JP2022188666A - crane - Google Patents

Abstract

To provide a crane that can sense a distance to an object, regardless of an attachment/detachment state of an attachable/detachable accessory component.SOLUTION: A crane 1, which can travel, is equipped with: first distance sensing means 41, mounted on an accessory component (a front-side outrigger unit 51) mounted attachagbly and detachably, which senses a distance to an object G; second distance sensing means 42, mounted on a portion which is exposed when the accessory component (the front-side outrigger unit 51) is detached, which senses the distance to the object G; attachment/detachment state sensing means 56 that senses an attachment/detachment state of the accessory component (the front-side outrigger unit 51); and a selecting part 64 that selects and activates either of the first distance sensing means 41 and the second distance sensing means 42, on the basis of sensed information by the attachment/detachment state sensing means 56.SELECTED DRAWING: Figure 3

Description

The present invention relates to mobile cranes.

Conventionally, a crane is known that includes attachments that can be attached to and detached from a vehicle body and a revolving body (see, for example, Patent Document 1).

Patent Literature 1 discloses a configuration in which accessory parts such as a count weight and outriggers are detachably attached to a carrier frame of a truck crane. As a result, when the truck crane is transported, the accessory parts can be removed to reduce the vehicle weight of the truck crane.

Japanese Utility Model Publication No. 53-039932

By the way, a traveling crane may be provided with a distance detection means for detecting the distance to an object in the traveling direction. If such a distance detection means is provided on a detachable accessory, there is a problem that the distance to an object cannot be detected when the crane travels with the accessory removed.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a crane capable of appropriately detecting the distance to an object regardless of the attachment/detachment state of detachable accessories.

In order to achieve the above object, the crane of the present invention is a traveling crane, and is attached to a detachably attached accessory part for detecting a distance to an object, first distance detection means; a second distance detection means for detecting the distance from the object attached to a portion exposed when the accessory is removed; an attachment/detachment state detection means for detecting the attachment/detachment state of the accessory; a selection unit that selects and operates either the first distance detection means or the second distance detection means based on detection information from the attachment/detachment state detection means.

The crane of the present invention configured in this manner can appropriately detect the distance to an object regardless of the attached/detached state of the attachable/detachable accessory.

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 of Example 1. FIG. FIG. 4 is a side view showing a running state of a crane to which the front outrigger unit of Example 1 is attached; FIG. 4 is a side view showing a running state of the crane with the front outrigger unit removed according to the first embodiment; 4A and 4B are diagrams showing an example of an image displayed on the display unit of the first embodiment; FIG. 5 is a flow chart showing the flow of processing by the control unit of the first embodiment; FIG. 11 is a block diagram showing the functional configuration of the crane of Example 2; FIG. 11 is a side view showing a traveling state of a crane to which the counterweight of Example 2 is attached; FIG. 11 is a side view showing a traveling state of the crane from which the counterweight of Example 2 is removed; 10 is a flow chart showing the flow of processing by the control unit of Example 2. FIG. FIG. 11 is a block diagram showing the functional configuration of the crane of Example 3; FIG. 11 is a side view showing a traveling state of a crane to which a boom and a front outrigger unit of Example 3 are attached; FIG. 12 is a side view showing a running state of the crane with the boom and the front outrigger unit removed according to the third embodiment; 10 is a flow chart showing the flow of processing by the control unit of Example 3;

Hereinafter, embodiments for realizing a crane according to the present invention will be described based on Examples 1 to 3 shown in the drawings.

The crane in Example 1 is applied to a rough terrain crane (hereinafter simply referred to as a crane) as a mobile 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 a front outrigger unit 51 as an accessory, a rear outrigger unit 52 as an accessory, and a traveling device for self-propelled on roads and work sites.

The front outrigger unit 51 is configured to be detachable from the front side of the vehicle body 10 . The rear outrigger unit 52 is configured to be detachable from the rear side of the vehicle body 10 .

A front outrigger 51a provided in the front outrigger unit 51 and a rear outrigger 52a provided in the rear outrigger unit 52 extend horizontally and vertically during work to 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 facing the traveling direction of the crane 1 . That is, 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.

