JP2022182888A - Crane traveling support device - Google Patents

Abstract

To provide a crane traveling support device capable of appropriately operating a crane in both cases that the crane is operated by an operation part in a cabin and that by a remote controller.SOLUTION: A crane traveling support device comprises: distance detection means 51 for detecting a distance from an object G in a traveling direction of a crane 1; an operation mode switching unit 61 for switching between a first operation mode 61a in which the crane 1 is operated by an operation unit (first operation unit 41) inside a cabin 21 of the crane 1 and a second operation mode 61b in which the crane 1 is operated by a remote controller 80; and a separation distance control unit 63 that controls the separation distance from the object G when the traveling crane 1 is stopped based on the switching information of the operation mode switching unit 61 and detection information of the distance detection means 51. The separation distance control unit 63 performs the control so that a separation distance L1 in the first operation mode 61a and a separation distance L2 in the second operation mode 61b are different from each other.SELECTED DRAWING: Figure 3

Description

The present invention relates to a crane travel support device.

Conventionally, automobiles are known to be equipped with collision damage mitigation brakes (see, for example, Patent Document 1).

Patent Literature 1 discloses an automatic braking system that automatically operates braking means of the own vehicle so as to stop the own vehicle before the own vehicle collides with an obstacle.

JP 2018-083550 A

By the way, in a crane, there are cases where the crane is operated by an operation unit in a cabin, and cases where the crane is operated by a remote controller. The feeling of operating a crane using the operation panel inside the cabin differs from the feeling of operating a crane using a remote controller. There is a problem that if the collision damage mitigation brake is activated, the crane cannot be operated properly.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a crane travel support device that can appropriately operate a crane whether the crane is operated by an operation unit in a cabin or by a remote controller. .

In order to achieve the above object, the crane traveling support device of the present invention includes a distance detecting means for detecting a distance to an object in the traveling direction of the crane, and a first operating unit for operating the crane in a cabin of the crane. Based on an operation mode switching unit for switching between an operation mode and a second operation mode for operating the crane by a remote controller, switching information of the operation mode switching unit, and detection information of the distance detection means, the crane during travel is operated. A separation distance control unit that controls a separation distance from the object when the crane is stopped, and the separation distance control unit controls the separation distance in the first operation mode and the separation distance in the second operation mode It is characterized in that control is performed so as to differ from the separation distance.

The crane travel support device of the present invention configured in this way can appropriately operate the crane whether the crane is operated by the operation unit in the cabin or by the remote controller.

1 is a side view showing the crane of Example 1. FIG. 1 is a plan view showing a crane of Example 1. FIG. 2 is a block diagram showing the functional configuration of the crane traveling support device of Embodiment 1; FIG. 4 is a plan view showing a state in which the human detection means of the crane of Embodiment 1 has detected a human; FIG. 4 is a plan view showing a state in which the crane of Example 1 is stopped in the first operation mode; FIG. FIG. 4 is a plan view showing a state in which the crane of Example 1 is stopped in the second operation mode; 5 is a flow chart showing the flow of processing by the control unit of the first embodiment;

EMBODIMENT OF THE INVENTION Hereinafter, embodiment which implement|achieves the crane traveling assistance apparatus by this invention is described based on Example 1 shown in drawing.

The crane traveling support device according to the first embodiment is applied to a rough terrain crane (hereinafter simply referred to as a crane) as a crane.

[Configuration of Crane]
FIG. 1 is a side view showing the crane of Example 1. FIG. FIG. 2 is a plan view showing the crane of Example 1. FIG. The configuration of the crane of Example 1 will be described below. Note that the front-back direction of the crane is defined as a front-back direction D.

As shown in FIGS. 1 and 2, the crane 1 includes a vehicle body 10, a revolving body 20, and a boom 30. As shown in FIGS.

The vehicle body 10 includes an outrigger 11, a traveling device for self-propelled on a road or a work site, and the like.

The outriggers 11 extend horizontally and vertically during work, lift the entire vehicle body 10, and stabilize the posture.

The revolving body 20 is provided above the vehicle body 10 and is rotatable with respect to the vehicle body 10 around the vertical axis C1. The revolving body 20 has a cabin 21 .

