JP2021038086A - Mobile crane and remote terminal device - Google Patents

Abstract

To provide a crane that can move a cargo while changing the position of the cargo in the height direction at a certain rate.SOLUTION: The crane 1 comprises a boom 9 capable of swiveling, undulating and extending, hooks 10a and 11a suspended from the end of the boom 9 by wire ropes 14 and 16 that can be wound up and down by winches 13 and 15, a position acquisition unit 32 to acquire position information of the hooks 10a and 11a, a suspended load camera 9b that is connected to the end of the boom 9 and captures images including the hooks 10a and 11a, a camera monitor 41 that displays the image captured by the suspended load camera 9b, and an image processing unit 33 that calculates the amount of change per unit time in the position of hooks 10a and 11a in the height direction from the position information acquired by the position acquisition unit 32 and displays the amount of change on the camera monitor 41.SELECTED DRAWING: Figure 5

Description

The present invention relates to mobile cranes and remote terminal units.

Cranes are known to have a suspended load camera attached to the tip of the boom to capture images including hooks. In the crane, the operator of the crane performs a boom turning, undulating and expanding / contracting operation, and a wire rope hoisting / unwinding operation while checking the image displayed on a monitor installed in the operation room. be able to.

The monitor can further display information on the position and moving direction of the hook in addition to the image captured by the suspended load camera. From the information displayed on the monitor, the operator can confirm the movement status of the luggage hung on the hook.

Patent Document 1 discloses an image display device that superimposes an arrow indicating the vertical movement direction of a hook on an image captured by a suspended load camera and displays it on a monitor. In the image display device, the arrow indicates the moving direction of the hook with respect to the horizontal plane. Therefore, in the image display device, even when the boom is being tilted, if the amount of upward movement of the hook due to the winding of the wire rope is larger than the amount of downward movement of the hook due to the tilting operation of the boom, the upward arrow Is displayed. Further, in the image display device, even when the boom is being raised, if the downward movement amount of the hook due to the winding of the wire rope is larger than the upward movement amount of the hook due to the boom standing operation, the hook is downward. An arrow is displayed.

Japanese Unexamined Patent Publication No. 2016-166087

By the way, in the operation of the crane, there is a case where it is desired to move the luggage while changing the height position of the luggage at a constant rate. At this time, the operator operates the crane while checking the image displayed on the monitor and the information regarding the position of the hook. By displaying the arrow disclosed in Patent Document 1, the change in the height position of the luggage can be grasped, but the rate of the change in the height position cannot be grasped. Therefore, it has been difficult to operate the crane to move the cargo horizontally while changing the height position of the cargo at a constant rate by using the conventional images and arrow information.

An object of the present invention is to provide a crane capable of moving a load while changing the position of the load in the height direction at an arbitrary rate.

The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.

The first invention is a boom that can be swiveled, undulated and expanded and contracted, a hook suspended by a wire rope that can be hoisted and unwound by a winch at the tip of the boom, and a position for acquiring position information of the hook. An acquisition unit, a suspended load camera connected to the tip of the boom and capturing an image including the hook, a display unit displaying an image captured by the suspended load camera, and position information acquired by the position acquisition unit. This is a mobile crane including a control unit that calculates the amount of change in the position of the hook in the height direction in the height direction per unit time and displays the amount of change on the display unit.

The second invention is a mobile crane provided with a control unit that controls at least one of the boom and the winch so that when the change amount becomes a predetermined value or more, the change amount becomes less than the predetermined value. is there.

The third invention is an instruction to make the change amount less than a predetermined value when the change amount becomes a predetermined value or more, such as undulation of the boom, expansion / contraction of the boom, and hoisting of the wire rope. It is a mobile crane provided with a control unit that displays at least one of the instructions regarding unwinding on the display unit.

A fourth invention is a mobile crane including a control unit that displays the change amount as an image on the display unit in a mode different from the movement direction in the height direction of the hook and the change amount.

A fifth invention is a mobile crane in which the image displaying the amount of change shows the horizontal moving direction of the hook.

A sixth aspect of the present invention is a boom that can be swiveled, undulated and expanded and contracted, a hook suspended from a tip of the boom by a wire rope that can be hoisted and unwound by a winch, and a position for acquiring position information of the hook. It is a remote control terminal of a mobile crane including an acquisition unit and a suspended load camera connected to the tip end portion of the boom and capturing an image including the hook. The remote control terminal includes a display unit that displays an image taken by the suspended load camera, and a control unit that is configured to be communicable with the control device of the mobile crane. The control unit calculates the amount of change of the position in the height direction of the hook per unit time from the position information acquired by the position acquisition unit, and displays the amount of change on the display unit.

The present invention has the following effects.

In the first invention, the change in the position of the hook in the height direction is displayed on the display unit. As a result, the operator can grasp the rate of change of the load suspended from the hook in the height direction, so that the crane can be operated so as to move the load while changing the height position of the load at an arbitrary rate. it can.

In the second invention, at least one of the booms or winches is controlled so that the rate of change in the height position of the hook is less than a predetermined value. This allows the operator to control the crane to move the load while suppressing unexpected fluctuations in the height position of the hook and changing the height position of the load at an arbitrary rate.

In the third invention, the operator is presented with an appropriate operation for keeping the rate of change in the height position of the hook below a predetermined value. This allows the operator to control the crane to move the load while suppressing unexpected fluctuations in the height position of the hook and changing the height position of the load at an arbitrary rate.

