JP5557492B2 - Jib control device in crane equipment - Google Patents

Description

  The present invention relates to a jib control device in a crane apparatus having a lower swing-out type jib configured to swing out a jib attached to a telescopic boom from the lower side of the telescopic boom to the front side in the telescopic direction.

  As a jib overhanging method in a crane apparatus equipped with a jib, the jib is suspended and supported at the tip of a telescopic boom in an upright posture, and the jib is extended forward along the vertical plane from the lower side of the telescopic boom. The `` down swing type '' that swings out to the side and supports the jib on the side of the telescopic boom in a lying position while holding it sideways, and the jib is supported on the side of the telescopic boom along the substantially horizontal plane centering on the tip of the telescopic boom It is roughly divided into the “lateral swing type” that swings forward from the side. In particular, the former “lower swing type” is positioned as an effective jib overhanging method under working conditions where the working space on the side of the telescopic boom is small and the jib cannot be laterally swung. Various types of structures have been proposed in the past (see, for example, Patent Documents 1 and 2).

  The thing shown by patent document 1 shows the basic composition of the crane apparatus provided with the jib of the "lower swing type".

  In general, the jib that is held by the telescopic boom is moved to the lower surface side of the telescopic boom from the side-holding state in the retracted position of the telescopic boom, i.e., the position in which the telescopic boom is fully contracted and folded down. Connected to the boom head. The jib and the boom head are connected by fitting a bifurcated support portion provided on each side of the base end portion of the jib in the width direction with a support shaft provided on the boom head side, and This is performed by preventing the support shaft from being detached from the support portion by a retaining pin attached to the support portion.

  In this case, the jib supported on the lower surface side of the telescopic boom is lateral to the axis of the telescopic boom from the viewpoint of avoiding interference with the boom hoisting hydraulic cylinder disposed on the lower surface side of the telescopic boom. The posture is held in an offset posture inclined by a predetermined angle. Therefore, when the jib is connected to the boom head in the offset posture, the distance between the one support part on the jib side and the support shaft on the boom head side, and the distance between the other support part and the support shaft. Therefore, in the jib, the lengths of the respective support portions are made different in accordance with the difference in the interval.

  Therefore, when the telescopic boom is lifted from its lying posture with the jib connected to the boom head and the jib is suspended from the boom head, the axis of the telescopic boom and the axis of the jib are aligned. The offset posture is eliminated, but on the other hand, on the long support portion side, the retaining pin is separated from the support shaft and does not perform the original retaining function. . However, the replacement work of the retaining pin in such an upright posture of the telescopic boom is a work at a high place, which is dangerous and poor in workability. I have to.

  That is, in a state where the jib is suspended from the boom head, a tilt mechanism disposed between the jib and the boom head is operated to rotate the jib upward from the drooping posture from the front side. Projects to the end of the boom head. Next, with the jib extended, the telescopic boom is fully laid down so that the boom head is positioned near the ground, and in this lying down position, the retaining pin provided on the long support portion side is removed. This is replaced with another additionally provided insertion hole, and then the telescopic boom is raised again from the full lying posture to perform the required jib work.

  However, in the configuration in which the telescopic boom is lifted in the fully contracted state and the jib is extended from the boom head, and then the telescopic boom is once fully lowered to replace the retaining pin. For example, at the front side of the telescopic boom, the telescopic boom and the jib interfere with each other when the telescopic boom is raised and lowered and when the jib is extended with the telescopic boom raised. Even when there are no obstacles (that is, there are no obstacles in these rotation trajectories), if the telescopic boom is to be laid down from the upright posture with the jib extended, the rotation trajectory of the jib tip Is increased by the amount of the jib overhang, and there may be a situation in which an obstacle exists in the rotation locus. In such a case, from the viewpoint of avoiding the interference between the jib and the obstacle, the telescopic boom cannot be completely laid down. Therefore, the retaining pin at the connecting portion between the boom head and the jib must be replaced. In other words, the jib work cannot be performed by overhanging the jib. As a technique for dealing with such a problem, a technique disclosed in Patent Document 2 has been proposed.

  In Patent Document 2, the jib is stored and held on the lower surface side of the telescopic boom, and when the jib is extended, the jib in the retracted position is connected to the telescopic boom in a lying state, and the telescopic boom is moved in this state. The jib is suspended and supported by the distal end of the telescopic boom, and then the jib is stretched to the telescopic boom from below by a tilt mechanism disposed between the front end of the telescopic boom and the jib. Means for restricting relative movement of the support portion in the disengagement direction from the support shaft in a state in which the jib is extended from the boom head in a configuration that swings forward and is held at a required tilt position. This eliminates the need to replace the retaining pin. As a result, the jib overhanging operation can be easily and easily performed without going through the overlapping operation process of “elevating → falling → elevating” of the telescopic boom.

Japanese Patent Laid-Open No. 5-116888 JP 2006-264958 A

  By the way, the downward swinging of the jib is performed by using the above-mentioned jib suspended from the tip of the telescopic boom in the most contracted state and in the rising state near the maximum undulation angle, with the tip of the telescopic boom as a rotation fulcrum. Since the pivot is pivoted from the lower side of the telescopic boom to the front side in the telescopic direction along the vertical plane, the pivot trajectory of the jib tip is further forward than the pivot trajectory of the tip of the telescopic boom. It will be extended. For this reason, as shown in the above-mentioned Patent Document 2, there is no need for a tilting operation of the telescopic boom in a state where the jib is extended, and it is possible to secure sufficient work space on the upper side of the crane device. If there is an obstacle such as an electric wire or a structure on the front side in the jib swinging direction, if the jib is swung out from the hanging support state from the tip of the telescopic boom, the jib In some cases, it is impossible to move out the jib because it interferes with an object. In this case, it is required to take countermeasures such as changing the installation position of the crane device and changing the relative position between the crane device and the obstacle.

  On the other hand, the above-mentioned jib suspended from the distal end of the telescopic boom in the most contracted state and in the upright state is vertically moved from the lower side to the front side in the telescopic direction with the telescopic boom distal end side as a rotation fulcrum. When turning and swinging along the surface, even if there is a possibility of interference between the jib and the obstacle as described above, this does not mean that the extension of the jib is impossible. If the jib is extended after the telescopic boom is extended and / or raised, interference between the jib and an obstacle may be avoided. Therefore, it is judged that “extension of the jib is impossible” uniformly without taking measures to avoid interference between the jib and the obstacle by the extension and / or raising operation of the telescopic boom. Then, the workability | operativity in a jib overhang | projection operation | work will be impaired by an unnecessary operation regulation, and is unpreferable.

