WO2021246240A1 - Control device for crane - Google Patents

Abstract

Provided is a control device capable of appropriately limiting the height of a distal end portion of a boom of a crane. The control device comprises a derricking control unit (52, 92), an expansion/contraction control unit (54, 94), and an obstacle distance detection unit (80). The derricking control unit (52, 92) turns a boom in a derricking direction according to derricking operation. The expansion/contraction control unit (54, 94) expands and contracts the boom along with the turning of the boom in the derricking direction on the basis of a boom derricking angle and a boom length. The obstacle distance detection unit (80) detects an obstacle distance that is a distance between the distal end portion of the boom and an obstacle above the crane. The expansion/contraction control unit (54, 94) can execute height control to control the height of the distal end portion of the boom during turning of the boom in the derricking direction. The height control includes obstacle avoidance control for keeping the obstacle distance to be equal to or more than an allowable distance set in advance.

Description

Crane control device

The present invention relates to a device for controlling the operation of a crane provided with a boom capable of performing undulating operation and expansion / contraction operation.

Cranes with booms may be used in spaces below obstacles (eg bridge girders). When working in the space, the obstacle is located further above the tip of the boom. In such work, in order to ensure that the tip of the boom avoids interference with the obstacle above it, it is desired to automatically limit the height of the tip of the boom.

Conventionally, a device described in Patent Document 1 is known as a device for performing such a limitation. The device described herein is provided on a crane with a telescopic boom that can be extended and contracted in the longitudinal direction. The device includes a boom height calculation unit, a limit height setting device, a regulation determination unit, and an operation regulation means. The boom height calculation unit calculates the actual boom height, which is the actual height of the tip of the telescopic boom. The limit height setting device sets a height limit value, which is a limit value for the height of the telescopic boom. The regulation determination unit outputs an operation regulation signal before the actual boom height reaches the height limit value. The operation regulating means regulates the operation of the telescopic boom in response to the operation restricting signal.

In the device described in Patent Document 1, it is difficult to set a height limit value for appropriately limiting the height of the tip of the boom. For example, setting the height limit value to a position considerably lower than the obstacle in order to give priority to surely preventing interference between the obstacle and the tip of the boom is the height of the tip of the boom. Unnecessarily limited, which makes it impossible to fully utilize the capacity of the crane. On the contrary, setting the height limit value to a higher position in order to relax the limit reduces the certainty of preventing interference between the obstacle and the tip of the boom. Further, when the height of the obstacle differs depending on the horizontal position, for example, when the lower surface of the obstacle has significant vertical unevenness or when the obstacle is intermittently present in the horizontal direction, the obstacle may be present. It is practically difficult to set the height limit value so as to always perform an appropriate height limit regardless of the horizontal position. Further, since the actual height of the tip of the boom changes depending on the bending of the boom, and the bending changes depending on the boom length and the weight of the suspended load, the actual height of the tip of the boom is set to the height. It is practically difficult to specify accurately only by inputting a limit value.

Japanese Unexamined Patent Publication No. 2000-203792

The present invention is a control device provided on a crane equipped with an undulating and expandable boom, which can appropriately limit the height of the tip of the boom according to the actual situation at the site. The purpose is to provide.

What is provided is a control device installed in the crane to control the operation of the crane. The crane has an airframe, a boom that is rotatably supported by the airframe in the undulating direction and can expand and contract in the radial direction of the rotation, and an undulating drive unit that rotates the boom in the undulating direction. And a telescopic drive unit that expands and contracts the boom. The control device includes an undulation operation device, an undulation control unit, an undulation angle detection unit, a boom length detection unit, an expansion / contraction control unit, and an obstacle distance detection unit. The undulation operation device can be provided with an undulation operation for undulating the boom. The undulation control unit operates the undulation drive unit so as to rotate the boom in the undulation direction in response to the undulation operation given to the undulation operation device. The undulation angle detecting unit detects a boom undulation angle, which is an angle in the undulation direction with respect to the reference plane of the boom. The boom length detecting unit detects the boom length, which is the length of the boom. The expansion / contraction control unit is based on the boom undulation angle detected by the undulation angle detection unit and the boom length detected by the boom length detection unit, and is said to accompany the rotation of the boom in the undulation direction. The expansion / contraction drive unit is operated so as to expand / contract the boom. The obstacle distance detecting unit detects the obstacle distance, and the obstacle distance is the actual distance between the tip of the boom and the obstacle located above the crane. The expansion / contraction control unit can execute height control for controlling the height of the tip portion of the boom during the rotation of the boom in the undulating direction. The height control includes an obstacle avoidance control, and the obstacle avoidance control controls the telescopic drive unit so as to keep the obstacle distance detected by the obstacle distance detection unit at a preset allowable distance or more. It is a control to operate.

It is a side view of the crane which concerns on embodiment of this invention. It is a perspective view which shows the tip part of the boom of the crane. It is a figure which shows the control device mounted on the crane. It is a block diagram which shows the main component of the controller included in the control device. It is a flowchart which shows the arithmetic control operation performed by the control device.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

FIG. 1 shows a crane 10 according to a first embodiment of the present invention. The crane 10 includes a machine body including a lower traveling body 11 and an upper swivel body 12, a boom 14, a boom undulating cylinder 16, an expansion / contraction mechanism 17, a boom expansion / contraction cylinder 18, a main winding hook 20, and a main winding wire rope. The main winding winch 24, the auxiliary winding hook 30, the auxiliary winding wire rope 32, and the auxiliary winding winch 34 are provided.

The lower traveling body 11 includes a pair of traveling bodies arranged side by side, for example, a crawler, and the traveling body is driven to perform a traveling operation. The upper swivel body 12 is mounted on the lower traveling body 11 so as to be swivelable. The upper swivel body 12 includes a swivel frame 40 which is a base, and a driver's cab 42, a machine room 44, a counterweight 46, and the like are mounted on the swivel frame 40.

The boom 14 is supported by the upper swing body 12 so as to be rotatable in the undulating direction (vertical direction). Specifically, the upper swivel body 12 further includes a pair of boom support portions 48, and the pair of boom support portions 48 are erected so as to be arranged side by side on the swivel frame 40. The boom 14 has a proximal end portion, and the proximal end portion is connected to the pair of boom support portions 48 so as to be rotatable about a horizontal axis. Specifically, horizontal through holes are formed in the pair of boom support portions 48 and the base ends of the boom 14, respectively, and the boom foot pin 13 is inserted through these through holes, with the boom foot pin 13 as a fulcrum. The boom 14 is supported by the pair of boom support portions 48 so as to be able to rotate.

The boom 14 is configured to be able to expand and contract in the expansion and contraction direction. The expansion / contraction direction is the longitudinal direction of the boom 14, that is, the radial direction of rotation in the undulating direction. The boom 14 according to this embodiment is a so-called multi-stage telescopic boom including a plurality of boom members, and the plurality of boom members have hollow cross sections having different sizes from each other. The plurality of boom members can be combined in a so-called telescope manner and slide with each other in the expansion / contraction direction, and the entire boom 14 expands / contracts with the slide. The plurality of boom members according to this embodiment include a first-stage boom member 15A, a second-stage boom member 15B, a third-stage boom member 15C, and a fourth-stage boom member 15D, which are arranged in order from the base end side of the boom 14. include.

The boom 14 further includes an auxiliary sheave frame 19. The auxiliary sheave frame 19 is additionally attached to the uppermost boom member, in this embodiment, the fourth stage boom member 15D, if necessary.

The boom undulating cylinder 16 is a hydraulic cylinder interposed between the ventral surface of the boom 14 and the swivel frame 40, and the ventral surface is a surface included in the boom 14, and the boom 14 is in an inverted posture. It is a face that faces down at one point. The boom undulating cylinder 16 is a hydraulic actuator that constitutes an undulating drive unit that rotates the boom 14 in the undulating direction, that is, an undulating actuator. The boom undulating cylinder 16 is arranged so as to expand and contract by receiving the supply of hydraulic oil to undulate the boom 14, that is, to rotate the boom foot pin 13 in the undulating direction (vertical direction). ..

The expansion / contraction mechanism 17 and the boom expansion / contraction cylinder 18 constitute an expansion / contraction drive unit. The expansion / contraction drive unit is arranged inside the plurality of boom members 15A to 15D to expand / contract the boom 14. The boom telescopic cylinder 18 is a hydraulic cylinder that expands and contracts by receiving the supply of hydraulic oil, and is a hydraulic actuator that expands and contracts the boom 14, that is, a telescopic actuator. The expansion / contraction mechanism 17 is interposed between the boom expansion / contraction cylinder 18 and the plurality of boom members 15A to 15D, and the plurality of boom members 15A to 15D are longitudinally oriented with each other as the boom expansion / contraction cylinder 18 expands and contracts. The expansion / contraction force of the boom expansion / contraction cylinder 18 is transmitted to the plurality of boom members 15A to 15D so that the entire boom 14 expands / contracts by sliding. The telescopic mechanism 17 can be configured by, for example, a well-known pulley mechanism including a plurality of pulleys and a wire rope.

The main winding hook 20 is suspended from the tip end portion of the boom 14 via the main winding wire rope 22. The main winding winch 24 is mounted on the crane 10 at a mounting position away from the tip of the boom 14. The mounting position is set above the rear end of the swivel frame 40 in this embodiment. The main winding winch 24 has a winding operation of winding the main winding wire rope 22 to raise the main winding hook 20 and a winding operation of paying out the main winding wire rope 22 to lower the main winding hook 20. ,I do.

The main winding winch 24 includes a winch drum (not shown) and a main winding motor 23 shown in FIG. The winch drum has a substantially cylindrical outer peripheral surface, and the main winding wire rope 22 is wound around the outer peripheral surface. The main winding motor 23 is a hydraulic motor that receives the supply of hydraulic oil and rotates the winch drum in the main winding direction and the main winding down direction. The main winding winding direction is a rotation direction for winding the main winding wire rope 22, and the main winding down direction is a rotation direction for unwinding the main winding wire rope 22.

The crane 10 includes a plurality of sheaves for guiding the main winding wire rope 22. The plurality of sheaves include a gantry sheave 25, a point idler sheave 26 and an auxiliary sheave 27. The gantry receive 25 is rotatably attached to the top of a gantry (not shown) erected at the rear end of the upper swing body 12. The point idler receive 26 is rotatably attached to the top of the uppermost boom member (fourth stage boom member 15D in FIG. 1). The auxiliary sheave 27 is rotatably attached to the top of the auxiliary sheave frame 19. The main winding wire rope 22 is sequentially hung on the gantry receive 25, the point idler sheave 26, and the auxiliary sheave 27, and the main winding hook 20 is suspended from the auxiliary sheave 27 via the main winding wire rope 22. .. The main winding hook 20 is hung directly from the point idler sheave 26 when the auxiliary sheave frame 19 is attached or detached. A suspended load having a relatively large weight is hung on the main winding hook 20. The suspended load is the main body of the grab bucket 28 in the example shown in FIG. 1, and the grab bucket 28 has a grab 29 that can be opened and closed.