In the fourth invention, the change in the position of the hook in the height direction is displayed as an image. As a result, the operator can easily visually grasp the rate of change in the height position of the cargo, so that the crane can be operated so as to move the load while changing the height position of the baggage at an arbitrary rate. ..

In the fifth invention, the change in the position of the hook in the horizontal direction and the height direction is represented by one image. As a result, the operator can grasp the horizontal movement direction according to the change in the height position of the luggage, and therefore operates the crane to move the luggage while changing the height position of the luggage at an arbitrary ratio. be able to.

In the sixth invention, the change in the position of the hook in the height direction is displayed on the display unit of the remote control terminal. As a result, the operator can remotely control the crane so that the luggage moves while changing the height position of the luggage at an arbitrary ratio.

FIG. 1 is a side view showing the overall configuration of the crane. FIG. 2 is a block diagram showing a control configuration of the crane according to the first embodiment. FIG. 3 is a plan view showing the cockpit of the crane. FIG. 4 is a block diagram showing a configuration of an image processing unit according to the first embodiment. FIG. 5 is a diagram showing the display contents of the camera monitor. FIG. 6 is a diagram showing the display contents of the camera monitor. FIG. 7 is a processing flow diagram of the image processing unit according to the first embodiment. FIG. 8 is a block diagram showing a configuration of an image processing unit according to the second embodiment. FIG. 9 is a diagram showing the display contents of the camera monitor. FIG. 10 is a block diagram showing a control configuration of the crane according to the third embodiment. FIG. 11 is a plan view showing a schematic configuration of a remote control terminal. FIG. 12 is a block diagram showing a configuration of an image processing unit according to the third embodiment.

(Embodiment 1)
Hereinafter, the crane 1 which is the mobile crane according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 3. In the present embodiment, the rough terrain crane will be described, but an all-terrain crane, a truck crane, a loaded truck crane, an aerial work platform, or the like may be used.

In the following description, the height direction means the vertical direction. The height position refers to a position in the height direction with respect to the crane 1.

As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified place. The crane 1 includes a vehicle 2, a crane device 6 which is a working device, and a control device 31 (see FIG. 2).

The vehicle 2 is a moving body that conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and travels by using the engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The vehicle 2 can expand the workable range of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.

The crane device 6 is a device for lifting the luggage W by a wire rope. The crane device 6 includes a swivel 7, a boom 9, a jib 9a, a main hook block 10, a sub hook block 11, an undulating hydraulic cylinder 12, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. It is equipped with 17 and the like.

The swivel base 7 is a device that swivels the crane device 6. The swivel base 7 is rotatably configured with the center of the annular bearing as the center of rotation. The swivel base 7 is provided with a hydraulic swivel hydraulic motor 8 which is an actuator. The swivel base 7 is configured to be swivelable in one direction and the other direction by a swivel hydraulic motor 8.

The swivel hydraulic motor 8 which is an actuator is rotated by a swivel valve 23 (see FIG. 2) which is an electromagnetic proportional switching valve. The swivel valve 23 can control the flow rate of the hydraulic oil supplied to the swivel hydraulic motor 8 to an arbitrary flow rate. The swivel 7 is provided with a swivel sensor 27 (see FIG. 2) that detects the swivel position (angle) and swivel speed of the swivel 7.

The boom 9 is a beam member that supports the wire rope so that the luggage W can be lifted. The boom 9 is provided so that the base end of the base boom member can swing at substantially the center of the swivel base 7. The boom 9 is configured to be able to expand and contract in the axial direction by moving each boom member by an expansion / contraction hydraulic cylinder (not shown) which is an actuator. Further, the boom 9 is provided with a jib 9a.

The expansion / contraction hydraulic cylinder (not shown), which is an actuator, is expanded / contracted by the expansion / contraction valve 24 (see FIG. 2) which is an electromagnetic proportional switching valve. The boom 9 is provided with a telescopic sensor 28 for detecting the length of the boom 9, a weight sensor for detecting the weight of the luggage W, and the like.

The suspended load camera 9b (see FIG. 2) is a photographing device that photographs the luggage W and the features around the luggage W. The suspended load camera 9b is provided at the tip of the boom 9. The suspended cargo camera 9b is configured to be capable of photographing the features and terrain around the luggage W and the crane 1 from vertically above the luggage W.

The main hook block 10 and the sub hook block 11 are members for suspending the luggage W. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound and a main hook 10a for suspending the luggage W. The sub-hook block 11 is provided with a sub-hook 11a for suspending the luggage W.

The undulating hydraulic cylinder 12 is an actuator that raises and lays down the boom 9 and holds the posture of the boom 9. The undulating hydraulic cylinder 12 is undulated by an undulating valve 25 (see FIG. 2), which is an electromagnetic proportional switching valve. The boom 9 is provided with an undulation sensor 29 (see FIG. 2) that detects the undulation angle of the boom 9.

The main winch 13 feeds (winds up) and unwinds (rolls down) the main wire rope 14. The main winch 13 is configured such that the main drum around which the main wire rope 14 is wound is rotated by a main hydraulic motor (not shown) which is an actuator.

The sub winch 15 feeds (winds up) and unwinds (rolls down) the sub wire rope 16. The sub winch 15 is configured such that the sub drum around which the sub wire rope 16 is wound is rotated by a sub hydraulic motor (not shown) which is an actuator.