The cabin 21 has operation units (for example, a steering wheel, a shift lever, an accelerator pedal, a brake pedal, etc.) for controlling traveling of the vehicle body 10 . The cabin 21 also has an operation unit for operating the revolving body 20, the boom 30, the winch 24, and the like. A driver M riding in the cabin 21 operates the operation unit to rotate the revolving body 20, raise and lower the boom 30, extend and retract it, and rotate the winch 24 to perform the work.

A counterweight 55 as an accessory is detachably attached to the rear side of the revolving body 20 .

As shown in FIG. 1 , a boom 30 as an accessory is detachably attached to the revolving body 20 . 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. When the wire rope 35 is let out by the winch 24, the hook 36 is lowered, and when the wire rope 35 is hoisted, the hook 36 is raised.

As shown in FIGS. 1 and 2, the crane 1 is provided with a plurality of distance detection means 40. As shown in FIG. The distance detection means 40 detects the distance to an object in the traveling direction while the crane 1 is traveling or stationary such as before starting. The distance detection means 40 can be, for example, a millimeter wave radar, an ultrasonic sensor, LiDAR (Light Detection and Ranging), or the like.

The distance detection means 40 detects the distance to an object in front of the crane 1 in the traveling direction when the crane 1 is traveling or stationary such as before starting. Examples of objects 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.

The distance detection means 40 has first distance detection means 41 , 43 , 45 and 47 and second distance detection means 42 , 44 and 46 .

The first distance detection means 41 is attached to the front outrigger unit 51 so as to face forward.

The second distance detection means 42 is attached to the front side of the vehicle body 10 so as to face forward. The second distance detection means 42 is attached to a portion of the vehicle body 10 that is exposed (exposed to the outside) when the front outrigger unit 51 is removed from the vehicle body 10, facing forward.

The first distance detection means 43 is attached to the rear outrigger unit 52 so as to face rearward.

The second distance detection means 44 is attached to the rear side of the vehicle body 10 so as to face rearward. The second distance detection means 44 is attached to a portion of the vehicle body 10 that is exposed when the rear outrigger unit 52 is removed from the vehicle body 10, facing rearward.

The first distance detection means 45 is attached to the rear side of the counterweight 55 so as to face rearward.

The second distance detection means 46 is located on the rear side of the revolving body 20 , covered with the counterweight 55 , and is located at the portion of the revolving body 20 exposed when the counterweight 55 is removed from the revolving body 20 . , mounted in a rearward facing position.

The first distance detection means 47 is attached to the side surface of the boom head 33a of the tip boom 33 so as to face forward.

That is, the first distance detection means 41, 43, 45, 47 are attached to the accessories. The second distance detection means 42, 44, 46 are attached to exposed portions when the accessories are removed.

As shown in FIG. 2 , the cabin 21 is provided with a display section 71 . The display unit 71 can be a monitor that displays an image.

The vehicle body 10 is provided with attachment/detachment state detection means 56 . The attachment/detachment state detection means 56 can be, for example, a photoelectric sensor. The attachment/detachment state detection means 56 detects the attachment/detachment state of the accessory.

Note that the attachment/detachment state detection means 56 is not limited to a photoelectric sensor or the like for automatic input. That is, in the actual crane operation, even if a sensor or the like automatically detects the working state of the crane, the operator M or the like can check whether the automatically detected working state is correct or not. When a person finally confirms visually and confirms that there is no mistake, the confirmation button or the like is manually operated. Therefore, as the attachment/detachment state detection means 56, a confirmation button or the like for accepting the input of the operator's manual input of confirmation can be applied.

The attachment/detachment state detection means 56 detects the attachment/detachment state of the front outrigger unit 51 to the vehicle body 10 . Also, the attachment/detachment state detection means 56 detects the attachment/detachment state of the rear outrigger unit 52 to the vehicle body 10 . Also, the attachment/detachment state detection means 56 detects the attachment/detachment state of the counterweight 55 to the revolving body 20 . Also, the attachment/detachment state detection means 56 detects the attachment/detachment state of the boom 30 to the revolving body 20 .