The supplementary winding hook 30 is suspended from the tip end portion of the boom 14 via the supplementary winding wire rope 32. The auxiliary winding winch 34 is mounted on the crane 10 at a mounting position away from the tip of the boom 14. In this embodiment, the mounting position is set at a portion above the main winding winch 24 at the rear end portion of the swivel frame 40. The supplementary winding winch 34 has a winding operation of winding the supplementary winding wire rope 32 to raise the supplementary winding hook 30 and a winding operation of feeding out the supplementary winding wire rope 32 to lower the supplementary winding hook 30. ,I do.

The auxiliary winding winch 34 includes a winch drum (not shown) and an auxiliary winding motor 33 shown in FIG. The winch drum has a substantially cylindrical outer peripheral surface, and the auxiliary winding wire rope 32 is wound around the outer peripheral surface. The auxiliary winding motor 33 is a hydraulic motor that receives the supply of hydraulic oil and rotates the winch drum in the auxiliary winding direction and the auxiliary winding down direction. The supplementary winding direction is a rotation direction for winding the supplementary winding wire rope 32, and the supplementary winding lowering direction is a rotation direction for feeding out the supplementary winding wire rope 32.

The crane 10 includes a plurality of sheaves for guiding the auxiliary winding wire rope 32. The plurality of sheaves include a gantry sheave 35, a point idler sheave 36 and an auxiliary sheave 37. The gantry receive 35 is rotatably attached to the top of the gantry. The point idler receive 36 is rotatably attached to the top of the uppermost boom member (fourth stage boom member 15D). The auxiliary sheave 37 is rotatably attached to the top of the auxiliary sheave frame 19. The auxiliary winding wire rope 32 is sequentially hung on the gantry receive 35, the point idler sheave 36, and the auxiliary winding 37, and the auxiliary winding hook 30 is suspended from the auxiliary sheave 37 via the auxiliary winding wire rope 32. Can be lowered. The auxiliary winding hook 30 is directly suspended from the point idler sheave 36 when the auxiliary sheave frame 19 is attached or detached. A suspended load having a relatively small weight is hung on the auxiliary winding hook 30. In the example shown in FIG. 1, the suspended load is an opening / closing mechanism for opening / closing the grab 29 in the grab bucket 28, that is, a crown.

The plurality of hydraulic actuators described so far, that is, the boom undulating cylinder 16, the boom telescopic cylinder 18, the main winding motor 23, and the auxiliary winding motor 33 are all connected to the hydraulic pump 50 shown in FIG. .. The hydraulic pump 50 is driven by an engine (not shown), thereby discharging hydraulic oil to be supplied to each of the plurality of hydraulic actuators. The engine and the hydraulic pump 50 are housed in, for example, the machine room 44.

The crane 10 is further equipped with the control device shown in FIG. The control device controls the operation of the crane 10. The control device includes a plurality of control valves, a plurality of operators, a control command switch 60, a plurality of detectors, an obstacle distance detection unit 80, and a controller 90.

The plurality of control valves are respectively arranged between the hydraulic pump 50 and the plurality of hydraulic actuators, and the plurality of hydraulic actuators include the boom undulating cylinder 16, the boom telescopic cylinder 18, the main winding motor 23, and the plurality of hydraulic actuators. The supplementary winding motor 33 is included. Each of the plurality of control valves receives the input of the command signal from the controller 90 and opens the valve in the direction corresponding to the command signal with the stroke corresponding to the command signal, thereby causing the hydraulic pump 50 to open the valve. Allows hydraulic oil to be supplied to the hydraulic actuator corresponding to the control valve at a flow rate corresponding to the stroke. Each of the plurality of control valves is composed of, for example, an electromagnetically operated directional control valve.

The plurality of control valves include the undulation control valve 52, the expansion / contraction control valve 54, the main winding control valve 56, and the auxiliary winding control valve 58 shown in FIGS. 3 and 4.

The undulation control valve 52 is a valve for controlling the undulation operation of the boom 14. The undulation control valve 52 is interposed between the hydraulic pump 50 and the boom undulation cylinder 16. The undulation control valve 52 has a solenoid, and an undulation command signal from the controller 90, that is, an undulation command signal or an undulation command signal is input to the solenoid. The undulation control valve 52 operates in response to the undulation command signal. Specifically, the undulation control valve 52 keeps a neutral position when the undulation command signal is not input, and blocks the supply of hydraulic oil from the hydraulic pump 50 to the boom undulation cylinder 16. Upon receiving the input of the elevation command signal, the undulation control valve 52 is shifted from the neutral position to the boom elevation position with a stroke corresponding to the elevation command signal, thereby forming a boom elevation command passage. do. In the boom raising / raising oil passage, the hydraulic oil discharged from the hydraulic pump 50 is supplied to the head side chamber of the boom undulating cylinder 16 at a flow rate corresponding to the stroke, and the boom undulating cylinder 16 corresponds to the flow rate. It is allowed to be extended at the desired speed, and the hydraulic oil discharged from the rod side chamber of the boom undulating cylinder 16 is allowed to return to the tank. On the contrary, by receiving the input of the lodging command signal, the undulation control valve 52 is shifted from the neutral position to the boom lodging position with a stroke corresponding to the lodging command signal, thereby forming a boom lodging oil passage. .. In the boom undulating oil passage, the hydraulic oil discharged from the hydraulic pump 50 is supplied to the rod side chamber of the boom undulating cylinder 16 at a flow rate corresponding to the stroke, and the boom undulating cylinder 16 is supplied at a speed corresponding to the flow rate. It is allowed to be contracted, and the hydraulic oil discharged from the head side chamber of the boom undulating cylinder 16 is allowed to return to the tank.

The expansion / contraction control valve 54 is a valve for controlling the expansion / contraction operation of the boom 14. The expansion / contraction control valve 54 is interposed between the hydraulic pump 50 and the boom expansion / contraction cylinder 18. The expansion / contraction control valve 54 has a solenoid, and an expansion / contraction command signal, that is, an expansion / contraction command signal or a contraction command signal from the controller 90 is input to the solenoid. The expansion / contraction control valve 54 operates in response to the expansion / contraction command signal. Specifically, the expansion / contraction control valve 54 maintains a neutral position when the expansion / contraction command signal is not input, and blocks the supply of hydraulic oil from the hydraulic pump 50 to the boom expansion / contraction cylinder 18. Upon receiving the input of the extension command signal, the expansion / contraction control valve 54 is shifted from the neutral position to the boom extension position with a stroke corresponding to the extension command signal, thereby forming a boom extension oil passage. In the boom extension oil passage, hydraulic oil discharged from the hydraulic pump 50 is supplied to the head side chamber of the boom expansion / contraction cylinder 18 at a flow rate corresponding to the stroke, and the boom expansion / contraction cylinder 18 corresponds to the flow rate. It is allowed to be extended at a speed, and the hydraulic oil discharged from the rod side chamber of the boom telescopic cylinder 18 is allowed to return to the tank. On the contrary, when the expansion / contraction control valve 54 receives the input of the contraction command signal, the expansion / contraction control valve 54 is shifted from the neutral position to the boom contraction position with a stroke corresponding to the main winding command signal, thereby causing the boom contraction oil passage. To form. In the boom contraction oil passage, hydraulic oil discharged from the hydraulic pump 50 is supplied to the rod side chamber of the boom expansion / contraction cylinder 18 at a flow rate corresponding to the stroke, and the boom expansion / contraction cylinder 18 is supplied at a speed corresponding to the flow rate. It is allowed to be contracted, and the hydraulic oil discharged from the head side chamber of the boom telescopic cylinder 18 is allowed to return to the tank.

The main winding control valve 56 is a valve for controlling the main winding operation of the main winding winch 24. The main winding control valve 56 is interposed between the hydraulic pump 50 and the main winding motor 23. The main winding control valve 56 has a solenoid, and a main winding command signal from the controller 90, that is, a main winding command signal or a main winding down command signal is input to the solenoid. The main winding control valve 56 operates in response to the main winding command signal. Specifically, the main winding control valve 56 maintains a neutral position when the main winding command signal is not input, and blocks the supply of hydraulic oil from the hydraulic pump 50 to the main winding motor 23. Upon receiving the input of the main winding command signal, the main winding control valve 56 is shifted from the neutral position to the main winding position with a stroke corresponding to the main winding command signal, whereby the main winding oil is used. Form a road. In the main winding oil passage, hydraulic oil discharged from the hydraulic pump 50 is supplied to the first port of the main winding motor 23 at a flow rate corresponding to the stroke, and the main winding motor 23 corresponds to the flow rate. It is allowed to rotate in the winding direction at a speed, and the hydraulic oil discharged from the second port of the main winding motor 23 is allowed to return to the tank. On the contrary, the main winding control valve 56 is shifted from the neutral position to the main winding position by a stroke corresponding to the main winding command signal by receiving the input of the main winding command signal. To form the main winding down oil passage. In the main winding oil passage, hydraulic oil discharged from the hydraulic pump 50 is supplied to the second port of the main winding motor 23 at a flow rate corresponding to the stroke, and the main winding motor 23 is brought to the flow rate. It is allowed to rotate in the winding direction at a corresponding speed, and is allowed to return the hydraulic oil discharged from the first port of the main winding motor 23 to the tank.

The auxiliary winding control valve 58 is a valve for controlling the auxiliary winding operation of the auxiliary winding winch 34. The auxiliary winding control valve 58 is interposed between the hydraulic pump 50 and the auxiliary winding motor 33. The supplementary winding control valve 58 has a solenoid, and a supplementary winding command signal from the controller 90, that is, either a supplementary winding command signal or a supplementary winding down command signal is input to the solenoid. The auxiliary winding control valve 58 operates in response to the auxiliary winding command signal. Specifically, the auxiliary winding control valve 58 maintains a neutral position when the auxiliary winding command signal is not input, and blocks the supply of hydraulic oil from the hydraulic pump 50 to the auxiliary winding motor 33. Upon receiving the input of the auxiliary winding command signal, the auxiliary winding control valve 58 is shifted from the neutral position to the auxiliary winding position with a stroke corresponding to the auxiliary winding command signal, whereby the auxiliary winding oil is used. Form a road. In the auxiliary winding oil passage, hydraulic oil discharged from the hydraulic pump 50 is supplied to the first port of the auxiliary winding motor 33 at a flow rate corresponding to the stroke, and the auxiliary winding motor 33 corresponds to the flow rate. It is allowed to rotate in the winding direction at a speed, and the hydraulic oil discharged from the second port of the auxiliary winding motor 33 is allowed to return to the tank. On the contrary, the auxiliary winding control valve 58 is shifted from the neutral position to the auxiliary winding position by a stroke corresponding to the auxiliary winding down command signal by receiving the input of the auxiliary winding down command signal. To form a supplementary winding down oil passage. In the auxiliary winding lowering oil passage, hydraulic oil discharged from the hydraulic pump 50 is supplied to the second port of the auxiliary winding motor 33 at a flow rate corresponding to the stroke, and the auxiliary winding motor 33 is brought to the relevant flow rate. It is allowed to rotate in the winding direction at a corresponding speed, and is allowed to return the hydraulic oil discharged from the first port of the auxiliary winding motor 33 to the tank.