The cabin 21 is provided on the right side of the boom 30 when the revolving body 20 faces forward. Note that the cabin 21 may be provided on the left side of the boom 30 when the revolving body 20 faces forward.

As shown in FIG. 2, the cabin 21 is provided with a first operation unit (for example, a steering wheel, a shift lever, an accelerator pedal, a brake pedal, etc.) 41 as an operation unit for controlling travel of the vehicle body 10. there is Further, the cabin 21 is provided with a second operation section 42 for operating the revolving body 20, the boom 30, the winch 24, and the like.

A display unit 43 is provided in the cabin 21 . The display unit 43 can be a display monitor.

As shown in FIG. 1, the boom 30 includes a base end boom 31 on the base end side, an intermediate boom 32, and a tip boom 33 on the tip side. The intermediate boom 32 and the distal boom 33 are telescopically stored inside the proximal boom 31 in sequence.

The base end boom 31 is supported by a lifting cylinder (not shown) provided on the revolving body 20 . The boom 30 is raised and lowered by the extension and contraction of the hoisting cylinder, and the boom 30 is extended and contracted by the extension and contraction of the telescopic cylinder (not shown).

A sheave 34 is arranged on a boom head 33 a provided at the tip of the tip boom 33 . A winch 24 provided on the revolving body 20 is wound with a wire rope 35 for a suspended load. A wire rope 35 is arranged along the boom 30 from the winch 24 to the sheave 34 . A wire rope 35 wound around the sheave 34 is suspended vertically downward from the sheave 34 . A hook 36 is provided at the bottom of the wire rope 35 .

A load can be hooked on the hook 36 and hung. The wire rope 35 is let out by the winch 24 to lower the hook 36 , and the wire rope 35 is hoisted up to raise the hook 36 .

As shown in FIGS. 1 and 2, a distance detection means 51 is attached to the front side of the vehicle body 10 to detect the distance to an object in front of the crane 1 (an example of the traveling direction). The distance detection means 51 can be, for example, a millimeter wave radar.

Examples of objects whose distance is detected by the distance detection means 51 include automobiles, bicycles, people, construction objects, construction materials placed at construction sites, and the like. The object may be a stationary body that is stationary or a mobile body that is moving.

A human detection means 52 for detecting a person around the crane 1 is attached to the front side of the vehicle body 10 . The human detection means 52 can be, for example, a camera or a millimeter wave radar.

As shown in FIG. 2, the vehicle body 10 is provided with a braking device 71 controlled by a control section 60, which will be described later. The braking device 71 brakes the traveling crane 1 based on information from the control unit 60 .

As shown in FIG. 1 , the crane 1 is configured to be remotely operable by a worker M outside the cabin 21 using a remote controller 80 . The operator M can operate the operation performed by the first operation unit 41 and the operation performed by the second operation unit 42 by using the remote controller 80 .

The remote controller 80 is provided with a display section 81 as a warning section. The display unit 81 can be a display monitor.

An operation mode changeover switch 44 is provided in the cabin 21 . By operating the operation mode switching switch 44, a first operation mode in which the crane 1 is operated by the first operation unit 41 inside the cabin 21 and a second operation in which the crane 1 is operated by the remote controller 80 outside the cabin 21. You can switch between modes.

In the crane 1 configured as described above, in the first operation mode, the operator M who boarded the cabin 21 operates the first operation unit 41 to cause the crane 1 to travel.

Further, in the first operation mode 61a, the worker M who boarded the cabin 21 operates the second operation unit 42 to pay out and hoist the wire rope 35 by the winch 24, raise and lower the boom 30, extend and retract, and rotate the revolving body. By turning 20, the work of moving the load hung on the hook 36 to a predetermined position is performed.

In the second operation mode, the worker M outside the cabin 21 operates the remote controller 80 to make the crane 1 travel.

In the second operation mode, the operator M outside the cabin 21 operates the remote controller 80 to let out and hoist the wire rope 35 by the winch 24, raise and lower the boom 30 and extend and retract it, and rotate the revolving body 20, Work is performed to move the load hung on the hook 36 to a predetermined position.