The main hydraulic motor is rotated by a main valve 26 m (see FIG. 2), which is an electromagnetic proportional switching valve. The main winch 13 is configured to control a main hydraulic motor by a main valve 26 m so that it can be operated at arbitrary feed-in and feed-out speeds. Similarly, the sub winch 15 is configured to control the sub hydraulic motor by the sub valve 26s (see FIG. 2), which is an electromagnetic proportional switching valve, so that the sub winch 15 can be operated at an arbitrary feeding and feeding speed.

The main drum is provided with a main wire rope feeding sensor 30m (see FIG. 2) for detecting the feeding and feeding amount of the main wire rope 14. The sub-drum is provided with a sub-wire rope feeding sensor 30s (see FIG. 2) for detecting the feeding and feeding amount of the sub-wire rope 16.

The cabin 17 is mounted on the swivel base 7. As shown in FIG. 3, a driver's seat 22 is provided inside the cabin 17. In the driver's seat 22, an operating tool for running the vehicle 2, a turning telescopic operating tool 18 for turning the swivel base 7 and expanding and contracting the boom 9, a main winch 13 and a sub winch 15 are carried in and out, and , An undulation operation tool 19 for performing an undulation operation of the boom 9 and the like are provided.

The swivel expansion / contraction operation tool 18 is an operation tool in which an instruction to rotate the crane device 6 is input by tilting in the left-right direction, and an instruction to expand / contract the boom 9 is input by tilting in the front-rear direction. The undulation operation tool 19 is an operation tool in which an instruction to rotate the main winch 13 or the sub winch 15 is input by tilting in the left-right direction, and an instruction to undulate the boom 9 by tilting in the front-rear direction is input.

An operation panel is arranged in front of the driver's seat. The operation panel is provided with a main monitor 40 and a camera monitor 41 which is a display unit. The main monitor 40 and the camera monitor 41 are composed of a display device such as a liquid crystal screen. Various information such as the attitude information of the crane 1 and the information of the luggage W are displayed on the main monitor 40.

The image G captured by the suspended load camera 9b is displayed on the camera monitor 41, which is a display unit. Further, the information output from the image processing unit 33, which will be described later, is superimposed on the image G and displayed on the camera monitor 41. The details of the display contents of the camera monitor 41 will be described later.

As shown in FIG. 2, the control device 31 is a device that controls the actuator of the crane 1 via each operation valve. The control device 31 is provided in the cabin 17. The control device 31 may actually have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The control device 31 stores various programs and data for controlling the operation of each actuator, switching valve, sensor, and the like.

The control device 31 is connected to the suspended load camera 9b, the swivel telescopic operating tool 18, and the undulating operation tool 19, acquires the image G of the suspended load camera 9b, and operates the swivel telescopic operating tool 18 and the undulating operating tool 19 respectively. Can be obtained.

The control device 31 is connected to the swivel valve 23, the telescopic valve 24, the undulation valve 25, the main valve 26m and the sub valve 26s, and is connected to the swivel valve 23, the telescopic valve 24, the undulation valve 25, and the main valve. A control signal can be transmitted to the valve 26m and the sub valve 26s.

The control device 31 is connected to the swivel sensor 27, the telescopic sensor 28, the undulation sensor 29, the main wire rope feeding sensor 30m, and the sub wire rope feeding sensor 30s, and is connected to the swivel position 7 swivel position and boom length. , Attitude information such as undulation angle, weight of luggage W, extension length of main wire rope, and extension length of sub wire rope can be acquired.

The control device 31 generates a control signal corresponding to each operating tool based on the tilting direction and the tilting amount of the swivel expansion / contraction operating tool 18 and the undulating operating tool 19.

The control device 31 has a position acquisition unit 32 and an image processing unit 33. The position acquisition unit 32 is the swivel position of the swivel 7 and the boom 9 acquired by the swivel sensor 27, the telescopic sensor 28, the undulation sensor 29, the main wire rope feeding sensor 30m, and the sub wire rope feeding sensor 30s. The position information which is the position of the main hook 10a and the sub hook 11a with respect to the base end portion of the boom 9 is acquired from the length and the undulation angle of the main wire rope 14 or the feeding length of the sub wire rope 16.

The image processing unit 33 displays on the camera monitor 41 the amount of change in the positions of the main hook 10a and the sub hook 11a in the height direction per unit time. The detailed configuration of the image processing unit 33 will be described later.

The crane 1 configured in this way can move the crane device 6 to an arbitrary position by traveling the vehicle 2. Further, the crane 1 raises the boom 9 at an arbitrary undulating angle by the undulating hydraulic cylinder 12 by tilting the undulating operation tool 19 in the front-rear direction, and tilts the boom 9 in the front-rear direction by the turning expansion / contraction operating tool 18. The lift and working radius of the crane device 6 can be expanded by extending it to an arbitrary boom length. Further, the crane 1 can transport the luggage W by lifting the luggage W by tilting the undulating operation tool 19 in the left-right direction and turning the swivel base 7 by tilting the swivel expansion / contraction operation tool 18 in the left-right direction. it can. The crane 1 can select whether to use the main winch 13 or the sub winch 15 according to the weight of the transported object and the desired lifting speed.