The plurality of operators are provided in, for example, the driver's cab 42, and each of them is allowed to be operated by an operator. The operation given to the plurality of operators is an operation for moving the plurality of hydraulic actuators, that is, the boom undulating cylinder 16, the boom expansion / contraction cylinder 18, the main winding motor 23, and the auxiliary winding motor 33, respectively. Is. Each of the plurality of operation devices generates an operation signal corresponding to the operation given to the operation device, and inputs the operation signal to the controller 90. Each of the plurality of operators is composed of, for example, an electric lever device.

The plurality of operating devices include the undulating operating device 62, the telescopic operating device 64, the main winding operating device 66, and the auxiliary winding operating device 68 shown in FIGS. 3 and 4.

The undulation operation device 62 includes an undulation operation lever and an undulation operation device main body that rotatably supports the undulation operation lever. The undulating operation lever is given an undulating operation for rotating the undulating operation lever. The undulating operation is an operation given by an operator to expand and contract the boom undulating cylinder 16 to rotate the boom 14 in the elevation direction or the undulation direction, and specifically, the boom 14 is moved upward. It is an elevating operation for rotating or a lodging operation for rotating the boom 14 downward. The undulation operation device main body generates an undulation operation signal corresponding to the undulation operation, that is, an undulation operation signal or an undulation operation signal, and inputs the undulation operation signal to the controller 90.

The telescopic operation device 64 includes a telescopic operation lever and a telescopic operation device main body that rotatably supports the telescopic operation lever. The expansion / contraction operation lever is given an expansion / contraction operation for rotating the expansion / contraction operation lever. The expansion / contraction operation is an operation given by an operator to expand / contract the boom expansion / contraction cylinder 18 to expand / contract the boom 14 in the expansion / contraction direction, and specifically, an expansion operation for extending the boom 14 or the expansion / contraction operation. This is a contraction operation for contracting the boom 14. The expansion / contraction operation device main body generates an expansion / contraction operation signal corresponding to the expansion / contraction operation, that is, an expansion / contraction operation signal or a contraction operation signal, and inputs the expansion / contraction operation signal to the controller 90.

The main winding operating device 66 includes a main winding operating lever and a main winding operating device main body that rotatably supports the main winding operating lever. The main winding operating lever is provided with a main winding operation for rotating the main winding operating lever. The main winding operation is an operation given by an operator to rotate the main winding motor 23 to cause the main winding winch 24 to perform a winding operation or a winding operation, and specifically, the main winding winch 24. This is a main winding operation for causing the winding operation to be performed, or a main winding operation for causing the winding operation to be performed. The main winding operator main body generates a main winding operation signal corresponding to the main winding operation, that is, a main winding operation signal or a main winding operation signal, and inputs the main winding operation signal to the controller 90. ..

The supplementary winding operation device 68 includes a supplementary winding operation lever and a supplementary winding operation device main body that rotatably supports the supplementary winding operation lever. The supplementary winding operation lever is provided with a supplementary winding operation for rotating the supplementary winding operation lever. The supplementary winding operation is an operation given by an operator to rotate the supplementary winding motor 33 to cause the supplementary winding winch 34 to perform a winding operation or a winding operation, and specifically, the supplementary winding winch 34. It is a supplementary winding operation for performing the winding operation, or a supplementary winding operation for performing the winding operation. The supplementary winding operation device main body generates a supplementary winding operation signal corresponding to the supplementary winding operation, that is, a supplementary winding operation signal or a supplementary winding operation signal, and inputs the supplementary winding operation signal to the controller 90. ..

The control command switch 60 allows the control command operation by the operator to be input to the control command switch 60. The control command switch 60 constitutes a control command operation unit that generates a control command signal and inputs the control command signal to the controller 90 when the control command operation is given. The control command operation is basically performed at the same time as the undulating operation, as will be described in detail later. Therefore, it is preferable that the control command switch 60 is provided at a position where the control command switch 60 can be operated at the same time as the undulation operation lever, for example, a position included in the undulation operation lever.

The plurality of detectors acquire information necessary for the controller 90 to perform an arithmetic control operation and input the information to the controller 90. The plurality of detectors include the undulation angle detector 72, the boom length detector 74, the main winding rope feeding length detector 76, and the auxiliary winding rope feeding length detector 78 shown in FIGS. 3 and 4.

The undulation angle detector 72 detects the boom undulation angle θb and inputs an electric signal corresponding to the boom undulation angle θb, that is, a boom undulation angle detection signal, to the controller 90. The boom undulation angle θb is an angle in the undulation direction of the central axis of the boom 14 with respect to a reference plane (horizontal plane when the crane 10 is in a horizontal posture) set for the crane 10. The boom undulation angle θb is therefore changed by the rotation of the boom 14 in the undulation direction. The undulation angle detector 72 can be configured by, for example, an angle sensor or a stroke sensor that detects the cylinder stroke of the boom undulation cylinder 16.

The boom length detector 74 detects the boom length Lb, and inputs an electric signal corresponding to the boom length Lb, that is, a boom length detection signal, to the controller 90. The boom length Lb is the length in the expansion / contraction direction of the entire boom 14, and in this embodiment, as shown in FIG. 1, the boom foot pin 13 reaches the central axis of the point idler sheaves 26 and 36. It is represented by the distance along the expansion / contraction direction up to. Therefore, the boom length Lb changes depending on the expansion and contraction of the boom 14. The boom length detector 74 may be any as long as it detects the boom length Lb or a physical quantity that changes correspondingly thereof, and is, for example, a rotation sensor that detects the rotation amount of the cord reel for boom power distribution, for example. It can be configured by a potentiometer. The cord reel winds and unwinds a power feeding cord for supplying electricity from the upper swing body 12 to an electric component attached to the tip of the boom 14. The electric component is, for example, an overwinding prevention limit switch attached to the tip of the fourth-stage boom member 14D. The cord reel is rotatably attached to, for example, a base end portion of the first stage boom member 14A. Since the cord reel rotates in conjunction with the expansion and contraction of the boom 14, it is possible to specify the boom length Lb based on the amount of rotation of the cord reel.

The main winding rope feeding length detector 76 detects the main winding rope feeding length Lm and outputs an electric signal corresponding to the main winding rope feeding length Lm, that is, a main winding rope feeding length detection signal. Enter in 90. The main winding rope feeding length Lm is the length of the portion of the main winding wire rope 22 unwound from the main winding winch 24. The main winding rope feeding length Lm is therefore changed by the rotation of the winch drum of the main winding winch 24. The main winding rope feeding length detector 76 can be configured by, for example, a rotation sensor for detecting the amount of rotation of the output shaft of the main winding motor 23, for example, a potentiometer.

The supplementary winding rope feeding length detector 78 detects the supplementary winding rope feeding length Ls and outputs an electric signal corresponding to the supplementary winding rope feeding length Ls, that is, a supplementary winding rope feeding length detection signal. Enter in 90. The supplementary winding rope feeding length Ls is the length of the portion of the supplementary winding wire rope 32 that is fed out from the supplementary winding winch 34. The extension length Ls of the auxiliary winding rope is therefore changed by the rotation of the winch drum of the auxiliary winding winch 34. The auxiliary winding rope feeding length detector 78 can be configured by, for example, a rotation sensor for detecting the amount of rotation of the output shaft of the auxiliary winding motor 33, for example, a potentiometer.

The obstacle distance detection unit 80 detects the obstacle distance when an obstacle (for example, a bridge girder) 100 is present above the crane 10 as shown in FIG. The obstacle distance is the actual distance between the obstacle 100 and the tip of the boom 14 of the crane 10. As shown in FIG. 3, the obstacle distance detection unit 80 according to this embodiment includes a first obstacle camera 81, a second obstacle camera 82, and an image processing device 84.

The first and second obstacle cameras 81 and 82 are attached to the first measurement position P1 and the second measurement position P2 set at the tip of the boom 14, respectively. The first and second obstacle cameras 81 and 82 photograph the obstacle 100 from the first and second measurement positions, respectively, and input the imaging data acquired by the imaging to the image processing device 84. Specifically, the first measurement position P1 to which the first obstacle camera 81 is attached is the top of the uppermost boom member (fourth stage boom member 15D), for example, the point idler as shown in FIG. It is set to a lateral position of the sheaves 26, 36, preferably a position on both the left and right sides of the point idler sheaves 26, 36 (that is, both left and right sides). The second measurement position P2 to which the second obstacle camera 82 is attached is set to the top of the auxiliary sheave frame 19, for example, a lateral position of the auxiliary sheaves 27 and 37 as shown in FIG. .. The first and second obstacle cameras 81 and 82 are preferably mounted so as to be rotatable about a horizontal axis at each of the first and second measurement positions P1 and P2. Each of the first and second obstacle cameras 81 and 82 is preferably a stereo camera, but may be a single camera.

By analyzing the shooting data, the image processing device 84 analyzes the first and second measurement positions P1 and P2, which are the mounting positions of the first and second obstacle cameras 81 and 82, to the obstacle 100. The actual distances of, i.e., the first obstacle distance D1 and the second obstacle distance D2. The image processing device 84 inputs information about the first and second obstacle distances D1 and D2 identified in this way to the controller 90 as an electric signal, that is, an obstacle distance detection signal.

The controller 90 has a function of controlling the undulating operation and the expansion / contraction operation of the boom 14, and a function of controlling the winding operation and the winding operation of the main winding and the auxiliary winding winches 24 and 34, respectively. The controller 90 includes an undulation command unit 92, an expansion / contraction command unit 94, a main winding command unit 96, and a supplementary winding command unit 98, as shown in FIG. 4, as main components for realizing these functions.

The undulation command unit 92 constitutes an undulation control unit together with the undulation control valve 52. The undulation control unit controls the raising / lowering operation and the undulating operation of the boom 14. The undulation command unit 92 generates an undulation command signal corresponding to the undulation operation given to the undulation operation device 62, inputs the undulation command signal to the undulation control valve 52, and thereby causes the undulation control valve 52. Open the valve. As a result, the boom undulating cylinder 16 expands and contracts so as to rotate the boom 14 in the undulating direction at a direction and a speed corresponding to the direction and size of the undulating operation.

