JP2021054610A - Outrigger device and work vehicle - Google Patents

Abstract

To provide an outrigger device capable of determining whether or not an obstacle, which may hinder the overhanging of an inner beam, exists before starting the overhanging of the inner beam.SOLUTION: A controller of a crane vehicle determines a position of an inner beam based on an outrigger sensor signal output by an outrigger sensor (S12) and determines a detection area based on the determined position of the inner beam (S13). The controller detects an obstacle based on detection information that is image data and distance data input from a detection device. The controller extends an outrigger cylinder to start the slide of the inner beam based on the determination that there is no obstacle in the detection area (S24:No).SELECTED DRAWING: Figure 7

Description

The present invention relates to an outrigger device mounted on a work vehicle, and more particularly to an outrigger device overhanging by a drive device.

Work vehicles having outrigger devices, such as crane vehicles, truck cranes, and aerial work platforms, are known (see Patent Document 1). The outrigger device described in Patent Document 1 is provided on a frame provided on a vehicle body, a beam slidably held by the frame via a slide cylinder, a jack provided at the tip of the beam, and a jack. The obstacle sensor and the control means for controlling the driving of the beam are provided. The control means stops driving the beam when the obstacle sensor detects an obstacle.

JP-A-11-106183

In the outrigger device described in Patent Document 1, the drive of the slide cylinder is stopped when the tip of the beam approaches an obstacle by a predetermined distance. That is, although this outrigger device detects an obstacle while sliding the beam, it may take extra time and effort to project the beam. Specifically, for example, if the obstacle is difficult to move, the operator retracts the beam once, moves the work vehicle, and then re-executes the beam extension. That is, in the outrigger device described in Patent Document 1, the beam extending operation must be repeated.

An object of the present invention is to provide an outrigger device capable of determining whether or not there is an obstacle that hinders the extension of the beam before starting the extension of the beam.

(1) The outer beam according to the present invention includes an outer beam provided on the traveling body and extending in the width direction of the traveling body, an inner beam slidably held by the outer beam along the width direction, and the outer beam. It includes a drive device that slides the inner beam, a detection device that outputs detection information according to the shape of an obstacle existing around the inner beam and the distance to the obstacle, and a controller. The controller determines the detection area including the movable area of the inner beam based on the input of a predetermined trigger signal, and the obstacle is in the detection area based on the detection information. The obstacle determination process for determining whether or not there is an obstacle and the drive process for driving the drive device based on the determination that there is no obstacle in the detection area are executed.

When the trigger signal is input, the controller determines whether or not there is an obstacle in the detection area including the movable area of the inner beam. Then, when the controller determines that there is no obstacle in the detection area, it drives the drive device and slides the inner beam. That is, even if there is an obstacle outside the detection area, if there is no obstacle inside the detection area, the slide of the inner beam is started. Also, if there is an obstacle in the detection area, the slide of the inner beam will not start. That is, the outrigger device according to the present invention can determine whether or not there is an obstacle that hinders the extension of the inner beam before starting the extension of the inner beam.

(2) The outrigger device according to the present invention may further include a jack provided at the tip of the inner beam and a floor plate with which the jack abuts. The controller performs a floor plate determination process for determining whether or not the obstacle is the floor plate when the obstacle is in the detection area, and when the obstacle is the floor plate, the floor plate is used. The position identification process for specifying the position, the position confirmation process for determining whether or not the jack has reached the upper part of the floor plate, and the slide of the inner beam are stopped when the jack reaches the upper part of the floor plate. Further, the stop process for causing the jack to abut and the grounding process for bringing the jack into contact with the floor plate are further executed.

According to the above configuration, the controller can automatically extend the inner beam, extend the jack, and touch the floor plate.

(3) The controller performs a floor plate position determination process for determining whether or not the position of the floor plate is in the movable area of the inner beam, and a position shift that gives an alarm when the floor plate is not in the movable area of the inner beam. The alarm processing may be further executed.

According to the above configuration, the operator can recognize that the floor plate is located at a position where the jack does not abut.

(4) The inner beam and the jack may be provided on the left and right sides of the traveling body, respectively. The controller brings the left and right jacks into contact with the floor plate when the floor plate corresponding to each jack is in the movable region of the inner beam.

According to the above configuration, only one of the left and right jacks is grounded to prevent the traveling body from tilting.

(5) The outer beam may be provided in front of and behind the traveling body. The detection device is arranged between the outer beams.

Since the detection device is arranged between the front and rear outer beams, one detection device is used for both the inner beam held by the front outer beam and the inner beam held by the rear outer beam. The area including the movable area of the beam can be used as the detection area. As a result, the number of detection devices can be reduced.

(6) The controller may further execute an obstacle alarm process that gives an alarm when there is an obstacle in the detection area.

According to the above configuration, the operator can recognize that there is an obstacle that hinders the slide of the inner beam.

(7) The controller has a learning information acquisition process for acquiring learning information indicating whether or not the detected obstacle is the floor plate, and the detection for indicating the learning information and the obstacle corresponding to the learning information. Output processing that outputs information in association with information may be further executed.

The controller acquires learning information indicating whether or not the detected obstacle is an appropriate object, and outputs the acquired learning information in association with the detection information indicating the corresponding obstacle. The output learning information and detection information are used for deep learning. As a result, the accuracy of determining whether or not the obstacle is a floor plate is improved.

(8) The present invention can also be regarded as a work vehicle.

According to the present invention, it is possible to provide an outrigger device capable of determining whether or not there is an obstacle that hinders the extension of the inner beam before starting the extension of the inner beam.