  In this way, in the extension work by swinging down the jib, confirmation of the possibility of interference between the jib and surrounding obstacles and the possibility of avoiding interference from the viewpoint of realizing safe and efficient extension of the jib. It is necessary to consider the control for performing the jib overhang while avoiding interference and the like, but at the present time, including the above-mentioned patent documents, an effective technique from such a viewpoint No suggestions have been made.

  Accordingly, the present invention has been made for the purpose of providing a jib control device in a crane apparatus that can realize a safe and efficient jib overhang.

  In the present invention, the following configuration is adopted as a specific means for solving such a problem.

  In the first invention of the present application, in the crane device 5 in which the jib 57 connected to the tip of the telescopic boom 53 is swung out from the lower side of the telescopic boom 53 to the front side in the telescopic direction of the telescopic boom 53. The relative position detection means 1 for detecting the relative position between the reference position Q at the current installation position 5 and the obstacle 6 located at a position away from the crane device 5, and detection signals from the relative position detection means 1 Receiving and recognizing the shape of the obstacle 6 and acquiring it as an interference area with the jib 57, and receiving the interference area signal from the interference area acquiring means 11 and projecting the jib 57 Interference possibility determination means 12 for determining whether or not the jib 57 enters the interference area, and in the interference possibility determination means 12, the jib 57 enters the interference area. When it is determined, the amount of operation in the telescopic motion and the undulation motion of the telescopic boom 53 and the operation sequence of the telescopic motion and the undulation motion required to extend the jib 57 without entering the interference area are calculated. And an operation information output means 13 for outputting this as operation information.

In the second invention of the present application, in the jib control device in the crane device according to the first invention, the boom drive means 32 is driven to operate the telescopic boom 53 based on the operation information from the operation information output means 13. A boom drive control means 22 for outputting a signal, and a drive signal is outputted to the jib drive means 33 so as to execute the extension operation of the jib 57 after the boom drive control means 22 performs the operation of the telescopic boom 53. A jib drive control means 23 is provided.

  In the third invention of the present application, in the jib control device in the crane device according to the first or second invention, the signal from the relative position detecting means 1 is received and the crane device 5 is installed at the current installation position. It is characterized in that there is a projecting possibility judging means 14 that judges whether or not the jib 57 can be projected without interfering with the obstacle, and displays it on the display means 31 when the projecting is impossible. It is said.

  In a fourth invention of the present application, in the jib control device in the crane device according to the first or second invention, the jib 57 interferes with the obstacle 6 prior to the operation of the operation information output means 13. It is characterized by comprising an operation restricting means 15 for restricting the operation of the telescopic boom 53 and the jib 57.

  In the present invention, the following effects can be obtained.

  (A) According to the jib control device in the crane device according to the first invention of the present application, the reference position Q at the current installation position of the crane device 5 detected by the relative position detection means 1 and the crane device 5 Upon receiving a detection signal related to the relative position with the obstacle 6 present at a separated position, the interference area acquisition means 11 recognizes the shape of the obstacle 6 and acquires it as an interference area, while the possibility of interference. The determination means 12 receives the interference area signal and determines whether or not the jib 57 enters the interference area when the jib 57 extends, and the operation information output means 13 does not enter the interference area. The amount of operation of the telescopic boom 53 required for extending the jib 57 and the operation amount of the telescopic motion and the hoisting motion and the operating sequence of the telescopic motion and the hoisting motion are calculated. It is output as operation information.

Therefore,
(A-1) For example, the operator confirms the operation information and operates the operation means 4 of the telescopic boom 53 based on this information, so that the telescopic boom 53 can be expanded and undulated with a required operating amount and required. In any of these cases, by operating in the operating sequence, and automatically operating the telescopic boom 53 in the required operating amount and in the required operating sequence based on the operating information. The overhanging of the jib 57 can be accurately executed in a state where interference with the obstacle 6 is avoided, and as a result, safety and reliability in the overhanging operation of the jib 57 are ensured.
(A-2) To determine the possibility of interference between the jib 57 and the obstacle 6, to determine the possibility of overhanging the jib 57, and to avoid interference between the jib 57 and the obstacle 6. Since the calculation of the operation mode of the telescopic boom 53 is automatically performed without the operator's subjective thought, for example, both the determination and the calculation of the operation mode of the telescopic boom 53 are both performed by the operator. Compared to the case where it is made through a thought process, the reliability of each of the above judgments is high, and as a result, for example, the jib 57 can be extended by performing an interference avoidance operation. Generation of useless operations and operations such as changing the installation position of the crane device 5 can be eliminated in advance, and the above-mentioned jib 57 can be extended more accurately, quickly and safely.
Etc. are obtained.

(B) According to the jib control device in the crane device according to the second invention of the present application, in addition to the effect described in the above (a), the following specific effects can be obtained. That is, in the present invention, the boom drive control means 22 that outputs a drive signal to the boom drive means 32 to operate the telescopic boom 53 based on the operation information from the operation information output means 13, and the boom drive control means 22. And the jib drive control means 23 for outputting a drive signal to the jib drive means 33 so that the extension operation of the jib 57 is executed after the operation of the telescopic boom 53 is performed. The avoidance operation is automatically performed by the boom drive control means 22 and the jib drive control means 23, so that the accuracy and operational reliability of the extension operation of the jib 57 are secured, and the jib 57 is secured. The operability associated with the overhanging is improved.

  (C) According to the jib control device in the crane device according to the third aspect of the present invention, the following specific effects can be obtained in addition to the effects described in (a) above. That is, in the present invention, it is determined whether or not the jib 57 can be extended without interfering with the obstacle at the current installation position of the crane device 5 in response to a signal from the relative position detecting means 1. Since the extension possibility judging means 14 for displaying this on the display means 31 when the extension is impossible is provided, the present position of the crane device 5 and the relative position of the obstacle 6 When it is determined that the extension of the jib 57 is impossible at the installation position of the crane device 5, the display means 31 does not extend the jib 57 without further operation or control. By displaying that it is impossible, subsequent unnecessary operations and operation control can be avoided in advance, and for example, it is possible to quickly take measures such as changing the installation position of the crane device 5.

