AU618900B1 - Crane safety apparatus - Google Patents

Abstract

A crane safety apparatus for displaying a schematic diagram of a part of a crane mechanism on a two-dimensional screen dynamically as the crane mechanism is operated, and displaying on the same screen a predetermined operation zone as a visually discriminative zone pattern. The operation zone pattern is displayed on the screen in response to the key command by an operator during a selected crane operation mode, while referring to the schematic crane mechanism diagram currently displayed on the screen. <IMAGE>

Description

7 618900 S F Ref: 132550 FORM COMMONWEALTH i AUSTRALIA PATENTS ACT 1952 COMPLETE SPECIFICATION

(ORIGINAL)

FOR OFFICE USE: Class Int Class 69 Complete Specification Lodged: Accepted: Published: Priority: Related Art:

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i Name and Address of Applicant: Address for Service: Kato Works Co., Ltd.

9-37, Higashiohi 1-chome Shinagawa-ku Tokyo

JAPAN

Spruson Ferguson, Patent Attorneys Level 33 St Martins Tower, 31 Market Street Sydney, New South Wales, 2000, Australia 1 t

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Complete Specification for the invention entitled: Crane Safety Apparatus The following statement is a full description of this invention, including the best method of performing it known to me/us 5845/3 I

ABSTRACT

A crane safety apparatus for displaying a schematic diagram of a part of a crane mechanism on a two-dimensional screen dynamically as the crane mechanism is operated, and displaying on the same screen a predetermined operation zone as a visually discriminative zone pattern. The operation zone pattern is displayed on the screen in response to the key command by an operator during a selected crane operation mode, while referring to the schematic crane mechanism diagram o a currently displayed on the screen.

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SPECIFICATION

CRANE SAFETY APPARATUS FIELD OF THE INVENTION The present invention relates to a crane safety apparatus, and more particularly to a crane safety apparatus having a plurality of image display modes and capable of providing an operator with crane operation status settings and safe operation in accordance with a selected image display o mode.

BACKGROUND OF THE INVENTION a o..o There has been proposed a crane safety apparatus 0oo, (Japanese Patent Publication No.56-47117). According to the function of this crane safety apparatus, various operation parameters (boom length, boom angle, outrigger projection, jib o 0o ooo setting, and the like) for determining the operation status of 0000 o a crane are detected with sensors. A specific load for the o,0 operation status determined by these operation parameters is read from a digital memory which stores therein specific loads a for various operation status, the specific load being o determined in accordance with the specification of a crane.

The accessed specific load is compared with the current actual load. If the actual load becomes near the specific load, a warning is issued, and if it becomes equal to the specific load, the crane operation is automatically stopped. A conventional crane safety apparatus of this type has an indication panel such as shown in Fig.1. The operation status such as crane outrigger projection, jib setting and the like 1p'

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is set by using switches mounted on the indication panel so that values representative of the current boom length, angle and the like are displayed from time to time. A safety meter is mounted on the upper portion of the indication panel. The safety meter displays in the form of bar graph the safety degree of an actual load relative to the specific load for the current crane operation status.

Such conventional technique provides warning and oao automatic stop for the possible overturn, collapse, or failure 0000 t, 0 of a crane. However, there is not provided a function to regulate the operation range of a crane when considering other buildings or the like.

oo Japanese Patent Laid-open Publication No.58-74496 discloses a method of regulating the operation range of a oO tower type crane. According to this method, a crane boom and 0004 an obstacle are schematically displayed on a screen so that it is possible to detect any contact between the boom and obstacle schematically displayed on the screen. In this case, however, for the display of an obstacle, the coordinates of the obstacle on the screen are required to be correctly set, leading to not a simple initial setting of the operation range.

Further, such conventional technique does not provide a function to ensure proper and safe operation at the operation site which an operator cannot visually recognize.

Another problem associated with such conventional technique is that only the safety degree of an actual load relative to the specific load, the safety degree of actual operation, is provided. As a result, an operator cannot recognize sufficiently the danger for the next possible stage and operation.

Furthermore, such conventional technique does not provide a function to selectively display a pattern to be used for a proper crane operation suitable for particular operation contents.

SUMMARY OF THE INVENTION o The crane safety apparatus of this invention has a memory ao o a p.

which stores therein display images for a plurality of crane o ~operation modes. The display image selected by an operator is controlled to indicate the current crane operation status in accordance with the crane operation parameters and operator setting data.

*000 The crane safety apparatus of this invention comprises a rrrr o0 schematic crane mechanism diagram displaying means for o displaying a schematic diagram of a part of the crane OupO mechanism on a screen at the coordinate position determined by Ssignels from sensors, and means including a key group for 9p 0 fixedly displaying a predetermined zone pattern on the screen relative to the already displayed schematic diagram, in accordance with the crane operation status setting entered by an operator by using the key.

In a preferred embodiment of the crane safety apparatus of this invention, while monitoring the safety degree of a crane, a schematic diagram of a part of the crane mechanism is dynamically displayed on the screen. There are provided a main 1- 1.

'i unit CPU and display unit CPU which take partial charges of the operations necessary for the apparatus, to thereby allow a dynamic display of the schematic diagram of the crane mechanism on the screen while tracing a change in operation of the mechanism at high speed.

BRIEF DESCRIPTION OF THE DRAWINGS Fig.1 shows an example of an indication panel of a conventional crane safety apparatus; oo0 a Fig.2A is a block diagram showing the fundamental 0000 o structure of the apparatus according to this invention; 00 0 o Fig.2B shows an example of a specific load data curve S stored in the apparatus of this invention; Fig.2C is a block diagram showing a particular structure of the apparatus of this invention; 0.00Fig.3 shows a display pattern on the screen during an o 0 operation status setting mode according to the apparatus of this invention; o 00 ua mFig.4A shows a display pattern on the screen during an automatic safety monitor mode according to the apparatus of 00 o this invention; Fig.4B shows illustrative representations of the causes of automatic stop to be displayed on the screen according to the apparatus of this invention; shows a display pattern on the screen during an operation range setting mode according to the apparatus of this invention; Fig.6 shows a display pattern on the screen during a target mode according to the apparatus of this invention; Fig.7 shows a display pattern on the screen during a limit load slewing angle mode according to the apparatus of this invention; Fig.8 shows a display pattern on the screen during a performance curve display mode according to the apparatus of this invention; Fig.9 shows a part of the crane total specific load table; Fig.9B shows a display pattern on the screen during a <o performance table display mode according to the apparatus of a' 0 this invention; c000 0 Fig.10 is a main flow chart showing the operation sequence of the main unit; Fig. 11 is a flow chart showing a hard interrupt from the 0000 main unit; Fig. 11 is a flow chart showing a soft interrupt from the 0000 main and display units; Fig.13 is a main flow chart showing the operation sequence of the display unit; Fig.14 is a flow chart showing the processings of respective display modes in the main flow chart for the display unit; is a flow chart showing the hard interrupt from the display unit; and Fig.16 is a timing chart for signals related to timer interrupt.