The expansion / contraction command unit 94 constitutes an expansion / contraction control unit together with the expansion / contraction control valve 54. The expansion / contraction control unit controls the expansion / contraction operation of the boom 14. The expansion / contraction command unit 94 generates an expansion / contraction command signal and inputs the expansion / contraction command signal to the expansion / contraction control valve 54, thereby opening the expansion / contraction control valve 54. As a result, the boom expansion / contraction cylinder 18 expands / contracts so as to expand / contract the boom 14.

The expansion / contraction command unit 94 can be switched between the manual expansion / contraction control mode and the height control mode. The manual expansion / contraction control mode is a mode for generating an expansion / contraction command signal for executing manual expansion / contraction control. The height control mode is a mode for executing height control. The control command operation given to the control command switch 60 is an operation for causing the expansion / contraction command unit 94 to execute the height control, that is, an operation for switching the expansion / contraction command unit 94 to the height control mode. be. The control command switch 60 generates a control command signal only when the control command operation is given to the control command switch 60, and inputs the control command signal to the controller 90.

The expansion / contraction command unit 94 controls when an operation is given only to the undulation operation lever of the undulation operation lever and the control command switch 60, that is, the undulation operation is given to the undulation operation lever. When the command switch 60 is not given a control command operation, is switched to the manual expansion / contraction control mode. The expansion / contraction command unit 94 switched to the manual expansion / contraction control mode generates an expansion / contraction command signal corresponding to the expansion / contraction operation given to the expansion / contraction operation device 64, and inputs the expansion / contraction command signal to the expansion / contraction control valve 54. do. As a result, the boom expansion / contraction cylinder 18 expands / contracts the boom 14 in a direction and a speed corresponding to the direction and size of the expansion / contraction operation.

The expansion / contraction command unit 94 is switched to the height control mode when an operation (undulation operation and control command operation) is given to both the undulation operation lever and the control command switch 60. The expansion / contraction command unit 94 switched to this height control mode is based on the boom undulation angle θb detected by the undulation angle detector 72 and the boom length Lb detected by the boom length detector 74. , Generates a stretch command signal to perform height control. The height control is an automatic control of the height of the tip portion of the boom 14 during the rotation of the boom 14 in the undulating direction. Therefore, the expansion / contraction command signal for executing the height control is an expansion / contraction command signal for automatically expanding / contracting the boom 14 as the boom 14 rotates in the undulating direction.

The expansion / contraction control unit according to this embodiment can selectively execute obstacle avoidance control and height holding control as the height control. In the obstacle avoidance control, both the first and second obstacle distances D1 and D2 detected by the obstacle distance detecting unit 80 are set in advance regardless of the rotation of the boom 14 in the undulating direction. It is a control to operate the boom telescopic cylinder 18 so as to keep the allowable distance Da or more. The height holding control is a control for expanding and contracting the boom in response to rotation of the boom in the undulating direction so as to keep the actual boom height, which is the actual height of the tip of the boom 14, constant. Is.

The main winding command unit 96 constitutes a main winding control unit together with the main winding control valve 56. The main winding control unit controls the main winding operation of the main winding winch 24. The main winding command unit 96 generates a main winding command signal and inputs it to the main winding control valve 56, thereby opening the main winding control valve 56. As a result, the main winding winch 24 performs a winding operation or a winding operation.

The main winding command unit 96 can switch between the manual main winding control mode and the main winding hook position control mode. The manual main winding control mode is a mode for generating a main winding command signal for executing manual main winding control. The main winding hook position control mode is a mode for generating a main winding command signal for executing main winding hook position control.

The main winding command unit 96 is switched to the main winding hook position control mode when the main winding operation is not given to the main winding operation lever. The main winding command unit 96 switched to the main winding hook position control mode generates a main winding command signal for executing the main winding hook position control. The main winding hook position control keeps the relative height position of the main winding hook 20 constant with respect to the tip end portion of the boom 14 regardless of the expansion and contraction of the boom 14 due to the execution of the height control. Specifically, the main winding according to the expansion and contraction of the boom 14 so as to keep the main winding hanging distance Dm corresponding to the vertical distance from the auxiliary sheave 27 to the main winding hook 20 constant. This is a control for causing the winch 24 to automatically perform a hoisting operation or a hoisting operation.

The main winding command unit 96 is switched to the manual main winding control mode when the main winding operation is given to the main winding operation lever. The main winding command unit 96 switched to this manual control mode generates a main winding command signal corresponding to the main winding operation given to the main winding operator 66, and transmits the main winding command signal to the main winding. Input to the control valve 56. As a result, the main winding winch 24 performs a winding operation or a winding operation in a direction and a speed corresponding to the direction and size of the main winding operation.

The supplementary winding command unit 98 constitutes a supplementary winding control unit together with the supplementary winding control valve 58. The auxiliary winding control unit controls the auxiliary winding operation of the auxiliary winding winch 34. The supplementary winding command unit 98 generates a supplementary winding command signal and inputs it to the supplementary winding control valve 58, thereby opening the supplementary winding control valve 58. As a result, the auxiliary winding winch 34 performs a winding operation or a winding operation.

The auxiliary winding command unit 98 can switch between the manual auxiliary winding control mode and the auxiliary winding hook position control mode. The manual winding control mode is a mode for generating a supplementary winding command signal for executing the manual winding control. The supplementary winding hook position control mode is a mode for generating a supplementary winding command signal for executing the supplementary winding hook position control.

The auxiliary winding command unit 98 is switched to the auxiliary winding hook position control mode when the auxiliary winding operation is not given to the auxiliary winding operation lever. The supplementary winding command unit 98 switched to the supplementary winding hook position control mode generates a supplementary winding command signal for executing the supplementary winding hook position control. The auxiliary winding hook position control keeps the relative height position of the auxiliary winding hook 30 constant with respect to the tip end portion of the boom 14 regardless of the expansion and contraction of the boom 14 due to the execution of the height control. In other words, the supplementary winding according to the expansion and contraction of the boom 14 so as to keep the supplementary winding suspension distance Ds corresponding to the vertical distance from the auxiliary sheave 37 to the supplementary winding hook 30 constant. This is a control for causing the winch 34 to automatically perform a hoisting operation or a hoisting operation.

The auxiliary winding command unit 98 is switched to the manual auxiliary winding control mode when the auxiliary winding operation is given to the auxiliary winding operation lever. The supplementary winding command unit 98 switched to the manual winding control mode generates a supplementary winding command signal corresponding to the supplementary winding operation given to the auxiliary winding operation device 68, and outputs the supplementary winding command signal. Input to the auxiliary winding control valve 58. As a result, the auxiliary winding winch 34 performs a winding operation or a winding operation in a direction and a speed corresponding to the direction and size of the auxiliary winding operation.

Next, a specific arithmetic control operation performed by the controller 90 will be described with reference to the flowchart of FIG.

(1) Boom undulation control operation (steps S20, S22)
The undulation command unit 92 of the controller 90 determines whether or not an undulation operation signal is input from the undulation operation device 62 (step S20). When it is determined that the undulation operation signal has been input (YES in step S20), that is, when it is determined that the undulation operation lever of the undulation operation device 62 has been subjected to the undulation operation, the undulation command unit 92 has the undulation operation. An undulation command signal corresponding to the direction and magnitude of the above is generated and output (step S22). The undulation command signal is input to the solenoid of the undulation control valve 52, whereby the hydraulic oil discharged from the hydraulic pump 50 is sent to the boom undulation cylinder 16 in the direction and flow rate corresponding to the direction and size of the undulation operation, respectively. The undulation control valve 52 is opened so as to allow the supply. The boom undulating cylinder 16 raises or lowers the boom 14 in a direction corresponding to the direction of the hydraulic oil supplied in this way at a speed corresponding to the flow rate of the hydraulic oil. For example, when the raising / lowering operation device 62 is given an raising / raising operation for raising and lowering the boom 14, the boom raising / lowering cylinder 16 extends at a speed corresponding to the magnitude of the raising and lowering operation to raise the boom 14. Raise.

(2) Boom expansion / contraction control operation (steps S40 to S48)
During the boom undulating operation control as described above, the expansion / contraction command unit 94 of the controller 90 determines whether or not a control command signal is input from the control command switch 60 (step S40).

When there is no input of the control command signal (NO in step S40), that is, when only the undulation operation lever is operated and the control command switch 60 is not operated, the expansion / contraction command unit 94 executes manual expansion / contraction control. The expansion / contraction command signal is generated and the expansion / contraction command signal is output (step S42). Specifically, the expansion / contraction command unit 94 determines the presence / absence of the expansion / contraction operation signal from the expansion / contraction operation device 64, and if the expansion / contraction operation signal is not input, the expansion / contraction command signal generation and output are suspended. When the expansion / contraction operation signal is input, the expansion / contraction command signal corresponding to the expansion / contraction operation signal is generated and output. The expansion / contraction command signal is input to the solenoid of the expansion / contraction control valve 54, whereby the hydraulic oil discharged from the hydraulic pump 50 is sent to the boom expansion / contraction cylinder 18 in the direction and flow rate corresponding to the direction and size of the expansion / contraction operation. The expansion / contraction control valve 54 is opened so as to allow the supply. The boom expansion / contraction cylinder 18 expands / contracts the boom 14 in a direction corresponding to the direction of the hydraulic oil supplied in this way at a speed corresponding to the flow rate of the hydraulic oil. For example, when the expansion / contraction operation device 64 is given an extension operation for extending the boom 14, the boom expansion / contraction cylinder 18 itself expands so as to extend the boom 14 at a speed corresponding to the magnitude of the extension operation. do.

When the control command signal is input (YES in step S40), that is, when the undulation operation is given to the undulation operation lever and at the same time the control command operation is given to the control command switch 60, the controller 90. Performs height control. Specifically, the expansion / contraction command unit 94 of the controller 90 has the first and second obstacle distances D1 and D2 detected by the obstacle distance detection unit 80, that is, the first and second obstacles at the tip of the boom 14. A comparison is made between the respective distances from the first measurement position and the second measurement position to which the object cameras 81 and 82 are attached to the obstacle 100, and the preset allowable distance Da (steps S43 and S44). ), Determine the height control to be performed based on the result. Specifically, when the first and second obstacle distances D1 and D2 are both equal to or greater than the allowable distance Da (YES in steps S43 and S44), the expansion / contraction command unit 94 executes height holding control. Generates and outputs the expansion / contraction command signal of (step S46). On the other hand, when at least one of the first and second obstacle distances D1 and D2 is less than the allowable distance Da (NO at least one of steps S43 and S44), the expansion / contraction command unit 94 performs the height holding control. The expansion / contraction command signal for executing the obstacle avoidance control with priority is generated and output (step S48).

