JP2018203469A - Movement range notification device - Google Patents

Abstract

To provide a movement range notification device which allows a user to intuitively grasp a mode of a tilt operation to an operation lever.SOLUTION: A movement range notification device comprises: a load detector for detecting an actual load W of a suspended load suspended on a boom of a work vehicle; a boom driving part for changing a physical amount of the boom; a physical amount detection part for detecting a current physical amount Pp as a current physical amount of the boom; a limit value calculation part for calculating a limit physical amount Pl as a physical amount of the boom when the actual load W is equal to the limit load; a difference calculation part for determining a difference physical amount Pd by subtracting the current physical amount Pp from the limit physical amount Pl; and a notification part for notifying a user of the difference physical amount Pd.SELECTED DRAWING: Figure 4

Description

  The present disclosure relates to a moving range notification device.

  2. Description of the Related Art A work vehicle having a boom or jib (hereinafter referred to as a boom or the like) is known in which a suspended load is slung on a hook suspended from a boom or the like by a wire rope to move the suspended load.

  In such a work vehicle, an arbitrarily set load factor, a load factor indicating a warning, and a load factor indicating a limit are displayed, and each load with respect to an actual suspended load (hereinafter referred to as an actual load) is displayed. A state display device that displays each work radius that is a rate and each actual load that is a load factor with respect to the current work radius is considered (see, for example, Patent Document 1). This status display device shows, for each load factor, how much value the working radius can move the suspended load, and how much load can be hung with the current working radius. It can be grasped.

JP 2014-201383 A

  However, since the conventional status display device described above indicates each work radius corresponding to each load factor, it is possible to intuitively grasp how much the suspended load can be moved, that is, the movable range. Can not do it.

  The present disclosure has been made in view of the above circumstances, and an object thereof is to provide a moving range notification device that can intuitively grasp a movable range of a suspended suspended load.

  The movement range notification device of the present disclosure includes a load detector that detects an actual load of a suspended load suspended from a boom of a work vehicle, a boom drive unit that changes a physical quantity of the boom, and a current physical quantity of the boom. A physical quantity detection unit for detecting the current physical quantity, a limit value calculation part for calculating a limit physical quantity as a physical quantity of the boom when the actual load is equal to a limit load, and subtracting the current physical quantity from the limit physical quantity It is characterized by comprising a difference calculation part for obtaining a difference physical quantity, and a notifying part for notifying the difference physical quantity.

  According to the moving range notification device of the present disclosure, it is possible to intuitively grasp the movable range of the suspended load that is hung.

It is explanatory drawing which shows typically the mode of the crane operation | work which suspends a suspended load using the crane vehicle as an example of the working vehicle using the moving range alerting | reporting apparatus as an example. It is a block diagram which shows the structure of a movement range alerting | reporting apparatus. It is a graph which shows the relationship between the limit load for every boom length of an boom as an example, and a working radius, The vertical axis | shaft is set as a limit load and the horizontal axis is shown as a working radius. It is a flowchart which shows an example of the movement range alerting | reporting process which the control part of a movement range alerting | reporting apparatus performs. It is a flowchart which shows an example of the limit physical quantity calculation process in which the limit value calculation part of a control part calculates a limit physical quantity.

  Below, the moving range alerting | reporting apparatus 20 as an example which concerns on this indication is demonstrated, referring drawings for the Example used for the crane vehicle 1 as an example.

  A movement range notification device 20 of Example 1 according to an embodiment of the movement range notification device according to the present disclosure will be described with reference to FIGS. 1 to 5. As shown in FIG. 1, the moving range notification device 20 according to the first embodiment is used for a crane vehicle 1 that is a load-type truck crane as an example of a work vehicle. The crane vehicle 1 includes a traveling body (carrier) 2, a cabin 3 provided at the front part of the traveling body 2, a crane part 4 provided behind the cabin 3, and a loading platform provided behind the crane part 4. 5 is provided.

  The traveling body 2 is a main body portion (vehicle body) of a vehicle having a traveling function, and includes a plurality of wheels and a drive source that drives the wheels and the crane unit 4. The traveling body 2 is provided with a pair of left and right outriggers 6 (only the left side of the traveling body 2 is shown in FIG. 1) extending from the crane portion 4. Each outrigger 6 can be extended and retracted to the left and right, and is appropriately extended and grounded to the ground G, thereby stably supporting the traveling body 2 at the time of work (crane work) using a boom 8 described later. The cabin 3 is a place where an operator (operator) rides during traveling, and operations such as traveling of the traveling body 2 and starting and stopping of the engine are possible. The loading platform 5 is a place on which a suspended load 17 or the like, which will be described later, is placed on the traveling body 2.

  The crane unit 4 has a boom support 7 that can turn at the upper part of the traveling body 2. The boom support 7 is a part to which the boom 8 is attached, and enables the boom 8 to turn horizontally. In addition, the boom support 7 is attached to the base end portion of the boom 8 via a boom root fulcrum pin so that the boom 8 can be raised and lowered around the boom root fulcrum pin. The boom support 7 is provided with a swing hydraulic motor 9 between the boom support 7 and the swing support hydraulic motor 9 is driven to swing with respect to the travel body 2. Further, in the boom support 7, a hoisting cylinder 11 is provided between the boom support 7 and the boom 8 is raised and lowered by extending and retracting the hoisting cylinder 11. The boom 8 is configured by housing a plurality of boom parts in a nested manner from the outside to the inside, and is expanded and contracted by the expansion and contraction cylinder 12 extending and contracting. The swing hydraulic motor 9, the hoisting cylinder 11, and the telescopic cylinder 12 constitute a boom drive unit 13 that drives the boom 8. In addition, although the boom 8 is a box-shaped structural jib, it may be a structural body serving as an arm with one end of the crane portion 4 as a fulcrum, and includes a lattice structural jib and an auxiliary jib for extending the boom.

  An operation unit 14 for an operator to perform various operations is provided at the base end position of the crane unit 4. The various operations include, for example, turning of the boom 8 (boom support 7), raising and lowering and extending of the boom 8, hoisting and lowering of the winch provided on the boom support 7, extension and storage of each outrigger 6, engine There are start and stop, etc.

  A wire rope 16 that is wound up or down by a winch is wound around a sheave 15 provided at the tip of the boom 8. A hook 18 on which a suspended load 17 or the like is hung is suspended from the wire rope 16. The suspended load 17 moves up and down together with the hook 18 by the operation of winding or unwinding the wire rope 16 by the winch. When the boom 8 is used, each boom portion is appropriately swung, and is appropriately raised and lowered, and the hook 18 that is suspended therefrom is appropriately lifted to move the suspended load 17. In addition, when the boom 8 is not in use, such as during travel, the hooks 18 are raised most and the boom portions are retracted most and stored.