  (D) According to the jib control device in the crane device according to the fourth aspect of the present invention, the following specific effects can be obtained in addition to the effects described in (a) above. That is, in the present invention, prior to the operation of the operation information output means 13, the operation restricting means 15 for restricting the operation of the telescopic boom 53 and the jib 57 in the direction in which the jib 57 interferes with the obstacle 6. Therefore, for example, the operation of the jib 57 based on an erroneous operation prevents the occurrence of a situation in which the jib 57 interferes with the obstacle 6 in advance. Operational safety is improved.

It is a general view of the crane apparatus equipped with the jib control apparatus of this invention. It is a functional block diagram of the jib control device concerning a 1st embodiment of the invention in this application. It is a control flowchart in the jib control device concerning a 1st embodiment of the invention in this application. It is explanatory drawing of the 1st method of the position confirmation of an obstruction. It is explanatory drawing of the 2nd method of position confirmation of an obstruction. It is explanatory drawing of the 3rd method of position confirmation of an obstruction. It is explanatory drawing of the 4th method of position confirmation of an obstruction. It is explanatory drawing of the 1st jib overhang example performed by the jib control apparatus which concerns on this invention. It is explanatory drawing of the 2nd jib overhang example performed by the jib control apparatus which concerns on this invention. It is situation explanatory drawing when the overhang | projection of a jib is impossible. It is explanatory drawing of the 3rd jib overhang example performed by the jib control apparatus which concerns on this invention. It is explanatory drawing of the 4th overhang example which cannot overhang a jib. It is a 1st example of a display screen which shows the operation procedure at the time of a jib overhang | projection operation | work. It is a 2nd example of a display screen which shows the operation procedure at the time of a jib overhang | projection work. It is a 3rd example of a display screen which shows the operation procedure at the time of a jib overhang | projection operation | work. It is a 4th example of a display screen which shows the operation procedure at the time of a jib overhang | projection operation | work. It is a 5th example of a display screen which shows the operation procedure at the time of a jib overhang | projection operation | work. It is a 6th example of a display screen which shows the operation procedure at the time of a jib overhang | projection operation | work. It is a 7th example of a display screen which shows the operation procedure at the time of a jib overhang | projection operation | work. It is an 8th example of a display screen which shows the operation procedure at the time of a jib overhang | projection operation | work. It is a 9th example of a display screen which shows the operation procedure at the time of a jib overhang | projection work. It is a functional block diagram of the jib control device which concerns on 2nd Embodiment of this invention.

  Hereinafter, the present invention will be specifically described based on preferred embodiments.

A: 1st Embodiment In FIG. 1, the crane apparatus 5 provided with the jib control apparatus of this invention is shown. The crane apparatus 5 is mounted on a swivel base 52 mounted on a vehicle 51 so that an extendable boom 53 can be raised, and is driven by a hoisting hydraulic cylinder 55 disposed between the extendable boom 53 and the swivel base 52. On the other hand, a jib 57 is stored and held on the side of the telescopic boom 53 in a side-mounted state. The telescopic boom 53 has a base end boom 53A having a base end connected to the swivel base 52 side, and a second-stage boom 53B inserted in such a manner that the base end boom 53A can be extended and contracted sequentially. A third-stage boom 53C and a tip boom 53D are provided, and a tip of the tip boom 53D is provided with a boom head 54, which is driven to extend and contract by a telescopic hydraulic cylinder (not shown) disposed in the interior.

  The crane device 5 can select two work modes, “crane work” and “jib work”. In other words, the “crane work” is a normal work form, in which the jib 57 is horizontally held and stored in the side of the telescopic boom 53, and the hanging work is performed by the raising / lowering motion, the telescopic motion and the turning motion of the telescopic boom 53. Is to do. On the other hand, the “jib work” is a work form in which the jib 57 is extended to the boom head 54 portion of the telescopic boom 53 and the hanging work is performed using the jib 57. A tilt mechanism including a tilt cylinder 59 and a tension rod 58 is provided on the jib 57 side.

  Here, the projecting operation of the jib 57 in the case of performing the “jib operation” will be briefly described. This overhanging work is performed according to the following work procedure.

  First, in a state where the telescopic boom 53 is in a fully contracted state and in a fully lowered posture (a state such as “posture 1” in FIG. 1 and a posture when the crane device is moved), the telescopic boom is set. The base end of the jib 57 is connected to the 53 boom head 54. At this time, the connection between the jib 57 and the base end boom 53A is released, and the tip of the jib 57 is restrained by a control rope (not shown) fed from the telescopic boom 53 side. Furthermore, one end of the tension rod 58 on the jib 57 side is connected to the boom head 54 side.

  Next, while the telescopic boom 53 is fully retracted, the control rope is wound up appropriately and the restraint state with respect to the jib 57 is adjusted, and the telescopic boom 53 is raised up to near the maximum hoisting angle to control the control rope. Is properly extended to suspend the jib 57 from the boom head 54 (the state of “posture 2” in FIG. 1).

  Thereafter, the tilt cylinder 59 is operated and the jib 57 is tilted while swinging forward from the suspended state by the tension rod 58, and is held when the required tilt angle is reached ("posture 3" in FIG. 1). State). This completes the extension of the jib 57. Thereafter, the telescopic boom 53 is appropriately extended and undulated, and a hanging work is performed using a hanging rope (not shown) suspended from the tip of the jib 57.

  By the way, as shown in FIG. 1, when the jib 57 is attached to the boom head 54 of the telescopic boom 53 by swinging downward, the inner region of the pivot locus La of the telescopic boom 53 and the pivot locus Lb of the jib 57 is shown. If the obstacle 6 is present in the inside, the jib 57 cannot be extended due to interference with the obstacle 6. On the other hand, as shown in “posture 2” in FIG. 1, even when the jib 57 cannot be extended when the telescopic boom 53 is fully contracted, for example, the telescopic boom 53 is extended or undulated. In some cases, the above-described jib 57 can be extended.

  Therefore, in order to perform the overhanging of the jib 57 safely and efficiently while avoiding interference with the obstacle 6, operation control of the telescopic boom 53 and the jib 57 is essential. From this viewpoint, the crane device 5 includes a jib control device described below.

"Jib control device"
The jib control device detects the relative position between the crane device 5 and the surrounding obstacle 6 at the current installation position, and causes the jib 57 to interfere with the obstacle 6 based on the relative position. It is determined whether or not there is a possibility of interference, and if there is a possibility of interference, the extension operation of the jib 57 is executed after this interference avoiding operation, and this interference avoiding operation The basic idea is that the jib 57 is safely and efficiently projected by obtaining the specific contents of the above and executing this interference avoidance operation by an operator's manual operation. Hereinafter, the control contents of the jib control device will be described in detail.