DESCRIPTION OF EMBODIMENT FUNDAMENTAL STRUCTURE OF APPARATUS The fundamental structure of the crane safety apparatus of this invention is shown in Fig.2A. The crane safety apparatus is constructed of a main unit A and a display unit B. During the operation of the apparatus, commands and data are transferred between a main unit CPU and a display unit

CPU.

Upon power-on, the crane operation status (outrigger projection step, jib step and the like) is first required to o o be set. This setting is carried out at the display unit. An operator selects an operation status setting mode from a o 00~ S plurality of display modes to display a display indication (image) such as shown in Fig.3 on a display B" screen, and operates predetermined keys on a setting key group B' while monitoring the display B" screen. The display unit has a 0 0 o o memory which stores therein graphics data for display images such as shown in Fig.3. In accordance with a display control 0 *0 program in a ROM, CPU selectively reads a display image shown in Fig.3 from the memory, writes it in a video RAM, and displays the display image on the display B" screen in accordance with the data read from the video RAM. The display unit CPU fetches the data of outrigger step setting and the like entered from a setting key by an operator, modifies the display image so as to match the setting data, and supplies the setting data as data DB to the main unit A. Upon setting completion in the operation status setting mode, the display unit enters an automatic crane safety monitor mode and displays a display image such as shown in Fig.4A on the display B" screen. The graphics data for the display image such as shown in Fig.4A have already been stored in the memory, so CPU executes a selective read and display of the graphics data.

In addition to the crane operation status setting data DB supplied from the display unit B, the main unit A obtains from a sensor group A' the operation parameter data (such as boom length) boom angle 6, slewing angle representative of the of 0h o::o operation status of the crane mechanism which changes from time to time as the crane is operated. These operation parameters are sent directly, or after processed by CPU, to oo the display unit B as data A. The display unit B modifies from time to time the display image on the display B" screen in accordance with the data A, to thereby display the current rroo .0a operation status of the crane.

ooa The main unit A stores various data in accordance with S0 each crane specification. Such data are typically maximum specific loads for various crane operation status. For S example, a total specific .oad curve shown in Fig.2B is used oug for the operation status settings such as with outrigger intermediate projection of (5.0 m side direction), without jib, and with boom length of 8.9 m. Such a total specific load curve is determined for each of different operation status settings and boom lengths, in accordance with each crane specification. A great number of these data are stored in ROM of the main unit A.

In accordance with the crane operation status setting data DB supplied from the display unit B and the crane operation status parameters changing with time supplied from the sensor group the main unit A accesses ROM to obtain the maximum specific load data for the crane operation status at that time, or compares the maximum load value obtained by I processing the data with the actual load and if the current crane operation status is in a danger zone, a warning is K issued, or/and delivers a signal for controlling the crane mechanism A" for automatic stop of the crane operation.

o In the memory of the display unit B, there are stored a plurality of display image graphics data corresponding to a plurality of display modes. A display image such as shown in 04 to 9 is selected in accordance with the display mode selected by a setting key. In addition to the automatic crane safety monitor display mode shown in Fig.4 conventionally S provided in general, an operator can use other display modes tto set the operation contents of a crane and monitor it for the effective crane operation. The operation of other display modes will be later detailed.

SI The main unit A and display unit B each have a processor (CPU), and they run independently on its own program.

Transmission/reception of commands and data between the main unit A and display unit B is allowed by an interrupt process.

PARTICULAR STRUCTURE OF APPARATUS Referring to Fig.2C, the main unit CPU 200 receives the actual load data from a stress sensor 201, and other crane operation parameter data from a slewing angle sensor 202, boom length sensor 203, boom angle sensor 204, boom top v. angle sensor 205, jib v. angle sensor 206, and stress sensor 208 respectively disposed at various positions of the crane. The data from the sensors 205 and 206 disposed at the top of the boom are collected to a top terminal 207 at the boom distal end, sent to a cord reel 210 at the boom distal end via an optical fiber cable 209, subjected to photoelectric conversion at the cord reel, and sent to the main unit CPU 200. The display unit CPU 211 is powered from the main unit CPU 200 via a line 217. Commands and data are transferred via bilateral moa So serial lines 214 and 215 between the display unit CPU and main o unit CPU 200. The display 212 is a matrix type dynamic drive o0 liquid crystal display (LCD). An LCD is more preferable than 0 other CRT, LED, plasma display and the like because the crane is generally used in outdoors and because it allows a clear o o display image even under strong sun light. During the night, 0004 0 LCD 212 is provided with back illumination. The setting key o o switch group includes a plurality of touch keys corresponding in number to a plurality of items to be set.Signals for 0 controlling the crane mechanism are outputted to a plunger 218, magnetic valve or the like.

Modes of Display Unit Operation Status Setting Mode Referring to Fig.3, after the power is turned on, the display unit CPU automatically enters the operation status setting mode, and displays the image such as shown in Fig.3.

This mode is indicated at 301. Numerals generally indicated at 302 represent the boom status and they are flashing. When an

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operator sets desired numerals, they stop flashing and become always illuminated. First, in order to select a desired boom operation status, one of the ten keys on a touch panel 310A is depressed. Numeral 0 stands for the case of using only the main boom without using the jib and rooster, numeral 1 stands for the case of using the jib with one step, numeral 3 stands for the case of using the jib with two steps. After completion of the boom operation status setting, numerals will flash to o indicate the rightside outrigger status 303. Numeral 3 0 represents a maximum projection, numeral 2 an intermediate 00 0 o projection, numeral 1 a small projection, numeral 0 a minimum projection, numeral 4 no outrigger mounting, and numeral 5 a running while lifting an object. Similar to the boom operation status setting, an operator selects a desired numeral upon activation of the ten keys on the touch panel 310A. Following S the rightside outrigger setting, the leftside outrigger status 304 is set.