  The boom 8 is expanded / contracted, raised and lowered, and the hook 18 is moved up and down in accordance with the operation of the operation unit 14. The operation unit 14 outputs an operation signal corresponding to the input operation. The operation signal output from the operation unit 14 controls the operation of driving devices such as a hydraulic pump, a direction control valve, and a flow rate control valve. By these operations, the boom drive unit 13 (the swing hydraulic motor 9, the hoisting cylinder 11, the telescopic cylinder 12) of the crane unit 4 and the hydraulic motor for driving the winch are operated, and the boom 8 is telescopic, hoisted and swung. The hook 18 is moved up and down.

  In order to move the suspended load 17 suspended from the hook 18 to a desired position, the boom 8 is a posture, that is, a length as a physical quantity (hereinafter also referred to as a boom length) and a degree of undulation (hereinafter also referred to as a undulation angle). And the turning angle is appropriately adjusted according to the driving of the boom drive unit 13. Here, the boom 8 can be hung by the hook 18 because the boom 8 is configured to be extendable and contractable by a plurality of boom parts, or the traveling body 2 is rectangular in a bird's-eye view. The limit load changes according to the change in posture. In order to inform the crane vehicle 1 of how much the boom 8 that is hanging the suspended load 17 can be moved (changed in posture) from the current state (current state) (movable range). The moving range notification device 20 is used.

  As shown in FIG. 2, the movement range notification device 20 is formed by connecting a turning angle detector 21, a undulation pressure detector 22, a undulation angle detector 23, and a boom length detector 24 to a control unit 25. Yes.

  The turning angle detector 21 detects the turning angle (turning direction) of the boom 8 that can be turned by the turning hydraulic motor 9 at that time. The turning angle is an angle formed by the turning posture of the boom support 7 in the crane vehicle 1, that is, the reference direction in the traveling body 2 and the direction in which the boom 8 extends. Is the standard direction. The turning angle detector 21 detects the turning angle of the boom 8 immediately and continuously, and outputs a detection signal S1 indicating the detected turning angle to the control unit 25.

  The hoisting pressure detector 22 detects the pressure applied to the hoisting cylinder 11 that supports the boom 8 that can be hoisted. The undulation pressure detector 22 detects the pressure in the undulation cylinder 11 immediately and continuously, and outputs a detection signal S2 indicating the detected pressure to the control unit 25.

  The hoisting angle detector 23 detects the hoisting angle (an angle with respect to a horizontal plane or a reference posture) of the boom 8 that can be hoisted by the hoisting cylinder 11. The undulation angle detector 23 detects the undulation angle of the boom 8 immediately and continuously, and outputs a detection signal S3 indicating the detected undulation angle to the control unit 25.

  The boom length detector 24 detects the length of the boom 8 that can be expanded and contracted by the telescopic cylinder 12 (the degree of expansion and contraction (including auxiliary jib)). The boom length detector 24 detects the length of the boom 8 immediately and continuously, and outputs a detection signal S4 indicating the detected length to the control unit 25. From these facts, the turning angle detector 21, the undulation angle detector 23, and the boom length detector 24 are the physical quantities (boom length, undulation angle, turning angle) of the boom 8 that change according to the driving of the boom drive unit 13. It functions as a physical quantity information acquisition unit for acquiring the information.

  The control unit 25 is a microcomputer having a storage unit (built-in internal memory 26) and a calculation unit, and is provided in the crane unit 4 in the first embodiment (see FIG. 1). Based on a program stored in the built-in memory 26 or a connected storage unit, the control unit 25 is based on a turning angle detector 21, a undulation pressure detector 22, a undulation angle detector 23, a boom length detector 24, and a notification unit described later. The operation of 32 is comprehensively controlled, and information is appropriately acquired from them. The control unit 25 obtains various information from them, detects the current physical quantity Pp, which is the current physical quantity of the boom 8, calculates the actual load W of the suspended load 17 of the boom 8, Control of a limit value calculation process for a later-described limit physical quantity Pl according to W and a difference calculation process for obtaining a later-described difference physical quantity Pd are performed. In the first embodiment, the control unit 25 performs a physical quantity detection unit 27 that performs a process of detecting the current physical quantity Pp of the boom 8, an actual load calculation unit 28 that performs a calculation process of the actual load W, and a calculation process of the limit physical quantity Pl. A limit value calculation unit 29 and a difference calculation unit 31 that performs a difference calculation process of the difference physical quantity Pd are included.

  The physical quantity detection unit 27 detects the turning angle detection signal S1 of the boom 8 at that time from the turning angle detector 21, the raising / lowering angle detection signal S3 of the boom 8 from the raising / lowering angle detector 23, and the boom length. A detection signal S4 of the boom length at that time of the boom 8 is input from the detector 24. Then, the physical quantity detection unit 27 detects the boom length, the undulation angle, and the turning angle as the current physical quantity Pp of the current boom 8. This current physical quantity Pp changes every moment according to the change in the posture of the boom 8. The physical quantity detector 27 outputs the detected current physical quantity Pp of the boom 8 (a signal indicating it) to the limit value calculator 29 and the difference calculator 31.

  The actual load calculator 28 detects the pressure detection signal S2 in the hoisting cylinder 11 from the hoisting pressure detector 22, the hoisting angle detection signal S3 of the boom 8 from the hoisting angle detector 23, and the boom length detector 24 from the boom length detector 24. The boom length detection signal S4 is input. Then, the actual load calculation part 28 calculates | requires the working radius of the crane vehicle 1 based on the raising / lowering angle of the boom 8, and boom length. Further, the actual load calculation unit 28 subtracts the own weight components such as the boom 8 and the hook 18 from the pressure in the hoisting cylinder 11 to cause the hoisting cylinder 11 to be hung on the hook 18. Calculate the moment applied to. Then, the actual load calculation unit 28 calculates the actual load W of the suspended load 17 of the boom 8 from the moment based on the work radius. Therefore, the hoisting pressure detector 22, the hoisting angle detector 23, and the boom length detector 24 are the actual loads for the actual load calculating unit 28 to calculate the actual load W of the suspended load 17 of the boom 8 of the crane 1. Functions as a load detector. The actual load calculation unit 28 outputs the actual load W (a signal indicating it) as a calculation result to the limit value calculation unit 29. The load detector only needs to detect the actual load W of the suspended load 17 hung on the hook 18 and is not limited to the configuration of the first embodiment.