FIG. 1 is an external perspective view of the crane wheel 10. FIG. 2 is a schematic plan view of the crane wheel 10 in a state where the inner beams 34 and 35 of the front outrigger 31 and the rear outrigger 32 are projected. FIG. 3 is a schematic cross-sectional view of the outrigger 30 in a state where the inner beams 34 and 35 are stored in the outer beam 33. FIG. 4 is a schematic cross-sectional view of the outrigger 30 in a state where the inner beam 35 projects from the outer beam 33. FIG. 5 is a diagram showing a movable region 75 and a detection area 78 of the inner beam 34. FIG. 6 is a functional block diagram of the crane wheel 10. FIG. 7 is a part of the flowchart of the overhanging process. FIG. 8 is another part of the flowchart of the overhanging process. FIG. 9 is a flowchart of the storage process. FIG. 10 is a diagram showing a first notification screen. FIG. 11 is a diagram showing a second notification screen. FIG. 12 is a diagram showing a third notification screen. FIG. 13 is a diagram showing a fourth notification screen. FIG. 14 is a diagram showing a fifth notification screen.

Hereinafter, embodiments of the present invention will be described. It goes without saying that the embodiments described below are merely examples of the present invention, and the embodiments of the present invention can be appropriately changed without changing the gist of the present invention. For example, the execution order of each process described later can be appropriately changed without changing the gist of the present invention. Alternatively, a part of the processing described later can be omitted as appropriate without changing the gist of the present invention.

In this embodiment, the crane vehicle 10 shown in FIG. 1 will be described. The crane vehicle 10 corresponds to the "working vehicle" in the claims of the present invention.

The crane vehicle 10 mainly includes a traveling body 11, a working device 12 mounted on the traveling body 11, and a cabin 13. The traveling body 11 includes a vehicle body 20, an axle having wheels 22 (not shown), an engine 24, and a battery 25 (FIG. 6). The axle is suspended from the vehicle body 20.

The engine 24 rotationally drives the wheels 22, charges the battery 25, and drives a hydraulic pump (not shown) included in the hydraulic supply device 18 (FIG. 6) described later.

The working device 12 includes a crane device 16, an outrigger device 17, and a flood control device 18 (FIG. 6). The configuration of the crane device 16 is known. The work device 12 may include a boom device provided with a workbench instead of the crane device 16. That is, the work vehicle according to the present invention may be realized as an aerial work platform instead of the crane vehicle 10. Alternatively, the work platform according to the present invention may be realized as a so-called truck crane. That is, the work vehicle according to the present invention may be any work vehicle provided with the outrigger device 17 mounted on the traveling body 11.

The outrigger device 17 includes a pair of front and rear outriggers 31, a rear outrigger 32, and detection devices 50 and 51 (FIG. 2). The front outrigger 31 is arranged at the front portion of the vehicle body 20. The rear outrigger 32 is arranged at the rear of the vehicle body 20. The front outrigger 31 and the rear outrigger 32 have almost the same configuration except for the arrangement position on the vehicle body 20. In the following, when the front outrigger 31 and the rear outrigger 32 are not distinguished, they will be described as “outrigger 30”.

As shown in FIG. 3, the outrigger 30 includes an outer beam 33, a pair of left and right inner beams 34 and 35, an outrigger cylinder 44 and 45, a pair of left and right jacks 36 and 37, and four outrigger sensors 38 and 39. , 40, 41 and a pair of left and right pressure sensors 42, 43.

The outer beam 33 has a square tubular shape. As shown in the figure, the longitudinal direction of the outer beam 33 coincides with the width direction (horizontal direction) 7 of the vehicle body 20. The inner beams 34 and 35 are arranged inside the outer beam 33 and can slide in the width direction 7 of the vehicle body 20. The inner beams 34 and 35 slide between a storage position (FIG. 3) stored in the outer beam 33 and an overhang position (FIG. 4) protruding from the outer beam 33.

The outrigger cylinders 44 and 45 are, for example, hydraulic cylinders, and are expanded and contracted by being supplied with hydraulic oil from the hydraulic supply device 18 described later. However, the outrigger cylinders 44 and 45 may be electric cylinders. The outrigger cylinder 44 slides the inner beam 34. The outrigger cylinder 45 slides the inner beam 35. However, the inner beams 34 and 35 may be slid with one outrigger cylinder. The outrigger cylinders 44 and 45 correspond to the "driving device" of the claim of the present invention.

The jacks 36 and 37 are, for example, hydraulic cylinders, and are expanded and contracted by being supplied with hydraulic oil from the hydraulic supply device 18 described later. However, the jacks 36 and 37 may be electric cylinders. The jack 36 is fixed to the tip of the inner beam 34. The jack 37 is fixed to the tip of the inner beam 35. The jacks 36 and 37 are fixed to the inner beams 34 and 35 with the vertical direction as the expansion and contraction direction. The lower ends of the reduced jacks 36 and 37 are located above the lowest point of the wheel 22. That is, the lower ends of the jacks 36 and 37 in the reduced state do not come into contact with the ground 9. The jacks 36 and 37 come into contact with the floor plate 26 placed on the ground 9 by being extended (FIG. 4). When the jacks 36 and 37 come into contact with the floor plate 26, the outrigger device 17 maintains the crane wheel 10 in a stable posture. The floor plate 26 is a metal plate such as an iron plate.

The outrigger sensors 38, 39, 40, 41 are, for example, limit switches having a pressing portion. The outrigger sensors 38 and 40 are arranged at the center of the outer beam 33. The outrigger sensors 39 and 41 are arranged at the tip of the outer beam 33. The pressing portions of the outrigger sensors 38 and 40 are pressed by the inner beams 34 and 35 at the retracted position. That is, the outrigger sensors 38 and 40 output an on detection signal when the inner beams 34 and 35 are in the retracted position, and output an off detection signal when the inner beams 34 and 35 are in a position other than the retracted position. Is.