More specifically, when the first and second obstacle distances D1 and D2 are both equal to or greater than the allowable distance Da (YES in steps S43 and S44), that is, the first and second measurement positions are both the obstacle. When sufficiently separated from the object 100, the expansion / contraction command unit 94 generates an expansion / contraction command signal that keeps the height Hb of the tip of the boom 14 constant regardless of the rotation of the boom 14 in the undulating direction. do. For example, since the height Hb of the tip end portion of the boom 14 with respect to the boom foot pin 13 is given by Hb = Lb × sin θb, the expansion / contraction command unit 94 sets the boom undulation angle θb currently detected. Based on this, a target boom length Lbt that satisfies the following equation (1) is calculated to generate an expansion / contraction command signal that makes the current boom length Lb equal to the target boom length Lb.

Lbt × sinθb = Lbo × sinθbo… (1)
Here, Lbo is the boom length detected at the start of control, and θbo is the boom undulation angle detected at the start of control. Therefore, the right side of the equation (1) corresponds to the height (initial height) Hbo of the tip of the boom 14 at the start of control (Hbo = Lbo × sinθbo).

By inputting the expansion / contraction command signal generated in this way to the expansion / contraction control valve 54, the boom expansion / contraction cylinder 18 has the height of the tip of the boom 14 regardless of the rotation of the boom 14 in the undulating direction. An expansion / contraction operation that keeps the Hb at the height (initial height) Hbo at the start of control, that is, an operation that automatically expands / contracts the boom 14 is performed. This allows the operator to automatically move the tip of the boom 14 in the horizontal direction simply by applying the undulation operation to the undulation operation lever.

On the other hand, when at least one of the first and second obstacle distances D1 and D2 is less than the allowable distance Da (NO at least one of steps S43 and S44), that is, at least one of the first and second measurement positions. When the tip of the boom 14 is approaching the obstacle 100 beyond the permissible range, the expansion / contraction command unit 94 gives priority to preventing interference between the tip of the boom 14 and the obstacle 100. Generates expansion / contraction command signal. Specifically, the expansion / contraction command unit 94 sets the distance of the first and second obstacle distances D1 and D2 that is less than the allowable distance Da, that is, the control target distance, to the safe distance Dsf that is equal to or greater than the allowable distance Da. Generates expansion and contraction command signals that make them equal. For example, when the first obstacle distance D1 is equal to or greater than the allowable distance Da but the second obstacle distance D2 is less than the allowable distance Da, the expansion / contraction command unit 94 uses the first obstacle distance D1. Regardless of the above, an expansion / contraction command signal is generated so as to make the second obstacle distance D2 equal to the safe distance Dsf. When the first and second obstacle distances D1 and D2 are both less than the allowable distance Da, the expansion / contraction command unit 94 makes the first and second obstacle distances D1 and D2 both equal to the safe distance Dsf. Generates a telescopic command signal like this.

The safe distance Dsf may be the same as the allowable distance Da, but is preferably larger than the allowable distance Da (Dsf> Da). The safety distance Dsf is, for example, a value obtained by adding a margin distance δ (> 0) to the allowable distance Da (Dsf = Da + δ), or a value obtained by multiplying the distance Da by a safety factor α (> 1) (Dsf = α). It is better to set it to × Da). Further, as the expansion / contraction command signal, for example, a control signal for executing feedback control (for example, PID control) such that the deviation ΔD (= Dt−Dsf) of the control target distance Dt with respect to the safety distance Dsf is set to 0. Is calculated.

By inputting the expansion / contraction command signal generated in this way to the expansion / contraction control valve 54, the height control, that is, the obstacle avoidance so as to keep the tip of the boom 14 away from the obstacle 100 to a safe distance. Control is executed. In this obstacle avoidance control, the boom length Lb is generally more limited than the height holding control. This makes it possible to automatically and surely prevent the tip of the boom 14 from coming into contact with the obstacle 100 regardless of the undulating operation given to the undulating operation lever by the operator.

Since the actual height of the tip of the boom 14 changes depending on the bending of the boom 14, and the bending changes depending on the boom length of the boom 14 and the weight of the suspended load, the actual height of the tip of the boom 14 changes. It is difficult to calculate the height accurately. However, the obstacle avoidance control is based on the actually detected first and second obstacle distances D1 and D2, that is, the actual relative positional relationship between the tip of the boom 14 and the obstacle 100. Therefore, regardless of the actual fluctuation in the height of the tip of the boom 14 due to the bending of the boom 14, the height of the tip is not limited more than necessary, and the tip and the obstacle 100 It is possible to reliably prevent interference.

Although not shown in FIG. 5, when the controlled target distance (distance of the first and second obstacle distances D1 and D2 that is less than the allowable distance Da) reaches the safe distance Dsf, the obstacle. The avoidance control ends, and the height control returns to the original height holding control.

(3) Main winding control operation (steps S60, S62, S64)
While the boom undulating operation and the boom expansion / contraction operation are controlled, the main winding command unit 96 of the controller 90 determines whether or not a main winding operation signal is input from the main winding operator 66 (step S60). ..

When it is determined that there is no input of the main winding operation signal (NO in step S60), that is, when the main winding operation is not given to the main winding operation lever, the main winding command unit 96 has a main winding hook height. The main winding command signal for position control is generated and output (step S62). The main winding hook height position control is a control that keeps the hanging distance of the main winding hook 20, that is, the main winding hanging distance) Dm, constant regardless of the expansion and contraction of the boom 14 due to the execution of the height control. The main winding suspension distance Dm includes the main winding rope feeding length Lm detected by the main winding rope feeding length detector 76 and the boom length Lb detected by the boom length detector 74. Corresponds to the difference between (Dm = Lm-Lb). Specifically, the main winding command unit 96 generates a main winding command signal that keeps the change of the main winding suspension distance Dm at 0 at all times. For example, with the extension of the boom 14 (that is, an increase in the boom length Lb), the main winding command unit 96 increases the main winding rope feeding length Lm by the extension of the boom 14. A main winding command signal for causing the main winding winch 24 to perform the operation of feeding out the winding wire rope 22, that is, the winding operation, is generated. By inputting such a main winding command signal to the main winding control valve 56, the hanging distance of the main winding hook 20 from the tip portion thereof regardless of the expansion and contraction of the boom 14 due to the execution of the height control. (Main winding suspension distance) Dm is kept constant. This makes it possible to automatically prevent both overwinding and excessive descent of the main winding hook 20.

When the main winding operation signal is input (YES in step S60), that is, when the main winding operation is given to the main winding operation lever, the main winding command unit 96 is in the main winding hook height position. A main winding command signal for executing manual main winding control is generated in preference to control, and the main winding command signal is output (step S64). Specifically, the main winding command unit 96 generates and outputs a main winding command signal corresponding to the direction and size of the main winding operation based on the main winding operation signal input from the main winding operation device 66. .. The main winding command signal is input to the solenoid of the main winding control valve 56, whereby the hydraulic oil discharged from the hydraulic pump 50 is the main winding motor in the direction and flow rate corresponding to the direction and size of the main winding operation, respectively. The main winding control valve 56 is opened so as to allow the supply to the 23. The main winding motor 23 raises and lowers the main winding hook 20 in a direction corresponding to the direction of the hydraulic oil supplied in this way at a speed corresponding to the flow rate of the hydraulic oil. For example, when the main winding operation device 66 is given a main winding operation, the main winding command unit 96 performs a winding operation of raising the main winding hook 20 at a speed corresponding to the magnitude of the main winding operation. A main winding command signal to be performed by the main winding winch 24 is generated.

(4) Supplementary winding control operation (steps S80, S82, S84)
While the boom undulating operation and the boom expansion / contraction operation are controlled as described above, the auxiliary winding command unit 98 of the controller 90 determines whether or not the auxiliary winding operation signal is input from the auxiliary winding operation device 68 (step). S80).

When there is no input of the supplementary winding operation signal (NO in step S80), that is, when the supplementary winding operation is not given to the supplementary winding operation lever, the supplementary winding command unit 98 controls the height position of the supplementary winding hook. The supplementary winding command signal for the above is generated and output (step S82). The supplementary winding hook height position control is a control for keeping the hanging distance of the supplementary winding hook 30, that is, the supplementary winding hanging distance) Ds constant regardless of the expansion and contraction of the boom 14 due to the execution of the height control. The supplementary winding suspension distance Ds includes the supplementary winding rope feeding length Ls detected by the supplementary winding rope feeding length detector 78 and the boom length Lb detected by the boom length detector 74. Corresponds to the difference between (Ds = Ls-Lb). Specifically, the supplementary winding command unit 98 generates a supplementary winding command signal that keeps the change of the supplementary winding suspension distance Ds at 0 at all times. For example, with the extension of the boom 14 (that is, an increase in the boom length Lb), the supplementary winding command unit 98 increases the supplementary winding rope feeding length Ls by the extension of the boom 14. A supplementary winding command signal for causing the supplementary winding winch 34 to perform the winding wire rope 32 feeding operation, that is, the winding down operation is generated. By inputting the supplementary winding command signal generated in this way to the supplementary winding control valve 58, the supplementary winding hook 30 from the tip end portion thereof regardless of the expansion and contraction of the boom 14 due to the execution of the height control. Suspension distance (supplementary winding suspension distance) Ds is kept constant. This makes it possible to automatically prevent both overwinding and excessive descent of the auxiliary winding hook 30.

When the auxiliary winding operation signal is input (YES in step S80), that is, when the auxiliary winding operation is given to the auxiliary winding operation lever, the auxiliary winding command unit 98 is in the auxiliary winding hook height position. A supplementary winding command signal for executing manual winding control is generated in preference to control, and the supplementary winding command signal is output (step S84). Specifically, the supplementary winding command unit 98 generates and outputs a supplementary winding command signal corresponding to the direction and size of the supplementary winding operation based on the supplementary winding operation signal input from the supplementary winding operation device 68. .. The supplementary winding command signal is input to the solenoid of the supplementary winding control valve 58, whereby the hydraulic oil discharged from the hydraulic pump 50 is the supplementary winding motor in the direction and flow rate corresponding to the direction and size of the supplementary winding operation, respectively. The auxiliary winding control valve 58 is opened so as to allow the supply to 33. The auxiliary winding motor 33 raises and lowers the auxiliary winding hook 30 in a direction corresponding to the direction of the hydraulic oil supplied in this way at a speed corresponding to the flow rate of the hydraulic oil. For example, when the auxiliary winding operation device 68 is given the auxiliary winding operation, the auxiliary winding command unit 98 performs a winding operation of raising the auxiliary winding hook 30 at a speed corresponding to the magnitude of the auxiliary winding operation. A supplementary winding command signal to be performed by the supplementary winding winch 34 is generated.