  FIG. 2 is a block diagram showing control functions in the jib control device. The jib control device includes a relative position detection unit 1, an operation unit 4, a controller 10, a display unit 31, a boom drive unit 32, and a jib drive unit 33. Further, the controller 10 includes an interference area acquisition unit 11, an interference possibility determination unit 12, an operation information output unit 13, an overhang possibility determination unit 14, and an operation restriction unit 15.

"Relative position detection means 1"
The relative position detecting means 1 detects the relative position between the reference position Q at the current installation position of the crane apparatus 5 and the obstacle 6 existing at a position away from the crane apparatus 5. The boom undulation angle detector 2 for detecting the undulation angle of the telescopic boom 53 and the boom length detector 3 for detecting the length of the telescopic boom 53 are configured.

  Here, a relative position detection method using the boom undulation angle detector 2 and the boom length detector 3 will be described.

  FIG. 4 shows a method for detecting the relative position between the electric wire 66 and the crane device 5 when the electric wire 66 exists as the obstacle 6 at the work site.

  First, a reference position in the installed state of the crane device 5 is set. For example, as the reference position, the position of the hoisting fulcrum shaft of the telescopic boom 53, the turning center position of the telescopic boom 53, and the like can be arbitrarily set. Here, the position of the hoisting fulcrum shaft of the telescopic boom 53 is used as a reference. Set to position.

  The crane device 5 is installed at a required position, and in this state, the telescopic boom 53 of the crane device 5 is extended and retracted and moved up and down to drive a specific portion of the boom head 54, for example, a single top portion provided on the boom head 54. Is brought close to the electric wire 66. At this time, the length and undulation angle of the telescopic boom 53 are detected and output to the controller 10 described later as relative position information.

  FIG. 5 shows a method of detecting the relative position between the structure 60 and the crane device 5 when the structure 60 exists as the obstacle 6 at the work site. Specifically, a relative position with respect to a reference position of the crane device 5 is obtained for each of the plurality of wall surfaces that determine the shape of the structure 60, and this is used as relative position information to the interference area acquisition unit 11 of the controller 10 described later. Output.

  Specifically, first, after setting a reference position in the installed state of the crane apparatus 5, the crane apparatus 5 is installed at a required position, and the telescopic boom 53 of the crane apparatus 5 is extended and retracted in this state. Then, the boom head 54 is brought close to each wall surface defining the shape of the structure 60. That is, the boom head 54 is brought close to the first vertical wall 61 that defines the restriction position on the front side in the depth direction of the structure 60 to obtain the position on the front side in the depth direction of the first vertical wall 61. Next, the boom head 54 is brought close to the first horizontal wall 62 that defines the restriction position on the upper side of the structure 60, and the height position of the first horizontal wall 62 is obtained. Further, the boom head 54 is brought close to the second vertical wall 63 that defines the restriction position of the structure 60 on the front side in the depth direction, and the position on the front side in the depth direction of the second vertical wall 63 is obtained. Finally, the boom head 54 is brought close to the corner portion 63a between the second horizontal wall 64 and the second vertical wall 63 that defines the restriction position on the lower side of the structure 60, and the height position of the corner portion 63a is reached. From this height position, the height position of the second horizontal wall 64, that is, the restriction position on the lower side of the structure 60 is obtained. The relative position of each wall surface of the structure 60 thus obtained with respect to the reference position is output as relative position information to an interference area acquisition unit 11 of the controller 10 described later.

  For detection of the relative position of the structure 60 with respect to the reference position, instead of obtaining the position of each wall surface of the structure 60 as described above, for example, the first vertical wall 61 and the first horizontal wall 62 are used. The positions of the corners 61a, the corners 62a of the first horizontal wall 62 and the second vertical wall 63, and the corners 63a of the second vertical wall 63 and the second horizontal wall 64 are detected, and the structure is based on this. 60 shape recognition can also be performed. In particular, in this method, since the number of detection points is reduced as compared with the case where the wall surface position is detected, the simplicity and speed of the relative position detection work is improved. .

  On the other hand, the detection of the relative position with respect to the reference position of the structure 60 is detected by scanning the outer edge of the structure 60 with a sensor instead of the method of sequentially detecting each position of the structure 60 as described above. You can also

  For example, as shown in FIGS. 6 and 7, a laser beam scanning type position sensor 34 is attached to a specific part of the boom head 54 of the telescopic boom 53, for example, a part near a single top provided on the boom head 54. The outer surface of the obstacle 6 is scanned by the position sensor 34, and the scanning result is output as relative position information to the interference area acquisition means 11 of the controller 10 described later.

  That is, FIG. 6 shows that when the electric wire 66 is present as the obstacle 6 at the work site, the telescopic boom 53 of the crane device 5 is extended and retracted to move the boom head 54 closer to the electric wire 66 and the position The sensor 34 scans the outer surface of the electric wire 66 to acquire the relative position of the electric wire 66 with respect to the reference position. In this case, since the electric wire 66 has a small diameter and is one, the effect of scanning by the position sensor 34 is small. For example, a plurality of electric wires 66 exist in a separated state, When the obstacle 6 having a predetermined size and shape is constituted by each of the electric wires 66, the position sensor is detected in the same manner as in the case of detecting the relative position of the structure 60 described below with respect to the reference position. The effect of scanning by 34 is recognized.

  FIG. 7 shows a method when the relative position between the structure 60 and the crane device 5 is scanned by the position sensor 34 when the structure 60 exists as the obstacle 6 at the work site. In this case, first, after setting a reference position in the installed state of the crane device 5, the crane device 5 is installed at a required position, and in this state, the telescopic boom 53 of the crane device 5 is driven to extend and retract. The position sensor 34 provided on the boom head 54 is moved closer to the structure 60, and the position sensor 34 is sequentially scanned along the wall surface of the structure 60 as indicated by arrows in FIG. The result is output to an interference area acquisition unit 11 of the controller 10 described later.

In this embodiment, the position sensor 34 is arranged in the vicinity of the single top provided on the boom head 54 of the telescopic boom 53. Instead of the arrangement configuration, for example, the position sensor 34 is used. Can also be arranged on the swivel base 52 side. With such a configuration, even when the position sensor 34 scans the wall surface of the structure 60, the relative position of the position sensor 34 with respect to the swivel base 52 does not change, so that the control becomes easy.