The pressing portions of the outrigger sensors 39 and 41 are pressed by the inner beams 34 and 35 at the overhanging positions. That is, the outrigger sensors 39 and 41 output an on detection signal when the inner beams 34 and 35 are in the overhanging position, and an off detection signal when the inner beams 34 and 35 are in a position other than the overhanging position. It is a sensor that outputs. In the present embodiment, the out-trigger sensors 38 and 40 for detecting that the inner beams 34 and 35 are in the retracted position and the out-trigger sensors 39 and 41 for detecting that the inner beams 34 and 35 are in the overhanging position. Although four out-trigger sensors are provided, an out-trigger sensor that detects that the inner beams 34 and 35 are at an intermediate position between the retracted position and the overhanging position may be further provided in the outer beam 33.

The pressure sensor 42 is a sensor that outputs a pressure signal corresponding to the ground pressure of the jack 36. The ground pressure of the jack 36 is the pressure at which the lower end of the extended jack 36 presses the floor plate 26. Similarly, the pressure sensor 43 is a sensor that outputs a pressure signal corresponding to the ground pressure of the jack 37.

The outrigger sensors 38, 39, 40, 41 and the pressure sensors 42, 43 are connected to the power supply circuit 27 and the controller 60 (FIG. 6) described later by a signal line such as a cable. That is, the out-trigger sensors 38, 39, 40, 41 and the pressure sensors 42, 43 are driven by being supplied with electric power from the power supply circuit 27, and input an on / off detection signal or a pressure signal to the controller 60.

As shown in FIG. 2, the detection device 50 includes a camera 52 and a distance measuring sensor 53. The detection device 51 includes a camera 54 and a distance measuring sensor 55. The detection device 50 is provided on the left side of the vehicle body 20 in the width direction 7. The detection device 51 is provided on the right side of the vehicle body 20 in the width direction 7. More specifically, the detection devices 50 and 51 are arranged between the front outrigger 31 and the rear outrigger 32 in the front-rear direction 8 of the vehicle body 20 and are fixed to the vehicle body 20.

The imaging region 73, which is the region imaged by the camera 52, is an region including the inner beams 34 of the front outriggers 31 and the rear outriggers 32. The imaging region 74, which is the region imaged by the camera 54, is an region including the inner beams 35 of the front outriggers 31 and the rear outriggers 32. In FIG. 2, the imaging regions 73, 74 of the cameras 52, 54 are shown by hatching.

The distance measuring sensors 53 and 55 are sensors that output distance data according to the distance to an obstacle. The distance measuring sensors 53 and 55 are, for example, a sound wave sensor, a radar, a laser sensor, or the like that irradiates an irradiation wave such as a sound wave, a radio wave, or light and receives a reflected wave reflected by an obstacle.

Instead of the camera 52 and the distance measuring sensor 53 and the camera 54 and the distance measuring sensor 55, three-dimensional laser sensors may be provided on both the left and right sides of the vehicle body 20. The three-dimensional laser sensor is a sensor that scans a scanning range while irradiating a laser beam to generate and output image data according to the shape of the object to be detected and distance data according to the distance to the object to be detected.

The hydraulic supply device 18 shown in FIG. 6 includes a pump driven by an engine 24, a pipe for supplying hydraulic oil from the pump to actuators such as outer trigger cylinders 44 and 45 and jacks 36 and 37, and electromagnetic waves provided in the pipe. It is equipped with a valve and the like. The solenoid valve is opened and closed by a drive signal input from the controller 60 (FIG. 6) described later. By opening and closing the solenoid valve, the outrigger cylinders 44 and 45 and the jacks 36 and 37 are expanded or contracted. That is, the controller 60 controls the drive of the outrigger cylinders 44 and 45 and the jacks 36 and 37 by outputting a drive signal for opening and closing the solenoid valve.

The cabin 13 shown in FIG. 1 includes an operating device (not shown) for operating the crane vehicle 10, an operating device 15 (FIG. 6) for operating the crane device 16 and the outrigger device 17, and a touch panel 70 (FIG. 6). And have.

The operation device 15 shown in FIG. 6 has an operation lever, an operation button, and the like for operating the crane device 16. Further, the operating device 15 has an overhang button 46 for instructing the inner beams 34 and 35 of the outrigger device 17 to overhang, and a storage button 47 for instructing the inner beams 34 and 35 to be stored. The operating device 15 is connected to the controller 60 by a signal line such as a cable. That is, an operation signal indicating that the overhang button 46 and the retract button 47 have been operated is input to the controller 60. The operation signal indicating that the extension button 46 or the retract button 47 has been operated corresponds to the "trigger signal" according to the claim of the present invention.

The touch panel 70 includes a display panel 71 and a transparent film-like touch sensor 72 superimposed on the display panel 71. The touch sensor 72 outputs position information according to the position on the touched display panel 71. The display panel 71 and the touch sensor 72 are connected to the power supply circuit 27 and the controller 60, which will be described later, by a signal line such as a cable line. The display panel 71 and the touch sensor 72 are driven by the electric power supplied from the power supply circuit 27. The controller 60 inputs screen data to the display panel 71, and causes the display panel 71 to display the screen indicated by the screen data. Further, the controller 60 specifies the type of the icon selected by the operator based on the position information input from the touch sensor 72. Details will be described later.

Cabin 13 (FIG. 1) has a control box (not shown). The control box includes a control board. The control board is equipped with a microcomputer, resistors, capacitors, diodes, and various ICs, and constitutes a controller 60, a power supply circuit 27, and a communication interface 69.