[Functional Configuration of Crane Travel Support Device]
FIG. 3 is a block diagram showing the functional configuration of the crane travel support device of the first embodiment. FIG. 4 is a plan view showing a state in which the human detection means of the crane 1 of Embodiment 1 has detected a human. FIG. 5 is a plan view showing a state in which the crane 1 of Example 1 is stopped in the first operation mode. FIG. 6 is a plan view showing a state in which the crane 1 of Example 1 is stopped in the second operation mode. The functional configuration of the crane travel support device of the first embodiment will be described below.

As shown in FIG. 3, in the crane traveling support device 1A, the detection information detected by the distance detection means 51, the detection information detected by the human detection means 52, and the input information to the operation mode changeover switch 44 are used by the control unit. The processing information input to 60 and processed by the control unit 60 is output to the braking device 71 and the display unit 81 .

The distance detection means 51 is used when the crane 1 is traveling or stationary (for example, when starting), and detects the distance to an object in front of the crane 1 in its traveling direction. Detection information detected by the distance detection means 51 is input to the control section 60 .

As shown in FIG. 4 , the human detector 52 detects a human H in front of the crane 1 . The human detection means 52 can be, for example, a camera or a millimeter wave radar. Detection information detected by the human detection means 52 is input to the control section 60 .

As shown in FIG. 3 , an instruction to switch to the first operation mode or the second operation mode is input by inputting to the operation mode changeover switch 44 . Input information input to the operation mode changeover switch 44 is input to the control unit 60 .

The control unit 60 includes a driving mode switching unit 61 , a human judgment unit 62 and a separation distance control unit 63 .

Based on the input information input to the operation mode switch 44, the operation mode switching unit 61 operates in a first operation mode 61a in which the crane 1 is operated by the first operation unit 41 inside the cabin 21, and in outside the cabin 21. The remote controller 80 switches to the second operation mode 61b in which the crane 1 is operated.

The human determination unit 62 determines whether or not there is a human around the crane 1 based on the detection information from the human detection means 52 . The person determination unit 62 can determine a person by image recognition based on an image of a camera as the person detection unit 52, for example.

Based on switching information from the operation mode switching unit 61, detection information from the distance detection means 51, information on the traveling speed of the crane 1, and the like, the distance control unit 63 moves the crane 1 to a position separated by a predetermined distance from the object. Stop crane 1 inside. That is, the separation distance control unit 63 controls the separation distance from the object when the traveling crane 1 is stopped based on the switching information of the operation mode switching unit 61 and the detection information of the distance detection means 51. do. The separation distance means the distance from the stop position of the crane 1 to the object.

As shown in FIG. 5, when the switching information of the operation mode switching unit 61 is the first operation mode 61a, the separation distance control unit 63 sets the separation distance L1 to the object G to a predetermined distance (for example, 50 cm). control so that

As shown in FIG. 6, when the switching information of the operation mode switching unit 61 is the second operation mode 61b, the separation distance control unit 63 sets the separation distance L2 to the object G by a predetermined distance ( For example, it is controlled to be 100 cm).

In addition, when the human judgment unit 62 judges that there is no person around the crane 1, the control by the clearance control unit 63 is not executed.

Based on the information processed by the control unit 60 , the control unit 60 outputs an instruction to brake the traveling crane 1 to the braking device 71 . Based on the information processed by the control unit 60 , the control unit 60 outputs an instruction to display a warning to the display unit 81 .

The braking device 71 generates braking force for the crane 1 based on instructions output from the control unit 60 . That is, the braking device 71 stops the traveling crane 1 based on the instruction output from the control unit 60 . The braking device 71 functions as a collision damage reduction brake.

The display unit 81 displays a warning when the clearance control unit 63 gives an instruction to the braking device 71 to stop the traveling crane 1 . Note that it is also possible to issue a warning by emitting a sound.

[Processing by control unit]
FIG. 7 is a flow chart showing the flow of processing by the control unit 60 of the first embodiment. The flow of processing by the control unit 60 of the crane travel support system 1A of the first embodiment will be described below.

First, the control unit 60 acquires detection information from the distance detection means 51 (step S101). That is, the control unit 60 acquires the distance to the object G. FIG.

Next, the control unit 60 acquires detection information from the human detection means 52 (step S102).