The vehicle body 10 is provided with a braking device 80 controlled by a control section 60 which will be described later. The braking device 80 brakes the traveling crane 1 according to information from the control unit 60 .

The crane 1 constructed in this way moves the load hung on the hook 36 to a predetermined position by paying out and hoisting the wire rope 35 by the winch 24, raising and lowering the boom 30 and expanding and contracting it, and turning the revolving body 20. work can be done.

The crane 1 can travel with the front outrigger unit 51 attached to the vehicle body 10 or with the front outrigger unit 51 removed from the vehicle body 10.例文帳に追加Further, the crane 1 can travel both with the rear outrigger unit 52 attached to the vehicle body 10 and with the rear outrigger unit 52 removed from the vehicle body 10 . Further, the crane 1 can travel both with the counterweight 55 attached to the revolving body 20 and with the counterweight 55 removed from the revolving body 20 . Further, the crane 1 can travel both with the boom 30 attached to the revolving body 20 and with the boom 30 removed from the revolving body 20 .

[Function configuration of crane]
FIG. 3 is a block diagram showing the functional configuration of the crane 1 of Embodiment 1. As shown in FIG. FIG. 4 is a side view showing a traveling state of the crane 1 to which the front outrigger unit 51 of the first embodiment is attached. FIG. 5 is a side view showing a traveling state of the crane 1 from which the front outrigger unit 51 of the first embodiment is removed. FIG. 6 is a diagram showing an example of an image displayed on the display unit 71 of the first embodiment. The functional configuration of the crane 1 of the first embodiment will be described below.

As shown in FIG. 3, the crane 1 detects the detection information detected by the first distance detection means 41, the detection information detected by the second distance detection means 42, the detection information detected by the attachment/detachment state detection means 56, is input to the control unit 60 , and processing information processed by the control unit 60 is output to the braking device 80 and the display unit 71 .

The first distance detection means 41 is used when the crane 1 is traveling or stationary such as before starting, and detects the distance to an object in the traveling direction of the crane 1 . Detection information detected by the first distance detection means 41 is input to the control section 60 .

The second distance detection means 42 is used when the crane 1 is traveling or stationary such as before starting, and detects the distance to an object in the traveling direction of the crane 1 . Detection information detected by the second distance detection means 42 is input to the control section 60 .

The attachment/detachment state detection means 56 detects the attachment/detachment state of the front outrigger unit 51 to the vehicle body 10 . Detection information of the attachment/detachment state detection means 56 is input to the control section 60 .

The control unit 60 includes an attachment/detachment information acquisition unit 61 , a distance information acquisition unit 62 , an attachment/detachment state determination unit 63 , and a selection unit 64 .

The attachment/detachment information acquisition unit 61 acquires detection information of the attachment/detachment state detection means 56 . The distance information acquisition unit 62 acquires the detection information of the first distance detection means 41 or the detection information of the second distance detection means 42 .

The attachment/detachment state determination section 63 determines whether or not the front outrigger unit 51 is attached to the vehicle body 10 based on the detection information of the attachment/detachment state detection means 56 acquired by the attachment/detachment information acquisition section 61 .

The selection unit 64 selects either the first distance detection unit 41 or the second distance detection unit 42 based on the determination information of the attachment/detachment state determination unit 63 . The selection information selected by the selection unit 64 is input to the first distance detection means 41 and the second distance detection means 42, and either the first distance detection means 41 or the second distance detection means 42 operates. ing.

In other words, the selection unit 64 selects either the first distance detection unit 41 or the second distance detection unit 42 based on the detection information of the attachment/detachment state detection unit 56, and selects the first distance detection unit 41 or the second distance detection unit 42. Either the distance detection means 42 is operated.

Specifically, when the attachment/detachment state determination section 63 determines that the front outrigger unit 51 is attached to the vehicle body 10, the selection section 64 instructs the first distance detection means 41 to set it to the operating state. An instruction to activate is given to the second distance detection means 42 . As a result, as shown in FIG. 4, the first distance detection means 41 detects the distance to the object G in the traveling direction of the crane 1 (the front in the first embodiment).