(Image processing unit)
Next, the image processing unit 33, which is a control unit, will be described in detail with reference to FIGS. 4 to 6. The image processing unit 33 calculates the amount of change in the position of the luggage W suspended from the crane 1 in the height direction per unit time, and displays the amount of change on the camera monitor 41. In the following description, the case where the image processing unit 33 calculates the change amount of the luggage W suspended from the sub hook 11a will be described. Similarly, the image processing unit 33 can also calculate the amount of change in the luggage W suspended from the main hook 10a. Since the configuration of the image processing unit 33 when the luggage W is hung on the main hook 10a is the same as the configuration of the image processing unit 33 when the luggage W is hung on the sub hook 11a, the description thereof will be omitted.

As shown in FIG. 4, the image processing unit 33 includes a movement direction acquisition unit 34, a change amount calculation unit 35, a determination unit 36, a control instruction generation unit 37, a figure generation unit 38, and a setting unit 39.

The movement direction acquisition unit 34 acquires the horizontal movement direction of the sub hook 11a from the operation signals of the swivel expansion / contraction operation tool 18 and the undulation operation tool 19, and outputs the movement direction to the figure generation unit 38.

The change amount calculation unit 35 calculates the change amount per unit time of the position of the sub hook 11a in the height direction from the position information about the sub hook 11a acquired by the position acquisition unit 32. That is, the change amount calculation unit 35 can calculate the moving speed of the luggage W suspended from the sub hook 11a in the height direction. In the following description, the amount of change in the position of the sub-hook 11a in the height direction per unit time is simply referred to as the amount of change V.

A sign "+" or "-" indicating the moving direction of the sub hook 11a in the height direction (vertical direction) is added to the amount of change V. For example, in the height direction, a + sign is added to the value indicating the amount of change V of the sub-hook 11a moving upward, and the value indicating the amount of change V of the sub-hook 11a moving downward is-. A sign is added. The change amount calculation unit 35 outputs the change amount V to the determination unit 36 and the figure generation unit 38.

The determination unit 36 determines whether the change amount V is equal to or greater than the change amount threshold value Th set in the setting unit 39. The determination unit 36 outputs the determination result to the control instruction generation unit 37.

The control instruction generation unit 37 generates an instruction regarding the operation of the crane 1 for making the change amount V less than the change amount threshold Th when the change amount V is equal to or more than the change amount threshold Th. Specifically, the control instruction generation unit 37 generates at least one of an instruction for raising or falling down the boom 9, an instruction for shortening or extending the boom 9, and an instruction for feeding or feeding the sub-wire rope 16. For example, when a + sign is added to the change amount V, the control instruction generation unit 37 shortens the boom 9 by instructing the boom 9 to fall down, which is an instruction to move the height position of the luggage W downward. When the sub-wire rope 16 is being fed, at least one of the instructions for reducing the feeding operation amount and the instruction for increasing the feeding operation amount when the sub-wire rope 16 is being fed is generated. .. The control instruction generation unit 37 outputs the generated instruction as an instruction signal to the graphic generation unit 38.

The figure generation unit 38 generates a figure S, which is an image to be displayed on the camera monitor 41. In the present embodiment, the figure S is a figure of a wide arrow. In the figure S, the tip of the arrow points to the horizontal movement direction of the sub hook 11a acquired by the movement direction acquisition unit 34. The shape of the figure S does not have to be an arrow as long as the horizontal moving direction of the sub hook 11a can be recognized.

In the present embodiment, the figure S is represented by a different color according to the change amount V calculated by the change amount calculation unit 35. For example, the figure S is red when the amount of change V of + is larger than an arbitrarily determined color change value, pink when the amount of change V of + is smaller than the color change value and larger than 0, and the amount of change. When V is 0, it is expressed in white. Further, the figure S is represented by blue when the amount of change V of − is larger than an arbitrarily determined color change value, and is represented by light blue when the amount of change V of − is smaller than the color change value and larger than 0. To. As described above, the figure S is displayed in a plurality of stages (five stages in the present embodiment) depending on the direction and magnitude of the amount of change V with reference to an arbitrarily determined color change value. Further, the figure S may change steplessly between red and blue in proportion to the direction and magnitude of the amount of change V. As a result, the figure generation unit 38 can indicate the moving direction in the horizontal direction with one figure, and can display the amount of change V in a multi-step or stepless color change. The means for differently displaying the figure S is not limited to those using different colors, for example, arrows having different sizes may be used, or a single color may be displayed at different densities. It may be. Alternatively, it may be due to a blinking pattern.

The figure generation unit 38 outputs the generated figure S to the camera monitor 41. Further, when there is an instruction signal from the control instruction generation unit 37, the figure generation unit 38 outputs the instruction content to the camera monitor 41.

The setting unit 39 sets the color change value and the change amount threshold Th. The setting unit 39 acquires and holds a color change value and a change amount threshold Th value input from an input device (not shown). Further, the setting unit 39 may hold the shape of the figure generated by the figure generation unit 38 and the display mode of the figure.

Next, the display contents of the camera monitor 41 in which the output from the image processing unit 33 is displayed will be described.

FIG. 5 is a diagram showing an example of the display contents of the camera monitor 41. The image G captured by the suspended load camera 9b is displayed on the camera monitor 41. The output position of the camera monitor 41 is adjusted by the control device 31 so that the luggage W suspended from the sub hook 11a is displayed in the center of the screen.

The graphic S output from the image processing unit 33 is superimposed on the image G acquired by the suspended load camera 9b and displayed on the camera monitor 41.