00.. The display unit CPU causes the set numeral to change its display status from flashing to continuous illumination, and sends the set boom and outrigger status data to the main unit

CPU.

Automatic Crane Safety Monitor Mode After completion of the input operation for the operation status mode, the display unit CPU automatically enters the automatic crane safety monitor mode for displaying an image such as shown in Fig.4A. In accordance with the information supplied from the main unit CPU, the display unit CPU displays the current crane operation status, an outrigger setting 404, slewing position 405, operation radius 406, boom angle 407, lifting load 410, lifting distance 409, and boom length 402. The boom length is schematically displayed in the form of bar 403 whose length changes in correspondence with the actual length of the boom.

The safety limit of the current crane operation status is indicated at 411 in the form of bar graph. The numerical representation of the safety limit is indicated at 413. The limit (maximum) load at the current crane operation status is oo indicated at 408. When the crane operation status becomes near o the limit zone (when the bar graph 411 extends to the yellow a pO Szone), a warning is issued. When the status reaches the limit, the crane is automatically stopped. The main unit CPU monitors the actual crane operation status by using the data from various sensors, accesses the memory to obtain the maximum °o limit load for that operation status, and checks if the ao accessed maximum limit load is equal to or smaller than the actual load. If the actual load becomes the maximum limit load for the current crane operation status, the main unit CPU delivers a signal for locking the crane operation mechanism.

During the automatic crane safety monitor mode display, the display unit CPU visually provides an operator a crane operation status. The crane operation status reaches a limit when it has a maximum limit load, or when it has an operation range limit set by an operator (described later with reference to Fig.5). Also in the latter case, a warning is issued and the crane is automatically stoppe).

11 1- One of distinctive features of this embodiment is to display an automatic stop cause 412. If the crane stops automatically during the automatic crane safety monitor display mode, it is difficult for an operator to find at once the cause of automatic stop. The cause of automatic stop is difficult to be found especially for the case of crane turnover or failure caused by overload during the operation, and for the case of crane operation during the automatic crane o, safety monitor mode while setting the crane operation range or S zone (described later with Fig.5). Furt'her, if a predetermined %01 S: length of wire continues to be released over the range of its S length, then a reverse winding of the wire occurs durirng the crane operation. In such a case, an automatic stop is also effected. In the automatic crane safety monitor mode of this embodiment, the cause of automatic stop is illustratively displayed at 412 on the screen.

The illustrative representations of the causes -f automatic stop are shown in Fig.4B to the representations having the following meanings. If there are a ~plurality of automatic stop causes during the automatic crane safety monitor mode, the corresponding number of jrepresentations are displayed on the screen.

Illustrative Causes of Automatic Stop Indications automatic stop for moment (limit load) automatic stop for lower angle autcmatic stop for higher angle automatic stop for most straight standing of boom automatic stop for right slewing automatic stop for left slewing automatic stop for spiraling automatic stop for releasing automatic stop for radius limit automatic stop for lifting distance limit automatic stop for limitation of low angle S(1) automatic stop for limitation of high angle 0000 automatic stop for right slewing limit o 0 0 S(n) automatic stop for left slewing limit 0 00 The cause of automatic stop described above is displayed 000 when certain conditions are satisfied. For example, the cause of automatic stop for moment is assigned, when the actual load is equal to or larger than the limit load and the lever tr operation is in danger side. If the actual load is near the 4tl limit load and an operator causes to turn down or extend the 04 I boom further, or causes the winch to wind up the wire, these lever operations are in danger side. The main unit CPU issues a locking signal in response to these lever operations in danger side, and the display unit CPU displays the illustrative representation Upon the automatic stop, the operator recognizes from the displayed automatic stop cause illustrative representation that the boom cannot be turned down or extended and that the crane can be released from the danger by other operations such as lifting the boom. As above, if the crane is turned down and the actual load exceeds the I i I7 limit load, the crane enters the automatic stop, and the moment automatic stop cause representation is displayed. At this time, upon moving the crane operation lever back to the neutral position, the crane automatic stop is released and the cause representation disappears. In this condition, if the crane operation lever is turned to the boom extension side, the automatic stop is effected again and the moment automatic stop cause is displayed. If the crane operation lever is turned not to the boom extension side but to the boom standing a9 a oO° side, boom compression side or winch winding back side, then Oo the automatic stop and cause display are not effected.

S-C °The crane operation in danger side is different for each *9 C °o automatic stop cause. The main unit CPU has stored data representative of the direction of locking the operation lever, respectively for each crane automatic stop cause. For Cooa example, if the automatic stop is effected because of the boom Cant high limit angle, the main unit CPU supplies to the crane o9 mechanism a signal which locks the operation lever in the 9u99 direction of lifting the boom and allows it to move in the direction of turning down the boom.

In the automatic safety monitor display mode having a number of automatic stop causes, an operator can visually recognize the automatic stop cause so that the crane operation is made very easy.

Operation Range Limit Mode In addition to setting the crane operation range for the crane turnover and failure limit, the boom movable range is also set so as not to make the boom contact with nearby I C i- buildings and the like. It is desirous if a warning is issued or the crane is automatically stopped if the boom is moved in the direction departing from the set movable range. In response to a depression of key A on the touch panel 310B, the display unit CPU enters the operation range limit display mode and displays a screen image such as shown in Fig.5. The operation range limit display mode is indicated at 501. At the right side of the screen, the boom is schematically shown at B, and its distal end represented by a cross is indicated at S° P. The schematically displayed boom B follows the actual boom Smotion, and is controlled by the display unit CPU in o uo accordance with the operation parameters supplied from the main unit CPU. In setting the boom operation radius limit, an operator moves the boom to the limit point (the schematically °O ~displayed boom B also moves to the limit point). Upon o- ~depression of key B on the touch panel 310B, the non-operation range is set at the hatched area at the right of the boom distal end P. The operation radius R is displayed as the operation radius limit value at 507 within a rectangular frame. In addition to the radius limit higher limit of angle lower limit of angle and lifting distance .j limj' may also be set. The characteristic point of this setting is that the boom is actually moved to the limit point and a key is depressed to set the non-operation range, instead of calculating and setting the numerical limit value without moving the boom to the limit point. This method of setting is advantageous in that the operation range can oe determined by moving the actual boom at the field location. The total operation limit range covering all the limits to such as the radius limit and the like is shows as The boom is allowed to move within the area not hatched. Other numerical values representative of the actual boom are also displayed on the screen, the values including boom angle 509, actual radius 508, boom length 506, and lifting distance 505.

