JP6177400B1 - Crane truck - Google Patents

Abstract

A crane vehicle capable of suppressing a boom or jib from contacting an obstacle is provided. In the rough terrain crane, the control unit includes a space setting process for setting work space information, a position acquisition process for acquiring the position of the millimeter wave radar, a direction acquisition process for acquiring the direction of the millimeter wave radar, Based on the mapping process that maps the sensed area and the occupied area of the detected object to the work space information, using the position and orientation of the millimeter wave radar as an offset, and the sensed area and the occupied area of the object A restricted area calculating process for calculating a restricted area, an initial position of the boom and jib, a boom position obtaining process for obtaining an occupied area of the boom and jib in the work space information, a restricted area, and an occupied area of the boom and jib Storage processing for storing the information mapped to the work space information in the storage unit. [Selection] Figure 5

Description

  The present invention relates to a crane vehicle in which a jib can be attached to and detached from the tip of a boom.

  In a crane vehicle, a work may be performed by inserting a boom or jib between pillars of a building under construction (hereinafter referred to as “insertion work”). The insertion work is performed while the operator visually confirms the movement of the boom and jib, or the operator manually inputs the actual measured value regarding the position of the obstacle etc. into the safety device in advance. This is done by limiting the driving range. In this case, it takes time for visual confirmation work, measurement of the position of an obstacle, etc., and input of actual measurement values to the safety device. Also, human errors such as oversight, measurement mistakes, and input mistakes are likely to occur.

  By the way, for example, in Patent Document 1, the position of a work target around the vehicle is calculated as a three-dimensional coordinate, and the vehicle positioning, the outrigger deployment, the work floor rise, etc. are matched to the work target based on the three-dimensional coordinate. An aerial work vehicle to perform is disclosed. The aerial work platform includes a distance detecting means for detecting a distance to an object to be worked, a pan head for changing the direction of the distance detecting means, a pan head angle detecting means for detecting the angle of the pan head, The model space calculation that calculates the position of all work objects around the vehicle as the model space from the information of the distance detection means and the pan head angle detection means by detecting the distance to the entire circumference of the vehicle using the pan head Means. Using the calculated model space, positioning of the vehicle, deployment of the outriggers, raising of the work floor, and the like are performed so that the work can be performed at an appropriate position with respect to the work target.

Japanese Patent Laid-Open No. 9-100098

  However, even if the technique described in Patent Document 1 is used, it is not possible to prevent the boom or jib from coming into contact with an obstacle in the insertion work in the crane truck.

  This invention is made | formed in view of said situation, The objective is to provide the crane vehicle which can suppress that a boom and a jib contact an obstruction.

1) A mobile crane according to the present invention includes a traveling body, a swivel supported by the traveling body so as to be turnable, a boom supported by the swivel so that it can be raised and lowered, and a detachable attachment to the tip of the boom. and jib such, a turning actuator for rotating the swivel base, the relief actuator for undulating said boom, a telescopic actuator for extending and retracting the boom, the tilt actuator for undulating the jib relative to the boom, the upper Symbol jib provided at the distal end portion, a sensor for detecting the area occupied by the object existing in a predetermined scanning range, a storage unit for storing spatial information about the object location in three-dimensional space in a predetermined range based on the moving range of the upper Symbol jib And a control unit. The control unit maintains the jib in a horizontal orientation while setting the predetermined range, a position acquisition process for acquiring the position of the sensor in the three-dimensional space, and the three-dimensional space. In the three-dimensional space, an orientation acquisition process for acquiring the orientation of the sensor in the region, and an area sensed by the sensor and an area occupied by the object detected by the sensor, with the position and orientation of the sensor as an offset. A restriction area calculation process for calculating a restriction area in which the boom and the jib are restricted from entering the inside of the area based on the mapping process for mapping, the sensed area, and the occupied area of the object; A boom for acquiring the initial positions of the boom and jib and the occupied areas of the boom and jib in the three-dimensional space. A position acquisition process, and the restricted area, and the boom and the jib of the occupied area, a storage process of the spatial information mapped to the three-dimensional space stored in the storage unit, by driving the actuator, the A three-dimensional map is created by repeatedly executing a moving process of moving the jib while keeping it horizontal .

  According to this configuration, the restricted area where the entry of the boom and the jib is restricted is calculated from the range scanned by the sensor provided at the tip of the boom or jib and the occupied area of the object existing in this range. The Further, information obtained by mapping the restricted area and the boom and jib occupied areas in a three-dimensional space is obtained. For example, by displaying this information on the display and referring to the operator while operating the boom and jib to avoid entering the restricted area, the boom and jib will fail during the boom and jib operation. Contact with objects is suppressed.

  (2) An informing means may be further provided. In this case, the control unit compares the boom and the jib occupancy area with the restriction area, and the comparison process allows the boom and jib occupancy area and the restriction area to be predetermined. It is good to perform the alerting | reporting process which starts the said alerting | reporting means according to having approached within this 1st distance.

  According to this configuration, when the possibility that the boom or jib is in contact with the obstacle is high, the notifying unit is activated, so that the boom or jib is prevented from contacting the obstacle.

  (3) The control unit determines whether the boom and the jib occupancy area and the restriction area are predetermined by the comparison process compared to the boom and jib occupancy area, the restriction area, and the comparison process. When approaching within a second distance, the drive speeds of the swing actuator, the hoisting actuator, the telescopic actuator, and the tilt actuator are decelerated, and the boom and jib occupying area and the limiting area are When approaching within a predetermined third distance shorter than two distances, a drive control process for stopping driving of the turning actuator, the undulating actuator, the telescopic actuator, and the tilt actuator may be executed.