FIG. 5A is, as an example, a display of the camera monitor 41 when the luggage W suspended from the sub hook 11a moves forward and the height position of the luggage W does not change. As shown in FIG. 5A, on the camera monitor 41, the arrow indicating the front, which is the moving direction of the luggage W, is white (see the white-painted arrow) indicating that the height position of the luggage W has not changed. Is displayed. In FIG. 5B, as an example, the luggage W moves forward, and in the height direction, the luggage W has a speed smaller than the change amount threshold Th set in the setting unit 39 and larger than the color change value. This is a display of the camera monitor 41 when moving with a change amount V of −. As shown in FIG. 5 (B), on the camera monitor 41, the arrow indicating the front, which is the moving direction of the luggage W, indicates that the luggage W is moving with a change amount V larger than the color change value. It is displayed in the indicated blue color (see the black arrow).

As described above, the image processing unit 33 having the above-described configuration superimposes and displays the figure S of the arrow indicating the moving direction of the sub hook 11a on the camera monitor 41 on which the image G captured by the suspended load camera 9b is displayed. .. Further, the image processing unit 33 displays the figure S in different colors according to the direction and the value of the change amount V of the sub hook 11a.

When the change amount V is equal to or greater than the predetermined change amount threshold Th, the image processing unit 33 gives an instruction to change the height position of the sub hook 11a so that the change amount V becomes less than the predetermined change amount threshold Th. It is displayed on 41. FIG. 6 shows, as an example, a camera monitor when the luggage W is moving forward and in the height direction, the luggage W is moving downward at a speed equal to or higher than the change amount threshold value set in the setting unit 39. It is a display of 41. As shown in FIG. 6, the camera monitor 41 indicates that the figure S of the arrow indicating the front, which is the moving direction of the luggage W, is moving downward with a negative change amount V larger than the color change value. It is displayed in the indicated blue color (see the black arrow). Further, the camera monitor 41 is presented with an instruction regarding the operation of the wire rope to the operator.

(Image processing)
Next, the image processing by the image processing unit 33 will be described with reference to FIG. 7. FIG. 7 is a flow chart showing processing by the image processing unit 33.

When the flow shown in FIG. 7 starts, the movement direction acquisition unit 34 acquires the horizontal movement direction of the sub hook 11a from the operation signals of the swivel expansion / contraction operation tool 18 and the undulation operation tool 19 (step S1). The figure generation unit 38 generates the figure S of the arrow pointing to the movement direction acquired by the movement direction acquisition unit 34 (step S2).

Next, the change amount calculation unit 35 calculates the change amount V of the sub hook 11a from the position information of the sub hook 11a acquired by the position acquisition unit 32 (step S3).

The figure generation unit 38 refers to the color change value set in the setting unit 39, and acquires the color according to the amount of change V (step S4). The figure generation unit 38 changes the color of the figure S to the acquired color (step S5).

Next, the determination unit 36 determines whether or not the acquired change amount V is equal to or greater than the change amount threshold value Th set in the setting unit 39 (step S6).

When the determination result in step S6 is YES, the control instruction generation unit 37 generates an operation instruction regarding the operation of the crane 1 for reducing the change amount V (step S7), and sends the operation instruction to the figure generation unit 38. Output (step S8).

When the determination result in step S6 is NO, and after the processing in step S8, the figure generation unit 38 outputs the figure S to the camera monitor 41 (step S9), and ends the flow.

In the crane 1 provided with the image processing unit 33 having the above configuration, the graphic S having a different aspect is displayed on the camera monitor 41 according to the change amount V of the sub hook 11a. Therefore, since the operator can grasp the direction of change and the rate of change in the height direction of the luggage W suspended from the sub-hook 11a according to the aspect of the figure S, the height position of the luggage W can be easily set at an arbitrary ratio. You can move your luggage while changing it.

For example, the operator can move the luggage W horizontally without changing the height position by operating the crane 1 while confirming that the white arrow pointing to the front is displayed on the camera monitor 41. Can be done. Further, when the operator wants to move the moving speed (change amount V) of the luggage W in the height direction downward at a speed smaller than the speed V1, the color change for setting the range in which the figure S is displayed in light blue. Set the value to speed V1. The operator moves the load while changing the height position at a speed smaller than the speed V1 by operating the crane 1 while confirming that the camera monitor 41 displays a light blue arrow pointing forward. Can be made to. In the present embodiment, the change amount V is displayed in the color of the figure S, but at least a part of the screen on the camera monitor 41 is displayed in the color corresponding to the change amount V, or is different from the figure S. It may be configured to be displayed as a graphic.

Further, when the operator performs an operation such that the rate of change in the height position of the luggage W becomes equal to or higher than the change amount threshold value Th, the image processing unit 33 is appropriate for reducing the change amount V of the sub hook 11a. Present the operation to the operator. As a result, the operator can control the crane 1 so as to suppress unexpected fluctuations in the height position of the hook and move the luggage while changing the height position of the luggage W at an arbitrary ratio.

Further, in the present embodiment, the crane 1 can represent the rate of change in the position of the sub hook 11a in the horizontal movement direction and the height direction with one figure S. Therefore, since the operator can visually grasp the rate of change in the height position in accordance with the change in the horizontal position of the luggage W, the change in the position of the luggage can be easily controlled. Therefore, it is possible to provide a crane capable of moving the luggage while easily changing the position of the luggage W in the height direction at an arbitrary ratio.