When the attachment/detachment state determination section 63 determines that the front outrigger unit 51 is not attached to the vehicle body 10, the selection section 64 instructs the first distance detection means 41 to be in the non-operating state, and instructs the first distance detecting section 41 to be in the operating state. is given to the second distance detection means 42 . As a result, as shown in FIG. 5, the second distance detection means 42 detects the distance to the object G in the traveling direction of the crane 1 (the front in the first embodiment).

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 80 . Based on the information processed by the control unit 60 , the control unit 60 outputs to the display unit 71 a display indicating the attachment/detachment state of the front outrigger unit 51 .

The braking device 80 generates braking force for the crane 1 based on instructions output from the control unit 60 . That is, the braking device 80 functions as a collision damage mitigation brake that stops the traveling crane 1 based on the instruction output from the control unit 60 .

Note that the control unit 60 outputs an instruction to brake to the braking device 80, or instead of outputting an instruction to brake to the braking device 80, outputs an alarm sound to a sounding device such as a buzzer that emits an alarm sound. An instruction to emit an alarm light or an instruction to emit an alarm light to a lighting device such as an indicator lamp that emits an alarm light or a display device may be output.

The display unit 71 displays the attachment/detachment state of the accessory based on the determination information of the attachment/detachment state determination unit 63 . That is, the display unit 71 displays the attachment/detachment state of the accessory parts of the crane 1 .

Specifically, when the attachment/detachment state determination section 63 determines that the front outrigger unit 51 is not attached to the vehicle body 10, the display section 71 displays the front outrigger unit 51 attached to the vehicle body 10 as shown in FIG. Display Crane 1 in the unloaded state.

On the other hand, when the attachment/detachment state determination section 63 determines that the front outrigger unit 51 is attached to the vehicle body 10 , the display section 71 displays the crane 1 with the front outrigger unit 51 attached to the vehicle body 10 . .

[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 first embodiment will be described below.

As shown in FIG. 7, the attachment/detachment information acquisition unit 61 acquires detection information from the attachment/detachment state detection unit 56 (step S101).

Next, the attachment/detachment state determination section 63 determines whether or not the front outrigger unit 51 is attached to the vehicle body 10 (step S102).

If it is determined that the front outrigger unit 51 is attached to the vehicle body 10 (YES in step S102), the process proceeds to step S103. If it is determined that the front outrigger unit 51 is not attached to the vehicle body 10 (NO in step S102), the process proceeds to step S107.

After proceeding to step S103, the selection unit 64 selects the first distance detection means 41 and puts the first distance detection means 41 into the operating state (step S103).

Next, the distance information acquisition unit 62 acquires detection information from the first distance detection means 41 (step S104).

Next, the control section 60 gives an instruction to display the crane 1 with the front outrigger unit 51 attached to the vehicle body 10 on the display section 71 (step S105).

Next, the control unit 60 gives an instruction to stop the traveling of the crane 1 to the braking device 80 based on the obtained detection information of the first distance detection means 41 (step S106), and ends the process.

After proceeding to step S107, the selection unit 64 selects the second distance detection means 42 and puts the second distance detection means 42 into the operating state (step S107).

Next, the distance information acquisition unit 62 acquires detection information from the second distance detection means 42 (step S108).

Next, the control unit 60 gives an instruction to display the crane 1 with the front outrigger unit 51 removed from the vehicle body 10 on the display unit 71 (step S109).

Next, the control unit 60 gives an instruction to stop the traveling of the crane 1 to the braking device 80 based on the acquired detection information of the second distance detection means 42 (step S110), and ends the process.

[Action of crane]
The operation of the crane 1 of the first embodiment will be described below.