At the left of the screen, a boom slewing angle range limit is displayed. A boom B schematically displayed within an area 511 follows the actual boom motion. The boom is moved to S. a boom slewing angle limit point and the boom slewing angle o 0 range limit is set upon activation of a setting key on the 4 touch panel. As the slewing angle range limit, one side of the boom may be set as indicated by or both sides thereof may be set as indicated by The outrigger setting status 512 0o*o previously set is also displayed on the boom slewing display 0oo 0° area.

For reference purpose, a lifting load 503 and maximum load S04 are displayed on the screen.

The contents set during the operation range limit display mode are transferred in the form of numerical data from the display CPU to the main unit CPU. Assuming that the radius limit setting key is depressed under the conditions of the boom length li and the boom anglee the limit radius numerical data obtained is RL li sinti. The display unit CPU displays the hatched area on the right side of R If the boom moves toward the outside of the set operation limit range, the main unit CPU detects it so that a warning is issued or the 1 crane is automatically stopped. An operator can visually recognize the motion of the boom within the allowable operation range as shown at with respect to the nonoperation range. It is a significant advantage that an operator can forecast the next stage boom motion.

Target Display Mode Upon activation of a mode selection key on the touch panel 310B, the display unit CPU enters the target display mode which displays a screen image such as shown in Fig.6.

S° This target display mode is used when an operator cannot see a 0 lifting load from the operator seat of the crane. Target index Smarks 605 and 606 indicated by solid lines in Fig.6 are used for the setting of target points. The side of an innermost square of the target index mark corresponds to an actual length of 15 cm, that of the next square to an actual length o of 30 cm, and that of the outermost square to an actual length of 60 cm. First, the crane is operated to move an actual lifting load to a target location which is set as a first target upon activation of a key on the touch panel 310B. The Sa.

first target is the origin of the coordinate system of the screen. A lifting load position 607 is displayed on the screen at the position apart from the origin by a certain distance.

After setting the first target, an operator can recognize from the screen the positional relation of the lifting load with the target position without seeing the actual lifting load. It is common for a crane operation to slew the crane and transfer a lifting load from the first point to the second point. In i such a case, the target index mark 605 is set at the first poinit, and the target index mark 606 is set at the second point. The index marks 605 and 606 have independent coordinate systems so that the distance between the target index marks 605 and 606 is not related to an actual distance therebetween.

The frames indicated by a dotted line are the effective display area of the coordinate systems of the first and second points, the side of the frame corresponding to an actual i length of, 100 cm. The position of a lifting load within this effective area is represented by mark. Even if the S, lifting load moves outside of this area, the A mark as at i? 607' is displayed while moving along the dotted line so that the direction of the lifting load can be recognized by an operator. While seeing the'r mark on the screen relative to V the target index mark, an operator can continue the transfer operation of the lifting load between the first and second points without actually seeing them.

The numerical values of the distances of thelifting load Sto the first and second points are displayed at the upper area of the screen at 603 and 604. For convenience purpose, the outrigger setting 609 and slewed boom position 608 are displayed at the lower left area of the screen. For reference purpose, there are also displayed a lifting load 612 and maximum load 611. Reference numeral 601 indicates the display mode, and 602 indicates the safety numerical value for the crane operation during this display mode.

The actual position of a lifting load is calculated as lifting load position data at the main unit CPU by using the

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data from various sensors and the data on the crane structure, and the lifting load position data are supplied to the display unit CPU. Upon activation of a touch key on the display unit to set a certain position as the origin of the target index mark 605, the display unit CPU uses the lifting load position data at that time as the origin of the index mark 605. The display unit CPU displays the lifting load position 607 on the screen relative to the target index mark in accordance with a difference between the current lifting load position data and the lifting load position data at the time of setting. If the 0 4, lifting load moves outside of the outermost square of the index mark, the display unit CPU displays the -4 mark along I r the dotted line 613 to indicate the direction of the lifting load position. If the lifting load comes thereafter near the o440o first or second point comes within the outermost square o*Oo of the index mark), then the position is again displayed.

04 An example of the display image shown in Fig.6 provides o two independent two-dimensional target index marks. It is also possible to display three or more index marks, or threeoo dimensional index marks.

Limit Load Slewing Angle Display Mode The lifting load capacity of a crane depends on the posture of the crane structure such as a front, rear, right and left position, so that the boom slewing of the crane should be paid attention. When the display unit CPU enters the limit load slewing angle display mode upon key activation on the touch panel 310B, the display image as shown in Fig.7 1 Jn appears on the screen. A crane is schematically shown at the center on the screen, with the outrigger setting 706 being displayed at 706. A boom is schematically displayed at 705 for indicating the boom slewed position. A cross mark 704 at the distal end of the schematically displayed boom 705 indicates the current distal end of the boom. A solid line A or dotted line B indicates a safety load range area 703. The operation is judged as safe so long as the cross mark 704 is displayed within the area. The safety load range on the screen changes Oa t with the set outrigger conditions. It is convenient for a crane operator to use this mode when the crane is slewed.

P .For reference purpose, there are also displayed on the 0*44 o~ screen, a mode indication 701, safety numerical value 702, boom length numerical value, boom operation status 708, boom angle 709, actual load 710, lifting distance 711, operation radius 712, and maximum load 713.

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Performance Curve Display Mode The typical parameter for a safety crane operation is a i lifting load curve relative to the operation radius as shown in Fig.2B. It is convenient for an operator to know the operation status from this safety index curve. Upon activation of a mode switching key on the touch panel 310OB, the display unit CPU enters the performance curve display mode and displays a display image on the screen as shown in Fig.8. The performance curve is collectively determined from a combination of crane operation parameters such as the outrigger projection state, boom length, use or non-use of

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jib, slewing angle and the like. The main unit CPU uses such operation parameters, accesses the previously stored specific load data relative to the operation radius conforming with each crane specification, and sends the specific load data to the display unit CPU. The display unit CPU displays an operation status performance curve 803 such as shown at the rightside on the screen. A mark at 804 is displayed at the coordinate position determined by the current operation radius 0 oo and actual load. An operator can know the operation margin *on4 from the position of the mark relative to the curve. The o 0 0 S numerical value of a marginal operation radius is displayed at 806 near the mark. This numerical value indication 806 moves a ur as the mark 804 moves so that the operator can easily recognize this value.

o For reference purpcse, during the performance curve o- display mode, there are displayed a current actual load 811, boom slewing status 808, outrigger setting 809, and boom operation status 810.

