JP2010064880A - Boom angle detecting device for vehicle with boom - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a boom angle detecting device for a vehicle with a boom, which is easy to be installed. <P>SOLUTION: In a truck crane 1, the boom 20 is fitted onto a chassis 13 of a vehicle body 10 through a turning post 21. A vehicle body side acceleration sensor 30 is arranged in the vehicle body 10, and a boom side acceleration sensor 31 is fitted to the boom 20. A microprocessor 32 compares a signal from the vehicle side acceleration sensor 30 with a signal from the boom side acceleration sensor 31, and detects the angle of the boom 20 relative to the vehicle body 10 based on a difference between the signals. When the boom 20 is detected to be stuck out of a predetermined housing range set in the vehicle body 10, an alarm device 33 outputs an alarm. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a boom angle detection device for a vehicle with a boom such as a truck crane or an aerial work vehicle.

  In a vehicle with a boom, such as a truck crane or an aerial work vehicle, if the boom protrudes from the vehicle body during movement, it may hit surrounding objects. This is dangerous for both the surroundings and the vehicle. Therefore, various safety measures are considered. For example, in an aerial work vehicle described in Patent Document 1, when the detected values of the boom length detection means and the boom tilt angle detection means are equal to or larger than the set values, the operation in the boom extension direction and the traveling of the aerial work vehicle are prohibited. is doing.

In order to ensure the safety of a vehicle with a boom, the basic measure is to accurately detect the angle of the boom. Conventionally, an angle detection device provided for such a purpose has been often designed to be incorporated into a support shaft portion of a boom as seen in Patent Documents 2 and 3.
JP 2003-335500 A JP-A-8-232294 JP-A-8-5363

  The boom's support shaft is robust enough to withstand heavy loads, and it is difficult to incorporate an angle detector into it, whether it is designed, manufactured, or maintained. The present invention has been made in view of this point, and an object thereof is to provide a boom angle detection device that can be easily installed.

  In order to achieve the above object, a boom angle detection device for a vehicle with a boom according to the present invention includes an acceleration sensor arranged on both the vehicle main body and the boom, and the difference between the signals of the vehicle main body side acceleration sensor and the boom side acceleration sensor is An angle of the boom with respect to the vehicle body is detected.

  The acceleration sensor does not need to be arranged on the support shaft portion of the boom, and may be installed at a place where it can be easily installed. Also, no special mechanism is required for installation. Therefore, any of design, manufacturing, and maintenance becomes easy. Further, it is not necessary to use expensive parts, and the boom angle detection device can be provided at low cost.

  According to the present invention, in the boom angle detection device for a vehicle with a boom configured as described above, the angle of the boom is detected from a difference between the signals when the vehicle main body is running.

  According to this configuration, the boom angle can be easily detected from the acceleration change during vehicle travel.

  According to the present invention, in the boom angle detection device for a vehicle with a boom configured as described above, the angle of the boom is detected from a difference between the signals when the vehicle body is stationary.

  According to this configuration, the boom angle can be easily detected from the gravitational acceleration received by the acceleration sensor when the vehicle is stationary.

  According to the present invention, in the boom angle detection device for a vehicle with a boom configured as described above, when the boom angle is detected, it is found that the boom protrudes from a predetermined storage area set in the vehicle main body. Is characterized by comprising a warning device that issues a warning to that effect.

  According to this configuration, it is possible to avoid the danger of the vehicle traveling with the boom protruding from the predetermined storage area.

  ADVANTAGE OF THE INVENTION According to this invention, the boom angle detection apparatus of a vehicle with a boom can be provided at low cost by using an acceleration sensor. Moreover, since the angle of the boom with respect to the vehicle main body is detected from the difference between the signals of the vehicle main body side acceleration sensor and the boom side acceleration sensor, the boom angle can be accurately grasped in various situations.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings by taking a truck crane as an example of a vehicle with a boom. 1 is a schematic side view of a truck crane, FIG. 2 is a schematic side view of the truck crane showing a state of traveling in a boom retracted state, and FIG. 3 is a schematic side view of the truck crane showing a state of traveling in a boom non-retracted state. 4 is a schematic top view of the truck crane showing a situation in which the boom is not retracted, FIG. 5 is a schematic side view of the truck crane showing a situation where the truck is stationary on the slope, and FIG. FIG. 7 is a schematic side view of the truck crane showing the situation in which the truck crane is stationary on the flat ground and the boom is not retracted.