The power supply circuit 27 is connected to the battery 25, and a DC voltage is supplied from the battery 25. The power supply circuit 27 is, for example, a DC / DC converter, and converts the DC voltage supplied from the battery 25 into a DC voltage having a stable predetermined voltage value and outputs the DC voltage. The DC voltage supplied by the power supply circuit 27 is supplied to the controller 60, the out trigger sensors 38, 39, 40, 41, the pressure sensors 42, 43, the detection devices 50, 51, and the like. Note that in FIG. 6, the power supply line from the power supply circuit 27 to the outrigger sensors 38, 39, 40, 41, the pressure sensors 42, 43, and the like is omitted.

The communication interface 69 is a communication module that connects to the Internet through a mobile communication network. For example, a well-known communication module is used as the communication interface 69.

The controller 60 includes a CPU 61, which is a central processing unit, a ROM 62, a RAM 63, and a memory 64. The ROM 62 stores the operating system OS65 and the control program 66. The OS 65 controls communication through, for example, the communication interface 69. The control program 66 executes processing such as extension processing and storage processing, which will be described later. The OS 65 and the control program 66 are executed by the CPU 61 in a pseudo-parallel manner, for example, by multitasking. The OS 65 and the control program 66 may be stored in the memory 64. The memory 64 is, for example, an EEPROM.

The RAM 63 is an execution area of the OS 65 and the control program 66, and stores data and information necessary for executing the OS 65 and the control program 66. The memory 64 stores in advance screen data and the like indicating the notification screens shown in FIGS. 10 to 14.

Hereinafter, the overhanging process and the storing process performed by the control program 66 executed by the CPU 61 will be described. In the following, the process executed by the control program 66 will be described as the process executed by the controller 60.

After stopping the crane vehicle 10 at the work site, the operator places the floor plate 26 on the ground 9. Next, the operator gets on the cabin 13 and operates the power button (not shown) of the operating device 15 to turn on the power to the operating device 15 and then operates the overhang button 46.

The controller 60 executes the overhanging process shown in FIG. 7 based on the power being turned on. For example, the controller 60 periodically executes the overhanging process at predetermined time intervals. First, the controller 60 determines whether or not an ON operation signal is input from the overhang button 46 (S11). That is, the controller 60 determines whether or not the overhang button 46 has been operated. When the controller 60 determines that the ON operation signal has not been input from the overhang button 46 (S11: No), the controller 60 ends the overhang process (FIG. 8).

When the controller 60 determines that the on operation signal is input from the overhang button 46 (S11: Yes), the detection signals output by the outrigger sensors 38, 39, 40, 41 provided on the front outrigger 31 and the rear outrigger 32. The outrigger sensor signal is acquired, and the positions of the inner beams 34 and 35 are detected based on the acquired outrigger sensor signal (S12). For example, the controller 60 detects the position of the inner beam 34 as the “retracted position” by inputting the on detection signal from the outrigger sensor 38.

The controller 60 determines the detection area 78 (FIG. 5) for detecting an obstacle based on the acquired outrigger sensor signal (S13). The detection area 78 will be described in detail with reference to FIG. In the following, the detection area 78 determined for the inner beam 34 will be described, but the detection area 78 is also determined for the inner beam 35 in the same manner.

The detection area 78 is an area including the movable area 75 of the inner beam 34. FIG. 5A shows a first movable region 76 which is a movable region 75 when the inner beam 34 is in the retracted position. The first movable region 76 is a space through which the inner beam 34 in the storage position passes when it slides to the overhanging position. FIG. 5C shows a second movable region 77, which is a movable region 75 when the inner beam 34 is in the intermediate position. The intermediate position is a position between the storage position and the overhanging position. The second movable region 77 is a space through which the inner beam 34 at the intermediate position passes when it slides to the overhanging position.

In the examples shown in FIGS. 5B and 5D, the detection area 78 is a rectangular area surrounding the movable area 75. In the example shown in FIG. 5 (E), the detection area 78 is an elliptical spherical region surrounding the movable region 75. The first detection area 79 (FIGS. 5 (B) and (E)), which is the detection area 78, is determined as an area including the first movable region 76 (FIG. 5 (A)). The second detection area 80 (FIG. 5 (D)), which is the detection area 78, is determined as an area including the second movable area 77 (FIG. 5 (C)).

The determination of the detection area 78 will be described in more detail. The memory 64 stores the first table. In the first table, the "storage position" and the "first detection area information" indicating the first detection area 79 are associated with each other, and the "intermediate position" and the "second detection area information" indicating the second detection area 80 are associated with each other. Is associated with. The controller 60 acquires "first detection area information" or "second detection area information" associated with the positions of the detected inner beams 34 and 35 from the first table. The first detection area information and the second detection area information are, for example, a function indicating a boundary that divides the first detection area 79 or the second detection area 80 in a three-dimensional coordinate space whose origin is the center of the crane vehicle 10. , Coordinates indicating each vertex of the first detection area 79 or the second detection area 80. Similarly, the memory 64 stores a second table used when storing the inner beams 34 and 35.

The memory 64 may store only the first detection area information. In that case, the controller 60 determines the detection area 78 as the first detection area 79 regardless of the positions of the inner beams 34 and 35. That is, regardless of the positions of the inner beams 34 and 35, the region including the first movable region 76 which is the maximum movable region of the inner beams 34 and 35 may be the detection area 78. The process of step S13 in which the controller 60 determines the detection area 78 corresponds to the “detection area determination process” of the claim of the present invention.