  The limit value calculation unit 29 receives an actual load W (a signal indicating it) from the actual load calculation unit 28. Then, the limit value calculation unit 29 calculates the limit physical quantity Pl of the boom 8 when the limit load (the limit value of the overturning moment) in the boom 8 (crane vehicle 1) becomes equal to the actual load W. In the first embodiment, the limit physical quantity Pl (physical quantity) of the boom 8 is represented by a working radius that is a horizontal length (size) from the turning center of the crane unit 4 in the crane vehicle 1. In the crane vehicle 1, when the boom length and the undulation angle of the boom 8 change, the working radius changes and the limit load changes (see FIG. 3). This change is considered to have a relationship in which the limit load decreases as the working radius increases. The limit value calculation unit 29 reads a graph (its data) indicating the relationship between the limit load and the working radius in the crane vehicle 1 from the built-in memory 26 or a connected storage unit, and the limit load is calculated from the graph as the actual load W. An equal working radius, that is, a movable working radius in which the actual load W can be suspended is obtained and set as the limit physical quantity Pl. If the overhang amount of the outrigger 6 is variable, the limit value calculation unit 29 operates as described above based on the limit load and the actual load W corrected in consideration of the overhang amount. The limit physical quantity Pl indicated by the radius may be obtained.

  Here, in the crane vehicle 1 according to the first embodiment, the boom 8 is configured such that each boom portion is nested, and can be expanded and contracted by extending or contracting each boom portion one step at a time. Then, in the boom 8, the characteristic line indicating the relationship between the limit load and the working radius changes depending on the number of stages where each boom portion is extended. In the following description, the boom length of the boom 8 is set to the n-stage boom (n according to the number of stages where each boom portion is extended so that the most shortened boom length is a one-stage boom and the most extended boom length is a five-stage boom. Is also called natural number 1-5). FIG. 3 shows, as an example, a characteristic line indicating the relationship between the limit load and the working radius in each boom length (n-stage boom (n is 1 to 5)), assuming that the boom 8 expands and contracts in five stages. Yes.

  The limit value calculation unit 29 according to the first embodiment receives the current physical quantity Pp (a signal indicating it) of the boom 8 from the physical quantity detection unit 27 (see FIG. 2). The limit value calculation unit 29 sets a characteristic line to be used based on the boom length, that is, the number of stages, as the current physical quantity Pp of the boom 8. Then, the limit value calculation unit 29 obtains a point where the limit load is equal to the actual load W in the set characteristic line, and obtains a working radius indicated by the point. For example, if the boom 8 is a three-stage boom and the actual load W is α (t), the limit value calculating unit 29 obtains a point where the limit load is α (t) on the characteristic line indicating the three-stage boom. Then, β (m), which is the working radius of the point, is obtained as the limit physical quantity Pl.

  Further, as shown in FIG. 2, the limit value calculation unit 29 according to the first embodiment receives a drive signal S <b> 5 indicating the drive status from the boom drive unit 13. The limit value calculation unit 29 changes the setting of the characteristic line to be used according to the driving status of the boom driving unit 13. As an example, the limit value calculation unit 29 drives the boom so that the boom 8 is extended in a state where the physical quantity detection unit 27 detects that the boom 8 is a two-stage boom and is set to use the characteristic line of the two-stage boom. When it is detected that the telescopic cylinder 12 of the unit 13 is driven, the setting is changed to the setting using the characteristic line of the three-stage boom. In this case, the limit value calculation unit 29 obtains a point at which the limit load is equal to the actual load W on the characteristic line whose setting has been changed, and obtains a working radius at that point to obtain the limit physical quantity Pl. To do. The limit value calculation unit 29 outputs the limit physical quantity Pl (signal indicating it) indicated by the calculated work radius to the difference calculation unit 31.

  In addition, in the first embodiment, the limit physical quantity Pl of the boom 8 is indicated by the boom length (number of steps) of the boom 8 and the undulation angle. This is because, in the crane vehicle 1, as described above, the work radius changes with changes in the boom length and the undulation angle, so that it can be considered substantially the same as the work radius. For example, if the undulation angle of the boom 8 is constant, the working radius changes and the limit load changes only due to the boom length change. Further, for example, if the boom 8 has a constant boom length, the working radius changes and the limit load changes only due to the change in the undulation angle. For this reason, the limit value calculation part 29 is the movable boom length which can hang | hang the actual load W, and the movable raising / lowering angle (right state) similarly to calculating | requiring the above-mentioned working radius. The angle that can be defeated to the greatest extent on the basis of. The limit value calculation unit 29 outputs a limit physical quantity Pl (signal indicating them) indicated by the obtained boom length and undulation angle of the boom 8 to the difference calculation unit 31. The movable boom length capable of suspending the actual load W refers to the boom length when the limit load becomes equal to the actual load W in the situation where the boom 8 is extended. The movable undulation angle refers to the undulation angle when the limit load becomes equal to the actual load W in the situation where the boom 8 is laid down.

  Further, in the first embodiment, the limit physical quantity Pl of the boom 8 is indicated by the rotation posture (turning angle) of the boom 8. This is because the limit load changes depending on the rotational posture of the boom 8 with respect to the direction of the traveling body 2 due to the fact that the traveling body 2 has a rectangular shape when viewed from above. In this case, for example, if the working radius is constant (the turning angle is changed without changing the boom length or the undulation angle), the limit value calculating unit 29 sets the limit load at the constant working radius. Then, the correction value corresponding to the turning angle of the boom 8 with respect to the direction of the traveling body 2 is multiplied. Then, the limit value calculation unit 29 compares the corrected limit load and the actual load W for each turning angle to obtain the turning angle at which the actual load W can be suspended, and the limit physical quantity Pl (therefore) Is output to the difference calculation unit 31. The turning angle at which the actual load W can be suspended refers to the turning angle when the limit load becomes equal to the actual load W in the situation where the boom 8 is turned.

  Then, the limit value calculation unit 29 according to the first embodiment changes the physical quantity of the boom 8 that is the calculation target of the limit physical quantity Pl in accordance with the driving state of the boom driving unit 13 indicated by the drive signal S5. In other words, the limit value calculation unit 29 sets the physical quantity of the boom 8 that has been changed by the drive of the boom drive unit 13 as a calculation target as the limit physical quantity Pl. This change state means a state that is actually changed by driving the boom drive unit 13 or a state in which the boom drive unit 13 is in a drive standby state. In the first embodiment, the change is actually performed by driving the boom drive unit 13. It has been changed to. The limit value calculation unit 29 according to the first embodiment obtains a limit physical quantity Pl indicated by a working radius when the hoisting cylinder 11 and the telescopic cylinder 12 are driven, and a limit physical quantity indicated by the work radius when only the telescopic cylinder 12 is driven. A limit physical quantity Pl indicated by Pl and boom length is obtained. Further, the limit value calculation unit 29 according to the first embodiment obtains the limit physical quantity Pl indicated by the working radius and the limit physical quantity Pl indicated by the undulation angle when only the hoisting cylinder 11 is driven, and only the swing hydraulic motor 9 is driven. If so, the limit physical quantity Pl indicated by the turning angle is obtained. If the physical quantity of the boom 8 that has been changed by driving the boom drive unit 13 is a calculation target as the limit physical quantity Pl, the limit value calculation unit 29 can calculate the work radius, boom length, undulation angle, and turning angle. Any one of them may be the calculation target, and a plurality (including all) of them may be the calculation target, and the combination of the driving state and the physical quantity is not limited to the above-described example.