The crane 1 of the first embodiment is a crane 1 that can travel, and is attached to a detachably attached accessory (front outrigger unit 51). First distance detection means for detecting the distance to an object G 41, a second distance detection means 42 for detecting the distance from the object G attached to the exposed portion when the accessory (front outrigger unit 51) is removed, and the accessory (front outrigger unit 51 ), and based on the detection information of the attachment/detachment state detection means 56, either the first distance detection means 41 or the second distance detection means 42 is selected and activated. and a portion 64 (FIG. 3).

As a result, when the accessory (front outrigger unit 51) is attached, the distance to the object G is detected by the first distance detection means 41, and when the accessory (front outrigger unit 51) is removed. can detect the distance to the object G by the second distance detection means 42 . Therefore, the distance to the object G can be appropriately detected regardless of whether the accessory (front outrigger unit 51) is attached or removed.

In the crane 1 of Embodiment 1, the attached part is the front outrigger unit 51 attached to the front side of the vehicle body 10, and the second distance detection means 42 detects the exposed body 10 when the front outrigger unit 51 is removed. (Figs. 4 and 5).

Thus, when the crane 1 moves forward with the front outrigger unit 51 attached to the vehicle body 10, the distance to the object G is detected by the first distance detection means 41, and the front outrigger unit 51 is removed from the vehicle body 10. When the crane 1 moves forward in this state, the distance to the object G can be detected by the second distance detection means 42 . Therefore, even when the crane 1 moves forward with the front outrigger unit 51 attached to the vehicle body 10, or when the crane 1 moves forward with the front outrigger unit 51 removed from the vehicle body 10, the object G is properly connected. It can detect distance.

The crane of the second embodiment differs from the crane of the first embodiment in that the configurations of the first distance detection means and the second distance detection means are different.

[Function configuration of crane]
FIG. 8 is a block diagram showing the functional configuration of the crane of Example 2. FIG. FIG. 9 is a side view showing a traveling state of a crane to which the counterweight 55 of Example 2 is attached. FIG. 10 is a side view showing the running state of the crane with the counterweight 55 removed according to the second embodiment. The functional configuration of the crane of Example 2 will be described below. It should be noted that the same terminology or the same reference numerals will be used to describe the same or equivalent portions as those described in the above embodiments.

As shown in FIG. 8, the crane 1 detects the detection information detected by the first distance detection means 45, or the detection information detected by the second distance detection means 46, the detection information detected by the attachment/detachment state detection means 56, is input to the control unit 60 , and processing information processed by the control unit 60 is output to the braking device 80 and the display unit 71 .

The attachment/detachment information acquisition unit 61 acquires detection information of the attachment/detachment state detection means 56 . The distance information acquisition unit 62 acquires detection information from the first distance detection means 45 or detection information from the second distance detection means 46 .

The attachment/detachment state determination section 63 determines whether or not the counterweight 55 is attached to the revolving body 20 based on the detection information of the attachment/detachment state detection means 56 acquired by the attachment/detachment information acquisition section 61 .

The selection unit 64 selects either the first distance detection unit 45 or the second distance detection unit 46 based on the detection information of the attachment/detachment state detection unit 56, and selects the first distance detection unit 45 or the second distance detection unit. 46.

Specifically, when the attachment/detachment state determination unit 63 determines that the counterweight 55 is attached to the revolving body 20, the selection unit 64 instructs the first distance detection unit 45 to set the operation state. An instruction to activate is given to the second distance detection means 46 . As a result, as shown in FIG. 9, the first distance detection means 45 detects the distance to the object G in the traveling direction of the crane 1 (backward in the second embodiment).

When the attachment/detachment state determination section 63 determines that the counterweight 55 is not attached to the revolving body 20, the selection section 64 instructs the first distance detection means 45 to be in the non-operating state, and instructs the first distance detecting section 45 to be in the operating state. is given to the second distance detection means 46 . As a result, as shown in FIG. 10, the second distance detection means 46 detects the distance to the object G in the traveling direction of the crane 1 (backward in the second embodiment).

[Processing by control unit]
FIG. 11 is a flow chart showing the flow of processing by the control unit 60 of the second embodiment. The flow of processing by the control unit 60 of the second embodiment will be described below.