Next, the controller 60 drives the detection devices 50 and 51 as shown in FIG. 7 (S14). Specifically, the controller 60 supplies power to the cameras 52 and 54 to cause the cameras 52 and 54 to perform imaging, and supplies power to the distance measuring sensors 53 and 55 to perform distance measurement. Then, the controller 60 waits until the detection information including the image data generated by the cameras 52 and 54 and the distance data output by the distance measuring sensors 53 and 55 is input (S15: No). When the controller 60 determines that the detection information has been input (S15: Yes), the controller 60 detects an obstacle based on the image data included in the detection information (S16). For example, the ROM 62 of the controller 60 stores an existing image recognition program. The control program 66 passes the acquired image data to the image recognition program, and causes the image to determine whether or not an obstacle is captured in the image indicated by the image data. The control program 66 instructs the image recognition program not to identify the outrigger 30 as an obstacle to be detected.

For example, if the operator forgets to place the floor plate 26 on the ground 9 and operates the overhang button 46, and there are no obstacles other than the outriggers 30 in the imaging areas 73 and 74, the controller in step S16. Reference numeral 60 is determined that no obstacle is detected (S16: No). When the controller 60 determines that no obstacle has been detected (S16: No), the controller 60 inputs screen data indicating the first notification screen to the display panel 71, and displays the first notification screen on the display panel 71 (S17). ..

FIG. 10 shows a first notification screen. On the first notification screen, "The floor board could not be confirmed. Install the floor board and select" OK ". ”, And the“ OK ”icon 81. The operator selects the "OK" icon 81 after placing the floor plate 26 on the ground 9.

As shown in FIG. 7, the controller 60 determines whether or not the “OK” icon 81 is selected on the first notification screen (S18). The controller 60 causes the display panel 71 to display the first notification screen until the “OK” icon 81 is selected (S18: No). When the controller 60 determines that the "OK" icon 81 is selected on the first notification screen (S18: Yes), the controller 60 re-executes the processes after step S14. When the operator selects the “OK” icon 81 after placing the floor plate 26 on the ground 9, the controller 60 determines that the obstacle (bed plate 26) has been detected in step S16 (S16: Yes).

When the controller 60 determines that the obstacle has been detected (S16: Yes), the controller 60 determines whether or not the detected obstacle is the floor plate 26 (S19). The process of step S19 corresponds to the “bedboard determination process” of the claim of the present invention. The controller 60, for example, passes image data indicating a detected obstacle to a learning program implemented in a cloud server or the like through a communication interface 69, a mobile communication network, and the Internet. The learning program determines whether or not the obstacle indicated by the image data is the floor plate 26, and transmits the determination result to the crane vehicle 10 via the Internet and the mobile communication network.

When the controller 60 determines that the detected obstacle is not the floor plate 26 based on the determination result transmitted by the learning program (S19: No), the controller 60 displays the second notification screen on the display panel 71 (S20). On the second notification screen, as shown in FIG. 11, the characters "The floor plate could not be confirmed.", The characters "・ The floor plate has been installed", the "Installed" icon 82, and "・ The floor plate have been installed. Not installed. Install the floor board and select "OK". ”And the“ OK ”icon 83.

If the floor plate 26 has already been installed, the operator selects the “installed” icon 82. For example, when the above-mentioned learning program erroneously determines that the obstacle is not the floor plate 26, the operator visually confirms the floor plate 26 and then selects the “installed” icon 82. If the operator forgets to install the floor plate 26, the operator selects the “OK” icon 83 after placing the floor plate 26 on the ground 9.

As shown in FIG. 7, the controller 60 determines whether the icon selected on the second notification screen is the “installed” icon 82 or the “OK” icon 83 (S21). The controller 60 displays the second notification screen on the display panel 71 until the “installed” icon 82 or the “OK” icon 83 is selected.

When the controller 60 determines that the icon selected on the second notification screen is the "OK" icon 83 (S21: OK), the controller 60 re-executes the processes after step S14. When the controller 60 determines that the icon selected on the second notification screen is the "installed" icon 82 (S21: installed), the controller 60 stores learning information indicating that the obstacle is the floor plate 26 in the memory 64. (S22). The learning information is, for example, image data indicating an obstacle and information indicating that the obstacle indicated by the image data is a floor plate 26. The learning information is used for deep learning of the learning program in order to improve the accuracy of determining whether or not the obstacle indicated by the image data is the floor plate 26. Step S22 corresponds to the "learning information acquisition process" of the claim of the present invention.

Whether or not the controller 60 has determined that the detected obstacle is the floor plate 26 (S19: Yes), or has detected an obstacle other than the obstacle determined to be the floor plate 26 after executing the process of step S22. Is determined (S23).

When the controller 60 determines that an obstacle other than the floor plate 26 has been detected (S23: Yes), the controller 60 determines whether or not the obstacle is within the detection area 78 (S24). For example, the controller 60 identifies the coordinates of the obstacle based on the detection information, and determines whether or not the identified coordinates are within the detection area 78. The process of step S24 is an example of the "obstacle determination process" of the claim of the present invention.

When the controller 60 determines that the obstacle is in the detection area 78 (S24: Yes), the controller 60 displays the third notification screen on the display panel 71 (S25). The process of step S25 for displaying the third notification screen on the display panel 71 corresponds to the "obstacle alarm process" of the claim of the present invention.

On the 3rd notification screen, as shown in Fig. 12, "There is an obstacle. Move the vehicle body or remove the obstacle and select" OK ". ”, And the“ OK ”icon 84. The operator selects the "OK" icon 84 after moving the crane wheel 10 or removing obstacles.

As shown in FIG. 7, the controller 60 causes the display panel 71 to display the third notification screen until the “OK” icon 84 is selected on the third notification screen (S26: No). When the controller 60 determines that the "OK" icon 84 is selected on the third notification screen (S26: Yes), the controller 60 re-executes the processes after step S12.