  The difference calculation unit 31 is a boom that suspends the suspended load 17 based on the limit physical quantity Pl of the boom 8 from the limit value calculation unit 29 and the current physical quantity Pp of the current boom 8 from the physical quantity detection unit 27. The difference physical quantity Pd which shows how much 8 can be moved from the present condition by the physical quantity of the boom 8 is calculated. For example, when the physical quantity of the boom 8 is indicated by the work radius, the difference calculation unit 31 can move the work load that can suspend the actual load W as the limit physical quantity Pl, that is, the limit load is equal to the actual load W. The difference between the working radius as the limit physical quantity PI at that time and the current working radius as the current physical quantity Pp is calculated as a difference physical quantity Pd. This differential physical quantity Pd indicates the movable range (size) from the current state of the boom 8 that is hanging the suspended load 17 by the working radius. As described above, even when the limit physical quantity Pl of the boom 8 is the boom length, the undulation angle, or the turning angle, the difference calculation unit 31 performs the same process to perform the boom length, the undulation angle, The differential physical quantity Pd indicated by the turning angle can be calculated. Therefore, as described above, when the limit value calculation unit 29 changes the physical quantity of the boom 8 that is the calculation target of the limit physical quantity Pl, the control unit 25 determines the physical quantity of the boom 8 that indicates the limit physical quantity Pl, the difference physical quantity Pd, and the like. It will be set.

  A notification unit 32 is connected to the control unit 25. The notification unit 32 notifies the worker of the difference physical quantity Pd calculated by the difference calculation unit 31 under the control of the control unit 25, and is formed by a display unit in the first embodiment. In the first embodiment, the notification unit 32 displays a numerical value indicated by the difference physical quantity Pd as a movable range. In addition, although the alerting | reporting part 32 is made into the display part in Example 1, if it alert | reports the difference physical quantity Pd, it may be comprised with a voice generator, a meter, etc., and another structure may be sufficient as Example 1. It is not limited to the configuration.

  Next, an example of the movement range notification process for notifying the movable range of the suspended load 17 under the control of the control unit 25 in the movement range notification device 20 will be described with reference to FIG. FIG. 4 is a flowchart illustrating the movement range notification process (movement range notification method) executed by the control unit 25 according to the first embodiment. This movement range notification process is executed by the control unit 25 based on a program stored in the built-in memory 26 or the storage unit of the control unit 25. Below, each step (each process) of the flowchart of FIG. 4 is demonstrated. The flowchart of FIG. 4 is started when the movement range notification device 20 is in a state of executing the movement range notification process. The movement range notification device 20 may always be in a state of executing the movement range notification process, and may be able to switch whether or not to execute by operating the operation unit 14. In Example 1, it is set as the state which always performs a movement range alerting | reporting process, and when the crane 1 is started, it will be in the state which performs a moving range alerting | reporting process, and the flowchart of FIG. 4 is started.

  In step S1, the current physical quantity Pp is detected, and the process proceeds to step S2. In step S <b> 1, the physical quantity detection unit 27 detects the current physical quantity Pp indicating the posture of the boom 8 at this time, and outputs the current physical quantity Pp to the limit value calculation unit 29 and the difference calculation unit 31.

  In step S2, the actual load W is calculated, and the process proceeds to step S3. In step S <b> 2, the actual load calculation unit 28 calculates the actual load W of the suspended load 17 suspended by the hook 18, and outputs the actual load W to the limit value calculation unit 29. Note that step S1 and step S2 may be performed first, and are not limited to the order of the first embodiment.

  In step S3, the limit physical quantity Pl is calculated, and the process proceeds to step S4. In step S <b> 3, the limit value calculation unit 29 calculates a limit physical quantity Pl, that is, a limit physical quantity Pl that is a limit at which the actual load W can be suspended, and outputs the limit physical quantity Pl to the difference calculation unit 31.

  In step S4, a differential physical quantity Pd is calculated, and the process proceeds to step S5. In step S4, the difference calculation unit 31 subtracts the current physical quantity Pp from the limit physical quantity Pl to obtain the differential physical quantity Pd. This differential physical quantity Pd indicates the range in which the boom 8 from which the suspended load 17 is suspended can be moved as a physical quantity of the boom 8.

  In step S5, the difference physical quantity Pd is notified, and the process proceeds to step S6. In step S5, the notification unit 32 is driven to display the differential physical quantity Pd as a movable range.

  In step S6, it is determined whether or not to end the movement range notification process. If YES, the movement range notification process ends. If NO, the process returns to step S1. This step S6 determines that the moving range notifying process is terminated when it is selected that the crane 1 is stopped, the moving range notifying device 20 is stopped, or that the operation is not performed by operating the operation unit. In the first embodiment, when the crane 1 is stopped, the movement range notification process is terminated.

  Next, an example of the limit physical quantity calculation process (step S3 in the flowchart of FIG. 4) in which the limit value calculation unit 29 of the control unit 25 calculates the limit physical quantity Pl in the movement range notification device 20 will be described with reference to FIG. . FIG. 5 is a flowchart illustrating a limit physical quantity calculation process (limit physical quantity calculation method) executed by the limit value calculation unit 29 according to the first embodiment. Below, each step (each process) of the flowchart of FIG. 5 is demonstrated.

  In step S11, the driving state of the boom drive unit 13 is detected, and the process proceeds to step S12. In step S11, the drive status of the boom drive unit 13, that is, the drive status of each of the swing hydraulic motor 9, the hoisting cylinder 11, and the telescopic cylinder 12 is detected from the drive signal S5 acquired from the boom drive unit 13.

  In step S12, it is determined whether or not the telescopic cylinder 12 is driven. If YES, the process proceeds to step S13, and if NO, the process proceeds to step S16. Step S12 determines whether or not the telescopic cylinder 12 is driven, that is, whether or not the boom 8 is telescopic.