Performance Display Mode 0 00 There is provided a total specific load table such as shown in Fig.9A which is referred to for the crane safety operation. This table provides specific loads relative to operation radii conforming with each crane specification, when the outrigger setting status and boom length are given. While referring to the table, an operator can judge if, for example, the set outrigger and boom length are sufficient for the lifting load and operation radius of an operation to be carried out. Upon key activation on the touch panel 310B, the display unit CPU displays a display image as shown in Fig.9B.

This mode is referred to for an operation to be carried out so that in this mode the crane is essentially in a stop state. An operator first uses the ten keys 310A to enter the numeral value of a desired boom length in an area 902 where a cursor flashes. During this mode, the entered boom length is not set as an actual boom length value. Thereafter, the flashing cursor moves to an area 903 wherein the numerical value of a ~desired slewing angle is entered. The outrigger status and the ~oO% like have already been set during the previous operation o o e status display mode (Fig.3). Upon input of these values, the o0 4 C display unit CPU receives from the main unit CPU (or the display unit CPU itself may have such data) maximum specific load data Wt for the operation boom angle for the given 444q I conditions, and displays them in a numerical value table 904.

I If the boom length and the like set for a desired operation :o are determined as improper upon reference to the displayed data, the table with these numerical values is reset, and a S new boom length and the like are again entered.

For reference sake, during this mode there are displayed jon the screen a mode indication 901, boom operation status 907, outrigger setting 906, and slewing angle 905.

-Operation Sequence of Apparatus According to the structure of the apparatus of this embodiment, the main unit and display unit each have its own CPU which executes an operation sequence running on a different program. The main unit control section receives the operation parameters from sensors and the operation range setting data from the display unit control section, calculates the actual load, operation radius, limit load and the like for the automatic stop control of the crane mechanism, and sends the calculated data to the display unit. The display unit control section displays the display image for a selected mode in accordance with the data from the main unit control section, modifies the displayed image in accordance with an *qOO o o input- from a setting key, and sends the input setting data to S0 the main unit control section. The main unit and display unit S control sections carry out sequences running independently, so ~the transfer of commands and data therebetween is executed .upon an interrupt.

A program for sequential control of each unit CPU is S stored in ROM. The display unit has a video RAM. Display O~t graphics data for a selected display mode are written in the RAM the contents of which are modified as the crane operation status changes. The graphics data stored in the video RAM are transferred to the display screen to refresh the display o0 14 image, at an interval of 150 ms.

Transmi' sion/reception of data Da and Db by the main unit -relative to the display unit is effected by means of step synchronization (start/stop asynchronous) data communication.

Each time the main unit configures data to be transmitted to the display unit, a transmission request interrupt is generated and the main unit CPU executes the data transmission. The display unit generates a reception request mr I :I I' interrupt to receive the transmitted data.

Transmission/reception of data by the display unit relative to the main unit is performed in the similar manner.

The data representative of the crane operation status from various sensors are received by the main unit CPU from an A/D converter. The main unit CPU receives the sensor data upon reception of a sensor data read request interrupt at a predetermined time interval corresponding to the operation timing of the A/D converter.

00 ao, The display unit checks the key input status at a 00 o predetermined time interval and when a key is depressed the 0 key input data are processed.

a: go" o" A timer interrupt for executing a process at a predetermined time interval is supplied to the main and display unit CPUs to execute the corresponding process.

The display unit CPU writes the graphics data i the a r a a video RAM in accordance with the data given thereto, displays a display image on the screen, and supplies the operation limit setting data and the like to the main unit.

o In accordance with the data given to the main unit, the main unit CPU calculates the boom radius, lifting distance, actual load and limit load, compares them with the performance data determined in accordance with each crane specification, and outputs a control signal to be used, for automatically stopping the crane.

Main Unit Operation Sequence In response to power-on of the apparatus or activation of a reset key, the main unit executes the main flow sequence from Sla to S6a shown in At the first step Sla, the apparatus is checked if it is in a proper state, and the initial procedure is executed to set the CPU for ensuring the correct operation of the following sequence. Prior to this initial procedure, an interrupt is inhibited, and after the initial procedure, the interrupt inhibition is released at step S2a.

At the next step S3a, it is checked if there are data to be transmitted to the display unit, and data to be received from the display. If there are data, the transmission/reception of the data is effected. The 0*r transmitted data are received by the main unit in accordance with a hard interrupt routine in the similar manner to receiving data from sensors.

So-o The received and processed data are subjected to various 0 ~arithmetic operations at step S4a. Specifically, there are obtained crane operation parameters such as an actual load, 00*4 boom radius, lifting distance and the like in accordance with the boom length, boom angle, stress and the like, and a limit 4 0 load in accordance with the parameters and limit load data previously stored in accordance with a crane specification.

4 Using the arithmetic operation results at step S4a, the safety degree of the crane operation is calculated, the set operation limit value is compared with the crane operation status, and an automatic stop process is executed at step if the crane cperation is in danger or at an operation limit.

After the above sequence steps, the main unit CPU enters

Y

a HALT state at step S6a. The main unit CPU receives a hard interrupt by an external interrupt request (IREQ) such as data fetch, and executes an interrupt processing (the contents of Fig.11). After the interrupt processing, the flow returns to the loop start point. If there is no hard interrupt, the main unit CPU remains at step S6a. Although the hard interruption is shown in Fig.10O as present between step S6a and the loop start point, it may be provided at any step from step S3a to S6a.

O In the main flow, data reception by the main unit and data transmission to the display unit are effected upon reception of an interrupt. When new data are received or I 0 transmitted once, there are executed a series of operations i cluding data transmission/reception with the display unit, data arithmetic operation, and automatic stop process.

An interrupt routine (Fig.11) starts upon reception of a o hard interrupt. The interrupt routine started by a hard interrupt includes data reception/transmission, and soft interrupt routines 1 and 2 (Fig.12). Each time a hard a interrupt is received, data reception/transmission is carried out. If the amount of data becomes one block size after a predetermined number of hard interrupt data receptions/transmissions, a soft interrupt 1 start (activation) flag is set. As the soft interrupt 1 start flag is set, the soft interrupt 1 processing of the interrupt routine is executed and a soft interrupt 2 start flag is set.