  According to this configuration, when there is a high possibility that the boom or jib is in contact with an obstacle, the drive speeds of the swing actuator, the hoisting actuator, the telescopic actuator, and the tilt actuator are reduced, and the boom or jib is likely to contact the obstacle. At this time, the driving of the swing actuator, the undulation actuator, the telescopic actuator, and the tilt actuator is stopped. Therefore, it is suppressed that a boom or a jib contacts an obstacle.

  (4) The sensor may be fixed to a tip of the boom or the jib.

  According to this structure, the arrangement | positioning of the obstruction in the place where a boom or a jib approaches is easily acquired by insertion work etc.

  (5) A shaft disposed at the tip of the boom or jib and extending in the horizontal direction, a swinging portion provided swingably about the shaft, and a weight connected to the swinging portion. You may further provide the sensor installation jig which has. In this case, the sensor may be fixed to the swinging portion.

  According to this configuration, the center of the scanning direction of the sensor is always directed in the horizontal direction.

  (6) The jib may be a fixed length. In this case, when the control unit controls the hoisting actuator so that the boom falls, the control unit extends the boom and maintains the height of the tip of the boom according to the control. The telescopic actuator is controlled, and the angle between the boom and the jib is increased to control the tilt actuator so that the posture of the jib is extended in the horizontal direction, so that the boom stands up. When the hoisting actuator is controlled as described above, the telescopic actuator is controlled so that the height of the tip of the boom is maintained by reducing the boom according to the control, and the boom, the jib, An insertion control process for controlling the tilt actuator so that the angle of the jib is kept small and the posture of the jib is maintained in the horizontal direction. The may further run.

  According to this configuration, the posture in which the fixed-length jib extends in the horizontal direction is easily maintained. Therefore, the jib insertion work is easily performed.

  (7) The jib may be stretchable. In this case, it is preferable to further include a jib expansion / contraction actuator that expands and contracts the jib.

  According to this configuration, the posture in which the jib extends in the horizontal direction is easily maintained. Therefore, the jib insertion work is easily performed.

  (8) The control unit includes a position storage process for storing the positions of the boom and the jib at an arbitrary time, a path calculation process for calculating a path for moving the boom and the jib to the position, and the path. An automatic movement process for driving the swing actuator, the hoisting actuator, the telescopic actuator, and the tilt actuator to move the boom and the jib to the position according to the path calculated by the calculation process; Also good.

  According to this configuration, the movement of the jib to the position where the jib has already reached is performed without manual operation by the operator. Therefore, the operation of the operator is reduced.

  According to the present invention, in the crane truck, the boom or jib is suppressed from contacting an obstacle.

FIG. 1 is a schematic view of a rough terrain crane 10 according to the present embodiment. FIG. 2 is a functional block diagram of the rough terrain crane 10. FIG. 3 is a flowchart showing the flow of the manual driving safety control process. FIG. 4 is a flowchart showing the flow of the actuator driving process. FIG. 5 is a flowchart showing the flow of the work space information update process. FIG. 6 is a flowchart showing the flow of the automatic driving process. FIG. 7 is a schematic diagram showing work space information in an initial state. FIG. 8 is a schematic side view showing a process of moving the jib in the insertion work, and shows a state where the jib is extended to the first length in the horizontal state. FIG. 9 is a schematic side view showing a process of moving the jib in the insertion work, and shows a state where the jib is extended to the second length in the horizontal state. FIG. 10 is a schematic side view showing a process of moving the jib in the insertion work, and shows a state where the jib is extended to the third length in the horizontal state. FIG. 11 is a schematic diagram illustrating a configuration of a sensor installation jig.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings as appropriate. In addition, this embodiment is only 1 aspect of this invention, and it cannot be overemphasized that an embodiment may be changed in the range which does not change the summary of this invention.

[Rough terrain crane 10]

  FIG. 1 is a schematic view of a rough terrain crane 10 according to the present embodiment.

  As shown in FIG. 1, the rough terrain crane 10 according to the present embodiment includes a lower traveling body 20 (corresponding to “traveling body” described in claims) and an upper working body 30. The rough terrain crane 10 corresponds to a “crane vehicle” recited in the claims. However, the specific example of a crane vehicle is not limited to the rough terrain crane 10, For example, an all terrain crane etc. may be sufficient.

[Lower traveling body 20]

  The lower traveling body 20 has two pairs of left and right front wheels 21 and 22 and two pairs of left and right rear wheels 23 and 24 (only the right side is shown in FIG. 1). The front wheels 21 and 22 and the rear wheels 23 and 24 are rotated by a driving force of an engine (not shown) transmitted via a transmission (not shown). The lower traveling body 20 travels when a steering wheel, an accelerator pedal, a brake pedal, and the like installed in a cabin 36 described later are operated by an operator.

  Further, the lower traveling body 20 has a pair of left and right outriggers 25 provided on the front side of the lower traveling body 20 and a pair of left and right outriggers 26 provided on the rear side of the lower traveling body 20 (in FIG. 1, Only the right side is shown). The outriggers 25 and 26 can change state between a grounding state where the outriggers 25 and 26 are grounded to the ground at a position protruding from the lower traveling body 20 and a retracted state where the outriggers 25 and 26 are stored in the lower traveling body 20 while being separated from the ground. . However, the outriggers 25 and 26 can be grounded to the ground at a position where they do not protrude from the lower traveling body 20 in the left-right direction. By placing the outriggers 25 and 26 in a grounded state during the operation of the upper work body 30, the posture of the rough terrain crane 10 is stabilized. On the other hand, the outriggers 25 and 26 are set in a retracted state when the lower traveling body 20 travels.