  In step S13, it is determined whether or not the undulating cylinder 11 is driven. If YES, the process proceeds to step S14. If NO, the process proceeds to step S15. Step S13 determines whether or not the hoisting cylinder 11 is driven, that is, whether or not the boom 8 is hoisted.

  In step S14, the limit physical quantity Pl indicated by the working radius is obtained, and the limit physical quantity calculation process is terminated. In step S14, since the hoisting cylinder 11 and the telescopic cylinder 12 are driven, that is, the boom 8 is hoisted while being expanded and contracted, the limit physical quantity Pl indicated by the minimum movable work radius on which the actual load W can be suspended. (The smallest limit physical quantity Pl) is obtained. In step S14, the limit physical quantity Pl indicated by the changed boom length and undulation angle may be obtained together. The minimum movable work radius in which the actual load W can be suspended refers to a work radius when the limit load becomes equal to the actual load W in a situation where the boom 8 is raised and lowered while being expanded and contracted. The smallest limit physical quantity PI is a limit physical quantity when the limit load becomes equal to the actual load W when the boom 8 is expanded and contracted and raised. The limit physical quantity is smaller than the limit physical quantity when the limit load becomes equal to the actual load W when the boom 8 is only expanded and contracted, and the limit load is equal to the actual load W when the boom 8 is only raised and lowered. It becomes smaller than the limit physical quantity.

  In step S15, the limit physical quantity Pl indicated by the working radius and the limit physical quantity Pl indicated by the boom length are obtained, and the limit physical quantity calculation process is terminated. In step S15, since only the telescopic cylinder 12 is driven, that is, the boom 8 is expanded and contracted, the limit physical quantity Pl indicated by the working radius and the limit physical quantity Pl indicated by the boom length are obtained. In step S15, only the limit physical quantity Pl indicated by the changed boom length may be obtained.

  In step S16, it is determined whether or not the undulating cylinder 11 is driven. If YES, the process proceeds to step S17, and if NO, the process proceeds to step S18. Step S16 is the same as step S13.

  In step S17, the limit physical quantity Pl indicated by the working radius and the limit physical quantity Pl indicated by the undulation angle are obtained, and the limit physical quantity calculation process is terminated. In step S17, since only the hoisting cylinder 11 is driven, that is, the boom 8 is hoisted, the limit physical quantity Pl indicated by the working radius and the limit physical quantity Pl indicated by the hoisting angle are obtained. In step S17, only the limit physical quantity Pl indicated by the changed undulation angle may be obtained.

  In step S18, it is determined whether or not the swing hydraulic motor 9 is driven. If YES, the process proceeds to step S19. If NO, the process proceeds to step S20. Step S18 determines whether or not the turning hydraulic motor 9 is driven, that is, whether or not the boom 8 is turning.

  In step S19, the limit physical quantity Pl indicated by the turning angle is obtained, and the limit physical quantity calculation process ends. In step S19, since the turning hydraulic motor 9 is driven, that is, the boom 8 is turning, the limit physical quantity Pl indicated by the turning angle is obtained.

  In step S20, the limit physical quantity Pl obtained previously is adopted, and the limit physical quantity calculation process is terminated. In step S20, since the boom drive unit 13 is not driven, the limit physical quantity Pl previously obtained by the limit physical quantity calculation process is used as it is.

  Next, an example of the operation for notifying the movable range from the current state of the boom 8 suspending the suspended load 17 by the movement range notification device 20 will be described.

  First, it is assumed that the crane 1 is activated and the boom 8 is extended and the undulation angle is reduced from the state where the suspended load 17 hung on the hook 18 is suspended (ground cut). Then, the movement range notification device 20 proceeds from step S1 to S2 in the flowchart of FIG. 4, and the current physical quantity Pp indicating the posture of the boom 8 at this time and the actual load W of the suspended load 17 suspended by the hook 18 , And the process proceeds to step S3 to determine the limit physical quantity Pl. Then, since the undulation angle is decreased while the boom 8 is extended, the limit value calculation unit 29 proceeds in steps S11 → S12 → S13 → S14 in the limit physical quantity calculation process shown in the flowchart of FIG. The limit physical quantity Pl (the smallest limit physical quantity Pl) indicated by the minimum movable work radius that can suspend W is obtained. Then, in the flowchart of FIG. 4, the process proceeds from step S4 to S5, and a differential physical quantity Pd indicating the movable range from the current state of the boom 8 that is hanging the suspended load 17 is obtained by the size of the working radius, and the differential physical quantity is obtained. The notification unit 32 displays Pd. Thereby, the worker can easily grasp that the work radius can be increased by the numerical value indicated by the differential physical quantity Pd from the current state. At this time, when each limit physical quantity Pl indicated by the boom length and the undulation angle changed as described above is obtained and displayed together, the operator can extend the boom 8 by the numerical value indicated by the differential physical quantity Pd from the current state, It can be easily grasped that the angle can be reduced.

  Next, in the crane vehicle 1, the boom 8 is once stopped. Then, similarly to the above-described scene, the movement range notification device 20 proceeds from step S1 to S2 in the flowchart of FIG. 4 to obtain the current physical quantity Pp and the actual load W, and proceeds to step S3. Since the boom 8 is stopped, the limit value calculation unit 29 proceeds to steps S11 → S12 → S16 → S18 → S20 in the flowchart of FIG. 5, and the limit physical quantity Pl obtained by the limit physical quantity calculation process before this, that is, the work The limit physical quantity Pl indicated by the radius is adopted as it is. Then, it progresses to step S4-> S5 in the flowchart of FIG. 4, and the alerting | reporting part 32 displays the difference physical quantity Pd shown by the magnitude | size of the same working radius as the above-mentioned scene. At this time, since the operator does not move the suspended load 17, even if the display of the notification unit 32 does not change, the worker does not feel uncomfortable.

  Next, in the crane vehicle 1, the boom 8 is extended and the suspended load 17 is raised. Then, similarly to the above-described scene, the movement range notification device 20 proceeds from step S1 to S2 in the flowchart of FIG. 4 to obtain the current physical quantity Pp and the actual load W, and proceeds to step S3. Since the boom 8 is extended, the limit value calculation unit 29 proceeds in steps S11 → S12 → S13 → S15 in the flowchart of FIG. 5 and the limit physical quantity indicated by the movable work radius that can suspend the actual load W. A limit physical quantity Pl indicated by Pl and boom length is obtained. The movable work radius capable of suspending the actual load W refers to a work radius when the limit load becomes equal to the actual load W in a situation where the boom 8 is expanded and contracted. Moreover, the movable boom length which can suspend the actual load W means a boom length when the limit load becomes equal to the actual load W in the situation where the boom 8 is expanded and contracted. Then, the process proceeds from step S4 to step S5 in the flowchart of FIG. 4 to obtain a differential physical quantity Pd indicating the range of movement of the boom 8 from the current state in terms of the working radius and a differential physical quantity Pd indicating the boom length. The notification unit 32 displays the difference physical quantity Pd. Thus, the operator can easily increase the working radius of the boom 8 that is hanging the suspended load 17 by the numerical value indicated by the differential physical quantity Pd from the current state, and can extend the numerical value indicated by the differential physical quantity Pd from the current state. Can grasp.