  The relative position information from the relative position detection means 1 is also output to the interference possibility determination means 12 and the overhang possibility determination means 14 described later.

"Controller 10"
As described above, the controller 10 includes the interference area acquisition unit 11, the interference possibility determination unit 12, the operation information output unit 13, the overhang possibility determination unit 14, and the operation restriction unit 15.

"Interference area acquisition means 11"
The interference area acquisition means 11 is the relative position information detected by the boom undulation angle detector 2 and boom length detector 3 of the relative position detection means 1 or the position sensor 34, that is, the crane apparatus 5. Relative position information regarding a relative position between the reference position and the obstacle 6 (note that the shape of the obstacle 6 is recognized as a continuous relative position with respect to the reference position at each position of the obstacle 6). In response, the interference area is acquired.

  The “interference area” means that the jib 57 suspended from the boom head 54 is moved forward of the crane device 5 in a state where the telescopic boom 53 of the crane device 5 is fully contracted and fully raised. This is a region that may interfere with the jib 57 when swinging out to the side and projecting it forward in the telescopic direction of the telescopic boom 53, and this is recognized as a two-dimensional region corresponding to the shape of the obstacle 6 For example, in FIG. 9, the structure 60 is a hatched region.

  Here, the interference area acquisition method in the interference area acquisition means 11 will be specifically described as follows. In the interference area acquisition means 11, for example, two-dimensional coordinates with the reference position as the coordinate origin are set. Then, by receiving the relative position information input from the relative position detecting means 1, the relative position with respect to the reference position (that is, the coordinate origin) of the electric wire 66 or the structure 60 is obtained on the two-dimensional coordinates. is there. In this case, even if the relative position information input from the relative position detecting means 1 is position information based on the boom length and the undulation angle of the telescopic boom 53, the outer edge shape of the structure 60 from the position sensor 34 is obtained. The same result can be obtained even with scanning information corresponding to.

  Information regarding the interference area acquired by the interference area acquisition unit 11 is output to the interference possibility determination unit 12 described below.

“Interference Possibility Judging Unit 12”
The interference possibility determination means 12 receives the interference area information input from the interference area acquisition means 11 and the relative position information from the relative position detection means 1, and receives the interference position information from the relative position detection means 1 at the current installation position. With the telescopic boom 53 fully retracted and fully raised, the jib 57 suspended from the boom head 54 is swung out from the lower side of the telescopic boom 53 to the front side, and this is moved from the boom head 54 to the boom. It is determined whether or not the jib 57 enters the interference area when extending forward in the telescopic direction, that is, whether or not the obstacle 6 and the jib 57 may interfere with each other. Specifically, for example, when the jib rotation locus Lb of the jib 57 in FIG. 11 is determined based on whether or not it overlaps with the interference region set corresponding to the shape of the obstacle 6, and does not overlap Is output with the determination information “no possibility of interference”, and when there is an overlap, the determination information “with possibility of interference” is output.

  In addition, when the possibility of interference determination unit 12 determines that “there is a possibility of interference”, the information is input to the operation restriction unit 15. The operation restricting means 15 receives an operation signal from the operation means 4 manually operated by an operator, and outputs a drive signal to the boom drive means 32 and the jib drive means 33. When the judgment information “possibility of interference” is input from the boom drive means 32 to restrict the operation of the telescopic boom 53 and the jib 57 in the direction in which the jib 57 interferes with the obstacle 6. And the output of the drive signal to the jib drive means 33 is regulated.

"Operation information output means 13"
The operation information output means 13 receives the determination information of the possibility of interference from the possibility of interference determination means 12, outputs the operation information of the telescopic boom 53 and the jib 57, and displays the information on the display means 31 on the screen. Display. Specifically, it is as follows.

  In other words, the operation information output means 13 displays a display indicating that the extension operation of the jib 57 is not restricted at all when the judgment information “no possibility of interference” is inputted from the possibility of interference judgment means 12. Let it be done. On the other hand, when determination information “possibility of interference” is input from the interference possibility determination means 12, the jib 57 does not enter the interference area in the current installation state of the crane apparatus 5. The amount of operation of the telescopic boom 53 required for extending the jib 57 and the operation amount of the telescopic motion and the undulation motion and the operation order of the telescopic motion and the undulation motion are calculated and output to the display means 31 as operation information. The display means 31 displays the result. Therefore, the operator confirms the screen display on the display means 31, operates the operation means 4 based on the display information, and outputs drive signals to the boom drive means 32 and the jib drive means 33.

  In this case, the telescopic boom 53 and the jib in the direction in which the jib 57 interferes with the obstacle 6 are received by the operation restricting means 15 in response to the information on the possibility of interference from the interference possibility judging means 12. Although the operation of 57 is restricted, other operations are allowed, so no problem occurs.

"Extension possibility judging means 14"
The overhang possibility determination means 14 receives the relative position information from the relative position detection means 1 and performs overhang without causing the jib 57 to interfere with the obstacle 6 at the current installation position of the crane device 5. It is determined whether or not it is possible, and when the overhang is impossible, this is displayed on the display means 31. Therefore, when it is determined from the relative position between the current crane apparatus 5 installation position and the obstacle 6 that the jib 57 cannot be extended at the current crane apparatus 5 installation position, By confirming the display on the display means 31, the operation can be stopped without further operation or control, and for example, the change of the installation position of the crane device 5 can be taken more quickly. .

“Explanation of specific overhang cases with jib overhang”
Here, some specific cases of overhanging with the jib overhang will be described.

"First overhang case"
FIG. 8 shows a first overhang example. In this overhanging case, there is an electric wire 66 as an obstacle 6 on the front side of the crane device 5, and the overhanging of the jib 57 is restricted by the electric wire 66 in both the front-rear direction and the up-down direction. In this case, from the relative position between the electric wire 66 and the crane device 5, the telescopic boom 53 in the fully contracted state and in the fully inclined state can be raised up to near the maximum hoisting angle. When the jib 57 is swung forward, the electric wire 66 is located inside the jib rotation locus Lb1 and interferes therewith.

  For this reason, in order to project the jib 57 without causing interference with the electric wire 66 in this state, first, the telescopic boom 53 is raised up to the vicinity of the maximum hoisting angle and the boom head 54 is moved to the above-mentioned position. The jib 57 is extended while being suspended, and when the lower end of the jib 57, that is, the tip of the jib 57 is substantially at the same height as the electric wire 66, the extension boom 53 is extended. Stop. Then, if the jib 57 is swung forward from this position and extended to the tip end side of the boom head 54, the jib rotation locus Lb2 is detached from the electric wire 66, so that there is no interference with the electric wire 66. The jib 57 can be extended and attached to the tip of the boom head 54.