As the soft interrupt 2 start flag is set, the soft interrupt 2 processing is executed.

L-;;I

i The hard interrupt, soft interrupts 1 and 2 therefore have a hierarchic structure. Data reception which is processed in a short time is performed by a hard interruption, and during this processing another hard interrupt is inhibited. A processing which requires a longer time is performed by the soft interrupt 1, and a processing which requires a further longer time is performed by the soft interrupt 2. The hard interrupt is allowed while executing the soft interrupt so that the interrupt inhibition time is oo0 a 0o shortened, resulting in high speed data input/output processing.

o 00 o Referring to Fig.11, upon reception of a hard interrupt 0000 0 1 by the main flow shown in Fig.10, another interrupt is inhibited at step Slb. The type of interrupt is checked at steps S2b to S9b if it is an interrupt of 0000 reception/transmission from/to the display unit, an interrupt 0000 0000 0 of reception from sensors, or a timer interrupt. In accordance S with the discriminated type, the corresponding hard interrupt 0000 processing is executed. Specifically, the data received from the display unit are stored in a temporary storage area, the 0 o 0 0 data to be transmitted to the display unit are transferred from the temporary storage area to the transmitter and transmitted to the display unit, or the data received from sensors are stored in the temporary storage area. If the total data reception/transmission amount becomes one block after a certain number of hard interrupts, the soft interrupt 1 start flag is set.

27 Upon completion of the soft interrupt processing, the soft interrupt 1 sequence S3b starts (Fig.12). After this soft interrupt 1 sequence, it returns to the main flow shown in

(RETO).

Referring to Fig.12, at the soft interrupt 1 sequence, the soft interrupt 1 on-processing flag is checked (step Sic).

If the flag is not set and the processing is not executed, then it is checked if the soft interrupt 1 start flag is set (step S2c). If the flag is not set because of the data amount to be processed is insufficient, the flow advances to step S8c. If the soft interrupt 2 is not processed and the soft interrupt 2 start flag is not set, the flow advances via steps a 00 S9c and SlOc to step S16c. At this step S16c, the contents of the status setting register are recovered and the interrupt inhibition set at step Slb shown in Fig.11 is released, to thereafter return to the main flow shown in Fig.10 (RETO).

The above case illustrates that a hard interrupt occurs at the main flow, the data are received at step S3b shown in S Fig.11, and the flow returns to the main flow.

If the soft interrupt start flag is set at step S2c shown in Fig.12, the soft interrupt 1 on-processing flag is set (step S3c). Since a hard interrupt is allowed during the soft interrupt 1 processing, the interrupt inhibition set at step S1b shown in Fig.11 is released (step S4c), and thereafter the soft interrupt 1 processing is executed (step S5c). During the soft interrupt 1 processing, the soft interrupt 1 start flag is reset and if the conditions are met the soft interrupt 2 start flag is set. After executing the soft interrupt 1 processing, the hard interrupt inhibition is again effected (step S6c) and the soft interrupt 1 on-processing flag is reset (step S7c), to return to the loop start point at step S2c. At this time, the soft interrupt 1 start flag is being reset, the flow advances from step S2c to step S8c for the soft interrupt 2 processing. At step S8c, if the soft interrupt 2 processing is not executed and the soft interrupt 2 start flag is not set, then the flow advances via steps S9c and S1 Oc to step S1 6c whereat the contents of the status setting register at the start of the interrupt are recovered 0. and the interrupt inhibition set at step S5c is released, to S return to the main flow shown in Fig.1 0 (RETO).

The above case illustrates that data are received upon 00 o occurrence of a hard interrupt, the data amount becomes one block, the soft interrupt 1 start flag is set, the soft I interrupt 1 processing for the one data block is executed, and 0 the flow returns to the main flow.

Since a hard interrupt is allowed during the soft interrupt 1 processing of the soft interrupt sequence, it can be accepted during the soft interrupt 1 processing at step When a hard interrupt occurs during the soft interrupt 1 processing at step S5c, the hard interrupt routine is effected so that the data are received at steps S1b to S3b shown in Fig.11. Thereafter, the flow advances to step Sic and to step S17c shown in Fig.12 to recover the contents of the register and release the interrupt inhibition, and returns (RET1) to the intercepted point at step S5c to thereby resume the soft 1 in~ interrupt 1 processing. In the above manner, data can be received by a hard interrupt even during the soft interrupt 1 processing.

It is assumed that the soft interrupt 2 start flag is set during the soft interrupt 1 processing. In this case, after the soft interrupt 1 processing is completed and the soft interrupt 1 start flag is reset, the flow advances from step S2c to step S8c for the soft interrupt 2 processing sequence.

If the soft interrupt 2 processing is not being executed, the flow advances from step S9c to S10c, and to steps S10'c, S11c, 000* °.oS S12c, S13c and S14c for executing the soft interrupt 2 processing and returning to the loop start point. At this o #0 time, since the soft interrupt 2 start flag is being reset, the flow returns via step S1 6c to the main flow (RETO) to terminate a series of interrupts.

A hard interrupt is also allowed during the soft interrupt 2 processing as during the soft interrupt 1 processing. If a hard interrupt occurs during the soft interrupt 2 processing, data are received at the flow shown in Fig.11, and the flow advances via steps Sic, S2c, S8c and S9c to step S1 5c whereat the contents of the register are recovered and the interrupt inhibition is released to return (RET2) to the intercepted point of the soft interrupt 2 processing at step S12c.

Display Unit Operation Sequence The main flow for the display unit is shown in Fig.13.

After performing an initial procedure at step Sid in order to ensure a proper execution of the following sequence, an interrupt inhibition is released at step S2d.

To display the crane operation status which changes from time to time on the screen, the graphics image data for a selected display mode are written in the video RAM. The graphics image data are read from the video RAM at a predetermined time interval, of 150 ms to drive the display and refresh the display image on the screen. In this embodiment, the graphics image data are stored in the video RAM as the numerical values of coordinate points at both ends o of each line segment constituting the display image. If a o0:. display refresh flag or indication update flag is being set at o step S3d, the data in the video RAM are sent to the display to refresh the display image at step After the power-on or resetting, the initial display data stored in the video RAM at the initial procedure are displayed. The display unit CPU then enters a HALT state and *.se S does not execute the next instruction until a hard interrupt 9045 Sis received.