[Upper working body 30]

  The upper working body 30 includes a swivel base 31, a boom 32, a jib 33, a hook 34, a hook 35, and a cabin 36. The swivel 31 is supported by the lower traveling body 20 through a swivel bearing (not shown) so as to be swivelable. The boom 32 is supported by the turntable 31 so as to be able to undulate and extend. The jib 33 is supported by the boom 32 so as to be undulated (hereinafter referred to as “tilt” for the undulation of the telescopic jib). The hook 34 is suspended from a rope 38 that extends downward from the tip of the boom 32. The hook 35 is suspended from a rope 39 that extends downward from the tip of the jib 33. The cabin 36 is provided with an operation unit 56 (see FIG. 2). The operation unit 56 includes various operation units for causing the lower traveling body 20 to travel, various levers for operating the upper work body 30, an operation panel, and the like.

  The turntable 31 is turned by a turning motor 41 (see FIG. 2). The turning motor 41 corresponds to a “turning actuator” recited in the claims. The boom 32 is raised and lowered by a raising and lowering cylinder 42 and extended and retracted by an extension cylinder 43 (see FIG. 2). The undulation cylinder 42 corresponds to a “undulation actuator” described in the claims, and the expansion cylinder 43 corresponds to a “extension actuator” described in the claims. The jib 33 is tilted by the tilt cylinder 44 and expanded / contracted by the jib expansion / contraction cylinder 45. The tilt cylinder 44 corresponds to a “tilt actuator” recited in the claims, and the jib telescopic cylinder 45 corresponds to a “jib telescopic actuator” recited in the claims. The hook 34 is raised and lowered by winding and unwinding the rope 38 by the main winch 46 (see FIG. 2). The hook 35 is raised and lowered by winding and unwinding the rope 39 by the sub winch 47. Actuators that operate the swing motor 41, the hoisting cylinder 42, the telescopic cylinder 43, the tilt cylinder 44, the jib telescopic cylinder 45, the main winch 46, the sub winch 47, and the outriggers 25 and 26 are, for example, hydraulic actuators. That is, the rough terrain crane 10 drives each actuator by controlling the direction and flow rate of the hydraulic fluid to be supplied. However, the actuator of the present invention is not limited to a hydraulic type, and may be an electric type or the like.

  The various levers described above correspond to the actuators. Specifically, for example, a turning operation lever for turning the swivel base 31, an expansion / contraction operation lever for extending / contracting the boom 32, and a raising / lowering of the boom 32. A hoisting operation lever for performing the winding operation, a main winch operation lever for performing the winding and unwinding of the rope 38, a tilt operating lever for performing the tilting of the jib 33, and a sub-winch operation for performing the winding and unwinding of the rope 39. Includes lever. Hereinafter, these may be collectively referred to simply as “operation lever”.

[Control unit 50]

  FIG. 2 is a functional block diagram of the rough terrain crane 10.

  As shown in FIG. 2, the rough telelane crane 10 includes a control unit 50. The control unit 50 controls the operation of the rough terrain crane 10. The control unit 50 may be realized by a CPU (Central Processing Unit) that executes a program stored in the storage unit 58, may be realized by a hardware circuit, or a combination thereof.

  As shown in FIG. 2, the control unit 50 includes a turning angle sensor 51, a undulation angle sensor 52, a boom length sensor 53, a tilt angle sensor 54, a jib length sensor 55, a millimeter wave radar 57, a lever operation amount sensor 60. And various signals output from the operation unit 56 are acquired. Further, the control unit 50 controls the swing motor 41, the hoisting cylinder 42, the telescopic cylinder 43, the tilt cylinder 44, the jib telescopic cylinder 45, the main winch 46, the sub winch 47, and the notification unit 59 based on the acquired various signals. To do.

  The operation unit 56 receives an operator's operation for operating the rough terrain crane 10. And the operation part 56 outputs the operation signal according to the received operation. That is, the control unit 50 causes the lower traveling body 20 to travel based on the operation received through the operation unit 56 and causes the upper working body 30 to operate.

[Turning angle sensor 51]

  The turning angle sensor 51 is a sensor that detects the turning angle of the turntable 31 (see FIG. 1) (for example, the angle in the clockwise direction with the forward direction of the lower traveling body 20 being 0 °). The turning angle sensor 51 outputs a detection signal corresponding to the turning angle of the turntable 31.

[Elevation angle sensor 52]

  The hoisting angle sensor 52 is a sensor that detects the hoisting angle (the angle formed by the horizontal direction and the boom 32) of the boom 32 (see FIG. 1). The undulation angle sensor 52 outputs a detection signal corresponding to the undulation angle of the boom 32.

[Boom length sensor 53]

  The boom length sensor 53 is a sensor that detects the length of the boom 32 (see FIG. 1). The boom length sensor 53 outputs a detection signal corresponding to the length of the boom 32.

[Tilt angle sensor 54]

  The tilt angle sensor 54 is a sensor that detects the tilt angle (angle formed by the boom 32 and the jib 33) of the jib 33 (see FIG. 1). The tilt angle sensor 54 outputs a detection signal corresponding to the tilt angle of the jib 33.

[Jib length sensor 55]

  The jib length sensor 55 is a sensor that detects the length of the jib 33 (see FIG. 1). The jib length sensor 55 outputs a detection signal corresponding to the length of the jib 33.

[Millimeter wave radar 57]

  The millimeter wave radar 57 is a sensor that measures the distance to an object in front of the radar using millimeter wave band radio waves. The millimeter wave radar 57 outputs a detection signal corresponding to the position and distance of the object with the millimeter wave radar 57 as a reference. The millimeter wave radar 57 corresponds to a “sensor” described in the claims.