  Next, in the crane vehicle 1, the boom 8 is turned and the suspended load 17 is moved to above the target position. Then, similarly to the above-described scene, the movement range notification device 20 proceeds from step S1 to S2 in the flowchart of FIG. 4 to obtain the current physical quantity Pp and the actual load W, and proceeds to step S3. Then, since the boom 8 is turning, the limit value calculation unit 29 proceeds in steps S11 → S12 → S16 → S18 → S19 in the flowchart of FIG. 5 and the limit indicated by the turning angle at which the actual load W can be suspended. The physical quantity Pl is obtained. Then, in the flowchart of FIG. 4, the process proceeds from step S4 to S5, and a differential physical quantity Pd indicating the range in which the boom 8 that suspends the suspended load 17 is movable from the current state is obtained, and the differential physical quantity is obtained. The notification unit 32 displays Pd. Thereby, the operator can easily grasp that the boom 8 suspending the suspended load 17 can be turned by the numerical value indicated by the difference physical quantity Pd from the current state.

  Next, in the crane vehicle 1, the hoisting angle of the boom 8 is decreased, and the suspended load 17 is moved (lowered) to the target position. Then, similarly to the above-described scene, the movement range notification device 20 proceeds from step S1 to S2 in the flowchart of FIG. 4 to obtain the current physical quantity Pp and the actual load W, and proceeds to step S3. Then, since the hoisting angle of the boom 8 is reduced, the limit value calculation unit 29 proceeds from step S11 → S12 → S16 → S17 in the flowchart of FIG. 5 and can move the actual load W. A limit physical quantity Pl indicated by a radius and a limit physical quantity Pl indicated by a movable undulation angle are obtained. The movable working radius capable of suspending the actual load W refers to a working radius when the limit load becomes equal to the actual load W in a situation where the boom 8 is raised and lowered. Further, the movable undulation angle at which the actual load W can be suspended refers to the undulation angle when the limit load becomes equal to the actual load W in the situation where the boom 8 is undulated. Then, in the flowchart of FIG. 4, the process proceeds from step S4 to S5, and the difference physical quantity Pd indicating the movable range from the current state of the boom 8 suspending the suspended load 17 in terms of the working radius and the magnitude of the undulation angle And the notification unit 32 displays the difference physical quantity Pd. Thereby, the operator can increase the working radius of the boom 8 that is hanging the suspended load 17 by the numerical value indicated by the differential physical quantity Pd from the current state, and can reduce the undulation angle by the numerical value indicated by the differential physical quantity Pd from the current state. Can be easily grasped.

  The movement range notification device 20 proceeds from step S6 to S1 in each of the above-described scenes and repeats the above-described operation, whereby the size as a movable range that changes according to the movement of the boom 8 (difference physical quantity Pd). Can be displayed on the notification unit 32 in real time.

  In this way, the movement range notification device 20 notifies the notification unit 32 of the difference physical quantity Pd that indicates the range in which the boom 8 from which the suspended load 17 is suspended can be moved from the current state. For this reason, since the operator can know the movable range of the boom 8 by a numerical value (difference physical quantity Pd), the operator can intuitively grasp the movable range of the boom 8 that suspends the suspended load 17. it can. Further, the movement range notification device 20 sets the physical quantity of the boom 8 indicating the limit physical quantity Pl, the differential physical quantity Pd, and the like as the work radius, the boom length, the hoisting angle, and the turning angle according to the driving state of the boom 8. For this reason, the moving range notification device 20 can notify the difference physical quantity Pd as the size represented by the physical quantity actually changed in the boom 8 by the notification unit 32, so that, for example, when the boom 8 is extended, The operator can be provided with the information he / she wants during operation so as to provide a numerical value of how much can be extended, and the usability can be improved.

  The movement range notification device 20 of one embodiment can obtain the following functions and effects.

  In the movement range notification device 20, the limit value calculation unit 29 calculates the limit physical quantity Pl when the actual load W becomes equal to the limit load, and the physical quantity detection unit 27 detects the current physical quantity Pp of the boom 8 at the current time. In the movement range notification device 20, the difference calculation unit 31 obtains the difference physical amount Pd by subtracting the current physical amount Pp from the limit physical amount Pl, and the notification unit 32 notifies the difference physical amount Pd. For this reason, the movement range alerting | reporting apparatus 20 can alert | report the difference physical quantity Pd shown by the magnitude | size of the physical quantity of the boom 8 as a range which can be moved from the present condition of the boom 8 which is hanging the suspended load 17. FIG. Thereby, the movement range alerting | reporting apparatus 20 can make an operator grasp | ascertain intuitively how much the boom 8 can be moved further (movable range). Moreover, since the movement range alerting | reporting apparatus 20 alert | reports the difference physical quantity Pd in real time according to the change of the attitude | position of the boom 8 which is suspending the suspended load 17, the boom 8 is made to grasp | ascertain the range which can always move a worker. The suspended load 17 can be moved by operating.

  Moreover, the movement range alerting | reporting apparatus 20 makes the physical quantity of the boom 8 the work radius. For this reason, since the movement range alerting | reporting apparatus 20 can alert | report the difference physical quantity Pd with the value represented by the working radius which the operator always pays attention when handling the crane 1, how far can it move further? Can be grasped intuitively.

  Furthermore, the movement range notification device 20 uses the physical quantity of the boom 8 as the boom length. For this reason, since the movement range alerting | reporting apparatus 20 can grasp | ascertain the difference physical quantity Pd with the value represented by the boom length of the boom 8 which expands / contracts when an operator moves the suspended load 17 with the crane vehicle 1, which It is possible to intuitively understand whether or not the boom 8 can be extended. This is more effective because, for example, when the suspended load 17 is moved to a high place, it can be understood how much it can move in the height direction.

  The movement range notification device 20 uses the physical amount of the boom 8 as the undulation angle. For this reason, since the movement range alerting | reporting apparatus 20 can grasp | ascertain the difference physical quantity Pd with the value represented by the raising / lowering angle of the boom 8 which raises / lowers when an operator moves the suspended load 17 with the crane vehicle 1, which Thus, it is possible to intuitively understand whether the undulation angle of the boom 8 can be reduced (decreased).