According to the control device described above, the operator can reliably avoid the interference between the obstacle 100 existing above the crane 10 and the tip of the boom 14 by a simple operation of giving the undulation operation to the undulation operation lever. However, it is possible to proceed with the work efficiently. As an example, a loading operation on the dump truck 110 using the grab bucket 28 shown in FIG. 1 will be described.

In the state at the time when the loading operation is started, that is, in the initial state, the grab bucket 28 is suspended from the boom 14 raised to the initial height position when the grab 29 is closed to capture the contents. Has been done. The initial height position is a height position such that the first and second measurement positions at the tip of the boom 14 are separated from the obstacle 100 located above the crane 10 by an allowable distance Da or more, that is, the first and first measurement positions. 2 The height position where both the obstacle distances D1 and D2 are equal to or greater than the allowable distance Da.

In this state, when the operator gives the control command operation to the control command switch 60 and at the same time gives the undulation operation to the undulation operation lever, the undulation command unit 92 of the controller 90 inputs the undulation command signal to the undulation control valve 52 to press the boom 14. While lying down, the expansion / contraction command unit 94 inputs an appropriate expansion / contraction command signal to the expansion / contraction control valve 54. The expansion / contraction command signal to be input is a signal for executing height holding control such that the boom height Hb of the boom 14 is kept at the initial height Hbo regardless of the lodging of the boom 14. In this case. Is a contraction command signal. By inputting the tilt command signal and the expansion / contraction command signal to the undulation control valve 52 and the expansion / contraction control valve 54, the boom undulation cylinder 16 contracts to lie down the boom 14, and at the same time, the boom expansion / contraction cylinder 18 expands. The boom 14 is extended, whereby the tip of the boom 14 and the main winding and auxiliary winding hooks 20 and 30 suspended from the tip are horizontally advanced below the obstacle 100. Along with this advance, the grab bucket 28 hooked on the main winding hook 20 also moves in the same direction and approaches the dump truck 110. Further, the main winding and the auxiliary winding command units 96 and 98 of the controller 90 perform the main winding hook height position control and the auxiliary winding hook height position control, respectively, by the amount of extension of the boom 14. And the main winding and the auxiliary winding command signals for feeding the main winding wire rope 22 and the auxiliary winding wire rope 32 from the auxiliary winding winches 24 and 34, respectively, are generated and input to the main winding control valve 56 and the auxiliary winding control valve 58, respectively. As a result, the main winding suspension distance Dm and the auxiliary winding suspension distance Ds are kept constant.

When the height of the lower surface of the obstacle 100 is not constant, for example, when the lower surface includes a downward protruding portion 102 as shown in FIG. 1 and the obstacle 100 is locally lowered in the protruding portion 102. , The distance between the second measurement position in front of the first and second measurement positions and the protrusion 102 which is a part of the obstacle 100, even though the height holding control is executed. (Second obstacle distance) The tip of the boom 14 may approach the protrusion 102 until D2 becomes less than the allowable distance Da. When D2 <Da is satisfied in this way, the expansion / contraction command unit 94 transmits the expansion / contraction command signal for executing the obstacle avoidance control in preference to the height holding control, that is, the second obstacle distance D2. An expansion / contraction command signal that increases the safety distance to Dsf (> Da) is generated, and the expansion / contraction command signal is input to the expansion / contraction control valve 54. As a result, the extension speed of the boom 14 is suppressed as compared with the time when the height holding control is executed. In some cases, the extension of the boom 14 is stopped, and the operation of the boom 14 is switched to the contraction operation.

After that, when the distance (first obstacle distance) D1 between the rear first measurement position and the protrusion 102 becomes less than the allowable distance Da, that is, when D1 <Da, the expansion / contraction command unit 94 Further, an expansion / contraction command signal for increasing the first obstacle distance D1 to the safety distance Dsf is generated and input to the expansion / contraction control valve 54. This prevents interference between the tip of the boom 14 and the protrusion 102 at both the second measurement position and the first measurement position, as shown by the alternate long and short dash line in FIG. 1, and the boom 14 Allows the lodging movement to continue safely.

When the boom 14 reaches the maximum contraction state during the execution of the obstacle avoidance control and it becomes impossible to continue the obstacle avoidance control any more, the controller 90 automatically causes the boom 14 to fall down. It is preferable to give a stop command and a warning command to the operator. The operator who receives such a warning can manually avoid the interference between the tip of the boom 14 and the obstacle 100 by moving the lower traveling body 11 backward.

Even during the execution of the obstacle avoidance control, the main winding hook height position control and the auxiliary winding hook height position control are not performed unless the main winding operation and the auxiliary winding operation are given to the main winding and the auxiliary winding operation levers, respectively. Is executed. Therefore, as shown by the alternate long and short dash line in FIG. 1, the vertical distance from the tip of the boom 14 to the grab bucket 28, that is, the bucket suspension distance, is kept constant and the club bucket is concerned. The grab 29 of 28 is kept closed.

When the grab bucket 28 advances to a position directly above the loading platform 112 of the dump truck 110 as shown by the two-dot chain line, the operator stops the undulating operation and the control command operation to the position. The grab bucket 28 can be stationary. Further, the operator applies a supplementary winding operation to the supplementary winding operation lever in this state to raise the supplementary winding hook 30 relative to the main winding hook 20 and the grab bucket 28 hung on the main winding hook 20. Thereby, the opening / closing mechanism (crown) hung on the auxiliary winding hook 30 can be operated to open the grab 29, whereby the contents captured in the grab bucket 28 can be moved to the dump truck 110. Can be loaded into.

The present invention is not limited to the embodiments described above. The present invention also includes, for example, the following forms.

(A) Obstacle Distance Detection Unit The obstacle distance detection unit according to the present invention may be any as long as it can detect the obstacle distance, which is the distance from the boom tip to the obstacle. It is not limited to the combination of the object camera and the image processing device. The obstacle distance detection unit may be one that uses radio waves or ultrasonic waves (for example, millimeter-wave radar) or one that uses light (for example, LiDAR (Light Detection and Ranking)).

The measurement position set at the tip of the boom is not limited to the first and second measurement positions, and may be a single position or three or more positions. The measurement position can be freely set according to the shape and structure of the tip of the boom. For example, the expansion / contraction command unit 94 according to the embodiment is described in a state where the auxiliary sheave frame 19 is detached and the main winding and the auxiliary winding hooks 20 and 30 are directly suspended from the point idler sheaves 26 and 36, respectively. It is preferable that the obstacle avoidance control is performed based only on the first obstacle distance D1.

(B) Height control The expansion / contraction control unit according to the present invention may be any as long as it can execute at least the obstacle avoidance control as “height control”, and the execution of the height holding control is arbitrary. Is. For example, the expansion / contraction control unit according to the present invention basically allows expansion and contraction of the boom based on the expansion / contraction operation given to the expansion / contraction operation device by the operator, and the tip portion of the boom as the boom rotates in the undulating direction. The obstacle avoidance control may be forcibly executed when the obstacle approaches the obstacle.

The height holding control according to the embodiment is to hold the actual boom height at the boom height at the start of control, that is, the initial height, but the height holding control may be input by the operator in advance. The boom height may be maintained at a target height set by an operation or the like.

The means for switching the expansion / contraction control unit between the height control mode and the manual control mode is not limited to the control command switch 60. Similar to the main winding and auxiliary winding command units 96 and 98 according to the above embodiment, the expansion / contraction control unit may automatically switch to the manual control mode when the expansion / contraction operation is given to the expansion / contraction operation device. good.

(C) Main winding hook height position control and auxiliary winding hook height position control In the present invention, the main winding control unit and the auxiliary winding control unit that perform the main winding hook height position control and the auxiliary winding hook height position control are It is optional and at least one of them may be omitted. Further, the control device according to the present invention can also be applied to a crane provided with only the main winding winch among the main winding winch and the auxiliary winding winch. On the contrary, the control device according to the present invention is also applied to a crane further provided with a third winch for hoisting and unwinding a suspended load independently of the main winding winch and the auxiliary winding winch. In this case, it is possible to apply the same control as the main winding hook height position control and the auxiliary winding hook height position control to the third winch.

The main winding hook height position and the auxiliary winding hook height position to be controlled by the main winding control unit and the auxiliary winding control unit are based on the tip of the boom (main according to the embodiment). It is not limited to the winding suspension distance Dm and the supplementary winding suspension distance Ds). At least one of the main winding hook height position and the auxiliary winding hook height position may be based on the ground on which the crane 10 is working. In this way, the control for keeping the height of the main winding hook or the auxiliary winding hook constant from the ground is such that the main winding hook or the auxiliary winding hook is an obstacle on the ground, for example, the dump truck 110 shown in FIG. It makes it possible to automatically prevent interference with and contact with the ground. Unlike the main winding hanging distance Dm and the auxiliary winding hanging distance Ds, the heights of the main winding hook and the auxiliary winding hook from the ground also change depending on the boom undulation angle θb, so that the boom undulation angle θb And the control considering both the boom length Lb is executed. For example, the main winding command unit 96 and the auxiliary winding command unit 98 according to the embodiment geometrically determine the heights of the auxiliary sheaves 27 and 37 from the ground based on the boom undulation angle θb and the boom length Lb. By calculation, it is possible to calculate the height of the main winding hook 20 or the auxiliary winding hook 30 from the ground based on the difference between the height and the hanging distance. Further, the height of the main winding hook 20 or the auxiliary winding hook 30 from the ground may be corrected in consideration of the bending of the boom 14.

Further, the main winding control unit or the auxiliary winding control unit according to the present invention has a mode for controlling the height of the main winding hook or the auxiliary winding hook with respect to the tip of the boom, and the main winding hook or the auxiliary winding with reference to the ground. A mode for controlling the height of the supplementary winding hook may be provided at the same time, and the mode may be switched by an operator operating a mode changeover switch or the like.

(D) Specific Configuration of Each Control Unit Each of the undulation control unit, expansion / contraction control unit, main winding control unit, and auxiliary winding control unit according to the present invention is an electromagnetically operated directional control valve as shown in FIG. It is not limited to the combination of the control valve consisting of the control valve and the command unit that directly inputs the command signal to the control valve. For example, the undulation control unit is a combination of an undulation control valve composed of a pilot-operated hydraulic switching valve and a remote control valve that allows a pilot pressure corresponding to a given undulation operation to be input to the undulation control valve. May be. Further, instead of the directional switching valve having a solenoid as shown in FIG. 3, a pilot-operated hydraulic switching valve, a pilot hydraulic pressure source for generating and outputting a pilot pressure to be input to the hydraulic switching valve, and a pilot hydraulic pressure source. A combination of an electromagnetic pressure reducing valve (for example, an electromagnetic proportional pressure reducing valve) interposed between the hydraulic pressure switching valve and the pilot hydraulic pressure source may be used. Also in this case, each command unit (for example, the expansion / contraction command unit 94) inputs a command signal (for example, expansion / contraction command signal) to the electromagnetic pressure reducing valve to correspond to the hydraulic actuator (for example, the boom expansion / contraction cylinder 18). It is possible to control the operation of.