As shown in FIG. 11, the attachment/detachment information acquisition unit 61 acquires detection information from the attachment/detachment state detection unit 56 (step S201).

Next, the attachment/detachment state determination unit 63 determines whether or not the counterweight 55 is attached to the revolving body 20 (step S202).

If it is determined that the counterweight 55 is attached to the revolving body 20 (YES in step S202), the process proceeds to step S203. If it is determined that the counterweight 55 is not attached to the revolving body 20 (NO in step S202), the process proceeds to step S207.

After proceeding to step S203, the selection unit 64 selects the first distance detection means 45 and puts the first distance detection means 45 into an operating state (step S203).

Next, the distance information acquisition unit 62 acquires detection information from the first distance detection means 45 (step S204).

Next, the control unit 60 gives an instruction to display the crane 1 with the counterweight 55 attached to the revolving structure 20 on the display unit 71 (step S205).

Next, the control unit 60 gives an instruction to stop the traveling of the crane 1 to the braking device 80 based on the acquired detection information of the first distance detection means 45 (step S206), and ends the process.

After proceeding to step S207, the selection unit 64 selects the second distance detection means 46 and puts the second distance detection means 46 into the operating state (step S207).

Next, the distance information acquisition unit 62 acquires detection information from the second distance detection means 46 (step S208).

Next, the control unit 60 gives an instruction to display the crane 1 with the counterweight 55 removed from the revolving structure 20 on the display unit 71 (step S209).

Next, the control unit 60 gives an instruction to stop the traveling of the crane 1 to the braking device 80 based on the acquired detection information of the second distance detection means 46 (step S110), and ends the process.

[Action of crane]
The operation of the crane 1 of the second embodiment will be described below.

In the crane 1 of Embodiment 2, the attached part is the counterweight 55 attached to the rear side of the revolving body 20, and the second distance detection means 46 detects when the revolving body 20 is exposed when the counterweight 55 is removed. (Figs. 9 and 10).

As a result, when the crane 1 moves backward with the counterweight 55 attached to the revolving structure 20 , the distance to the object G is detected by the first distance detection means 45 , and the counterweight 55 is removed from the revolving structure 20 . When the crane 1 moves backward in this state, the distance to the object G can be detected by the second distance detection means 46 . Therefore, even when the crane 1 moves backward with the counterweight 55 attached to the revolving body 20, or when the crane 1 moves backward with the counterweight 55 removed from the revolving body 20, it is possible to appropriately interact with the object G. It can detect distance.

Other configurations and functions and effects are substantially the same as those of the above embodiment, so description thereof will be omitted.

The crane of Example 3 differs from the crane of Example 1 in that the configurations of the first distance detection means and the second distance detection means are different.

[Function configuration of crane]
FIG. 12 is a block diagram showing the functional configuration of the crane of Example 3. FIG. FIG. 13 is a side view showing a running state of a crane to which the boom 30 and the front outrigger unit 51 of the third embodiment are attached. FIG. 14 is a side view showing a running state of the crane with the boom 30 and the front outrigger unit 51 removed according to the third embodiment. The functional configuration of the crane of Example 3 will be described below. It should be noted that the same terms or the same reference numerals will be used to describe the same or equivalent parts as those described in the above embodiments.

As shown in FIG. 12, the crane 1 detects the detection information detected by the first distance detection means 41 and the detection information detected by the first distance detection means 47, or the detection information detected by the second distance detection means 42, Detection information detected by the attachment/detachment state detection means 56 is input to the control unit 60 , and processing information processed by the control unit 60 is output to the braking device 80 and the display unit 71 .

The attachment/detachment information acquisition unit 61 acquires detection information of the attachment/detachment state detection means 56 . The distance information acquisition unit 62 acquires the detection information of the first distance detection means 41 and the detection information of the first distance detection means 47 or the detection information of the second distance detection means 42 .