(Embodiment 2)
Next, the crane 1 according to the second embodiment of the present invention will be described with reference to FIGS. 8 and 9. In the present embodiment, when the change amount V becomes the change amount threshold Th or more, the control instruction generation unit 137 of the image processing unit 133 included in the control device 31 of the crane 1 increases the boom 9 and the main winch 13 or the sub winch 15. It differs from the configuration of the first embodiment in that at least one is automatically controlled. In the following description, the same configurations as those in the first embodiment are designated by the same reference numerals as those in the first embodiment, and the description thereof will be omitted.

As shown in FIG. 8, the image processing unit 133 includes a movement direction acquisition unit 34, a change amount calculation unit 35, a determination unit 36, a control instruction generation unit 137, a figure generation unit 138, and a setting unit 39.

When the change amount V is equal to or more than the change amount threshold value Th, the control instruction generation unit 137 sets the boom 9 for making the change amount V less than the change amount threshold value Th, and at least one of the main winch 13 or the sub winch 15. The control signal to be controlled is output to the control device 31 of the crane 1. Specifically, the control instruction generation unit 137 transmits a control signal for raising or falling down the boom 9, a control signal for shortening or extending the boom 9, and a control signal for feeding or feeding the main wire rope 14 or the sub wire rope 16. , Output to the control device 31 of the crane 1. Further, when the control instruction generation unit 137 outputs the control signal to the control device 31, the control instruction generation unit 137 outputs the content of the output control signal to the graphic generation unit 138 as a control content signal.

The figure generation unit 138 generates the same figure S as in the first embodiment, and blinks the figure S when there is a control content signal from the control instruction generation unit 137. The figure generation unit 138 outputs the generated figure S to the camera monitor 41. Further, when there is a control content signal from the control instruction generation unit 137, the figure generation unit 138 outputs the control content to the camera monitor 41. It should be noted that the mode of the figure output by the figure generation unit 138 to the camera monitor 41 when the change amount V is equal to or more than the change amount threshold Th can cause the operator to recognize that the crane 1 is automatically controlled. If possible, a means other than the above may be used. FIG. 9 shows an example of the display contents of the camera monitor 41 when the change amount V is equal to or more than the change amount threshold value Th.

Since the configuration of the image processing unit 133 other than the above is the same as the configuration of the image processing unit 33 of the first embodiment, the description thereof will be omitted.

According to the configuration of the present embodiment, when the operator performs an operation such that the change amount V becomes the change amount threshold Th or more, the boom 9 so that the change amount V of the main hook 10a or the sub hook 11a falls below a predetermined value. , And at least one of the main winch 13 or the sub winch 15 is controlled. As a result, the operator suppresses unexpected fluctuations in the height position of the main hook 10a or the sub hook 11a, and controls the crane 1 to move the luggage W while changing the height position of the luggage W at an arbitrary ratio. be able to.

In the present embodiment, the control instruction generation unit 137 outputs a control signal to the control device 31 of the crane 1 and outputs a control content signal to the graphic generation unit 138. However, as in the first embodiment, the control instruction generation unit 137 generates an instruction regarding the operation of the crane 1, changes it into the control content signal, and outputs the generated instruction as an instruction signal to the graphic generation unit 138. It may be. That is, when the change amount V is equal to or more than the change amount threshold Th, the crane 1 is automatically controlled so that the change amount V becomes less than the change amount threshold Th, and the camera monitor 41 is instructed to operate the crane 1 to the operator. It may be the configuration presented.

(Embodiment 3)
Next, the crane 1 according to the third embodiment of the present invention will be described with reference to FIGS. 10 to 12. The crane 1 has a vehicle 2, a crane device 6 which is a working device, a communication device 222, a control device 231 and a remote control terminal 250 capable of remotely controlling the crane device 6. In the present embodiment, the crane device 6 is different from the configuration of the first embodiment in that the crane device 6 can be remotely controlled by the remote control terminal 250. In the following description, the same configurations as those in the first embodiment are designated by the same reference numerals as those in the first embodiment, and the description thereof will be omitted.

FIG. 10 is a block diagram showing a control configuration of the crane 1. The communication device 222 is a device that receives a control signal from the remote control terminal 250 via a wide area information communication network or the like, and transmits control information or the like from the crane device 6 via the wide area information communication network or the like. The communication device 222 is provided in the cabin 17. The communication device 222 is configured to receive a control signal or the like from the remote control terminal 250 and transfer it to the control device 231 of the crane 1. Further, the communication device 222 is configured to transfer the control information from the control device 231 and the image G from the suspended load camera 9b to the remote control terminal 250.

The control device 231 is connected to the communication device 222, can acquire a control signal from the remote control terminal 250, and can transmit control information from the crane device 6 and an image G from the suspended load camera 9b. Since the other configurations of the control device 231 are the same as those of the control device 31 in the first embodiment, the description of the other configurations will be omitted.

FIG. 11 is a plan view of a remote control terminal 250 that remotely controls the crane 1. As shown in FIG. 11, the remote control terminal 250 is a device used when remotely controlling the crane 1. The remote control terminal 250 includes a housing 251 and a suspended load moving operation tool 252 provided on the operation surface of the housing 251, a terminal side turning operation tool 253, a terminal side expansion / contraction operation tool 254, a terminal side main drum operation tool 255 m, and a terminal side. It includes a sub-drum operation tool 255s, a terminal-side undulation operation tool 256, a terminal-side display unit 257 which is a display unit, a terminal-side communication device 261 and a terminal-side control device 262. The remote control terminal 250 transmits a control signal of an operation valve of each actuator that moves the load W by operating the suspended load moving operation tool 252 or various operating tools to the crane device 6 via a wide area information communication network (Internet or the like). ..