The controller 60 determines in step S23 that it has not detected an obstacle other than the floor plate 26 (S23: No), or determines in step S24 that the detected obstacle is not in the detection area 78 (S24: No), as shown in FIG. 8, the position of the obstacle determined to be the floor plate 26 is specified (S27). For example, the controller 60 specifies the coordinates of the floor plate 26 in the three-dimensional coordinate space with the central portion of the crane wheel 10 as the origin, based on the detection information acquired in step S15. The process of step S27 corresponds to the "position identification process" of the claims of the present invention.

Next, the controller 60 determines whether or not the position of the specified floor plate 26 is at an appropriate position that can be directly below the jacks 36 and 37 provided on the inner beams 34 and 35 (S28). The proper position that can be directly below the jacks 36 and 37 is a position that is directly below the movable region 75 of the inner beams 34 and 35. For example, the memory 64 stores in advance appropriate coordinates indicating an appropriate position in the three-dimensional coordinate space. When the coordinates indicating the position of the floor plate 26 are within the range of the coordinates indicating the proper position stored in the memory 64, the controller 60 determines that the position of the specified floor plate 26 is in the proper position (S28: Yes). ). If even one of the four floor plates 26 is not in the proper position, the controller 60 determines that the floor plate 26 is not in the proper position (S28: No). The process of step S28 corresponds to the "bed plate position determination process" of the claim of the present invention.

When the controller 60 determines that the position of the floor plate 26 is not an appropriate position (S28: No), the controller 60 displays the fourth notification screen on the display panel 71 (S29). The process of step S29 for displaying the fourth notification screen on the display panel 71 corresponds to the "positional deviation alarm process" of the claim of the present invention.

On the 4th notification screen, as shown in Fig. 13, "The position of the floor plate is out of alignment. Correct the position of the floor plate and select" OK ". ”, And the“ OK ”icon 85. The operator selects the "OK" icon 85 after moving the floor plate 26.

As shown in FIG. 8, the controller 60 causes the display panel 71 to display the fourth notification screen until the “OK” icon 85 is selected (S30: No). When the controller 60 determines that the "OK" icon 85 has been selected (S30: Yes), the controller 60 re-executes the processes after step S14.

When the controller 60 determines in step S28 that the positions of the four floor plates 26 are all appropriate positions (S30: Yes), the outrigger cylinders 44 and 45 are extended (S31). The process of step S31 corresponds to the "drive process" of the claim of the present invention.

Next, the controller 60 reacquires the detection information output by the detection devices 50 and 51 in order to confirm whether or not a person or the like has entered the detection area 78 while the inner beams 34 and 35 are overhanging (S32). .. Then, the controller 60 determines whether or not an obstacle has been detected in the detection area 78 (S33). When the controller 60 determines that an obstacle has been detected in the detection area 78 (S33: Yes), the controller 60 stops the extension of the outrigger cylinders 44 and 45 (S34). Then, the controller 60 displays the fifth notification screen (FIG. 14) on the display panel 71 (S35).

As shown in FIG. 14, the fifth notification screen has the characters "There is a person or an obstacle. Please remove the person or an obstacle and select" OK "", and the "OK" icon 86. Has. The operator confirms the presence or absence of a person or an obstacle, removes the person or removes the obstacle, and then selects the “OK” icon 86.

As shown in FIG. 8, the controller 60 causes the display panel 71 to display the fifth notification screen until the “OK” icon 86 is selected on the fifth notification screen (S36: No). When the controller 60 determines that the "OK" icon 86 is selected on the fifth notification screen (S36: Yes), or determines in step S33 that no obstacle is detected in the detection area 78 (S33: No). ), It is determined whether or not the outrigger cylinders 44 and 45 have extended to the stop position (S37). The stop position is a position where the jacks 36 and 37 are directly above the floor plate 26. The controller 60 determines, for example, the drive time and slide amount of the outrigger cylinders 44 and 45 based on the position of the floor plate 26 and the positions of the inner beams 34 and 35 detected in step S12, and the determined drive time or In step S37, it is determined whether or not the outrigger cylinders 44 and 45 have been driven by the amount of slide. The process of step S37 corresponds to the "position confirmation process" of the claim of the present invention.

When the controller 60 determines that the outrigger cylinders 44 and 45 have not extended to the stop position (S37: No), the controller 60 re-executes the processes of steps S32 and S33. That is, the controller 60 determines the presence or absence of a person or an obstacle. The process of step S32 is repeatedly executed, for example, at predetermined time intervals stored in the memory 64 in advance until the outrigger cylinders 44 and 45 are stopped.

When the controller 60 determines that the outrigger cylinders 44 and 45 have extended to the stop position (S37: Yes), the controller 60 stops driving the outrigger cylinders 44 and 45 (S38). The process of step S38 corresponds to the "stop process" of the claim of the present invention.

Next, the controller 60 extends the jacks 36 and 37 (S39). Then, the controller 60 determines whether or not the detected pressure indicated by the pressure signals input from the pressure sensors 42 and 43 is equal to or higher than the threshold pressure stored in advance in the memory 64 (S40). The controller 60 extends the jacks 36 and 37 until the detected pressure reaches the threshold pressure (S40: No). When the controller 60 determines that the detected pressure is equal to or higher than the threshold pressure (S40: Yes), the controller 60 stops driving the jacks 36 and 37 (S41). The process of step S39 corresponds to the “grounding process” of the claims of the present invention.