The attachment/detachment state determination section 63 determines whether or not the boom 30 is attached to the revolving body 20 based on the detection information of the attachment/detachment state detection means 56 acquired by the attachment/detachment information acquisition section 61 . Also, the attachment/detachment state determination section 63 determines whether or not the front outrigger unit 51 is attached to the vehicle body 10 based on the detection information of the attachment/detachment state detection means 56 acquired by the attachment/detachment information acquisition section 61 .

The selection unit 64 selects one of the first distance detection means 41, the first distance detection means 47, and the second distance detection means 42 based on the detection information of the attachment/detachment state detection means 56, and selects the first distance detection means. 41 and either the first distance detection means 47 or the second distance detection means 42 is operated.

Specifically, when the attachment/detachment state determination section 63 determines that the boom 30 is attached to the revolving body 20 and the front outrigger unit 51 is attached to the vehicle body 10, the selection section 64 sets the operating state. An instruction is given to the first distance detection means 41 and the first distance detection means 47, and an instruction to deactivate the second distance detection means 42 is given. As a result, as shown in FIG. 13, the first distance detection means 41 and the first distance detection means 47 detect the distance from the object G in the traveling direction of the crane 1 (forward in the third embodiment). ing.

When the attachment/detachment state determination section 63 determines that the boom 30 is not attached to the revolving structure 20 and the front outrigger unit 51 is not attached to the vehicle body 10, the selection section 64 instructs to set the non-operating state. An instruction is given to the first distance detection means 41 and the first distance detection means 47 and to the second distance detection means 42 to set it in an operating state. As a result, as shown in FIG. 14, the second distance detection means 42 detects the distance to the object G in the traveling direction of the crane 1 (forward in the third embodiment).

[Processing by control unit]
FIG. 15 is a flow chart showing the flow of processing by the control unit 60 of the third embodiment. The flow of processing by the control unit 60 of the second embodiment will be described below.

As shown in FIG. 15, the attachment/detachment information acquisition unit 61 acquires detection information from the attachment/detachment state detection unit 56 (step S301).

Next, the attachment/detachment state determination section 63 determines whether or not the boom 30 is attached to the revolving body 20 and the front outrigger unit 51 is attached to the vehicle body 10 (step S302).

If it is determined that the boom 30 is attached to the revolving body 20 and the front outrigger unit 51 is attached to the vehicle body 10 (YES in step S302), the process proceeds to step S303. If it is determined that the boom 30 is not attached to the revolving body 20 and the front outrigger unit 51 is not attached to the vehicle body 10 (NO in step S302), the process proceeds to step S307.

When proceeding to step S303, the selection unit 64 selects the first distance detection means 41 and the first distance detection means 47, and puts the first distance detection means 41 and the first distance detection means 47 into the operating state (step S303). .

Next, the distance information acquisition unit 62 acquires the detection information of the first distance detection means 41 and the detection information of the first distance detection means 47 (step S304).

Next, the control unit 60 gives an instruction to display the crane 1 with the boom 30 attached to the revolving structure 20 and the front outrigger unit 51 attached to the vehicle body 10 on the display unit 71 (step S305). ).

Next, based on the acquired detection information of the first distance detection means 41 and the acquired detection information of the first distance detection means 47, the control unit 60 instructs the braking device 80 to stop traveling of the crane 1 (step S306). ) and terminate the process.

After proceeding to step S307, the selection unit 64 selects the second distance detection means 42 and puts the second distance detection means 42 into the operating state (step S307).

Next, the distance information acquisition unit 62 acquires detection information of the second distance detection means 42 (step S308).

Next, the control unit 60 instructs the display unit 71 to display the crane 1 with the boom 30 removed from the revolving structure 20 and the front outrigger unit 51 removed from the vehicle body 10 (step S309).

Next, the control unit 60 gives an instruction to stop the traveling of the crane 1 to the braking device 80 based on the acquired detection information of the second distance detection means 42 (step S310), and ends the process.

[Action of crane]
The operation of the crane 1 of Embodiment 3 will be described below.

In the crane 1 of Embodiment 3, the attached parts are the boom 30 attached to the revolving body 20 and the front outrigger unit 51 attached to the front side of the vehicle body 10, and the second distance detection means 42 is the front outrigger unit 51. is attached to a portion of the vehicle body 10 that will be exposed when the is removed (FIG. 12).