As described above, it is a control device provided on a crane equipped with an undulating and expandable boom, and it is possible to appropriately limit the height of the tip of the boom according to the actual situation at the site. The device is provided.

What is provided is a control device installed in the crane to control the operation of the crane. The crane has an airframe, a boom that is rotatably supported by the airframe in the undulating direction and can expand and contract in the radial direction of the rotation, and an undulating drive unit that rotates the boom in the undulating direction. And a telescopic drive unit that expands and contracts the boom. The control device includes an undulation operation device, an undulation control unit, an undulation angle detection unit, a boom length detection unit, an expansion / contraction control unit, and an obstacle distance detection unit. The undulation operation device can be provided with an undulation operation for undulating the boom. The undulation control unit operates the undulation drive unit so as to rotate the boom in the undulation direction in response to the undulation operation given to the undulation operation device. The undulation angle detecting unit detects a boom undulation angle, which is an angle in the undulation direction with respect to the reference plane of the boom. The boom length detecting unit detects the boom length, which is the length of the boom. The expansion / contraction control unit is based on the boom undulation angle detected by the undulation angle detection unit and the boom length detected by the boom length detection unit, and is said to accompany the rotation of the boom in the undulation direction. The expansion / contraction drive unit is operated so as to expand / contract the boom. The obstacle distance detecting unit detects the obstacle distance, and the obstacle distance is the actual distance between the tip of the boom and the obstacle located above the crane. The expansion / contraction control unit can execute height control for controlling the height of the tip portion of the boom during the rotation of the boom in the undulating direction. The height control includes an obstacle avoidance control, and the obstacle avoidance control controls the telescopic drive unit so as to keep the obstacle distance detected by the obstacle distance detection unit at a preset allowable distance or more. It is a control to operate.

By executing the obstacle avoidance control, the expansion / contraction control unit performs an actual relative position between the obstacle and the tip of the boom regardless of the height and shape of the actual obstacle or the bending of the boom. It is possible to reliably and automatically prevent interference between the two based on the relationship. Further, unlike the conventional method of avoiding an obstacle by relying exclusively on the input of the limit value for limiting the height of the boom, the input of the limit value is not always required. Even when the limit value is input, the degree of freedom of the limit value is high because the prevention of interference with obstacles is guaranteed by the control.

Specifically, in the obstacle avoidance control, the expansion / contraction control unit sets the obstacle distance from the allowable distance when the obstacle distance detected by the obstacle distance detection unit is less than the allowable distance. It is preferable that the telescopic drive unit is configured to operate so as to have a large safety distance. This control makes it possible to reliably maintain the distance between the tip of the boom and the obstacle.

The obstacle distance detection unit detects a plurality of obstacle distances from each of the plurality of measurement positions set at the tip of the boom to the obstacle, and the expansion / contraction control unit is the expansion / contraction control unit. In the obstacle avoidance control, it is more preferable that the expansion / contraction drive unit is operated so as to keep all of the plurality of obstacle distances at least the allowable distance. The management of the plurality of obstacle distances from the plurality of measurement positions to the obstacle makes it possible to more reliably prevent the interference between the tip of the boom and the obstacle.

As the height control, the expansion / contraction control unit may be capable of executing height holding control for keeping the height of the tip portion of the boom constant in addition to the obstacle avoidance control. ,preferable. For example, when the obstacle distance detected by the obstacle distance detecting unit is equal to or greater than the allowable distance, the expansion / contraction control unit controls the height holding, that is, keeps the height of the tip of the boom constant. When the control to expand and contract the boom with the rotation of the boom in the undulating direction is executed so as to keep the boom, and the obstacle distance detected by the obstacle distance detecting unit is smaller than the allowable distance, the boom is executed. It is preferable that the obstacle avoidance control is preferentially executed over the height holding control. When the obstacle distance is equal to or greater than the allowable distance, that is, when the tip of the boom is sufficiently distant from the obstacle, the expansion / contraction control unit executes the height holding control. While the work of moving the tip of the boom in the horizontal direction can be automatically performed, the expansion / contraction control unit maintains the height when the obstacle distance is smaller than the allowable distance. By prioritizing the obstacle avoidance control over the control, it is possible to surely prevent the interference between the tip end portion of the boom and the obstacle. Further, since the execution of the obstacle avoidance control guarantees the prevention of the interference between the boom tip and the obstacle, compared with the case where the setting of the limit value for surely preventing the interference is required as in the conventional case. , It is possible to keep the degree of limitation of the height of the tip of the boom small.

Also in this case, it is preferable that the obstacle distance detecting unit detects a plurality of obstacle distances from each of the plurality of measurement positions set at the tip of the boom to the obstacle. On the other hand, the expansion / contraction control unit executes the height holding control only when any of the plurality of obstacle distances detected by the obstacle distance detection unit is equal to or greater than the allowable distance, and the plurality of obstacles. When at least one of the distances is smaller than the allowable distance, the obstacle avoidance control is prioritized over the height holding control to more reliably prevent the interference between the tip of the boom and the obstacle. be able to.

The control device does not exclude that the expansion / contraction operation of the boom is manually operated. For example, the control device further includes an expansion / contraction operation device that can be given an expansion / contraction operation that is an operation for expanding / contracting the boom, and the expansion / contraction control unit has a manual expansion / contraction control mode for performing manual expansion / contraction control. It may be configured so that it is possible to switch to the height control mode in which the height control is performed. The manual expansion / contraction control is a control for operating the expansion / contraction drive unit so as to expand / contract the boom in response to the expansion / contraction operation given to the expansion / contraction operation device.

In this case, the control device further includes a control command operation unit capable of giving the expansion / contraction control unit a control command operation for performing the height control, and the expansion / contraction control unit is the control command operation unit. It is preferable that the height control mode is switched only when the control command operation is given to. This means that the height control is executed only when the operator gives the command operation to the control command operation unit, that is, only when the operator has a clear intention to execute the height control. Enables.

It is up to you whether to give priority to the manual expansion / contraction control or the height control when the expansion / contraction operation is given to the expansion / contraction operation device. The latter is prioritized by executing the obstacle avoidance control regardless of the expansion / contraction operation when the obstacle distance is smaller than the allowable distance even if the expansion / contraction operation is given to the expansion / contraction operation device. It makes it possible to reliably prevent interference between the tip of the boom and obstacles while respecting the operator's will. On the contrary, giving priority to the former, that is, giving priority to executing the manual expansion / contraction control when the expansion / contraction operation is given makes it possible to use the expansion / contraction operation device as a mode selection means. This eliminates the need for a special operating device for selecting the control mode of the expansion / contraction control unit.

It is preferable that the undulating drive unit and the expansion / contraction drive unit are each operated by hydraulic pressure. Specifically, the undulating drive unit preferably includes an undulating actuator which is a hydraulic actuator that operates to move the boom in the undulating direction by receiving the supply of hydraulic oil, and the expansion / contraction drive unit operates. It is preferable to include a telescopic actuator which is a hydraulic actuator that operates to expand and contract the boom by receiving the supply of oil. In this case, the undulation control unit preferably includes an undulation control valve and an undulation command unit. Upon receiving the input of the undulation command signal, the undulation control valve opens and closes so as to change the direction and flow rate of the hydraulic oil supplied to the undulation actuator according to the undulation command signal. The undulation command unit generates the undulation command signal that causes the undulation drive unit including the undulation actuator to perform an operation corresponding to the undulation operation, and inputs the undulation command signal to the undulation control valve. Similarly, the expansion / contraction control unit preferably includes an expansion / contraction control unit and an expansion / contraction command unit. Upon receiving the input of the expansion / contraction command signal, the expansion / contraction control unit operates to open / close so as to change the direction and flow rate of the hydraulic oil supplied to the expansion / contraction actuator according to the expansion / contraction command signal. The expansion / contraction command unit generates the expansion / contraction command signal for executing the obstacle avoidance control, and inputs the expansion / contraction command signal to the expansion / contraction control valve. It is more preferable that the expansion / contraction command unit can also generate the expansion / contraction command signal for executing the height holding control and the manual expansion / contraction control.

The crane is mounted on a main winding wire rope, a main winding hook suspended from the tip of the boom via the main winding wire rope, and a position away from the tip of the boom in the crane. Further, a main winding winch capable of performing a winding operation of raising the main winding hook by winding the winding wire rope and a winding operation of lowering the main winding hook by unwinding the main winding wire rope. It is also possible to prepare. In this crane, the control device further includes a main winding control unit, which is a position in the height direction of the main winding hook during execution of the height control by the expansion / contraction control unit. It is preferable that the main winding hook position control for operating the main winding winch is performed so as to keep the winding hook position constant. The main winding control unit automatically suppresses the change in the position of the main winding hook in the height direction due to the expansion / contraction operation of the boom or the rotation operation in the undulating direction, thereby reducing the burden on the operator. be able to.

The main winding hook position may be a relative position (that is, a hanging length) of the main winding hook with respect to the tip end portion of the boom, or a relative position of the main winding hook with respect to the ground with which the crane is in contact. It may be (that is, the height from the ground). The former position control can prevent the main winding hook from rising to the boom tip portion due to the expansion / contraction operation of the boom, that is, overwinding or excessive descent of the main winding hook. To. The control of the latter position prevents the downward rotation of the boom, that is, the inconvenience caused by the excessive descent of the main winding hook due to the lodging motion and the contracting motion, for example, contact with the ground or other obstacles. To enable.

The control device does not exclude that the winding and lowering operations of the main winding hook are manually performed as in the expansion and contraction operation of the boom. For example, the control device further includes a main winding operator capable of being given a main winding operation, which is an operation for operating the main winding winch, and the main winding control unit is attached to the main winding operator. It is possible to switch between a manual main winding mode that executes manual main winding control that operates the main winding winch according to the given main winding operation and a main winding hook position control mode that controls the main winding hook position. It may be configured as follows.

Similar to the undulating drive unit and the expansion / contraction drive unit, the main winding winch is also preferably operated by hydraulic pressure. Specifically, the main winding winch is a main winding that is a winch drum that can rotate so as to wind and unwind the main winding wire rope, and a hydraulic motor that rotates the winch drum by being supplied with hydraulic oil. Those including a motor are suitable. In this case, the main winding control unit preferably includes a main winding control valve and a main winding command unit. Upon receiving the input of the main winding command signal, the main winding control valve opens and closes so as to change the direction and flow rate of the hydraulic oil supplied to the main winding motor according to the main winding command signal. The main winding command unit generates the main winding command signal for executing the main winding hook position control, and inputs the main winding command signal to the main winding control valve. The main winding command unit may further generate the main winding command signal for executing the manual main winding control.