The controller 60 transmits the learning information stored in the memory 64 through the communication interface 69 (S42), and ends the overhanging process. The learning program receives learning information through the mobile communication network and the Internet, executes deep learning using the received learning information, and enhances the accuracy of determining whether or not the obstacle is the floor plate 26. The process of step S42 corresponds to the "output process" of the claim of the present invention.

Next, the storage process executed by the controller 60 will be described with reference to FIG. The same reference numerals are used for the same processes as those described in the overhanging process, and the description thereof will be omitted.

At the work site, the operator operates the retract button 47 of the operating device 15 after the crane work is completed. The controller 60 determines whether or not an ON operation signal is input from the retract button 47 (S51). When the controller 60 determines that the ON operation signal has not been input from the storage button 47 (S51: No), the controller 60 ends the storage process. The controller 60 repeatedly executes the storage process, for example, at predetermined time intervals.

When the controller 60 determines that the on operation signal is input from the retract button 47 (S51: Yes), the jacks 36 and 37 are reduced (S52). For example, the controller 60 reduces the jacks 36 and 37 only during the drive time stored in the memory 64 in advance.

Next, the controller 60 executes the processes of steps S12, S13, S14, S15, and S23 described above. When the controller 60 determines that an obstacle other than the floor plate 26 has been detected in the process of step S23 (S23: Yes), the controller 60 executes the process of step S24 described above. When the controller 60 determines that the obstacle is in the detection area 78 in the process of step S24 (S24: Yes), the controller 60 displays the above-mentioned fifth notification screen (FIG. 14) on the display panel 71 (S53). The operator selects the "OK" icon 86 after removing the obstacle or removing the person who is the obstacle.

The controller 60 displays the fifth notification screen on the display panel 71 until the “OK” icon 86 is selected on the fifth notification screen (S54: No). When the controller 60 determines that the "OK" icon 86 has been selected (S54: Yes), the controller 60 re-executes the processes after step S14.

If it is determined in step S23 that the controller 60 has not detected an obstacle other than the floor plate 26 (S23: No), or if it is determined that no obstacle has been detected in the detection area 78 (S24: No), the outrigger The cylinders 44 and 45 are reduced (S55). The process of step S55 corresponds to the "drive process" of the claim of the present invention.

Next, the controller 60 reacquires the detection information output by the detection devices 50 and 51 in order to confirm whether or not a person or the like has entered the detection area 78 while the inner beams 34 and 35 are being stored (S32). .. Then, the controller 60 determines whether or not an obstacle has been detected in the detection area 78 (S33). When the controller 60 determines that an obstacle has been detected in the detection area 78 (S33: Yes), the controller 60 executes the processes of steps S34, S35, and S36 in the same manner as the overhanging process.

Next, the controller 60 determines whether or not the inner beams 34 and 35 have reached the storage position (S56). Specifically, the controller 60 determines whether or not the outrigger sensor signals input from the outrigger sensors 38 and 40 have changed from off to on. The controller 60 determines that the inner beams 34 and 35 have reached the retracted position due to the outrigger sensor signal changing from off to on (S56: Yes).

The controller 60 repeatedly executes the processes of steps S32 and S33 at predetermined time intervals until it is determined that the inner beams 34 and 35 have reached the storage position (S56: No).

When the controller 60 determines that the inner beams 34 and 35 have reached the storage position (S56: Yes), the controller 60 stops the reduction of the outrigger cylinders 44 and 45 (S57), and ends the storage process.

[Action and effect of the embodiment]

When the operation signal is input from the operation device 15, the controller 60 determines the detection area 78 including the movable area 75 of the inner beams 34 and 35, and based on the detection information, is there an obstacle in the detection area 78? It is determined whether or not (S24). Then, when the controller 60 determines that there is no obstacle in the detection area 78 (S24: No), the outrigger cylinders 44 and 45 are extended and the inner beams 34 and 35 are slid. That is, even if there is an obstacle outside the detection area 78, if there is no obstacle inside the detection area 78, the slides of the inner beams 34 and 35 are started. Further, if there is an obstacle in the detection area 78, the slides of the inner beams 34 and 35 are not started. That is, before the overhanging of the inner beams 34 and 35 is started, the existence of an obstacle that hinders the overhanging of the inner beams 34 and 35 is confirmed.

The controller 60 identifies the position of the floor plate 26 (S27), stops driving the inner beams 34 and 35 when the jacks 36 and 37 are located above the floor plate 26 (S38), and then causes the jacks 36 and 37 to move. It is extended and brought into contact with the floor plate 26 (S39). Therefore, the controller 60 can automatically perform the work of projecting the inner beams 34 and 35, extending the jacks 36 and 37, and bringing them into contact with the floor plate 26. As a result, the operator's labor related to the outrigger 30 overhanging work is saved.

Further, the controller 60 determines whether or not the floor plate 26 is at an appropriate position where the jacks 36 and 37 can come into contact with each other (S28), and when the floor plate 26 is not at the appropriate position (S28: No), the fourth notification screen. Is displayed on the display panel 71 (S29), and the operator is notified that the position of the floor plate 26 is displaced. Therefore, the operator can recognize that the floor plate 26 is not in the proper position.

Further, the controller 60 extends the jacks 36 and 37 according to the determination that all four floor plates 26 are in the proper positions (S28: Yes) (S39). Therefore, only one of the left and right jacks 36 and 37 is extended to prevent the crane wheel 10 from tilting.

Further, since the detection devices 50 and 51 are arranged between the front outrigger 31 and the rear outrigger 32 in the front-rear direction 8 of the vehicle body 20, the detection device 50 uses the inner beam 34 of the front outrigger 31 and the rear outrigger 32. The detection area 78 including the movable area 75 of both inner beams 34 with the inner beam 34 of 32 can be set as the imaging area 73. As a result, the number of required detection devices is reduced. That is, the crane wheel 10 includes four inner beams of two inner beams 34 and two inner beams 35, but when a detection device is provided for each of the four inner beams, four detection devices are required. Become. In the present embodiment, the outrigger devices 17 can be automatically extended and retracted by the two detection devices 50 and 51.

