. The image composite image 160 is an image obtained by superimposing an outrigger image image 170 and a work range image image 180 on the surroundings display image 120 described above. The outrigger image image 170, as shown by the two-dot chain line in FIG. 7, typically shows the outrigger 11 in plan view. For example, the outrigger image image 170 typically shows the outrigger 11 in plan view according to the four levels of overhang amount described above (or a continuously changing overhang amount).

The working range image 180 shows a limit line 181 in the aforementioned workable range around the aerial work vehicle 1, as shown by the two-dot chain line in FIG. 7. The limit line 181 shown in the working range image 180 is an envelope that shows the workable radius of the boom 30 over all rotation positions (360 degrees), and the area enclosed by the limit line 181 shows the aforementioned workable range. The limit line 181 shown in the working range image 180 also shows the limit line in a plan view when the tip of the boom 30 (work platform 40) is at a predetermined reference height (for example, the maximum height to which the tip of the boom 30 can be moved).

The image processing unit 65 generates the surroundings display image 120 in the same manner as the surroundings composite image 110. The image processing unit 65 generates the outrigger image 170 based on the extension amount detection signal (i.e., the extension amount of the outrigger 11) input from the jack extension amount sensor 85. The image processing unit 65 also reads out the workable range data corresponding to the current extension amount of the outrigger 11 from the workable range data group stored in the workable range setting unit 63 based on the extension amount detection signal input from the jack extension amount sensor 85, and generates the workable range image 180 set to show the limit line 181 of the read workable range.

The image processing unit 65 generates the image composite image 160 by combining the generated surroundings display image 120 with the outrigger image image 170 and the work area image image 180. The image processing unit 65 outputs image information of the generated image composite image 160 to the driver cab side display device 101, the lower display device 102, and the upper display device 103. The driver cab side display device 101, the lower display device 102, and the upper display device 103 display the image composite image 160 based on the image information input from the image processing unit 65.

In the image composite image 160, the outrigger image 170 shows the outrigger 11 in a plan view in the surroundings display image 120, which shows the surroundings of the vehicle body 2 in a plan view. For example, in the case shown in FIG. 7, the distance between the tip of the outrigger 11 (jack 12) and the guardrail GR in a plan view can be seen. As a result, by visually checking the image composite image 160 displayed on the driver's cab side display device 101, etc., it is possible to easily determine whether the jack 12 will come into contact with the guardrail GR when extending the outrigger 11. This makes it possible to improve the work efficiency when the jack 12 is grounded.

In addition, in the image synthesis image 160, the work range image image 180 shows the limit line 181 of the above-mentioned workable range in the surroundings display image 120 showing the surroundings of the vehicle body 2 in a plan view. For example, if the utility pole WK is located inside the limit line 181 shown in FIG. 7, that is, inside the workable range, it can be easily determined that the work platform 40 can approach the utility pole WK. If the utility pole WK is located outside the limit line 181' shown in FIG. 7, that is, outside the workable range, it can be easily determined that the work platform 40 cannot approach the utility pole WK. As a result, by visually checking the image synthesis image 160 displayed on the driver's cab side display device 101, etc., it becomes possible to easily determine whether the work platform 40 can approach the utility pole WK located around the vehicle body 2 when extending the outriggers 11.

According to this embodiment, when the traveling speed sensor 88 detects that the traveling speed of the vehicle body 2 is equal to or lower than a predetermined speed, the driver's cab side display device 101 or the like displays the surroundings composite image 110. The surroundings composite image 110 is generated by synthesizing information related to the vehicle body 2 with a surroundings display image 120 that shows the surroundings of the vehicle body 2 in a plan view. Therefore, by visually checking the surroundings composite image 110 displayed on the driver's cab side display device 101 or the like, it becomes possible to easily determine whether or not the location where the aerial work vehicle 1 is parked is suitable for work, based on the surroundings display image 120 and information related to the vehicle body 2.

The information related to the vehicle body 2 includes image information of the circle display image 130. As a result, the surroundings display image 120 showing the surroundings of the vehicle body 2 in a plan view shows circles (first circle 131 and second circle 132) with a radius of a predetermined distance from the rotation center C of the boom 30 on the vehicle body 2, so that by visually checking the surroundings composite image 110 displayed on the driver's cab side display device 101, etc., the distance between the vehicle body 2 and the work object (electric pole WK) or obstacle (guardrail GR), etc., can be easily known. This makes it possible to easily determine whether the location where the aerial work vehicle 1 is parked is suitable for work.