The crane includes a supplementary winding wire rope arranged at a position different from the main winding wire rope, a supplementary winding hook suspended from the tip of the boom via the supplementary winding wire rope, and the crane. It is mounted at a position away from the tip of the boom, and the winding operation of raising the supplementary winding hook by winding the supplementary winding wire rope and the winding operation of lowering the supplementary winding hook by feeding out the supplementary winding wire rope. It is also possible to further include a supplementary winding winch capable of performing the operation, and the control device can be applied to such a crane. In this case, the control device further includes a supplementary winding control unit, and the supplementary winding control unit is a position in the height direction of the supplementary winding hook during execution of the height control by the expansion / contraction control unit. It is preferable that the auxiliary winding hook position control for operating the auxiliary winding winch is performed so as to keep the hook position constant. Similar to the main winding hook, the auxiliary winding control unit automatically suppresses the change in the height position of the auxiliary winding hook due to the undulating operation and the expansion / contraction operation of the boom, thereby. The burden on the operator can be reduced.

Claims (15)

1. The airframe, a boom that is rotatably supported by the airframe in the undulating direction and can expand and contract in the radial direction of the rotation, an undulating drive unit that rotates the boom in the undulating direction, and the boom. It is a control device provided in a crane equipped with a telescopic drive unit for expanding and contracting, and controlling the operation of the crane.
   An undulation manipulator that can be given an undulation operation to undulate the boom,
   An undulation control unit that operates the undulation drive unit so as to rotate the boom in the undulation direction in response to the undulation operation given to the undulation operation device.
   An undulation angle detection unit that detects a boom undulation angle, which is an angle in the undulation direction with respect to the reference surface of the boom.
   A boom length detecting unit that detects the boom length, which is the boom length, and a boom length detecting unit.
   Based on the boom undulation angle detected by the undulation angle detection unit and the boom length detected by the boom length detection unit, the boom is expanded and contracted as the boom rotates in the undulation direction. The expansion / contraction control unit that operates the expansion / contraction drive unit,
   An obstacle distance detecting unit for detecting an obstacle distance, which is an actual distance between the tip of the boom and an obstacle located above the crane, is provided.
   The expansion / contraction control unit can execute height control for controlling the height of the tip portion of the boom while the boom is rotating in the undulating direction, and the height control is the obstacle distance. A crane control device including an obstacle avoidance control that operates the telescopic drive unit so as to keep the obstacle distance detected by the detection unit at or above a preset allowable distance.
2. The crane control device according to claim 1, wherein the expansion / contraction control unit is used when the obstacle distance detected by the obstacle distance detection unit in the obstacle avoidance control is less than the allowable distance. A crane control device configured to operate the telescopic drive unit so that the obstacle distance is a safe distance larger than the allowable distance.
3. The crane control device according to claim 1 or 2, wherein the obstacle distance detecting unit is a plurality of obstacles from each of a plurality of measurement positions set at the tip of the boom to the obstacle. The expansion / contraction control unit detects a distance, and the expansion / contraction control unit is configured to operate the expansion / contraction drive unit so as to keep all of the plurality of obstacle distances at least the allowable distance in the obstacle avoidance control. There is a crane control device.
4. The control device for a crane according to claim 1 or 2, wherein the expansion / contraction control unit executes height holding control when the obstacle distance detected by the obstacle distance detection unit is equal to or greater than the allowable distance. However, the height holding control is a control that expands and contracts the boom with the rotation of the boom in the undulating direction so as to keep the height of the tip of the boom constant, and is controlled by the obstacle distance detecting unit. A crane control device configured to preferentially execute the obstacle avoidance control over the height holding control when the detected obstacle distance is smaller than the allowable distance.
5. The control device for a crane according to claim 4, wherein the obstacle distance detecting unit determines a plurality of obstacle distances from each of a plurality of measurement positions set at the tip of the boom to the obstacle. The expansion / contraction control unit executes the height holding control only when any of the plurality of obstacle distances detected by the obstacle distance detection unit is equal to or greater than the allowable distance. A crane control device configured to preferentially execute the obstacle avoidance control over the height holding control when at least one of the plurality of obstacle distances is smaller than the allowable distance.
6. The crane control device according to any one of claims 1 to 5, further comprising an expansion / contraction operation device capable of being provided with an expansion / contraction operation which is an operation for expanding / contracting the boom, and the expansion / contraction control unit is provided. A manual expansion / contraction control mode in which the expansion / contraction drive unit is operated so as to expand / contract the boom in response to the expansion / contraction operation given to the expansion / contraction operation device, and a height control mode in which the height control is performed. A crane control device that is configured to be able to switch to and.
7. The control device for a crane according to claim 6, further comprising a control command operation unit capable of giving the expansion / contraction control unit a control command operation for performing the height control, and the expansion / contraction control unit is provided. A crane control device configured to switch to the height control mode only when the control command operation is given to the control command operation unit.
8. The undulating actuator according to any one of claims 1 to 7, wherein the undulating drive unit is a hydraulic actuator that operates to move the boom in the undulating direction by receiving a supply of hydraulic oil. The expansion / contraction drive unit includes a expansion / contraction actuator which is a hydraulic actuator that operates to expand / contract the boom by receiving a supply of hydraulic oil, and the undulation control unit receives an input of an undulation command signal. An undulation control valve that opens and closes to change the direction and flow rate of hydraulic oil supplied to the undulation actuator in response to the undulation command signal, and an operation corresponding to the undulation operation on the undulation drive unit including the undulation actuator. The expansion / contraction control unit includes an undulation command unit that generates an undulation command signal and inputs the undulation command signal to the expansion / contraction control valve. An expansion / contraction control valve that changes the direction and flow rate of the supplied hydraulic oil according to the expansion / contraction command signal, and expansion / contraction that generates the expansion / contraction command signal for executing the obstacle avoidance control and inputs it to the expansion / contraction control valve. A control device for the crane, including a command unit.
9. The crane control device according to any one of claims 1 to 8, wherein the crane includes a main winding wire rope and a main winding hook suspended from a tip end portion of the boom via the main winding wire rope. , The main winding hook is mounted at a position away from the tip of the boom in the crane, and the main winding hook is lifted by winding the main winding wire rope and the main winding wire rope is unwound. The control device further includes a main winding control unit, and the main winding control unit is the expansion / contraction control unit. It is configured to control the main winding hook position to operate the main winding winch so as to keep the main winding hook position, which is the position in the height direction of the main winding hook, constant during the execution of the height control. Crane control device.
10. The control device for a crane according to claim 9, further comprising a main winding operator capable of being given a main winding operation, which is an operation for operating the main winding winch, and the main winding control unit is provided. A manual main winding mode for executing a manual main winding control for operating the main winding winch in response to the main winding operation given to the main winding operator, and a main winding hook position control mode for performing the main winding hook position control. A crane control device that is configured to be switchable to.
11. The control device for a crane according to claim 9 or 10, wherein the main winding winch is supplied with a winch drum that can rotate to wind and unwind the main winding wire rope, and hydraulic oil. The main winding motor, which is a hydraulic motor for rotating the winch drum, is included, and the main winding control unit receives the input of the main winding command signal to supply hydraulic oil to the main winding motor. A main winding control valve that opens and closes so as to change the direction and flow rate according to the main winding command signal, and the main winding control valve that generates the main winding command signal for executing the main winding hook position control. Input to the main winding command section, including the crane control device.
12. The crane control device according to any one of claims 1 to 8, wherein the crane includes a main winding wire rope and a main winding hook suspended from a tip end portion of the boom via the main winding wire rope. , The main winding hook is mounted at a position away from the tip of the boom in the crane, and the main winding hook is raised by winding the main winding wire rope and the main winding hook is unwound. A main winding winch capable of performing a winding operation for lowering the main winding, a supplementary winding wire rope arranged at a position different from the main winding wire rope, and a supplementary winding wire rope from the tip of the boom via the supplementary winding wire rope. The supplementary winding hook that is suspended by the crane, and the winding operation and the supplementary winding wire rope that are mounted at a position away from the tip of the boom in the crane and that raise the supplementary winding hook by winding the supplementary winding wire rope. Further includes a supplementary winding winch capable of performing a winding operation of lowering the supplementary winding hook by paying out, the control device further includes a supplementary winding control unit, and the supplementary winding control unit is described. While the expansion / contraction control unit is executing the height control, the auxiliary winding hook position control for operating the auxiliary winding winch so as to keep the auxiliary winding hook position, which is the position in the height direction of the auxiliary winding hook, constant. A rope control device that is configured.
13. The crane control device according to any one of claims 9 to 11, wherein the crane has an auxiliary winding wire rope arranged at a position different from the main winding wire rope and the tip of the boom. A winding hook suspended via a supplementary winding wire rope and a hoisting operation in which the supplementary winding hook is raised by winding the supplementary winding wire rope mounted at a position away from the tip of the boom in the crane. Further, the auxiliary winding winch capable of performing a winding operation of lowering the auxiliary winding hook by feeding out the auxiliary winding wire rope is further provided, and the control device further includes a auxiliary winding control unit and the auxiliary winding control unit. The winding control unit operates the auxiliary winding winch so as to keep the auxiliary winding hook position, which is the position in the height direction of the auxiliary winding hook, constant during the execution of the height control by the expansion / contraction control unit. A crane control device that is configured to perform position control.
14. The control device for a crane according to claim 12 or 13, further comprising a supplementary winding operator capable of being provided with a supplementary winding operation which is an operation for operating the supplementary winding winch, and the supplementary winding control unit. Is a manual auxiliary winding mode for executing a manual auxiliary winding control for operating the auxiliary winding winch in response to the auxiliary winding operation given to the auxiliary winding operator, and a auxiliary winding hook position control for performing the auxiliary winding hook position control. A crane control device that is configured to be switchable between modes.
15. The control device for a crane according to any one of claims 12 to 14, wherein the auxiliary winding winch is a winch drum that can rotate to wind and unwind the auxiliary winding wire rope, and supplies hydraulic oil. A supplementary winding motor, which is a hydraulic motor for rotating the winch drum, is included, and the supplementary winding control unit is supplied to the supplementary winding motor by receiving an input of a supplementary winding command signal. The auxiliary winding control valve that opens and closes so as to change the direction and flow rate of the hydraulic oil according to the auxiliary winding command signal, and the auxiliary winding command signal for executing the auxiliary winding hook position control are generated. A crane control device, including an auxiliary winding command unit that inputs to the winding control valve.

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