"Second overhang example"
FIG. 9 shows a second overhang example. In this projecting case, the depth side in the front-rear direction is restricted by the first vertical wall 61 of the structure 60, the upper direction is restricted by the first horizontal wall 62, and the front side in the front-rear direction is restricted by the second vertical wall 63. Furthermore, the downward direction is regulated by the second horizontal wall 64. In this case, from the relative position between the structure 60 and the crane device 5, the telescopic boom 53 in the fully contracted state and the fully collapsed state when the telescopic boom 53 is lifted to the vicinity of the maximum hoisting angle. When the jib 57 suspended from the boom head 54 of the telescopic boom 53 raised up to the boom turning locus La and the maximum hoisting angle is swung forward and extended forward in the telescopic direction of the telescopic boom 53 Since the jib rotation trajectory Lb in FIG. 6 does not enter the interference region by the structure 60, the jib overhang in this state is possible.

  However, in the state where the telescopic boom 53 is lifted up to near the maximum hoisting angle and extended, the jib rotation locus Lb of the jib 57 enters the interference area and interferes with the structure 60. Jib overhang in the state is impossible.

  Accordingly, in this case, the jib 57 is extended near the ground while the telescopic boom 53 is fully contracted, and then the telescopic boom 53 is extended, whereby the second horizontal wall 64 of the structural body 60 is extended. Further, the jib work performed using the jib 57 on the upper side is possible.

  In this way, the telescopic boom 53 is raised up to the vicinity of the maximum undulation angle in the fully contracted state, the jib 57 is extended in this state, and then the telescopic boom 53 is extended. The operation information output means 13 instructs the operation procedure and the operation amount of the telescopic boom 53 and the jib 57.

"The third overhang case"
10 and 11 show a third overhang example. In this third projecting case, the front-rear direction is restricted by the vertical wall 67 of the structure 60, and the downward direction is restricted by the horizontal wall 68, and at the same time, the ceiling wall 69 (corresponding to the obstacle 6) is directed upward. Is a case where

  In the state shown in FIG. 10 in the third projecting case, interference between the tip of the jib 57 and the ceiling wall 69 in a state where the jib 57 is projected forward from the boom head 54 of the telescopic boom 53. Even if the undulation angle of the telescopic boom 53 is set to an intermediate undulation angle that does not interfere with the electric wire 66, the jib 57 suspended from the boom head 54 at the intermediate undulation angle is moved forward. In this case, the jib rotation locus Lb overlaps with the interference region by the structure 60 and the jib 57 cannot be extended.

  On the other hand, FIG. 11 shows the boom as shown in FIG. 10 by extending the telescopic boom 53 at an intermediate undulation angle and positioning the boom head 54 below the ceiling wall 69. This shows that a space for swinging out the jib 57 can be secured between the head 54 and the horizontal wall 68 of the structure 60. Therefore, first, the telescopic boom 53 is raised from the fully lowered state to the intermediate hoisting angle while being fully contracted. Next, the telescopic boom 53 is extended until the boom head 54 is positioned in the vicinity of the ceiling wall 69, and then the jib 57 is swung forward. In this case, the jib 57 is stopped at an intermediate tilt position substantially parallel to the ceiling wall 69 without rotating to the maximum tilt position, so that the horizontal wall 68 of the structure 60 and the height of the ceiling wall 69 are increased. Within the range, the jib work using the jib 57 can be performed.

  In this manner, the telescopic boom 53 and the telescopic boom 53 are lifted up to an intermediate hoisting angle with the telescopic boom 53 being fully contracted, the telescopic boom 53 is further extended, and the jib 57 is extended in this state. The operation information output means 13 supports the operation procedure and operation amount of the jib 57.

"The fourth overhang example"
FIG. 12 shows a fourth overhang example. This fourth overhanging case is a case in which the above-described jib 57 cannot be extended considering the relative position of the obstacle 6 and the crane device 5. That is, from the viewpoint of avoiding interference with the ceiling wall 69, the telescopic boom 53 can be raised only to the intermediate undulation angle in the fully contracted state, and the telescopic boom 53 can be extended from the fully contracted state. It is not possible. Therefore, in this case, when the jib 57 is swung out forward and is projected to the front end side of the telescopic boom 53, the jib rotation locus Lb always overlaps with the interference region by the structure 60, and the jib 57 cannot be projected . Therefore, in this case, the jib overhanging operation is stopped without performing the subsequent control, operation, etc., and for example, countermeasures such as changing the installation position of the crane device 5 are taken.

  It is the display means 31 that informs the operator of such a state that “the jib cannot be extended”, and the operation of the telescopic boom 53 and the jib 57 in the direction in which the jib 57 interferes with the obstacle 6. The operation restriction means 15 regulates the above.

"Explanation of actual jib control"
The above-described jib control is a control flowchart shown in FIG. 3, and the contents will be described below.

  After the start of control, in step S 1, the telescopic boom 53 is expanded and lowered at the current installation position of the crane device 5, and the boom head 54 at the tip is moved to the vicinity of the obstacle 6.

  Next, in step S2, a method for detecting the relative position between the crane device 5 and the obstacle 6 is selected. That is, a position sensor 34 is provided at the tip of the boom head 54, and the outer edge of the obstacle 6 is scanned by the position sensor 34. Based on the scanning result, the obstacle 6 and the reference position on the crane device 5 side are detected. The relative position of the telescopic boom 53 is detected (see step S3), and the boom head 54 of the telescopic boom 53 is moved to the vicinity of the obstacle 6. Based on the boom length and the undulation angle of the telescopic boom 53 at that time The method of selecting the relative position between the obstacle 6 and the reference position on the crane device 5 side (see step S4) is selected. Regardless of which method is employed, the relative position information acquired is the same.

  Next, in step S5, an interference region is obtained and stored based on the relative position information acquired in step S3 or step S4. This control is performed in the interference area acquisition means 11.

  Next, in step S6, it is determined whether the jib overhang is possible at the current crane position. That is, it is the control in the overhang possibility determination means 14.