[Lever operation amount sensor 60]

  The lever operation amount sensor 60 is a sensor that detects the operation direction and the operation amount for all the operation levers. The lever operation amount sensor 60 outputs a detection signal corresponding to the lever type, operation direction, and operation amount.

[Notification unit 59]

  The notification unit 59 is a buzzer, for example. The notification unit 59 outputs a buzzer sound when a signal is input from the control unit 50. The notification unit 59 corresponds to “notification means” recited in the claims.

[Manual driving safety control processing]

  Next, with reference to FIGS. 3-5, the manual driving | operation safety control process in the insertion work of the rough terrain crane 10 is demonstrated. The control unit 50 repeatedly executes the manual driving safety control process shown in FIG.

  Prior to manual operation safety control processing, the operator operates various operation levers, that is, turning operation levers, boom telescopic operation levers, boom raising / lowering operation levers, dibutylt operation levers, and jib expansion / contraction operation levers. The boom 32 and the jib 33 are moved to the starting position.

  The control unit 50 determines whether or not a signal indicating that the operation unit 56 has received a safety control start instruction is received from the operation unit 56 (S11). Here, the safety control means that a restriction area 15 (see FIG. 7) where the entry of the jib 33 is restricted is set, and when the jib 33 approaches the restriction area 15, the notification, the deceleration of the jib 33, or the jib 33 This is a control for stopping.

  When the control unit 50 has not received a signal indicating that the operation unit 56 has received a safety control start instruction (S11: No), the manual driving safety control process ends.

  On the other hand, when the control unit 50 receives a signal indicating that the operation unit 56 has received a safety control start instruction (S11: Yes), the control unit 50 sets the initial space (S12). In setting the initial space, work space information in the initial state is created and stored in the storage unit 58. The initial state is a state where the boom 32 and the jib 33 are moved to the insertion work starting position, and is a state at the time when the operation unit 56 receives a safety control start instruction.

  FIG. 7 is a schematic diagram showing work space information in an initial state.

  The work space information is space information of a three-dimensional space in the work range of the rough terrain crane 10. The working range of the rough terrain crane 10 is determined by the maximum working radius and the maximum working head. The maximum work radius and the maximum work lift may be set by the operator from the operation unit 56, or may be determined from the maximum standing position and the maximum extension position of the boom 32 and the jib 33. In FIG. 7, the work space information is shown in two dimensions in the vertical direction and the front-back direction. The Z axis 14 (the axis extending in the vertical direction of the rough terrain crane 10 (see FIG. 1)) of the work space information is along the central axis in the turning of the swivel base 31 (see FIG. 1). The height at which the dynamic axis is located is the origin of the Z axis 14. The X-axis 12 (axis extending in the front-rear direction of the rough terrain crane 10) of the work space information is orthogonal to the Z-axis 14 and extends along the direction in which the boom 32 extends at a position where the turning angle of the turntable 31 is 0 °. A Y axis (not shown: an axis extending in the left-right direction of the rough terrain crane 10) extends in a direction orthogonal to the Z axis 14 and the X axis 12. The work space information indicates an initial state, that is, an area occupied by the boom 32 and the jib 33 when the operation unit 56 receives a safety control start instruction, and a restriction area 15 in the initial state. The state shown in FIG. 7 is an initial state in the insertion work, and the boom 32 is erected so that the tip of the boom 32 and the jib 33 are positioned at the height at which the insertion work is performed. It extends.

  The restricted area 15 is an area where movement of the boom 32 and the jib 33 is restricted so that the boom 32 and the jib 33 do not enter the area. The restricted area 15 is set based on the area sensed by the millimeter wave radar 57 and the area occupied by the object detected by the millimeter wave radar 57. In order to enable the movement of the boom 32 and the jib 33 to the insertion start position, in the initial state shown in FIG. 7, the restriction region 15 is forward of the position where the millimeter wave radar 57 can sense ( It is set only on the right side in FIG. That is, the restriction region 15 is partitioned by a detection region end 62 in front of the detection region 61 of the millimeter wave radar 57 and a surface 67 that extends from the detection region end 62 in the vertical and horizontal directions.

  Next, the control unit 50 determines whether or not a signal indicating that the operation unit 56 has received a safety control end instruction is received from the operation unit 56 (S13).

  When the control unit 50 receives a signal indicating that the operation unit 56 has received a safety control end instruction (S13: Yes), the control unit 50 ends the manual driving safety control process.

  When the control unit 50 has not received a signal indicating that the operation unit 56 has received the safety control end instruction (S13: No), the control unit 50 receives the signal from the lever operation amount sensor 60 due to the operation of the operation lever by the operator. An output signal is received (S14). Here, the lever operation amount detected by the lever operation amount sensor 60 is the lever operation amount in a minute time, and the processes from step S13 to S23 are always repeated.

  Next, the control part 50 performs an actuator drive process (S15). The actuator driving process is a process of driving each actuator in accordance with the operation of the operating lever and acquiring a new position and orientation of the millimeter wave radar 57 accompanying the movement of the boom 32 and the jib 33. Details of the actuator driving process are shown in FIG.

  Next, the control unit 50 executes a work space information update process (S16). The work space information update process is a process of updating the area occupied by the boom 32 and the jib 33 and the restricted area 15 in the work space information.

  Next, the control unit 50 calculates the shortest distance between the area occupied by the boom 32 and the jib 33 and the restricted area 15 (S17).

  Then, the control unit 50 determines whether or not the calculated shortest distance is within the third distance, for example, within 20 cm (S18). The third distance is stored in the storage unit 58 in advance. When the controller 50 determines that the calculated shortest distance is within the third distance (S18: Yes), the controller 50 transmits a signal to the actuator to stop the actuator being driven (S19). Then, the control part 50 advances a process to step S13.