Next, the control unit 60 acquires input information to the operation mode changeover switch 44 (step S103).

Next, the human determination unit 62 determines whether or not there is a human H around the crane 1 based on the detection information of the human detection means 52 (step S104).

When it is determined that there is a person H around the crane 1 (YES in step S104), the operation mode switching unit 61 determines whether the operation mode is the first operation mode 61a based on the input information input to the operation mode switch 44. Or it is determined whether it is the second operation mode 61b (step S105).

If the operation mode is switched to the first operation mode 61a (YES in step S105), the separation distance control unit 63 sets the separation distance to the separation distance L1 (step S106), and instructs the braking device 71 to stop the traveling of the crane 1. given (step S107), and the process ends.

When switching to the second operation mode 61b (NO in step S105), the separation distance control unit 63 sets the separation distance to a separation distance L2 longer than the separation distance L1 (step S108), and instructs the crane 1 to stop traveling. is applied to the braking device 71 (step S109), and the process ends.

On the other hand, if it is determined that there is no person H around the crane 1 (NO in step S104), the control by the clearance control unit 63 is not executed (step S110), and the process ends.

[Operation of Crane Travel Support Device]
The crane traveling support device 1A of the first embodiment includes a distance detection means 51 for detecting a distance to an object G in the traveling direction of the crane 1, and an operation unit (first operation unit 41) in a cabin 21 of the crane 1. and a second operation mode 61b for operating the crane 1 by the remote controller 80, the switching information of the operation mode switching unit 61, and the detection of the distance detection means 51 and a separation distance control unit 63 that controls the separation distance from the object G when stopping the traveling crane 1 based on the information, and the separation distance control unit 63 controls the separation in the first operation mode 61a The distance L1 is controlled to differ from the distance L2 in the second operation mode 61b (Fig. 3).

Thereby, the separation distance L1 to the object G when the crane 1 is stopped in the first operation mode 61a in which the crane 1 is operated inside the cabin 21, and the second operation mode 61b in which the crane 1 is operated outside the cabin 21 can be made different from the separation distance L2 to the object G when the crane 1 is stopped at . Therefore, the separation distances L1 and L2 to the object G when the traveling crane 1 is stopped can be varied according to each of the first operation mode 61a and the second operation mode 61b. As a result, whether the crane 1 is operated by the operation unit (first operation unit 41) in the cabin 21 or by the remote controller 80, the crane 1 can be operated appropriately.

In the crane travel support device 1A of the first embodiment, the separation distance control unit 63 performs control so that the separation distance L2 in the second operation mode 61b is longer than the separation distance L1 in the first operation mode 61a (see FIGS. 5 and 5). 6).

As a result, when the crane 1 is stopped in the first operation mode 61a in which the crane 1 is operated inside the cabin 21, the separation distance L1 to the object G allows the second operation mode 61b in which the crane 1 is operated outside the cabin 21. It is possible to lengthen the distance L2 to the object G when the crane 1 is stopped at . Therefore, in the second operation mode 61b in which the crane 1 is operated outside the cabin 21, when the traveling crane 1 is stopped by the clearance control unit 63, a communication delay of the remote controller 80 or the like causes the crane 1 to move to the object G. can be avoided from coming closer than expected.

The crane traveling support device 1A of the first embodiment includes a human judgment unit 62 for judging presence/absence of a human H around the crane 1 based on detection information of the human detection means 52 for detecting the human H, and the human judgment unit 62 However, when it is determined that there is no person H around the crane 1, the clearance control unit 63 does not perform control (Fig. 7).

Thus, when the person H is around the crane 1, the traveling of the crane 1 is automatically stopped, and when the person H is not around the crane 1, the traveling of the crane 1 is not automatically stopped. Therefore, when there is no person H around the crane 1, the traveling performance of the crane 1 can be ensured, and when there is a person H around the crane 1, safety can be ensured.

In the crane traveling support device 1A of the first embodiment, the remote controller 80 includes a warning section (display section 81) that issues a warning when the clearance control section 63 stops the traveling crane 1 (FIG. 1).