The housing 251 is a main component of the remote control terminal 250. The housing 251 is configured to have a size that can be held by the operator by hand. The housing 251 has a suspended load moving operation tool 252, a terminal-side turning operation tool 253, a terminal-side telescopic operation tool 254, a terminal-side main drum operation tool 255m, a terminal-side sub-drum operation tool 255s, and a terminal-side undulation operation tool. 256, a terminal-side display unit 257, and a terminal-side communication device 261 are provided.

The suspended load moving operation tool 252 is an operating tool into which an instruction for moving the load W is input. The terminal-side turning operation tool 253 is an operating tool to which an instruction for turning the crane device 6 is input. The terminal-side expansion / contraction operation tool 254 is an operation tool to which an instruction for expanding / contracting the boom 9 is input. The terminal-side main drum operating tool 255m is an operating tool to which an instruction to rotate the main winch 13 is input. The terminal-side sub-drum operating tool 255s is an operating tool to which an instruction to rotate the sub winch 15 is input. The terminal-side undulation operation tool 256 is an operation tool to which an instruction for undulating the boom 9 is input. Each operating tool is composed of an operating stick that stands up from the operating surface of the housing 251 and a sensor (not shown) that detects the tilting direction and tilting amount thereof.

The terminal side display unit 257, which is a display unit, is a display unit that displays various information such as the attitude information of the crane 1 and the information of the cargo W. The terminal-side display unit 257 is composed of a display device such as a liquid crystal screen. The terminal side display unit 257 is provided on the operation surface of the housing 251. On the terminal side display unit 257, the graphic S output from the image processing unit 233, which will be described later, and the operation instruction are superimposed and displayed on the image G from the suspended load camera 9b. In the present embodiment, the terminal side display unit 257 is provided on the remote control terminal 250, but may be a monitor separated from the remote control terminal 250.

As shown in FIG. 10, the terminal-side communication device 261 receives control information and the like of the crane device 6 via a wide area information communication network and the like, and transmits control information and the like from the remote control terminal 250 to the crane device 6. Is. The terminal-side communication device 261 is provided inside the housing 251. The terminal-side communication device 261 is configured to transmit to the terminal-side control device 262 when it receives an image G, a control signal, or the like from the suspended load camera 9b of the crane device 6. Further, the terminal-side communication device 261 is configured to transmit control information from the terminal-side control device 262 from the wide area information communication network or the like to the crane device 6 via the communication device 222 of the crane 1.

The terminal side control device 262 is a device that controls the remote control terminal 250. The terminal side control device 262 is provided inside the housing 251 of the remote control terminal 250. The terminal-side control device 262 may substantially have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like.

The terminal-side control device 262 includes a suspended load moving operation tool 252, a terminal-side turning operation tool 253, a terminal-side telescopic operation tool 254, a terminal-side main drum operation tool 255m, a terminal-side sub-drum operation tool 255s, and a terminal-side undulation operation tool 256. Various programs and data are stored in order to control the operation of the terminal-side display unit 257, the terminal-side communication device 261 and the like.

The terminal-side control device 262 includes a suspended load moving operation tool 252, a terminal-side turning operation tool 253, a terminal-side expansion / contraction operation tool 254, a terminal-side main drum operation tool 255m, a terminal-side sub-drum operation tool 255s, and a terminal-side undulation operation tool 256. It is connected, and it is possible to acquire an operation signal consisting of an inclination direction and an inclination amount of the operation stick of each operation tool.

The terminal-side control device 262 is connected to the terminal-side communication device 261 and can transmit and receive various information to and from the control device 231 through the communication device 222 of the crane device 6 connected via the wide area information communication network. Specifically, the image acquisition unit 263 of the terminal-side control device 262 can acquire the image G captured by the suspended load camera 9b.

The terminal-side control device 262 is an operation acquired from each sensor of the terminal-side turning operation tool 253, the terminal-side expansion / contraction operation tool 254, the terminal-side main drum operation tool 255m, the terminal-side sub-drum operation tool 255s, and the terminal-side undulation operation tool 256. From the stick operation signal, control signals for the corresponding swivel valve 23, expansion / contraction valve 24, undulation valve 25, main valve 26m and sub valve 26s can be generated.

The terminal side control device 262 is connected to the terminal side display unit 257, and the terminal side display unit 257 has a schematic image of the crane 1 in the current posture of the crane 1, an image G from the suspended load camera 9b, and an image processing unit 233 described later. It is possible to display the figure S and the instruction content output from.

The terminal-side control device 262 has a position acquisition unit 232 and an image processing unit 233 which is a control unit. The position acquisition unit 232 includes the suspended load moving operation tool 252, the terminal side turning operation tool 253, the terminal side expansion / contraction operation tool 254, the terminal side main drum operation tool 255m, the terminal side sub drum operation tool 255s, and the terminal side undulation operation tool 256. From the operation signal acquired from the sensor, the turning position of the swivel base 7, the length and undulation angle of the boom 9, and the feeding length of the main wire rope 14 or the sub wire rope 16 are calculated, and the main hook with respect to the base end of the boom 9. The position information which is the position of 10a and the sub-hook 11a is acquired.

As shown in FIG. 12, the image processing unit 233, which is a control unit, has a movement direction acquisition unit 234, a change amount calculation unit 35, a determination unit 36, a control instruction generation unit 37, a figure generation unit 38, and a setting unit 39. ..