Further, when the controller 60 detects an obstacle that hinders the protrusion or storage of the inner beams 34 and 35 (S24: Yes), the controller 60 displays the third notification screen on the display panel 71 (S25). Therefore, the operator can recognize that there is an obstacle that hinders the overhang or storage of the inner beams 34 and 35.

Further, the controller 60 transmits the image data and the learning information indicating that the obstacle indicated by the image data is the floor plate 26 to the learning program. Therefore, the controller 60 can make the learning program perform deep learning, and as a result, can improve the judgment accuracy of the learning program.

[Modification example]

In the above-described embodiment, an example has been described in which the controller 60 causes the learning program to determine whether or not the obstacle is the floor plate 26. However, the above-mentioned determination may be made by the controller 60. In that case, the processes of steps S22 and S42 in which the learning information is stored in the memory 64 and output may be omitted.

In the above-described embodiment, an example in which the controller 60 detects the positions of the inner beams 34 and 35 using the outrigger sensors 38, 39, 40 and 41 has been described. However, the controller 60 may detect the positions of the inner beams 34 and 35 using the detection information (that is, image data). In that case, the outrigger sensors 38, 39, 40, 41 are not provided on the crane wheel 10. That is, the outrigger sensors 38, 39, 40, 41 may not be present. When the outrigger sensors 38, 39, 40, 41 are not provided on the crane wheel 10, the area including the first movable area 76, which is the maximum movable area of the inner beams 34, 35, may be set as the detection area 78.

In the above-described embodiment, an example in which the controller 60 notifies by the display panel 71 has been described. However, this notification may be performed by the speaker.

In the above embodiment, a moving obstacle such as a person and a fixed obstacle are treated as the same obstacle, and the detection area 78 is determined. However, the controller 60 may determine a fixed obstacle detection area for detecting a fixed obstacle and a moving obstacle detection area for detecting a moving obstacle such as a person. The fixed obstacle detection area is the detection area 78, and the moving obstacle detection area includes the detection area 78 and is wider than the detection area 78. By determining the two types of detection areas, the safety in overhanging and storing the inner beams 34 and 35 is further improved.

In the above-described embodiment, the controller 60 determines that the floor plate 26 is in the proper position when the position of the floor plate 26 is directly below the movable region 75 of the inner beams 34 and 35. However, in the controller 60, the floor plate 26 is appropriate when all four floor plates 26 are in the proper positions and the four floor plates 26 are in the positions where the protrusion amounts of the four inner beams 34 and 35 are the same. You may judge that it is in the position. In that case, the protrusion amounts of the four inner beams 34 and 35 are the same, and the outrigger device 17 supports the crane wheel 10 more stably.

10 ... Crane car 11 ... Traveling body 15 ... Operating device 17 ... Outrigger device 26 ... Floor plate 33 ... Outer beam 34, 35 ... Inner beam 44, 45 ... Outrigger Cylinders 50, 51 ... Detection device 60 ... Controller 75 ... Movable area 78 ... Detection area

Claims (8)

An outer beam provided on the traveling body and extending in the width direction of the traveling body,
The inner beam held by the outer beam so as to be slidable along the width direction, and
A drive device that slides the inner beam and
A detection device that outputs detection information according to the shape of an obstacle existing around the inner beam and the distance to the obstacle, and
With a controller,
The above controller
The detection area determination process for determining the detection area including the movable area of the inner beam based on the input of a predetermined trigger signal, and the detection area determination process.
Based on the detection information, the obstacle determination process for determining whether or not the obstacle is within the detection area, and the obstacle determination process.
An outrigger device that executes a drive process for driving the drive device based on the determination that there is no obstacle in the detection area. A jack provided at the tip of the inner beam and a floor plate to which the jack abuts are further provided.
The above controller
When the obstacle is in the detection area, the floor plate determination process for determining whether or not the obstacle is the floor plate, and the floor plate determination process.
When the obstacle is the floor plate, the position identification process for specifying the position of the floor plate and
Position confirmation processing to determine whether the jack has reached above the floor plate, and
When the jack reaches the upper part of the floor plate, the stop process for stopping the slide of the inner beam and the stop process
The outrigger device according to claim 1, further performing a grounding process for bringing the jack into contact with the floor plate. The above controller
The floor plate position determination process for determining whether or not the position of the floor plate is in the movable area of the inner beam, and
The outrigger device according to claim 2, further performing a misalignment alarm process that gives an alarm when the floor plate is not in the movable region of the inner beam. The inner beam and the jack are provided on the left and right sides of the traveling body, respectively.
The above controller
The outrigger device according to claim 3, wherein when the floor plate corresponding to each jack is in the movable region of the inner beam, the left and right jacks are brought into contact with the floor plate. The outer beam is provided in front of and behind the traveling body.
The outrigger device according to any one of claims 1 to 4, wherein the detection device is arranged between the outer beams. The above controller
The outrigger device according to any one of claims 1 to 5, further executing an obstacle alarm process that gives an alarm when there is an obstacle in the detection area. The above controller
Learning information acquisition processing to acquire learning information indicating whether or not the detected obstacle is the above-mentioned floor board, and
The outrigger device according to any one of claims 2 to 4, further executing an output process for associating and outputting the learning information and the detection information indicating an obstacle corresponding to the learning information. A work vehicle provided with the outrigger device according to any one of claims 1 to 7.

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