  Here, at the current crane position, it is impossible to extend the jib 57 while avoiding interference with the obstacle 6 in view of the relative position between the crane device 5 and the obstacle 6. If it is determined, the display means 31 displays “jib cannot be extended”, and then the subsequent control and operation are stopped and the process returns (step S7). Therefore, in this case, countermeasures such as replacement of the crane device 5 are taken, and unnecessary control, operation, and the like are avoided.

  On the other hand, in step S6, it is possible to extend the jib 57 while avoiding interference with the obstacle 6 in consideration of the relative position between the crane device 5 and the obstacle 6 even at the current crane position. If it is determined, the process proceeds to step S8.

  In step S8, the posture of the telescopic boom 53 is changed to a posture for projecting the jib 57. That is, the telescopic boom 53 is fully contracted in a state where it is fully laid down. In this boom posture, the jib 57 stored on the lower surface side (abdominal side) of the telescopic boom 53 is connected to the boom head 54 of the telescopic boom 53.

  Next, in step S9, it is determined whether the jib set mode is currently set. This is because the above operation cannot be performed when the overwinding prevention device provided in the crane device 5 is operated during the overhanging operation of the jib 57 and the operation of the telescopic boom 53 is restricted. At this time, the operator sets the jib set mode to disable the overwinding prevention device.

  It should be noted that the normal work mode is set by the operator in cases other than during the jib overhanging work, and in this case, the overwinding prevention device is enabled, for example, the crane work using the normal telescopic boom 53, The jib work can be performed with the jib 57 attached to the tip of the telescopic boom 53 (step S10).

  Accordingly, if it is determined in step S9 that “set to jib set mode”, the process proceeds to jib overhang control. First, in step S 11, the telescopic boom 53 is raised in the fully contracted state, and the jib 57 connected to the boom head 54 is swung downward about the connecting portion, and this is removed from the boom head 54. Let it hang down.

  Next, in step S12, when the jib 57 suspended from the boom head 54 of the telescopic boom 53 at the fully retracted and arbitrary undulation angle is swung forward as it is and the overhanging operation is performed, the jib 57 is obstructed. It is determined whether or not the object 6 interferes. This determination is made by the operation information output means 13.

  Here, when it is determined that “no interference”, the extension operation of the jib 57 is executed as it is, and the jib 57 is attached to the tip of the boom head 54 (step S13).

  On the other hand, when it is determined that the jib 57 is interfered with the obstacle 6 when the jib 57 is extended as it is, the telescopic boom 53 and the jib in the direction in which the jib 57 interferes with the obstacle 6 are determined. The operation of 57 is restricted (step S14). By such regulation control, for example, occurrence of a situation in which the jib 57 interferes with the obstacle 6 due to an erroneous operation is reliably prevented, and operational safety and reliability are ensured. This operation restriction is performed by the operation restriction means 15.

  After restricting the extension operation of the jib 57, the amount of operation of the telescopic boom 53 in the telescopic motion and the hoisting motion required for avoiding the interference between the jib 57 and the obstacle 6 and the telescopic motion and the hoisting motion. The operation sequence of the movement is calculated and output as the operation information, which is displayed on the display means 31, and the operation is instructed to the operator (step S15). Therefore, the operator can extend the jib 57b without interfering with the obstacle 6 by visually recognizing the display and driving the telescopic boom 53 according to the instruction.

  In addition to displaying the operation information of the telescopic boom 53 required for avoiding interference between the jib 57 and the obstacle 6 on the display means 31, for example, between the jib 57 and the obstacle 6 In order to avoid interference, it is also possible to display interference avoidance information about the movement of the crane device, such as how much the crane device should move from the current installation position.

  The control in step S15 is performed by the operation information output means 13.

“Display during obstacle setting operation on display means 31”
Subsequently, the display contents and operations on the display means 31 displayed corresponding to the obstacle setting control (control in steps S2 to S5 in the control flowchart of FIG. 3) in the controller 10 will be described with reference to FIGS. This will be described with reference to FIG.

  First, the configuration of the display means 31 will be described. As shown in FIG. 13, the display means 31 includes a display unit 35 for displaying information and providing the operator with visual recognition. A key 36A, a second function key 36B, a third function key 36C, a fourth function key 36D, a set key 36E, a cancel key 36F, an inspection key 36G, and a spare key 36H are provided.

"Screen shown in Fig. 13"
This screen is a “jib interference function setting” screen, and the assignment of the function keys on this screen is as follows.

  The “all clear function” for deleting all the set obstacles is assigned to the first function key 36A.

  The second function key 36B is disabled.

  A “deletion function” for deleting one obstacle is assigned to the third function key 36C.

  An “additional function” for adding one obstacle is assigned to the fourth function key 36D.

  In this “jib interference function setting” screen, the crane unit 5 having the telescopic boom 53 is displayed on the display unit 35 as a silhouette image in a state in which the boom length and the undulation angle of the telescopic boom 53 are reflected. Yes. From the jib interference function setting screen, the fourth function key 36D is pressed to proceed to the next screen shown in FIG.

"Screen shown in Fig. 14"
This screen is an “obstacle addition mode” screen, and the assignment of the function keys on this screen is as follows.

  The first function key 36A is assigned with a “restriction function in the back direction” indicating a restriction state in the back direction in relation to the obstacle.

  The second function key 36B is assigned a “frontward restriction function” indicating a forward restriction state in relation to an obstacle.

  The third function key 36C is assigned with an “upper limit regulation function” indicating the upper limit position in relation to the obstacle.

  The fourth function key 36D is assigned a “lower limit regulating function” indicating a downward limit position in relation to an obstacle.

  When there is an obstacle displayed as a point such as an electric wire, the inspection key 36G is assigned a “point restriction function” indicating restriction due to the presence of the electric wire.

  The display on the display unit 35 in the “obstacle addition mode” is the same as the display on the “jib interference function setting” screen. From the “obstacle addition mode” screen, the first function key 36A (that is, the key assigned with the “restriction function in the back direction”) is pressed to proceed to the next screen shown in FIG.

"Screen shown in Fig. 15"
In this screen, a state in which the depth direction is regulated by the obstacle 6 is drawn on the display unit 35 by pressing the first function key 36A on the “obstacle addition mode” screen. In this state, the fourth function key 36D (that is, the key to which the “lower limit restriction function” is assigned) is pressed to proceed to the next screen shown in FIG.