Accordingly, when the crane 1 moves forward with the boom 30 attached to the revolving body 20 and the front outrigger unit 51 attached to the vehicle body 10, the first distance detection means 47 attached to the boom 30 and the front side The distance to the object G can be detected by the first distance detection means 41 attached to the outrigger unit 51 . On the other hand, when the crane 1 moves forward with the boom 30 removed from the revolving structure 20 and the front outrigger unit 51 removed from the vehicle body 10, the vehicle body 10 is exposed when the front outrigger unit 51 is removed. The distance to the object G can be detected by the second distance detection means 42 attached to the portion.

Therefore, even when the crane 1 moves forward with the boom 30 attached to the rotating body 20 and the front outrigger unit 51 attached to the vehicle body 10, the boom 30 is removed from the rotating body 20 and the front outrigger unit Even when the crane 1 moves forward with the crane 51 removed from the vehicle body 10, the distance to the object G can be detected appropriately.

Other configurations and functions and effects are substantially the same as those of the above embodiment, so description thereof will be omitted.

The crane of the present invention has been described above based on the first to third embodiments. However, the specific configuration is not limited to these examples, and design changes and combinations of examples are permitted as long as they do not deviate from the gist of the invention according to each claim of the scope of claims. be done.

In the first embodiment, the detection information detected by the first distance detection means 41 or the detection information detected by the second distance detection means 42 and the detection information detected by the attachment/detachment state detection means 56 are input to the control section 60. and the processing information processed by the control unit 60 is output to the braking device 80 and the display unit 71. As shown in FIG. However, the detection information detected by the first distance detection means 43, or the detection information detected by the second distance detection means 44, and the detection information detected by the attachment/detachment state detection means 56 are input to the control unit 60, and control is performed. Processing information processed by the unit 60 may be output to the braking device 80 and the display unit 71 .

In Embodiments 1 to 3, examples were shown in which the accessory parts were the front outrigger unit 51, the rear outrigger unit 52, the counterweight 55, and the boom 30. FIG. However, the accessory parts are not limited to this aspect, and can be detachable from the crane 1 .

Examples 1 to 3 show examples in which the crane 1 of the present invention is applied when any one of the front outrigger unit 51, the counterweight 55, and the boom 30 is attached and detached. However, the crane of the present invention can also be applied when at least one of the front outrigger unit 51, the counterweight 55, and the boom 30 is detachable.

Example 1 shows an example in which the present invention is applied to a rough terrain crane. However, the invention can be applied to mobile cranes.

1 Crane 10 Car Body 20 Revolving Body 30 Boom (Example of Accessories)
41, 43, 45, 47 First distance detection means 42, 44, 46 Second distance detection means 51 Front side outrigger unit (an example of accessory parts)
55 Counterweight (an example of accessories)
56 attachment/detachment state detection means 64 selection unit G object

Claims (4)

A travelable crane,
a first distance detection means for detecting a distance from an object attached to a detachably attached accessory;
a second distance detection means for detecting the distance from the object, which is attached to a portion exposed when the accessory is removed;
Attachment/detachment state detection means for detecting an attachment/detachment state of the accessory part;
a selection unit that selects and operates either the first distance detection means or the second distance detection means based on detection information of the attachment/detachment state detection means. The accessory component is a front outrigger unit attached to the front side of the vehicle body,
2. The crane according to claim 1, wherein said second distance detection means is attached to a portion of said vehicle body which is exposed when said front outrigger unit is removed. The accessory is a counterweight attached to the rear side of the revolving body,
2. The crane according to claim 1, wherein said second distance detection means is attached to a portion of said revolving structure which is exposed when said counterweight is removed. The accessory parts are a boom attached to the revolving structure and a front outrigger unit attached to the front side of the vehicle body,
2. The crane according to claim 1, wherein said second distance detection means is attached to a portion of said vehicle body that will be exposed when said boom and said front outrigger unit are removed.

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