  In addition, when the control unit 50 determines that the calculated shortest distance is longer than the third distance (S18: No), the calculated shortest distance is within the second distance longer than the third distance, for example, within 40 cm. Whether or not (S20). The second distance is stored in the storage unit 58 in advance. When the controller 50 determines that the calculated shortest distance is within the second distance (S20: Yes), the controller 50 transmits a signal to the actuator to decelerate the actuator being driven (S21). Then, the control part 50 advances a process to step S13.

  In addition, when the control unit 50 determines that the calculated shortest distance is longer than the second distance (S20: No), the calculated shortest distance is within the first distance longer than the second distance, for example, within 60 cm. It is determined whether or not (S22). The first distance is stored in the storage unit 58 in advance. Then, when the control unit 50 determines that the calculated shortest distance is within the first distance (S22: Yes), the control unit 50 transmits a signal to the notification unit 59 and sounds a buzzer, whereby the boom 32 or the jib 33 is transmitted. Is informed that it has approached the restricted area 15 (S23). Then, the control part 50 advances a process to step S13. Also, when the control unit 50 determines that the calculated shortest distance is longer than the first distance (S22: No), the process proceeds to step S13.

[Actuator drive processing]

  FIG. 4 is a flowchart showing the flow of the actuator driving process shown in step S15 of FIG.

  In the actuator driving process, the control unit 50 first shows a driving signal indicating a driving direction and a driving speed for the turning operation of the turntable 31 based on the output signal from the lever operation amount sensor 60 received in step S14 of FIG. Is transmitted to the turning motor 41, and the turning motor 41 is driven (S31). Thereby, the turntable 31 is turned. In the output signal of the lever operation amount sensor 60, if the operation amount for the turning operation is 0, the turning operation is not performed.

  Then, the control unit 50 receives the output signal from the turning angle sensor 51, acquires a new turning angle of the turntable 31 (S 32), and stores it in the storage unit 58.

  Further, the control unit 50 transmits a drive signal indicating the drive direction and drive speed for the hoisting operation of the boom 32 to the hoisting cylinder 42 based on the output signal from the lever operation amount sensor 60 to drive the hoisting cylinder 42. (S33). Thereby, the boom 32 is raised and lowered. In the output signal of the lever operation amount sensor 60, if the operation amount for the raising / lowering operation of the boom 32 is 0, the raising / lowering operation of the boom 32 is not performed.

  Then, the control unit 50 receives the output signal from the undulation angle sensor 52, acquires a new undulation angle of the boom 32 (S34), and stores it in the storage unit 58.

  Further, the control unit 50 transmits a drive signal indicating a drive direction and a drive speed for the expansion / contraction operation of the boom 32 to the expansion / contraction cylinder 43 based on the output signal from the lever operation amount sensor 60 to drive the expansion / contraction cylinder 43. (S35). Thereby, the boom 32 is expanded and contracted. In the output signal of the lever operation amount sensor 60, if the operation amount for the expansion / contraction operation of the boom 32 is 0, the expansion / contraction operation of the boom 32 is not performed.

  Then, the control unit 50 receives an output signal from the boom length sensor 53, acquires a new length of the boom 32 (S36), and stores it in the storage unit 58.

  Further, the control unit 50 transmits a drive signal indicating a drive direction and a drive speed for the tilt operation of the jib 33 to the tilt cylinder 44 based on the output signal from the lever operation amount sensor 60, and drives the tilt cylinder 44. (S37). Thereby, the jib 33 is tilted. If the operation amount for the tilt operation of the jib 33 is 0 in the output signal of the lever operation amount sensor 60, the tilt operation of the jib 33 is not performed.

  Then, the control unit 50 receives an output signal from the tilt angle sensor 54, acquires a new tilt angle of the jib 33 (S38), and stores it in the storage unit 58.

  Further, the control unit 50 transmits a driving signal indicating the driving direction and the driving speed for the expansion / contraction operation of the jib 33 to the jib expansion / contraction cylinder 45 based on the output signal from the lever operation amount sensor 60. Drive (S39). Thereby, the jib 33 is expanded and contracted. In the output signal of the lever operation amount sensor 60, if the operation amount for the expansion / contraction operation of the jib 33 is 0, the expansion / contraction operation of the jib 33 is not performed.

  Then, the control unit 50 receives the output signal from the jib length sensor 55, acquires the new length of the jib 33 (S40), and stores it in the storage unit 58.

  Next, the controller 50 updates the updated millimeter-wave radar 57 from the turning angle of the swivel 31, the undulation angle and length of the boom 32, and the tilt angle and length of the jib 33 stored in the storage unit. A new position and orientation are calculated and stored in the storage unit 58 (S41). Then, the control unit 50 returns from the actuator driving process.

[Workspace information update processing]

  FIG. 5 is a flowchart showing the flow of the work space information update process shown in step S16 of FIG.

  8 to 10 are schematic side views showing a process in which the restriction area 15 is updated by horizontal movement of the jib 33 in the insertion work. FIG. 8 shows that the jib 33 is horizontally moved until the object 71 is detected. FIG. 9 shows a state where the jib 33 is horizontally moved until the object 72 is detected, and FIG. 10 shows a state where the jib 33 is further horizontally moved.

  By extending the jib 33 from the initial state shown in FIG. 7, the state shown in FIG. 8, the state shown in FIG. 9, and the state shown in FIG. 10 are sequentially reached. The movement of the jib 33 in the insertion work may be performed by the fall of the boom 32. In this case, for example, the jib 33 is tilted while the boom 32 is lowered so that the jib 33 is moved forward while the direction of the jib 33 is maintained (for example, the jib 33 is kept horizontal).