The information related to the vehicle body 2 also includes image information of the angle display image 140 (i.e., angle information showing the inclination angle of the road surface (ground) on which the vehicle body 2 is located). As a result, the inclination angle of the ground (road surface) on which the vehicle body 2 is located is shown in the surroundings display image 120, which shows the surroundings of the vehicle body 2 in a planar view, so that the inclination angle of the ground (road surface) on which the vehicle body 2 is located can be easily known by visually checking the surroundings composite image 110 displayed on the driver's cab side display device 101, etc. This makes it possible to easily determine whether the location where the aerial work vehicle 1 is parked is suitable for work.

The surroundings composite image 110 is generated by further combining the surroundings display image 120 with the overhang range display image 150. As a result, the surroundings display image 120, which shows the surroundings of the vehicle body 2 in a plan view, shows the overhangable range in which the outriggers 11 can overhang to the left and right sides of the vehicle body 2, so that by visually checking the surroundings composite image 110 displayed on the driver's cab side display device 101 or the like, it is possible to easily know the overhang amount in which the outriggers 11 can overhang to the left and right sides of the vehicle body 2 without coming into contact with an obstacle (guardrail GR). Therefore, it becomes possible to easily determine whether or not the location where the aerial work vehicle 1 is parked is suitable for work.

In addition, when an ON operation signal is input from the PTO operation lever 75 and it is detected that the power take-off mechanism PTO is in an operating state, the driver's cab side display device 101 etc. displays the image composite image 160. The image composite image 160 is generated by combining the outrigger image image 170 and the work range image image 180 with the surroundings display image 120 showing the surroundings of the vehicle body 2 in a planar view. As a result, the surroundings display image 120 showing the surroundings of the vehicle body 2 in a planar view shows the outriggers 11 in a planar view in a schematic manner, so that by visually checking the image composite image 160 displayed on the driver's cab side display device 101 etc., it is possible to easily determine whether the jack 12 will come into contact with the guard rail GR when extending the outrigger 11. This makes it possible to improve the work efficiency when the jack 12 is grounded. In addition, the surroundings display image 120, which shows the periphery of the vehicle body 2 in a plan view, shows the workable range within which the work platform is permitted to move, so by visually checking the image composite image 160 displayed on the driver's cab side display device 101, etc., when extending the outriggers 11, it is easy to determine whether the work platform 40 can approach the utility poles WK (work objects) located around the vehicle body 2.

In the above embodiment, the circular display image 130 shows two circles (first circle 131 and second circle 132) with a radius of a predetermined distance from the rotation center C of the boom 30 on the vehicle body 2 in a planar view, but is not limited to this. For example, the circular display image 130 may show one circle with a radius of a predetermined distance from the rotation center C of the boom 30 on the vehicle body 2 in a planar view, or may show three or more circles.

In the above-described embodiment, the outrigger image 170 is not limited to merely showing the outrigger 11 in a schematic manner, but may also, for example, in addition to showing the outrigger 11 in a schematic manner, show the numerical projection amount of the outrigger 11 (a percentage of the maximum projection amount: for example, "40%").

In the above embodiment, the work range image 180 is not limited to only showing the limit line 181 of the workable range, but may also show, for example, the numerical angle range of the arc portions before and after the limit line 181 (for example, "70°").

In the above embodiment, the image processing unit 65 reads out the data of the workable range corresponding to the current extension amount of the outrigger 11 from the workable range data group stored in the workable range setting unit 63 based on the extension amount detection signal input from the jack extension amount sensor 85 (i.e., the extension amount of the outrigger 11), and generates the workable range image 180 set to show the limit line 181 of the read workable range, but this is not limited to this. For example, when a configuration that continuously detects the extension amount of the outrigger 11 is applied as the jack extension amount sensor 85, the image processing unit 65 may obtain the workable range by interpolation or the like from the current extension amount of the outrigger 11 based on the workable range corresponding to the four stages of extension amount of the outrigger 11, and generate the workable range image 180 set to show the limit line 181 of the obtained workable range.