The movement direction acquisition unit 234 is located in the horizontal direction of the main hook 10a or the sub hook 11a from the operation signals of the terminal-side turning operation tool 253, the terminal-side expansion / contraction operation tool 254, and the terminal-side undulation operation tool 256 included in the remote control terminal 250. The movement direction is acquired and output to the figure generation unit 38. The change amount calculation unit 35 calculates the change amount V of the main hook 10a or the sub hook 11a from the position information regarding the main hook 10a or the sub hook 11a acquired by the position acquisition unit 232.

Since the configuration of the image processing unit 233 other than the above is the same as the configuration of the image processing unit 33 of the first embodiment, the description thereof will be omitted.

Even in the crane 1 remotely controlled by the remote control terminal 250 having the above configuration, the rate of change in the position of the luggage W in the height direction is displayed on the terminal side display unit 257. Therefore, the operator can remotely control the crane 1 so that the luggage W moves while changing the height position of the luggage W at an arbitrary ratio.

Therefore, it is possible to provide a crane capable of moving the load while easily changing the position of the load W in the height direction at a constant rate.

In the present embodiment, as in the first embodiment, the control instruction generation unit 37 generates an instruction regarding the operation of the crane 1 when the change amount V is equal to or more than the change amount threshold value Th, and generates a figure using the generated instruction as an instruction signal. Output to unit 38. However, as in the second embodiment, the control instruction generation unit 37 may be configured to output a control signal to the control device 231 of the crane 1 when the change amount V is the change amount threshold value Th or more. Further, the control instruction generation unit 37 may be configured to output the instruction signal to the graphic generation unit 38 and output the control signal to the control device 231.

(Other embodiments)
In each of the above embodiments, the image G from the suspended load camera 9b is displayed on the camera monitor 41 and the terminal side display unit 257. However, the camera monitor and the terminal side display unit may be configured to display an image acquired by a device such as a laser scanner as long as the positional relationship between the luggage W and the feature and the ground surface can be recognized. ..

In the second embodiment, when the change amount V is equal to or more than the change amount threshold value Th, the crane 1 is automatically controlled. However, when the change amount V is equal to or more than the change amount threshold value Th, the operator may set in advance whether or not to automatically control the crane.

The above-described embodiment only shows a typical embodiment, and can be variously modified and implemented within a range that does not deviate from the gist of one embodiment. It goes without saying that it can be carried out in various forms, and the scope of the present invention is indicated by the description of the claims, and further, the equal meaning described in the claims, and all within the scope. Including changes.

1 Crane 7 Swing platform 9 Boom 9b Suspended load camera 10 Main hook block 10a Main hook (hook)
11 Sub hook block 11a Sub hook (hook)
13 Main winch 14 Main wire rope 15 Sub winch 16 Sub wire rope 18 Swivel telescopic operation tool 19 Undulation operation tool 31, 231 Control device 32, 232 Position acquisition unit 33, 133, 233 Image processing unit (control unit)
34, 234 Movement direction acquisition unit 35 Change amount calculation unit 36 Judgment unit 37, 137 Control instruction generation unit 38, 138 Figure generation unit 39 Setting unit 41 Camera monitor (display unit)
222 Communication device 250 Remote control terminal 257 Terminal side display unit (display unit)
262 Terminal side control device

Claims (6)

With a swivel, undulating and telescopic boom,
A hook suspended by a wire rope that can be hoisted and unwound by a winch at the tip of the boom.
A position acquisition unit that acquires the position information of the hook, and
A suspended load camera that is connected to the tip of the boom and captures an image including the hook.
A display unit that displays images taken by the suspended load camera, and
A control unit that calculates the amount of change in the position in the height direction of the hook per unit time from the position information acquired by the position acquisition unit and displays the change amount on the display unit.
To prepare
Mobile crane. In the mobile crane according to claim 1,
The control unit
When the amount of change becomes equal to or greater than a predetermined value, at least one of the boom and the winch is controlled so that the amount of change becomes less than the predetermined value.
Mobile crane. In the mobile crane according to claim 1 or 2.
The control unit
When the amount of change becomes equal to or more than a predetermined value, instructions for making the amount of change less than the predetermined value, such as undulations of the boom, expansion and contraction of the boom, and instructions for hoisting and lowering the wire rope. At least one of them is displayed on the display unit,
Mobile crane. The mobile crane according to any one of claims 1 to 3.
The control unit
The change amount is displayed as an image on the display unit in a manner different depending on the movement direction in the height direction of the hook, the value of the change amount, and the movement direction in the height direction.
Mobile crane. In the mobile crane according to claim 4,
The image is a figure showing the horizontal moving direction of the hook.
Mobile crane. A boom that can be swiveled, undulated, and expanded and contracted, a hook that is suspended by a wire rope that can be hoisted and unwound by a winch at the tip of the boom, a position acquisition unit that acquires position information of the hook, and the boom. A remote-controlled terminal for a mobile crane, comprising a suspended load camera that is connected to the tip of the crane and captures an image including the hook.
A display unit that displays images taken by the suspended load camera, and
A control unit configured to communicate with the control device of the mobile crane is provided.
The control unit
From the position information acquired by the position acquisition unit, the amount of change in the position in the height direction of the hook per unit time is calculated, and the amount of change is displayed on the display unit.
Remote control terminal.

Images