  In the state where the object is not detected by the millimeter wave radar 57 during the movement of the jib 33, the restricted area is defined by the range end 62 (hereinafter referred to as “detection area end 62”) of the area where it is confirmed that there is no object. 15 is partitioned. 8 to 10, the detection region end 62 is indicated by a broken line.

  As shown in FIG. 5, in the work space information update process, the control unit 50 first receives an output signal from the millimeter wave radar 57 to acquire an area occupied by the object detected by the millimeter wave radar 57 ( S51). The area information acquired here is information based on the position and orientation of the millimeter wave radar 57.

  For example, in FIG. 8, when the object 71 exists, the millimeter wave radar 57 uses the region end 63 located on the millimeter wave radar 57 side of the region end of the object 71 (the peripheral edge of the object) (that is, the radar is Corresponding portion: hereinafter referred to as “obstacle region end 63”). In FIG. 9, when the object 72 exists, the millimeter wave radar 57 detects the obstacle region end 64 located on the millimeter wave radar 57 side among the region ends of the object 72. 8 to 10, the obstacle region ends 63 and 64 are illustrated at positions separated from the objects 71 and 72, but actually, are along the peripheral edge of the objects 71 and 72.

  Next, the control unit 50 reads out the position and orientation of the millimeter wave radar 57 and the work space information from the storage unit 58. Then, the control unit 50 adds the area occupied by the detected object, that is, the obstacle area end 63 to the work space information using the position and orientation of the millimeter wave radar 57 as an offset (S52).

  In addition, the control unit 50 acquires the movement path of the millimeter wave radar 57 from the position and orientation of the millimeter wave radar 57 acquired this time and the position and orientation of the millimeter wave radar 57 acquired last time. The range sensed by the wave radar 57, that is, the detection region end 62 is acquired (S53). The movement path here is a minute movement path every time the loop of steps S13 to S23 is repeated.

  Then, the control unit 50 calculates the updated restricted area 15 from the range sensed by the millimeter wave radar 57 and the area occupied by the object detected by the millimeter wave radar 57, and adds it to the work space information (S54).

  For example, in FIGS. 8 to 10, the detection region end 62 in the range sensed by the millimeter wave radar 57, the obstacle region end 63 in the region occupied by the object 71, the obstacle region end 64 in the region occupied by the object 72, The restricted area 15 is determined from the obstacle restricted area end 65 where the entry of the jib 33 is restricted due to the presence of 71 and the obstacle restricted area end 66 where the entry of the jib 33 is restricted due to the presence of the object 72. Is done.

  Further, the control unit 50 determines a new area occupied by the boom 32 and the jib 33 from the turning angle of the swivel 31, the undulation angle of the boom 32, the expansion / contraction length of the boom 32, the tilt angle of the jib 33, and the expansion / contraction length of the jib 33. Is calculated and added to the work space information. And the control part 50 memorize | stores the updated workspace information in the memory | storage part 58 (S55), and returns from a workspace information update process.

[Automatic operation processing]

  FIG. 6 is a flowchart showing a process flow in the automatic driving process. The automatic operation process is a process in which the positions of the boom 32 and the jib 33 are stored, and then the boom 32 and the jib 33 are moved automatically from the arbitrary positions of the boom 32 and the jib 33 to the stored positions. . The control unit 50 repeatedly executes the automatic driving process.

  In the automatic operation process, the control unit 50 first determines whether or not a signal indicating that the operation unit 56 has received an instruction to store the initial positions of the boom 32 and the jib 33 has been received from the operation unit 56 ( S61).

  When it is determined that the control unit 50 has received an instruction signal for storing the initial positions of the boom 32 and the jib 33 (S61: Yes), the positions of the boom 32 and the jib 33 are stored in the storage unit 58 (S62). . Specifically, for example, the turning angle of the swivel 31, the undulation angle of the boom 32, the expansion / contraction length of the boom 32, the tilt angle of the jib 33, and the expansion / contraction length of the jib 33 are stored as the positions of the boom 32 and the jib 33. . The initial position is, for example, the position of the boom 32 and the jib 33 at the time of starting the insertion work.

  When it is determined that the control unit 50 has not received an instruction signal for storing the initial positions of the boom 32 and the jib 33 (S61: No), the process of step S62 is skipped.

  Next, the swivel base 31, the boom 32, and the jib 33 are manually operated by the operator and moved to, for example, the insertion position. Accordingly, the control unit 50 executes a manual driving safety control process (S63). The manual driving safety control process is, for example, the same process as the manual driving safety control process shown in FIG.

  Next, for example, in a state where the boom 32 and the jib 33 are moved to the insertion position, the control unit 50 outputs a signal indicating that the operation unit 56 has received an instruction to store the positions of the boom 32 and the jib 33. It is determined whether or not it has been received from the operation unit 56 (S64).

  When the control unit 50 determines that an instruction signal for storing the positions of the boom 32 and the jib 33 has been received (S64: Yes), the control unit 50 stores the positions of the boom 32 and the jib 33 in the storage unit 58 (S65).

  When it is determined that the control unit 50 has not received an instruction signal for storing the positions of the boom 32 and the jib 33 (S64: No), the process of skip S65 is skipped.

  Next, the control unit 50 outputs a signal indicating that the operation unit 56 has received an instruction for automatic driving and an instruction for selecting one of the positions of the boom 32 and the jib 33 stored in the storage unit 58, It is determined whether or not it has been received from the operation unit 56 (S66).