In the above embodiment, the surroundings composite image 110 is generated by synthesizing the surroundings display image 120 with the circle display image 130, the angle display image 140, and the overhang range display image 150, but this is not limiting. For example, the surroundings composite image 110 may be generated by synthesizing the composite circle display image 130 and the angle display image 140 without synthesizing the surroundings display image 120 with the overhang range display image 150. Also, for example, the surroundings composite image 110 may be generated by synthesizing only the composite circle display image 130 with the surroundings display image 120, and the surroundings display image 120 may be generated by synthesizing only the composite circle display image 130 with the surroundings display image 120.
Alternatively, the angle display image 140 may be generated by combining only the angle display image 140 with the angle display image 140.

In the above embodiment, when the traveling speed sensor 88 detects that the traveling speed of the vehicle body 2 is equal to or lower than a predetermined speed, the driver's cab side display device 101 etc. displays the surroundings composite image 110, but this is not limited to the above. For example, when the parking brake detector 89 detects that the parking brake (not shown) is in an operating state that brakes the rear wheels 3 (or the front wheels 3, or the front and rear wheels 3), the driver's cab side display device 101 etc. may display the surroundings composite image 110.

In the above-described embodiment, a mode changeover switch (not shown) capable of switching between the work mode and the travel mode may be provided. As a result, when the mode changeover switch is used to switch to the work mode, if the travel speed sensor 88 detects that the travel speed of the vehicle body 2 is equal to or lower than a predetermined speed, the image processing unit 65 generates the surroundings composite image 110, and the driver's cab side display device 101 or the like displays the surroundings composite image 110. When the mode changeover switch is used to switch to the travel mode, if the travel speed sensor 88 detects that the travel speed of the vehicle body 2 is equal to or lower than a predetermined speed, the image processing unit 65 generates only the surroundings display image 120, and the driver's cab side display device 101 or the like displays only the surroundings display image 120.

In the above embodiment, when the traveling speed sensor 88 detects that the traveling speed of the vehicle body 2 is equal to or lower than a predetermined speed, the image processing unit 65 generates the surroundings composite image 110, and when an ON operation signal is input from the PTO operation lever 75 and it is detected that the power take-off mechanism PTO is in an operating state, the image processing unit 65 generates the image composite image 160, but this is not limited to this. The image processing unit 65 may be configured to generate only the surroundings composite image 110 and not to generate the image composite image 160. Specifically, when the traveling speed sensor 88 detects that the traveling speed of the vehicle body 2 is equal to or lower than a predetermined speed, the image processing unit 65 may generate the surroundings composite image 110, and the driver's cab side display device 101 or the like may only display the surroundings composite image 110. Note that in this modified example, the power take-off mechanism PTO may not be provided. For example, the vehicle may be an aerial work vehicle equipped with an electrically driven hydraulic device that drives the hydraulic pump 72 by an electric motor, not limited to the power take-off mechanism PTO, and may be an aerial work vehicle that operates using electricity, not limited to the engine E. Also, at least the parking brake detector 89 out of the parking brake (not shown) and the parking brake detector 89 may not be provided. In other words, it is sufficient for the vehicle to be a work vehicle equipped with a travellable vehicle body 2, a work device such as a boom 30 and a work platform 40, a camera such as a front camera 91, an image processing unit 65 that generates a surrounding composite image 110, a display device such as a driver's cab side display device 101, and a traveling speed sensor 88.

Next, a second modified example will be described in which the image processing unit 65 generates only the surroundings composite image 110 and does not generate the image composite image 160. In this second modified example, when an ON operation signal is input from the PTO operation lever 75 instead of the traveling speed sensor 88 and it is detected that the power take-off mechanism PTO is in an operating state, the image processing unit 65 generates the surroundings composite image 110 and the driver's cab side display device 101 or the like displays the surroundings composite image 110. Even in this way, by visually checking the surroundings composite image 110 displayed on the driver's cab side display device 101 or the like, it is possible to easily determine whether or not the place where the aerial work vehicle 1 is parked is suitable for work based on the surroundings display image 120 and information related to the vehicle body 2. In the second modified example, at least the parking brake detector 89 out of the parking brake (not shown) and the parking brake detector 89 may not be provided. In addition, the traveling speed sensor 88 may not be provided. In other words, any work vehicle may be used that is equipped with a vehicle body 2 capable of running using the driving force of an engine E, work equipment such as a boom 30 and a work platform 40, a camera such as a front camera 91, an image processing unit 65 that generates a surrounding composite image 110, a display device such as a driver's cab side display device 101, a power take-off mechanism PTO, and a PTO operating lever 75.