"Screen shown in Fig. 16"
In this screen, a state in which the depth direction and the lower limit direction are regulated by the obstacle 6 is drawn on the display unit 35 by pressing the fourth function key 36D. By pressing the set key 36E in this state, the obstacle 6 that restricts the depth direction and the lower limit direction is registered, and the screen returns to the “jib interference function setting” screen shown in FIG.

"Screen shown in Fig. 17"
This screen is a screen with the obstacle 6 added to the “jib interference function setting” screen shown in FIG. Here, when it is desired to add the upper limit restriction by the ceiling, the telescopic boom 53 is extended and raised, and the boom head 54 is moved to the upper limit value. As the boom head 54 moves, the screen shifts to the screen shown in FIG.

“Screen shown in FIG. 18”
This screen is a screen reflecting the state of the crane device 5 (that is, a screen in a state where the telescopic boom 53 is extended and raised). Here, when the obstacle 6 is newly set, the fourth function key 36D is pressed. By pressing the fourth function key 36D, the screen shifts to the screen shown in FIG.

"Screen shown in Fig. 19"
On this screen, a new operation for adding a ceiling as an obstacle 6 is performed. That is, the third function key 36C (that is, the key assigned with the “upper limit restriction function”) is pressed. By pressing the third function key 36C, the screen shifts to the screen shown in FIG.

"Screen shown in Fig. 20"
In this screen, the obstacle 6 that restricts the depth direction and the lower limit direction and the obstacle 6 that restricts the upper limit direction are simultaneously drawn on the display unit 35. Here, to set this embodiment, the set key 36E is pressed. By pressing the set key 36E, the screen shifts to the screen shown in FIG. The screen shown in FIG. 21 is a final confirmation screen. Therefore, when the set key 36E is pressed again, all the settings of the obstacle 6 so far are registered.

B: Second Embodiment In the second embodiment of the present invention, in the first embodiment, the jib 57 is prevented from interfering with the obstacle 6 when the jib 57 is extended. The operator manually operates the telescopic boom 53 and the jib 57 based on the information displayed on the display means 31, whereas in the second embodiment, the telescopic boom 53 and the jib 57 are operated. The driving operation is automatically performed without depending on the subjectivity of the operator. Accordingly, since the control and operation relating to these points are all the same as in the case of the first embodiment, the description thereof is omitted by using the corresponding description, and only the differences will be described below. To do.

In FIG. 22, the control function in the jib control apparatus which concerns on 2nd Embodiment is shown as a block diagram. Here, the block diagram in the second embodiment is different from the block diagram in the first embodiment (FIG. 2) in that a boom drive control means 22 and a jib drive control means 23 are added to the controller 10. Is a point. With such a configuration, when the extension of the jib 57 is enabled by the operation of the telescopic boom 53 in step S15 of the control flowchart shown in FIG. 3, interference between the jib 57 and the obstacle 6 is avoided. By executing the operation, the telescopic boom 53 can be automatically operated without manual operation by an operator, and the extension of the jib 57 can be realized without causing interference with the obstacle 6. As a result , the reliability and reliability of the operation in the jib overhanging work are improved.

C: Others In each of the above embodiments, the operation and control method for avoiding interference between the jib 57 and the obstacle 6 during the extension operation of the jib 57 has been described. The technology relating to the above does not stop avoiding the interference between the jib 57 and the obstacle 6, for example, the operation for avoiding the interference between the telescopic boom 53 and the obstacle 6 during the extension operation of the jib 57, and It can also be applied as a control method.

1 .. Relative position detection means 2 .. Boom hoisting angle detector 3 .. Boom length detector 4 .. Operation means 5 .. Crane apparatus 6 .. Obstacle 10 .. Controller 11. .. Interference possibility judgment means 13 ..Operation information output means 14 ..Extension possibility judgment means 15 ..Operation restriction means 22 ..Boom drive control means 23 ..Jib drive control means 31 ..Display means 32. · Boom drive means 33 · · Jib drive means 34 · · Position sensor 35 · · Display units 36A to 36H · · Operation key 51 · · Vehicle 52 · · Swing base 53 · · Telescopic boom 54 · · Boom head 55 · · Elevation Hydraulic cylinder 57 ·· Jib 58 ·· Tension rod 59 ·· Tilt cylinder 60 ·· Structure 61 ·· First vertical wall 62 ·· First horizontal wall 63 · The second vertical wall 64 ... second horizontal wall 66 · wire 67 ... vertical wall 68 ... horizontal wall 69 ... ceiling wall La ... boom pivot trajectory Lb · jib rotation locus Q .. reference position

Claims (4)

In the crane device (5) in which the jib (57) connected to the tip of the telescopic boom (53) is swung out from the lower side of the telescopic boom (53) to the front side in the telescopic direction of the telescopic boom (53).
Relative position detection means (1) for detecting the relative position between the reference position (Q) at the current installation position of the crane apparatus (5) and the obstacle (6) located at a position away from the crane apparatus (5). When,
An interference area acquisition means (11) for receiving a detection signal from the relative position detection means (1) and recognizing the shape of the obstacle (6) and acquiring it as an interference area with the jib (57);
Interference possibility determination means (12) for receiving an interference area signal from the interference area acquisition means (11) and determining whether the jib (57) enters the interference area when the jib (57) is extended. When,
The expansion / contraction required for extending the jib (57) without entering the interference area when the jib (57) is determined to enter the interference area in the interference possibility judging means (12). An operation information output means (13) for calculating an operation amount of the boom (53) in the telescopic motion and the hoisting motion and an operation order of the telescopic motion and the hoisting motion, and outputting the operation information as operating information;
A jib control device for a crane device comprising: In claim 1,
Boom drive control means (22) for outputting a drive signal to the boom drive means (32) to operate the telescopic boom (53) based on the operation information from the operation information output means (13);
Jib drive control for outputting a drive signal to the jib drive means (33) so as to execute the extension operation of the jib (57) after the boom drive control means (22) operates the telescopic boom (53). Means (23);
A jib control device for a crane device comprising: In claim 1 or claim 2,
In response to the signal from the relative position detecting means (1), it is determined whether or not the jib (57) can be extended without causing the obstacle to interfere with the obstacle at the current installation position of the crane device (5). A jib control device for a crane apparatus, comprising a projecting possibility judging means (14) for displaying the information on the display means (31) when the projecting is impossible. In claim 1 or 2,
Prior to the operation of the operation information output means (13), the operation of the telescopic boom (53) and the jib (57) in the direction in which the jib (57) interferes with the obstacle (6) is restricted. A jib control device for a crane device, comprising operation restriction means (15).

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