  When the control unit 50 receives an automatic driving instruction and a signal for selecting the positions of the boom 32 and the jib 33 from the operation unit 56 (S66: Yes), the control unit 50 receives the selected boom 32 and The position of the jib 33 is read from the storage unit 58 and acquired (S67).

  The control unit 50 is a path for moving the boom 32 and the jib 33 from the position of the boom 32 and the jib 33 at the time when the instruction for the automatic operation is received to the position of the boom 32 and the jib 33 read from the storage unit 58. Then, one of the movement paths that do not interfere with the restricted area 15 is calculated (S68). Here, the movement route that does not interfere with the restriction region 15 is a route in which the shortest distance between the boom 32 and the jib 33 and the restriction region 15 does not approach within the first distance. A known algorithm is used for calculating the route.

  Next, the control unit 50 transmits a signal to each actuator so that the boom 32 and the jib 33 move along the calculated movement path, drives each actuator (S69), and returns to the process of step S66 again.

  On the other hand, when the control unit 50 does not receive an instruction for automatic driving and a signal for selecting the positions of the boom 32 and the jib 33 from the operation unit 56 (S66: No), the control unit 50 ends the automatic driving process.

[Operational effects of this embodiment]

  As described above, the entry of the boom 32 and the jib 33 is restricted from the range scanned by the millimeter wave radar 57 provided at the tip of the jib 33 and the occupied areas of the objects 71 and 72 existing in this range. The restricted area 15 is calculated. Further, information in which the restricted area 15 and the occupied areas of the boom 32 and the jib 33 are mapped to the work space information is obtained. For example, by displaying this information on the display and referring to the operator while operating the boom 32 and the jib 33 to avoid entering the restricted area 15, the boom 32 and the jib 33 are being operated. It is suppressed that the boom 32 and the jib 33 contact an obstacle.

  When there is a high possibility that the boom 32 or the jib 33 is in contact with an obstacle (when the distance between the boom 32 or the jib 33 and the restricted area 15 is within the first distance), the notification unit 59 is activated. When the possibility that the boom 32 or the jib 33 is in contact with an obstacle is higher (when the distance between the boom 32 or the jib 33 and the restriction region 15 is within the second distance), the swing motor 41, the hoisting cylinder 42, The driving speeds of the telescopic cylinder 43, the tilt cylinder 44, and the jib telescopic cylinder 45 are reduced. When the boom 32 or jib 33 is likely to come into contact with an obstacle (when the distance between the boom 32 or jib 33 and the restriction area 15 is within the third distance), the swing motor 41, the hoisting cylinder 42, the telescopic cylinder 43, the drive of the tilt cylinder 44 and the jib telescopic cylinder 45 are stopped. Therefore, it is suppressed that the boom 32 or the jib 33 contacts an obstacle.

  Since the millimeter wave radar 57 is fixed to the tip of the jib 33, the arrangement of the obstacle at the place where the jib 33 enters is easily obtained by an insertion operation or the like.

  Since the jib 33 can be expanded and contracted, the posture in which the jib 33 extends in the horizontal direction is easily maintained. Therefore, the jib 33 can be easily inserted.

  By the automatic control process, the jib 33 is moved to the position where the jib 33 has already reached without manual operation by the operator. Therefore, the operation of the operator is reduced.

[Modification of this embodiment]

  FIG. 11 is a schematic diagram showing the configuration of the sensor installation jig 81.

  The millimeter wave radar 57 may be installed on the jib 33 by the sensor installation jig 81. The sensor installation jig 81 is a jig for installing the millimeter wave radar 57 on the jib 33 so that the millimeter wave radar 57 is directed in the horizontal direction 80 regardless of the tilt angle of the jib 33. The sensor installation jig 81 includes a fixed portion 82 and a swinging portion 83. The fixing portion 82 is fixed to the tip of the jib 33, for example. The swinging portion 83 is swingable along the same virtual surface as the virtual surface along the hoisting direction of the boom 32 and the virtual surface along the tilt direction of the jib 33, and its upper end portion is a connecting portion 84 of the fixing portion 82. It is connected to. The connecting portion 84 corresponds to an “axis” described in the claims. A weight 85 is provided at the lower end of the swinging portion 83. The millimeter wave radar 57 is fixed to the front face 86 of the swinging portion 83 (the face facing in the opposite direction to the jib 33). As a result, the swinging portion 83 is in a state of facing the horizontal direction 80 regardless of the undulation angle of the boom 32 and the tilt angle of the jib 33.

  In the above embodiment, the millimeter wave radar 57 is provided at the tip of the jib 33 and the insertion work is performed using the jib 33. However, the millimeter wave radar 57 is provided at the tip of the boom 32 and the boom 32 is used. Plug-in work may be performed.

  In the above-described embodiment, the interference with the obstacle is avoided during the work, but the same control may be used to avoid the interference with the obstacle when the rough terrain crane 10 is traveling. For example, the millimeter wave radar 57 provided at the tip of the boom 32 is activated when the rough terrain crane 10 travels, and an obstacle in the traveling direction of the rough terrain crane 10 is detected by the millimeter wave radar 57. To 3D spatial information including the area occupied by. And based on the shortest distance between the rough terrain crane 10 and an obstacle, you may perform alerting | reporting by the alerting | reporting part 59, or the speed reduction or stop in the driving | running | working of the rough terrain crane 10. FIG.

  In the above-described embodiment, the millimeter wave radar 57 is used as a sensor that detects an area occupied by an object. However, for example, a laser radar may be used instead of the millimeter wave radar 57. When these radars are used, the radar may be scanned in a direction orthogonal to the direction of the radar in order to increase the sensing width.