  The movement range notification device 20 uses the physical quantity of the boom 8 as the turning angle. For this reason, since the movement range alerting | reporting apparatus 20 can grasp | ascertain the difference physical quantity Pd with the value represented by the turning angle of the boom 8 which turns when the operator moves the suspended load 17 with the crane vehicle 1, which It is possible to intuitively understand whether or not the boom 8 can be turned.

  In the movement range notification device 20, the physical amount of the boom 8 is changed by driving the boom drive unit 13. That is, the physical quantity of the boom 8 that has been changed by driving the boom drive unit 13 is set as a calculation target as the limit physical quantity Pl, the differential physical quantity Pd, or the like. For this reason, since the movement range alerting | reporting apparatus 20 can grasp | ascertain the difference physical quantity Pd as a magnitude | size represented with the physical quantity of the boom 8 which is changing actually, the information which the operator who operates the boom 8 wants is desired. Can be provided, and usability can be improved.

  The movement range notification device 20 detects a physical quantity that changes in the boom 8 based on the operation of the boom drive unit 13. For this reason, the movement range notification device 20 can reliably detect the physical quantity that changes in the boom 8 with a simple configuration, and can notify the differential physical quantity Pd that appropriately corresponds to the changing physical quantity.

  The movement range notification device 20 calculates a limit physical quantity P1 based on a limit load corresponding to the number of stages in the boom 8 that is nested and expands and contracts in stages, and obtains the difference physical quantity Pd using the limit physical quantity Pl. For this reason, the movement range alerting | reporting apparatus 20 can alert | report the difference physical quantity Pd appropriately corresponding to the limit load of the boom 8 which changes in steps, and can improve usability more. This is more effective than the following configuration. For example, some conventional devices that display the load factor display the load factor at that point regardless of changes in the number of boom stages. In the conventional device, for example, if the load is continued due to the display of a load factor with a margin, the limit load changes rapidly due to the change in the number of steps of the boom, so that the limit load factor is reached. A scene that reaches suddenly may occur. On the other hand, since the movement range notification device 20 notifies the difference physical quantity Pd corresponding to the number of stages of the boom 8, it is intuitive how much the movement range can be moved with the current number of stages or the number of stages changed therefrom. Therefore, the operator can foresee that the limit value is suddenly reached. Thereby, the movement range alerting | reporting apparatus 20 can improve usability more.

  When the actual load calculation unit 28 calculates the actual load W, the movement range notification device 20 immediately obtains the difference physical quantity Pd using the actual load W, and notifies the difference physical quantity Pd by the notification unit 32. For this reason, the movement range notification device 20 indicates the range of movement of the boom 8 from the current state of the boom 8 that is hanging the suspended load 17 at the time when the suspended load 17 is suspended (ground cut). The difference physical quantity Pd indicated by the size of can be notified, and the work of moving the suspended load 17 can be made more efficient.

  Since the movement range notification device 20 notifies the difference physical quantity Pd by the notification unit 32, it can be surely grasped by various methods how far the boom 8 can be moved. This is due to a comparison with the following configuration. In order to intuitively know how much the boom 8 can be moved further, for example, a camera is provided so as to capture the suspended load suspended by the boom 8, and the limit load factor is included in the image acquired by the camera. It is also conceivable that the limit position is displayed. However, with this configuration, if the position that becomes the limit load rate is far from the current position of the suspended load, the limit position cannot be displayed unless the scale of the image is reduced, and the remaining amount of movement can be grasped. I can't do that. Also, with this configuration, if the scale of the video is changed, it is difficult to grasp the actual distance in the video, so it is not easy to grasp how much it can move. Further, in this configuration, it is conceivable to acquire an image including a suspended load provided with a camera in the vicinity of the tip of the boom 8, but since the upper image cannot be acquired, the limit position in the height direction is displayed. It is impossible to grasp how much the boom 8 can be extended.

  The movement range notification device 20 includes the turning angle of the boom 8 detected by the turning angle detector 21, the raising / lowering angle of the boom 8 detected by the raising / lowering angle detector 23, and the boom length of the boom 8 detected by the boom length detector 24. And the difference physical quantity Pd is calculated | required using and, and the difference physical quantity Pd is alert | reported by the alerting | reporting part 32. FIG. For this reason, since the movement range notification device 20 uses the turning angle, the undulation angle, and the boom length that have been detected conventionally, and a device that can notify the difference physical quantity Pd may be used as the notification unit 32, the difference physical quantity Pd Therefore, a new configuration provided only for the notification can be kept to a minimum, and can be realized with a simple configuration that does not cause an increase in cost. For example, in the configuration in which the above-described camera is provided, the camera is provided so as to capture the suspended load suspended by the boom 8, and the limit position that changes according to the actual load of the suspended load in the acquired image is calculated. Therefore, the cost is increased and the configuration is complicated, which is more effective than this configuration.

  Therefore, the movement range notification device 20 as an embodiment of the movement range notification device according to the present disclosure can intuitively grasp the movable range of the suspended load 17.

  As mentioned above, although the movement range alerting | reporting apparatus of this indication was demonstrated based on Example 1, it is not restricted to Example 1 about a concrete structure, The summary of the invention which concerns on each claim of a claim Unless it deviates, design changes and additions are allowed.

  For example, in the first embodiment, the crane vehicle 1 that is a load-type truck crane is shown as a work vehicle using the movement range notification device 20. However, if the boom 8 that expands and contracts is mounted, for example, an all terrain crane or a rough terrain can be used. It may be a crane or a work vehicle having another configuration, and is not limited to the first embodiment.

  In the first embodiment, the limit value calculation unit 29 (control unit 25) uses the physical amount of the boom 8 according to the driving state of the boom driving unit 13 as described above. The physical quantity of the boom 8 that has been changed by the above may be used, and is not limited to the configuration of the first embodiment. For example, when the swing hydraulic motor 9 is driven when at least one of the hoisting cylinder 11 and the telescopic cylinder 12 is driven, the swing angle is used as the physical quantity of the boom 8 together with the working radius, the boom length, and the hoisting angle. May be. Here, when a plurality of physical quantities of the boom 8 are used, for example, when the boom angle is increased and the undulation angle is decreased, the actual load W may be reached due to a change in the limit load on the characteristic line and the characteristic line. In some cases, a change in each physical quantity of the boom 8 may affect a change in each other's limit physical quantity Pl. In this case, the limit value calculation unit 29 considers the drive speed of each part of the boom drive unit 13 and the limit physical quantity Pl indicated by the physical quantity of the boom 8 at which the limit load is equal to the actual load W earliest (the smallest limit physical quantity Pl). Or a plurality of limit physical quantities Pl may be obtained by making it possible to distinguish the limit physical quantity Pl from other limit physical quantities Pl. Here, when the plurality of limit physical quantities Pl are obtained, the control unit 25 may cause the notification unit 32 to notify only the difference physical quantity Pd based on the smallest limit physical quantity PI among the plurality of difference physical quantities Pd based thereon. All the difference physical quantities Pd may be notified by the notification unit 32. In the case of the latter, the difference physical quantity Pd based on the smallest limit physical quantity PI is emphasized over the other difference physical quantity Pd and notified by the notification unit 32 so that it can be distinguished from the other difference physical quantity Pd.