  The truck crane 1 includes a vehicle body 10 and a boom 20. The vehicle main body 10 has a cab 14 and a loading platform 15 mounted on a chassis 13 supported by a front wheel 11 and a rear wheel 12, and an outrigger jack 16 is disposed between the cab 14 and the loading platform 15.

  Like the outrigger jack 16, a boom 20 is attached to a turning post 21 disposed between the cab 14 and the loading platform 15. The boom 20 can extend and contract in the axial direction, rise and fall in a vertical plane, and turn in a horizontal plane. A hook is suspended and supported by a wire at the tip of the boom 20, and the hook moves up and down when the winch winds or unwinds the wire.

  A storage area for the boom 20 is virtually set in the vehicle body 10. Here, the space occupied by the boom 20 extending horizontally rearward along the longitudinal axis of the vehicle body 10 is defined as the storage area. This is the strictest definition, but the range may be expanded a little and the state in which the boom 20 extending horizontally rearward is within the width of the loading platform 15 may be defined as the retracted state. In this case, a planar fan-shaped space in which the length from the turning center of the turning post 21 to the tip of the boom 20 is the radius, the vertical width of the boom 20 is the thickness, and the width of the loading platform 15 is the maximum width is the boom 20. Storage area.

  An acceleration sensor is disposed on each of the vehicle body 10 and the boom 20. The vehicle body side acceleration sensor 30 is disposed at one location of the cab 14. The boom-side acceleration sensor 31 is disposed at one location of the boom 20. A microprocessor 32 that compares and calculates a signal generated by the vehicle main body side acceleration sensor 30 and a signal generated by the boom side acceleration sensor 31 is disposed at one location of the cab 14. In the figure, the acceleration sensor is represented by a combination of a rectangle and a cross arrow. However, this is merely a symbolic figure, and it is not necessarily limited to an acceleration sensor having a two-dimensional acceleration detection function.

  In the embodiment, a two-dimensional sensor or a three-dimensional sensor is used for the vehicle body side acceleration sensor 30 and the boom side acceleration sensor 31. The vehicle body side acceleration sensor 30 is arranged in such a manner that the detection axis X coincides with the vehicle width direction and the detection axis Y coincides with the vehicle front-rear direction, as shown in the figure appended below the figure of the truck crane 1. . The boom-side acceleration sensor 31 is arranged in such a manner that the detection axis X coincides with the width direction of the boom 20 and the detection axis Y coincides with the length direction of the boom 20.

  A signal generated by the vehicle main body side acceleration sensor 30 and a signal generated by the boom side acceleration sensor 31 are compared by the microprocessor 32, and the angle of the boom 20 is detected from the difference between the signals. Hereinafter, how to detect the angle in various situations will be described.

  FIG. 1 shows a situation where the truck crane 1 is stationary on the flat ground and the boom 20 is in the retracted state. At this time, both the vehicle body side acceleration sensor 30 and the boom side acceleration sensor 31 detect acceleration detected in the X axis direction (hereinafter referred to as “X axis acceleration”) and acceleration detected in the Y direction (hereinafter referred to as “Y axis”). (Referred to as “acceleration”) is zero or very small. The microprocessor 32 determines that the boom 20 is in the retracted state.

  FIG. 2 shows a situation in which the truck crane 1 of FIG. Both the vehicle body side acceleration sensor 30 and the boom side acceleration sensor 31 detect the Y-axis acceleration. The hatched block arrow symbolizes acceleration. X-axis acceleration is zero or very small. If the boom 20 is in the retracted state, the Y-axis acceleration detected by the vehicle main body side acceleration sensor 30 and the Y-axis acceleration detected by the boom side acceleration sensor 31 have the same value. Also at this time, the microprocessor 32 determines that the boom 20 is horizontal.

  FIG. 3 shows a situation in which the truck crane 1 that has stopped on the flat ground in the state where the boom 20 is facing rearward and has stood up from the horizontal has started traveling. When the boom-side acceleration sensor 31 is tilted in a vertical plane with respect to the vehicle body-side acceleration sensor 30, the Y-axis acceleration detected by the boom-side acceleration sensor 31 is greater than the Y-axis acceleration detected by the vehicle body-side acceleration sensor 30. Get smaller. Thereby, the microprocessor 32 determines that the boom 20 is tilted in the vertical plane.