It, A hard interrupt to the display unit CPU is generated by a timer interrupt and a data transmission/reception request with respect to the main unit CPU. The setting information or transmission/reception data are received or transmitted according the type of interrupt After the interrupt processing, the flow returns to the main flow and executes the processing corresponding to a selected mode. The mode processings are always activated by a hard interrupt which is also allowed during the mode processing. A hard interrupt is inhibited only while a hard interrupt processing which requires a short time is executed.

After a predetermined lapse of the operation start of the display unit, an operation status input mode flag is automatically set by a timer interrupt (Fig.15). After completion of the timer interruption processing, a judgement step Sle shown in Fig.14 is performed and the operation status input mode processing routine is executed at step S2e. At this routine, the graphics image data for the operation status input display image are written in the video RAM, and 4 thereafter the flow returns to the loop start point at step S3d. Next, at steps S3d and S5d, the display unit CPU transfers the graphics image data for the operation status D o input display image to the display screen to display it. Then, the display unit CPU stops. An operator depresses a setting key for the jib step while monitoring the display image, and the jib setting data are read by the display unit CPU. Next, the display unit CPU modifies the graphics image data in the 0 4 video RAM in accordance with the jib step setting data. The graphics data for the input operation status modified and stored in the video RAM are then displayed on the screen at steps S3d and The mode processing at step S2e performs the abovedescribed display image processing as well as other processing such as storing the transmission data of the main unit in the temporary storage area.

The contents of processings at steps S3e to S14e are different for each mode.

-i The key data is read at a predetermined time interval by using the timer interrupt, and when a key is depressed, the corresponding processing is executed.

The soft interrupt flow for the display unit has the same sequence as of the main unit soft interrupt flow shown in Fig.12, although the contents of each step are different.

Contents of Each Processing The contents of the reception and transmission processings are each divided in the following three processes.

oO Reception Processing Serial data sent from the main (display) unit are sequentially stored in a designated buffer S area. When one block data are received, the data are checked o a and if they are not abnormal, a start flag at Reception Processing is set. This reception processing is effected by a hard interrupt shown in Figs.11 and °oeo° Reception Processing The contents of the one block o B data sent from the main (display) unit are checked and stored in a predetermined memory storage area at an address to which CPU can access. This reception processing is executed by the o 0 soft interrupt 1 processing at step S5c shown in Fig.12.

Reception Processing The final processing is executed from the data sent from the main (display) unit and stored in the memory. This reception processing is executed by the soft interrupt 2 processing at step S12c shown in Fig.12 or by the reception data processing at step S3a in the main flow shown in Transmission Processing It is checked if there are data to be transmitted to the main (display) unit. If there are data, the data are designated as being transmitted and the transmission processing is activated. This transmission processing is executed at step S3a of the main flow shown in Fig. 10 or at step S12c shown in Fig.12.

Transmission Processing It is checked if a transmission is enabled. If enabled, the transmission data are read from the memory storage area where they are stored, converted into serial data which are then stored in a memory transmission area, and the transmission processing is e*e activated. This transmission processing is executed by the soft interrupt 1 processing at step S5c shown in Fig.12.

oab Transmission Processing The data in the memory transmission area are sequentially and serially transmitted.

This transmission processing is executed at step S7b for the gait data transmission processing shown in Fig.11.

As seen from Fig.13, the data transmission/reception processing by the display unit is not included in the main flow, but the data transmission/reception is executed at the soft interrupt 1 processing. The reason why the main flow of S the main unit includes the transmission/reception processing is as follows. The main task of the main unit is the arithmetic operation and automatic stop operation. So long as these operations are included in the main flow, there is no merit even if the data sent from the display unit are softinterrupted, but there is a demerit that the arithmetic operation and automatic operation are delayed in their processing. Since the arithmetic operation takes a long time i and there are a number of data required for the arithmetic operation, it is better that the arithmetic operation and automatic stop operation are carried out not by the soft interrupt but by the main flow. On the other hand, the display unit executes the transmission/reception processing not by the main flow but by the soft interrupt. Since the processing time of panel switch actuation by an operator differs greatly for each mode and the data from the main unit are used by the soft interrupt processing, it is better that the reception rocessing is executed by the soft interrupt.

Also, since the the data sent from the main unit are not *r generated at the main flow but they are sent as panel switch

I

data, it is better that the transmission processing is executed not by the main flow but by the soft interrupt. From the above reasons of different contents of the processings by the main and display units, the transmission/reception processing is executed differently between the main unit and display unit.

The timer interrupt is generated every 10 ms at the main unit. There is also provided a soft timer of 16 channels. 8 channels are used for the soft timer of the soft interrupt 1, and the other 8 channels are used as the soft timer of the soft interrupt 2. A soft timer is constructed of a timer start/stop flag, operation counter and repetition counter. The operation counter and respective counter of the soft timer for the soft interrupt 1 each are constructed of one byte. and those for the soft interrupt 2 of two bytes. The timer II start/stop flag is used for the control of the soft timer operation. The flag for the soft interrupt 1 has one byte (8 bits) each bit corresponding to one of the eight timers. Each soft timer operates while the flag bit is and stops while the flag bit is For example, after one of the bits of the timer start/stop flag becomes the operation counter is decremented by 1 each time a hard timer interrupt occurs. When the operation counter becomes which means a time-out, the flag for the soft interrupt 1 or 2 is set and the operation sc o counter is then set with the count data of the repetition counter. This operation repeats until the timer start/stop S" flag becomes Therefore, the soft interrupt 1 timer dan be V :l set for the time duration from 10 ms to 1.55 sec, and the soft interrupt 2 timer can control for the time duration from 50 ms to 54.6125 min.

This soft timer interrupt is used in the following manner. The display unit receives panel switch data at a time prior to the predetermined time. The display unit also sets the display refresh flag, display flashing flag, initial routine timer, and the like. The main unit sets a voice timer, initial routine timer, communication error check timer and the like. If the timer repetition counter value is 10 and the timer operation counter counts down from the first value, then the timer flag is set after about 5 x (timer interrupt period) after the timer start/stop flag was set. Thereafter, the flag is repetitively set at the interval of about 10 x (timer interrupt period) until the timer start/stop flag is reset.

The timer flag signal shown in Fig.16 is the flag for the soft interrupt 1 or 2. This flag is reset at the time when the corresponding processing is executed.

In the disclosed invention, the term "crane" is used to mean not only a vehicle mounted mechanism but also other mechanism generally lifting a load with a boom, such as a vehicle operating at an elevated stage for moving a mount type operation crane or bucket up and down, and right and left.