  Further, in the first embodiment, the work radius, the boom length, the undulation angle, and the turning angle are selected and used as the physical quantity of the boom 8, but the work radius and the boom length are used regardless of the driving state of the boom drive unit 13. One or a plurality (including all) of the undulation angle and the turning angle may be used, and is not limited to the configuration of the first embodiment described above. Here, if each difference physical quantity Pd shown by the physical quantity of all the booms 8 is notified regardless of the driving state of the boom drive unit 13, before the suspended load 17 is moved, which operation can be performed and how much. It is possible to grasp whether it is possible and improve usability. Further, if the difference physical quantity Pd (physical quantity of the boom 8) to be notified from the work radius, boom length, undulation angle, and turning angle is selectable, the difference physical quantity Pd required according to the preference of the operator can be notified. Therefore, usability can be improved.

  In the first embodiment, the physical amount of the boom 8 is set to be changed by the boom drive unit 13 as being changed by the boom drive unit 13. However, since the physical amount of the boom 8 may be changed by the boom drive unit 13, it may be in the drive standby state by the boom drive unit 13. One example of this is the following configuration. First, the operation unit 14 adjusts the operation amount of the operation enabled by the changeover switch and the changeover switch for individually changing whether or not the boom 8 can be expanded / contracted, raising / lowering, and turning. And an adjusting lever. The operation unit 14 may be configured as a so-called remote control that can be carried, or may be provided at the base end position of the cabin 3 or the crane unit 4. When the operation unit 14 is a remote controller, the notification unit 32 that displays the differential physical quantity Pd for notification may be a liquid crystal display unit mounted on the remote control. When the operation to be executed is selected by the changeover switch, the operation unit 14 enters an operation standby state in which the selected operation can be performed, and performs an operation in the operation standby state by operating the adjustment lever. be able to. For this reason, in this configuration, the operation selected by the changeover switch of the operation unit 14 is set in the drive standby state in which the boom drive unit 13 can be driven. The operation unit 14 outputs to the limit value calculation unit 29 a signal indicating the operation selected by each changeover switch to be in the operation standby state, that is, the operation in the drive standby state by the boom drive unit 13. The limit value calculation unit 29 sets the physical quantity of the boom 8 that can be changed by the operation in the operation standby state, that is, the physical quantity of the boom 8 in the drive standby state by the boom drive unit 13 as a calculation target as the limit physical quantity Pl. In this example, for example, when the telescopic operation and the raising / lowering operation are set to the operation standby state by each changeover switch of the operation unit 14, the boom length and the raising / lowering angle set to the drive standby state by the boom drive unit 13 are the physical quantities of the boom 8. When the same as in the first embodiment, the difference physical quantity Pd indicated by the working radius is notified by the notification unit 32. This means that any one of the working radius, the boom length, the undulation angle, and the turning angle, or a plurality (including all) of them, is set in the drive standby state by the boom drive unit 13 and becomes the physical quantity of the boom 8. The same applies to the case. Assuming that the boom 8 is in the drive standby state by the boom drive unit 13 as a physical quantity of the boom 8, the difference physical quantity Pd indicated by the magnitude is notified, so that the suspended load 17 can be moved before being moved. It is possible to grasp how much the operation that is going to be performed can be performed, and to improve usability.

  In the first embodiment described above, the physical amount of the boom 8 when the rotation posture of the boom 8 with respect to the direction of the traveling body 2 is changed is indicated by the rotation posture (turning angle) of the boom 8. However, the physical amount of the boom 8 when the rotation posture of the boom 8 is changed may be indicated by a displacement length corresponding to the turning angle of the boom 8. This displacement length indicates the distance (the length of displacement) that the boom 8 (the suspended load 17 suspended there) moves when turning, and the trajectory of the movement until the turning angle that cannot be hung is reached. It may be the length of the arc, or the length of the chord indicating the distance to the turning angle. If the displacement length according to the turning angle is the physical quantity of the boom 8 in this way, the movable length of the suspended load 17 that changes according to the boom length can be notified even at the same turning angle, so that the usability is further improved. it can. In addition, it is good also as what alert | reports both a turning angle and the displacement length according to it, and it is good also as a structure which can select any one alerting | reporting.

  DESCRIPTION OF SYMBOLS 1 Crane vehicle (as an example of a working vehicle) 8 Boom 13 Boom drive unit 17 Suspended load 20 Movement range notification device 22 Undulating pressure detector (as an example of load detector) 23 Undulating (as an example of load detector) Angle detector 24 Boom length detector (as an example of a load detector) 27 Physical quantity detection unit 29 Limit value calculation unit 31 Difference calculation unit 32 Notification unit Pd Difference physical quantity Pl Limit physical quantity Pp Current physical quantity W Actual load

Claims (8)

A load detector for detecting the actual load of the suspended load suspended from the boom of the work vehicle;
A boom drive unit for changing the physical quantity of the boom;
A physical quantity detection unit for detecting a current physical quantity as the current physical quantity of the boom;
A limit value calculation unit that calculates a limit physical quantity as a physical quantity of the boom when the actual load becomes equal to the limit load;
A difference calculation unit for subtracting the current physical quantity from the limit physical quantity to obtain a difference physical quantity;
A moving range notification device comprising: a notification unit that notifies the difference physical quantity.   The movement range notification device according to claim 1, wherein the boom physical quantity is changed by the boom drive unit.   The movement range notification device according to claim 1, wherein the physical quantity of the boom is a work radius.   The movement range notification device according to any one of claims 1 to 3, wherein the physical quantity of the boom is a boom length.   The movement range notification device according to any one of claims 1 to 4, wherein the physical quantity of the boom is a undulation angle.   The movement range notification device according to claim 1, wherein the physical amount of the boom is a turning angle.   The movement range notification device according to any one of claims 1 to 6, wherein the physical quantity of the boom is a displacement length corresponding to a turning angle. The boom is telescopic in a telescopic manner,
The movement range notification device according to any one of claims 1 to 7, wherein the limit value calculation unit calculates the limit physical quantity based on the limit load corresponding to the number of stages of the boom. .