As a result, when the traveling crane 1 is stopped by the clearance control unit 63, the remote controller 80 can issue a warning. Therefore, the worker M who is operating the crane 1 using the remote controller 80 can know that the clearance control section 63 will stop the traveling of the crane 1 . As a result, the worker M who operates the crane 1 with the remote controller 80 can recognize that the movement of the crane 1 is controlled by the clearance control unit 63 with respect to the operation of the crane 1 that is different from the operation. can be done. Therefore, the crane 1 can be operated appropriately.

The crane travel support system of the present invention has been described above based on the first embodiment. However, the specific configuration is not limited to this embodiment, and design changes, additions, and the like are permitted as long as they do not depart from the gist of the invention according to each claim.

In the first embodiment, the separation distance control unit 63 controls the separation distance L1 in the first operation mode 61a, and the separation distance L2, which is longer than the separation distance L1, in the second operation mode 61b. An example of control is shown. However, in the first operation mode 61a, the separation distance control unit 63 controls the separation distance L1, and in the second operation mode 61b, controls the separation distance L2, which is shorter than the separation distance L1. You may Further, in either one of the first operation mode 61a and the second operation mode 61b, the clearance control unit 63 may control the crane 1 so as not to stop. A separation distance changing unit may be provided so that the operator M can change the separation distance controlled by the separation distance control unit 63 .

In Example 1, the distance detection means 51 showed the example attached to the front side of the vehicle body 10. FIG. However, the distance detection means may be attached to the rear side of the vehicle body 10 to detect the distance to the object G behind the crane 1 (an example of the traveling direction), or may be attached to the side portion of the vehicle body 10. , the distance to the object G on the side of the crane 1 (an example of the traveling direction) may be detected.

In Example 1, an example in which the distance detection means 51 is a millimeter wave radar is shown. However, the distance detection means 51 is not limited to this aspect, and may be an ultrasonic sensor or a distance sensor such as LiDAR (Light Detection and Ranging).

In the first embodiment, an example in which the warning section is the display section 81 is shown. However, the display section 43 inside the cabin 21 may also serve as the warning section. Also, the warning unit may be a device that emits a voice or warning sound.

In Example 1, the human detection means 52 showed the example attached to the front side of the vehicle body 10. FIG. However, the human detection means may be attached to the rear side of the vehicle body 10 or may be attached to the side portion of the vehicle body 10 .

In Example 1, the human detection means 52 showed the example which detects the person H ahead of the crane 1. FIG. However, the human detection means may not be provided.

In Example 1, the operation mode changeover switch 44 showed an example provided in the cabin 21 . However, the operation mode changeover switch may be provided on the remote controller.

Embodiment 1 shows an example in which the crane travel support device 1A of the present invention is applied to a rough terrain crane. However, the crane travel support device of the present invention can be applied to other cranes such as all-terrain cranes.

1 Crane 1A Crane Travel Support Device 21 Cabin 41 First Operation Unit (Example of Operation Unit)
51 distance detection means 52 human detection means 61 operation mode switching unit 61a first operation mode 61b second operation mode 62 human determination unit 63 separation distance control unit 80 remote controller 81 display unit (an example of a warning unit)
G object H person

Claims (4)

a distance detection means for detecting a distance to an object in the traveling direction of the crane;
an operation mode switching unit that switches between a first operation mode in which the crane is operated by an operation unit in a cabin of the crane and a second operation mode in which the crane is operated by a remote controller;
a separation distance control unit that controls a separation distance from the object when the traveling crane is stopped based on switching information from the operation mode switching unit and detection information from the distance detection means. ,
The crane travel support device, wherein the separation distance control unit performs control such that the separation distance in the first operation mode is different from the separation distance in the second operation mode. The crane travel support device according to claim 1, wherein the separation distance control unit performs control so that the separation distance in the second operation mode is longer than the separation distance in the first operation mode. . a human judgment unit that judges the presence or absence of a person around the crane based on the detection information of the human detection means that detects a person;
3. The crane travel support device according to claim 1, wherein the separation distance control unit does not perform control when the human determination unit determines that there is no person around the crane. The traveling crane according to any one of claims 1 to 3, wherein the remote controller includes a warning section that issues a warning when the clearance control section stops the traveling crane. support equipment.

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