Next, a third modified example will be described in which the image processing unit 65 generates only the surroundings composite image 110 and does not generate the image composite image 160. In this third modified example, when the parking brake detector 89 detects that the parking brake (not shown) is in operation instead of the traveling speed sensor 88 (and the PTO operation lever 75), the image processing unit 65 generates the surroundings composite image 110, and the driver's cab side display device 101 or the like displays the surroundings composite image 110. Even in this way, by visually checking the surroundings composite image 110 displayed on the driver's cab side display device 101 or the like, it is possible to easily determine whether the location where the aerial work vehicle 1 is parked is suitable for work based on the surroundings display image 120 and information related to the vehicle body 2. Note that in the third modified example, the power take-off mechanism PTO may not be provided. For example, the vehicle may be an aerial work vehicle equipped with an electrically driven hydraulic device that drives the hydraulic pump 72 by an electric motor, not limited to the power take-off mechanism PTO, and may be an aerial work vehicle that operates using electricity, not limited to the engine E. Also, the traveling speed sensor 88 may not be provided. In other words, the vehicle may be a work vehicle equipped with a vehicle body 2 that can travel by driving at least one of the front and rear wheels 3, a working device such as a boom 30 and a work platform 40, a camera such as a front camera 91, an image processing unit 65 that generates a surrounding composite image 110, a display device such as a driver's cab side display device 101, a parking brake (not shown) that brakes at least one of the front and rear wheels 3, and a parking brake detector 89.

In the above-described embodiment, the vehicle body 2 may be configured to run by driving the rear wheels 3 of the front and rear wheels 3, may be configured to run by driving the front wheels 3, or may be configured to run by driving the wheels 3 on both sides. The parking brake (not shown) may be configured to brake the rear wheels 3 of the front and rear wheels 3, may be configured to brake the front wheels 3, or may be configured to brake the wheels 3 on both sides.

In the above embodiment, a telescopic boom type aerial work vehicle was described as an example, but the present invention is not limited to this and may be applied to, for example, an articulating boom type aerial work vehicle, etc., as long as the vehicle is equipped with a working device such as a boom 30 and a work platform 40.

In the above embodiment, a utility pole WK is given as an example of the work object, but this is not limited to this and may be a structure inside a road tunnel or a bridge pier.

1 Aerial work vehicle 2 Vehicle body 3 Wheel 10 Outrigger jack 11 Outrigger (outrigger beam)
DESCRIPTION OF SYMBOLS 12 Jack 30 Boom 40 Work platform 60 Control unit 61 Operation control unit 63 Work range setting unit 65 Image processing unit 75 PTO operation lever 85 Jack extension amount sensor 88 Travel speed sensor 89 Parking brake detector 91 Front camera 92 Rear camera 93 Left side camera 94 Right side camera 101 Driver cab side display device 102 Lower display device 103 Upper display device 110 Surroundings composite image 120 Surroundings display image 130 Circle display image 140 Angle display image 150 Extension range display image 160 Image composite image 170 Outrigger image image 180 Work range image image E Engine WK Utility pole GR Guard rail

Claims (7)