0000 0 0 00 0 a 0004 0 O -0 o ao 0 00 o 0 D 0 0 0 0000 0 g 9 0 0 004 0 0,40 0 0 0 o a asre 0 00 0 0 0

Claims (14)

1. A crane safety apparatus having means for receiving a signal from a sensor which detects the operation status of a crane mechanism, and display means having a two-dimensional screen, comprising: schematic crane mechanism diagram displaying means for dynamically displaying a part of the schematic diagram of said crane mechanism on said screen, said displaying means responding to a signal from said sensor and determining the 0000 0 coordinate values of said schematic diagram to be displayed, 0 0e 00 0 relative to the coordinate axes of said screen; and 00 0 aro 00 0 means including a key and responsive to a key actuation o0 by an operator for the selection of a crane operation status of said crane mechanism, for stationary displaying a predetermined zone pattern on said screen on the basis of said oO0.O schematic diagram displayed on said screen at that time. 0904

2. A crane safety apparatus according to claim 1, wherein said 40 0 schematic diagram is a boom of said crane, and said oa predetermined pattern is a boom operation range limit zone which is displayed on the basis of said schematic diagram boom 0 04 displayed on said screen at the time of said key actuation.

3. A crane safety apparatus according to claim 1, wherein said schematic diagram is a crane lifting position, and said predetermined pattern is an index which indicates a distance scale within a predetermined range relative to said schematic diagram lifting position displayed on said screen at the time of said key actuation.

4. A crane safety apparatus according to claim 3, wherein said L- *0 schematic diagram lifting position is initially set on said screen at a predetermined position in response to said ky actuation.

A crane safety apparatus according to claim 3 or 4, wherein said index is a two-dimensional closed area having as its center said schematic diagram lifting position displayed on said screen at the time of said key actuation.

6. A crane safety apparatus according to claim 5, wherein when a said schematic diagram lifting position moves outside of the border of said closed area in response to the crane mechanism operation after the initial setting, said schematic diagram lifting position is displayed near at and along said border.

7. A crane safety apparatus having means for receiving a signal from a sensor which detects the operation status of a crane mechanism, and display means having a two-dimensional screen, comprising: displaying means for schematically displaying a boom of said crane mechanism on said screen, said displaying means responding to a signal received from said sensor and V determining the shape of said schematic boom diagram and the coordinate values of said schematic boom diagram on said screen at a predetermined time interval to update a display of said schematic boom diagram on said screen; and means responsive to an operation limit setting signal for visually disc-iminatively displaying the area on said screen corresponding to the outside of said operation range of said boom at the time of said response.

8. A crane safety apparatus according to claim 7, wherein said operation limit setting signal is for at least one of a radius limit, higher angle limit, lower angle limit, lifting distance limit and slewing angle limit.

9. A crane safety apparatus according to claim 7, wherein said operation limit setting signal is for at least two of a radius limit, higher angle limit, lower angle limit and lifting distance limit, and the visually discriminative display of said two limits is combined on said screen. 0000 -O

10. A crane safety apparatus comprising a main unit and a 0000 display unit for schematically and dynamically displaying at eq o least a part of a crane mechanism on a two-dimensional screen, S wherein: said main unit includes a main unit CPU, a terminal for receiving at said main unit CPU the data from a sensor which detects a crane operation status parameter, a terminal for 0000 .o ~data transmission/reception between said main unit CPU and said display unit, and a memory for storing limit load data for each of said crane operation status, said limit load data satisfying the specification of said crane; 0u S0 said display unit includes a display unit CPU, a display, a memory for storing a pattern to be displayed on said display, a terminal for receiving crane mechanism setting data inputted from an input key, and a terminal for data transmission/reception between said display unit CPU and said main unit; said main unit refers to said limit load data in said memory in accordance with the data from said sensor and the said crane mechanism setting data from said display unit, and generating a signal associated with the safety degree of said crane mechanism; and said display unit determines the shape and coordinate values of the schematic crane mechanism diagram on said screen in accordance with said crane mechanism setting data and the data from said sensor received from said main unit, and update the display image on said screen.

11. A crane safety apparatus according to claim 10, wherein in tthe data input processing by said main unit CPU and display unit CPU, the data reception processing is executed by a hard ii interrupt routine during which another hard interrupt is i inhibited, and the processing after said data reception activated by said hard interrupt routine is executed by a soft interrupt routine during which another hard interrupt is allowed.

12. A crane safety apparatus comprising display mode control means for schematically and dynamically displaying at least a part of a crane mechanism on a two-dimensional scr en, wherein: said display mode control means includes a main unit including a main unit CPU and a display unit including a display unit CPU; said main unit receives the data from a sensor which detects the operation status of the crane and transmits said sensor data to said display unit; said display unit displays a schematic diagram of said 8* -4 (1 4J 4 1 4D crane mechanism on said display in accordance with said sensor data transmitted from said main unit, and updates said display at a predetermined time interval to dynamically display said crane mechanism; said display unit stores said sensor data transmitted from said main unit in a buffer by using a hard interrupt routine during which another hard interrupt is inhibited; and said display unit generates the display data output for said received sensor data by using a soft interrupt routine activated by said hard interrupt routine, a hard interrupt being allowed during said soft interrupt routine.

13. A crane safety apparatus according to claim 12, wherein: said soft interrupt routine includes a first soft interrupt routine and a second soft interrupt routine; said first soft interrupt routine responsive to generation of a predetermined block structure of the received data for transferring said received data in a memory at an address said display unit CPU can access; and said second soft interrupt routine is activated by said first soft interrupt routine and generates a display data output from said data stored in said memory.

14. A crane safety apparatus according to claim 12, wherein said display unit includes a key for setting the status of said crane mechanism, and said display unit detects the operation status of said key at a predetermined time interval determined by a timer interruption to receive the data set by said key in a buffer. A crane safety apparatus comprising: 4rt Ii t 81 4 44 4*48* 4 8 r' a sensor for detecting an operation status of a crane mechanism; a key for setting the status of said crane mechanism; a display; and means responsive to the data from said sensor and key for controlling a display of a schematic diagram of said crane mechanism on said display, said control means responding to a mode change for selectively displaying at least two schematic diagrams of said crane mechanism. DATED this FIFTH day of JUNE 1990 i( Kato Works Co., Ltd. Patent Attorneys for the Applicant SPRUSON FERGUSON 1^