  In the above-described embodiment, the variable length jib 33 that can be expanded and contracted is used, but a fixed length jib 33 may be used instead. When the fixed-length jib 33 is used, the operation of the hoisting cylinder 42, the telescopic cylinder 43, and the tilt cylinder 44 is controlled by the control unit 50 as follows, without changing the height of the jib 33. You may make it move to a direction. That is, the jib 33 is tilted so that the tilt angle is increased while the boom 32 is lying down and extending in a state where the jib 33 is oriented in the horizontal direction. Accordingly, the jib 33 is moved forward while the orientation of the jib 33 is maintained, and the insertion operation is performed. Further, while raising and lowering the boom 32, the jib 33 is tilted so that the tilt angle becomes small. Thereby, the jib 33 is moved rearward while maintaining the direction of the jib 33, and the extraction operation is performed.

  Further, in the above-described embodiment, the notification unit 59 as a notification unit is a buzzer and is notified by sound. However, the notification may be performed by displaying a warning display on a display provided in the cabin 36. Good.

  In the above-described embodiment, in the actuator driving process, the swing motor 41, the hoisting cylinder 42, the telescopic cylinder 43, the tilt cylinder 44, and the jib telescopic cylinder 45 are sequentially driven, but each actuator may be driven in parallel. Good.

DESCRIPTION OF SYMBOLS 10 ... Rough terrain crane 20 ... Lower traveling body 31 ... Swivel base 32 ... Boom 33 ... Jib 41 ... Swivel motor 42 ... Hoisting cylinder 43 ... Telescopic cylinder 44 ..Tilt cylinder 50 ... Control unit 57 ... Millimeter wave radar 58 ... Storage unit 59 ... Notification unit 81 ... Sensor installation jig 83 ... Oscillating unit 84 ... Connecting unit 85 ... Weight

Claims (8)

A traveling body,
A swivel supported to be able to swivel on the traveling body;
A boom supported by the swivel so that it can be raised and lowered, and
A jib detachable from the tip of the boom,
A turning actuator for rotating the swivel;
A hoisting actuator for hoisting the boom,
A telescopic actuator for extending and retracting the boom;
A tilt actuator for raising and lowering the jib relative to the boom;
Provided at the distal end portion of the upper Symbol jib, a sensor for detecting the area occupied by the object existing in a predetermined scanning range,
A storage unit for storing spatial information about the object location in three-dimensional space in a predetermined range based on the moving range of the upper Symbol jib,
And a control unit,
The control unit
While maintaining the jib in a horizontal posture,
A space setting process for setting the predetermined range;
Position acquisition processing for acquiring the position of the sensor in the three-dimensional space;
Orientation acquisition processing for acquiring the orientation of the sensor in the three-dimensional space;
Mapping process for mapping the area sensed by the sensor and the occupied area of the object detected by the sensor to the three-dimensional space, with the position and orientation of the sensor as an offset,
Based on the sensed area and the area occupied by the object, a restricted area calculation process for calculating a restricted area where the boom and the jib are restricted from entering the area;
An initial position of the boom and the jib, and a boom position acquisition process for acquiring an area occupied by the boom and the jib in the three-dimensional space;
A storage process for storing in the storage unit the spatial information obtained by mapping the restriction area, the boom and the jib occupation area in the three-dimensional space;
A crane vehicle that generates a three-dimensional map by repeatedly executing a movement process of driving the actuator and moving the jib while keeping the jib horizontal . Further comprising a notification means,
The control unit
A comparison process comparing the boom and the jib occupancy area with the restricted area;
2. The notification process for activating the notification unit according to the comparison process is performed when the boom and jib occupancy area and the restriction area approach within a predetermined first distance. Crane truck. The control unit
A comparison process for comparing the boom and the jib occupying area with the restricted area;
As a result of the comparison processing, when the boom and the jib occupying area and the restricted area approach within a predetermined second distance, the driving speed of the swing actuator, the hoisting actuator, the telescopic actuator, and the tilt actuator When the boom and the jib occupying area and the restricted area approach within a predetermined third distance shorter than the second distance, the swing actuator, the hoisting actuator, the telescopic actuator, The crane vehicle according to claim 1 or 2, wherein a drive control process for stopping the drive of the tilt actuator is executed.   The crane according to any one of claims 1 to 3, wherein the sensor is fixed to a tip of the boom or the jib. A shaft disposed at the tip of the boom or jib and extending in the horizontal direction;
A swing part provided swingably around the axis;
A sensor installation jig having a weight connected to the swing part;
The crane according to any one of claims 1 to 3, wherein the sensor is fixed to the swinging portion. The jib is a fixed length,
The control unit
When the hoisting actuator is controlled so that the boom falls, the telescopic actuator is controlled according to the control so that the boom is extended and the height of the tip of the boom is maintained. The tilt actuator is controlled so that the angle between the boom and the jib is increased and the posture of the jib is maintained in a horizontally extending state,
When the hoisting actuator is controlled so that the boom stands up, the telescopic actuator is controlled according to the control so that the boom is contracted and the height of the tip of the boom is maintained, and 6. The plug-in control process for controlling the tilt actuator so as to maintain an angle between the boom and the jib so that the posture of the jib is extended in the horizontal direction is further executed. A crane truck according to any one of the above. The jib is stretchable,
The crane vehicle according to any one of claims 1 to 5, further comprising a jib expansion / contraction actuator that expands and contracts the jib. The control unit
A position storage process for storing the positions of the boom and the jib at an arbitrary time;
A route calculation process for calculating a route for moving the boom and the jib to the position;
An automatic movement process for driving the swing actuator, the hoisting actuator, the telescopic actuator, and the tilt actuator so as to move the boom and the jib to the position according to the path calculated by the path calculation process. The crane vehicle according to any one of claims 1 to 7.

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