A vehicle body capable of running using the driving force of an engine;
A working device provided on the vehicle body;
a power take-off mechanism that extracts a driving force of the engine for driving the working device;
A camera for acquiring image information of the surroundings of the vehicle body;
an image processing unit that generates a surrounding display image showing the surroundings of the vehicle body using image information of the surroundings of the vehicle body acquired by the camera;
a display device for displaying the surrounding display image;
a power take-off detector that detects an operating state of the power take-off mechanism ;
an outrigger beam provided on a side of the vehicle body and capable of extending outwardly of the vehicle body;
a jack that is telescopically provided at a tip of the outrigger beam and that supports the vehicle body in a state where it is extended downward and grounded;
a projection amount detector for detecting a projection amount of the outrigger beam toward a side of the vehicle body,
The working device includes a boom that is provided on the vehicle body so as to be capable of rising and swiveling, and a work platform that is provided at a tip of the boom,
the image processing unit generates an image composite image by combining the surroundings display image with a work range image image showing a workable range within which movement of the work platform is permitted around the vehicle body, based on the overhang amount detected by the overhang amount detector;
A work vehicle characterized in that, when the power take-off detector detects that the power take-off mechanism is in an activated state, the display device displays the composite image . A vehicle that can be driven;
A working device provided on the vehicle body;
A camera for acquiring image information of the surroundings of the vehicle body;
an image processing unit that generates a surroundings composite image by combining information related to the vehicle body with a surroundings display image showing the surroundings of the vehicle body, using image information about the surroundings of the vehicle body acquired by the camera;
a display device for displaying the surroundings composite image;
a speed detector for detecting a traveling speed of the vehicle body,
When the speed detector detects that the traveling speed of the vehicle body is equal to or lower than a predetermined speed, the display device displays the surroundings composite image ;
The vehicle body is capable of running using a driving force of an engine,
a power take-off mechanism that extracts a driving force of the engine for driving the working device;
a power take-off detector that detects an operating state of the power take-off mechanism;
an outrigger beam provided on a side of the vehicle body and capable of extending outwardly of the vehicle body;
a jack that is telescopically provided at a tip of the outrigger beam and that supports the vehicle body in a state where it is extended downward and grounded;
a projection amount detector for detecting a projection amount of the outrigger beam toward a side of the vehicle body,
The working device includes a boom that is provided on the vehicle body so as to be capable of rising and swiveling, and a work platform that is provided at a tip of the boom,
the image processing unit generates an image composite image by combining the surroundings display image with a work range image image showing a workable range within which movement of the work platform is permitted around the vehicle body, based on the overhang amount detected by the overhang amount detector;
A work vehicle characterized in that , when the power take-off detector detects that the power take-off mechanism is in an activated state, the display device displays the composite image . A vehicle body having front and rear wheels and capable of running by driving at least one of the front and rear wheels;
A working device provided on the vehicle body;
A camera for acquiring image information of the surroundings of the vehicle body;
an image processing unit that generates a surroundings composite image by combining information related to the vehicle body with a surroundings display image showing the surroundings of the vehicle body, using image information about the surroundings of the vehicle body acquired by the camera;
a display device for displaying the surroundings composite image;
A parking brake that brakes at least one of the front and rear wheels;
a parking brake detector for detecting an actuation state of the parking brake;
When the parking brake detector detects that the parking brake is in an actuated state, the display device displays the surroundings composite image ;
The vehicle body is capable of running using a driving force of an engine,
a power take-off mechanism that extracts a driving force of the engine for driving the working device;
a power take-off detector that detects an operating state of the power take-off mechanism;
an outrigger beam provided on a side of the vehicle body and capable of extending outwardly of the vehicle body;
a jack that is telescopically provided at a tip of the outrigger beam and that supports the vehicle body in a state where it is extended downward and grounded;
a projection amount detector for detecting a projection amount of the outrigger beam toward a side of the vehicle body,
The working device includes a boom that is provided on the vehicle body so as to be capable of rising and swiveling, and a work platform that is provided at a tip of the boom,
the image processing unit generates an image composite image by combining the surroundings display image with a work range image image showing a workable range within which movement of the work platform is permitted around the vehicle body, based on the overhang amount detected by the overhang amount detector;
A work vehicle characterized in that , when the power take-off detector detects that the power take-off mechanism is in an activated state, the display device displays the composite image . The work vehicle described in any one of claims 1 to 3, characterized in that the image processing unit combines the surrounding display image with an outrigger image image which diagrammatically shows the outrigger beam and the working range image image based on the amount of overhang detected by the overhang amount detector, to generate the image composite image. A work vehicle according to any one of claims 1 to 4, characterized in that the information relating to the vehicle body includes image information showing a circle with a radius of a predetermined distance from the center of rotation of the boom on the vehicle body. The work vehicle according to any one of claims 1 to 5, characterized in that the information related to the vehicle body includes angle information indicating the inclination angle of the ground on which the vehicle body is located. A work vehicle as described in any one of claims 1 to 6, characterized in that the surroundings composite image is generated by further combining the surroundings display image with an extension range display image indicating the extension range in which the outrigger beam can be extended to the side of the vehicle body.

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