  FIG. 4 shows a situation in which the truck crane 1 starts traveling with the boom 20 being horizontal but not facing straight and protruding from the loading platform 15. When the boom-side acceleration sensor 31 is tilted in a horizontal plane with respect to the vehicle body-side acceleration sensor 30, the boom-side acceleration sensor 31 detects Y-axis acceleration having a value smaller than the Y-axis acceleration detected by the vehicle body-side acceleration sensor 30. In addition, X-axis acceleration that is not detected by the vehicle body side acceleration sensor 30 is also detected. Thereby, the microprocessor 32 determines that the boom 20 is tilted in the horizontal plane.

  Whether the boom 20 is tilted in the vertical plane or in the horizontal plane, the fact that the boom 20 protrudes from the storage area means that there is a risk of danger if the vehicle continues to run. Therefore, a warning device 33 (see FIG. 4) is provided inside the cab 14 to warn that the boom 20 protrudes from a predetermined storage area by visual display, sound, or a combination thereof.

  FIG. 5 shows a situation where the truck crane 1 storing the boom 20 is stationary on the slope. At this time, both the vehicle body side acceleration sensor 30 and the boom side acceleration sensor 31 detect the gravitational acceleration having the same value in the Y-axis direction. The microprocessor 32 determines that the truck crane 1 is stationary on the slope and the boom 20 is in the retracted state.

  FIG. 6 shows a state where the boom 20 is lifted horizontally from the state of FIG. Although the vehicle body side acceleration sensor 30 detects the gravitational acceleration, the boom side acceleration sensor 31 does not detect the gravitational acceleration. The microprocessor 32 determines that the truck crane 1 is stationary on the slope and the boom 20 has protruded from the storage area. If the traveling of the truck crane 1 is started as it is, the warning device 33 issues a warning.

  FIG. 7 shows a situation where the truck crane 1 is stationary on the flat ground and the boom 20 is facing backward, but is standing up from the horizontal. That is, this is the state before starting the travel of FIG. The vehicle body side acceleration sensor 30 does not detect gravitational acceleration, and the boom side acceleration sensor 31 detects gravity acceleration. The microprocessor 32 determines that the truck crane 1 is stationary on the flat ground and the boom 20 has protruded from the storage area. If the traveling of the truck crane 1 is started as it is, the warning device 33 issues a warning.

  If the vehicle body-side acceleration sensor 30 and the boom-side acceleration sensor 31 are three-dimensional sensors, gravity acceleration can be detected by Z-axis acceleration instead of or in addition to Y-axis acceleration and X-axis acceleration.

  Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to these embodiments, and various modifications can be made without departing from the spirit of the invention.

  The present invention is widely applicable to a vehicle with a boom.

Schematic side view of truck crane Schematic side view of a truck crane showing the situation of traveling with the boom retracted Schematic side view of a truck crane showing the situation of traveling with the boom not retracted Schematic top view of a truck crane showing the situation of traveling with the boom not retracted Schematic side view of a truck crane showing a stationary situation on a slope Schematic side view of a truck crane showing the situation where it is stationary on the slope and the boom is not retracted Schematic side view of a truck crane showing the situation where it is stationary on the ground and the boom is not retracted

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Truck crane 10 Vehicle main body 20 Boom 30 Vehicle main body side acceleration sensor 31 Boom side acceleration sensor 32 Microprocessor 33 Alarm device

Claims (4)

  Boom angle of a vehicle with a boom, wherein an acceleration sensor is arranged on both the vehicle main body and the boom, and the angle of the boom relative to the vehicle main body is detected from a difference between signals of the vehicle main body side acceleration sensor and the boom side acceleration sensor. Detection device.   The boom angle detection device for a boom-equipped vehicle according to claim 1, wherein the boom angle is detected from a difference between the signals during travel of the vehicle main body.   The boom angle detection device for a boom-equipped vehicle according to claim 1, wherein the boom angle is detected from a difference between the signals when the vehicle body is stationary.   A warning device that issues a warning to the effect that if the boom is found out of a predetermined storage area set in the vehicle main body as a result of detecting the angle of the boom is provided. The boom angle detection device for a vehicle with a boom according to any one of 1 to 3.

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