JP6805781B2 - crane - Google Patents

Description

The present invention relates to a crane. More specifically, the present invention relates to a crane that acquires a moving route of a suspended load.

Conventionally, when moving a suspended load in a crane, the moving path of the suspended load is three-dimensional. Therefore, when inputting the movement route of the suspended load to the control device, the operator needs to input the three-dimensional movement route. As a technique for inputting a movement route, a transportation route calculation system for calculating a transportation route in suspension transportation is known. For example, as described in Patent Document 1.

The transport path calculation system described in Patent Document 1 calculates a transport path including a non-interfering and suitable suspension posture and an arc trajectory. The operator inputs the route information of the transported object (suspended load) as an input value for calculation. As the route information, the waypoint information including at least the designation of the start point and the end point of the transport route is input.

In the technique described in Patent Document 1, the crane displays an item for inputting route information on a screen when processing route information input. However, since the display is a unidirectional plane such as the XY plane in the absolute coordinate system, it is difficult for the operator to input the three-dimensional movement path desired. Therefore, there has been a demand for a crane that can easily input a three-dimensional movement path desired by an operator.

JP 2015-068019

An object of the present invention is to provide a crane capable of easily inputting a three-dimensional movement path of a suspended load desired by an operator.

The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.

That is, the crane is a crane equipped with a telescopic boom that can be undulated on the swivel table and acquires the movement path of the suspended load by using the three-dimensional information of the work site, and the three-dimensional information of the suspended load is obtained based on the three-dimensional information. Is extracted, a two-dimensional diagram that displays information in the width and depth directions is created based on the three-dimensional information, and a suspended load that is set using the two-dimensional diagram that displays information in the width and depth directions. Acquires the horizontal movement path of, creates a two-dimensional diagram that is formed along the horizontal movement path based on the three-dimensional information and displays the information in the height direction, and displays the information in the height direction. The movement path in the height direction of the suspended load, which is set by using the two-dimensional diagram, is acquired, and the three-dimensional moving path of the suspended load is specified.

Based on the extracted 3D information of the suspended load, the crane moves the suspended load on the 2D diagram where the information in the width direction and the depth direction is displayed, and on the 2D diagram where the information in the height direction is displayed. It displays the start position.

The crane is created by developing a two-dimensional diagram in which information in the height direction is displayed in a straight line along the horizontal movement path of the acquired suspended load.

In a crane, a two-dimensional diagram in which information in the width direction and the depth direction is displayed is a two-dimensional diagram in which information in the width direction and the depth direction at an arbitrary height is displayed.

The crane is formed along the axial direction of the telescopic boom and creates a two-dimensional diagram in which information in the height direction is displayed.

For the crane, the range of the crane performance range and the expansion / contraction boom and the suspended load work on the two-dimensional diagram that displays the information in the width and depth directions and the two-dimensional diagram that displays the information in the height direction. The movable range of the suspended load is superimposed and displayed within the range that does not interfere with the structure at the site.

The crane automatically moves the suspended load along the three-dimensional movement path of the specified suspended load.

The present invention has the following effects.

In a crane, the three-dimensional movement path is divided into a two-dimensional diagram in which information in the width direction and the depth direction is displayed and a two-dimensional diagram in which information in the height direction is displayed. Entered. As a result, the operator can easily input the three-dimensional movement path of the suspended load.

In the crane, it is not necessary for the operator to input the movement start position of the suspended load. As a result, the operator can easily input the three-dimensional movement path of the suspended load.

In a crane, it is not necessary to be aware of the form of the horizontal movement path, and a two-dimensional diagram in which information in the height direction is displayed is grasped from one direction. As a result, the operator can easily input the three-dimensional movement path of the suspended load.

In a crane, only obstacles that may interfere when moving a suspended load are displayed on a two-dimensional diagram in which information in the width and depth directions is displayed. As a result, the operator can easily input the three-dimensional movement path of the suspended load.

In the crane, the possibility of interference between the telescopic boom and obstacles is shown. As a result, the operator can easily input the three-dimensional movement path of the suspended load.

In the crane, it is possible to prevent rework of inputting the movement route due to the input of the movement route passing through the immovable range. As a result, the operator can easily input the three-dimensional movement path of the suspended load.

In the crane, the suspended load is automatically moved along the input movement path. As a result, the suspended load can be moved based on the input movement path.

The side view which shows the whole structure of the crane which concerns on 1st Embodiment to 3rd Embodiment of this invention. The figure which shows the structure of the control device of the crane which concerns on 1st Embodiment to 3rd Embodiment of this invention. The figure which shows the display screen of the 3D map of the work site which concerns on 1st Embodiment and 3rd Embodiment of this invention. (A) In the crane according to the first embodiment of the present invention, a diagram showing a display before input on the horizontal movement path input screen, and (b) a screen after input on the horizontal movement path input screen. The figure which shows. (A) In the crane according to the first embodiment of the present invention, a diagram showing a display before input on the input screen of the movement path in the height direction, and (b) after input on the input screen of the movement path in the height direction as well. The figure which shows the screen. The figure which shows the screen after the input in the case of changing the target position in the input of the movement path in the height direction in the crane which concerns on 1st Embodiment of this invention. The figure which shows the confirmation screen of the movement of the crane at the time of moving a suspended load which concerns on 1st Embodiment of this invention. (A) A diagram showing an input screen of a suspended load position in confirmation of interference between a telescopic boom and an obstacle according to the first embodiment of the present invention, and (b) a telescopic boom according to the first embodiment of the present invention. The figure which shows the confirmation screen of the interference with an obstacle. The figure which shows the flowchart which shows the control mode in the input of the movement path of the suspended load in the crane which concerns on one Embodiment of this invention. (A) A diagram showing a display screen of a 3D map of the work site according to the second embodiment of the present invention, (b) In the 3D map of the work site according to the second embodiment of the present invention, the height of the plan view is input. The figure which shows the input screen at the time of. (A) In the crane according to the second embodiment of the present invention, a diagram showing a display before input on the input screen of the horizontal movement path, and (b) a screen after input on the input screen of the horizontal movement path. The figure which shows. (A) In the crane according to the second embodiment of the present invention, a diagram showing a display before input on the input screen of the movement path in the height direction, and (b) after input on the input screen of the movement path in the height direction as well. The figure which shows the screen. The figure which shows the flowchart which shows the control mode in the input of the movement path of the suspended load in the crane which concerns on 2nd Embodiment of this invention. (A) In the crane according to the third embodiment of the present invention, a diagram showing a screen before input on the input screen of the movement path in the height direction, and (b) after input on the input screen of the movement path in the height direction as well. The figure which shows the screen. The figure which shows the flowchart which shows the control mode in the input of the movement path of the suspended load in the crane which concerns on 3rd Embodiment of this invention.

Hereinafter, the overall configuration of the crane 1 according to the embodiment of the present invention will be described with reference to FIGS. 1 and 2. The crane 1 is a mobile crane that can move to an unspecified place. The crane 1 has a vehicle 2 and a crane device 5.

As shown in FIG. 1, the vehicle 2 conveys the crane device 5. The vehicle 2 has a plurality of wheels 3 and travels by using an engine as a power source. The vehicle 2 is provided with an outrigger 4. The outrigger 4 is composed of an overhang beam that can be extended by flood control on both sides of the vehicle 2 in the width direction and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 2 can expand the workable range of the crane 1 by extending the outrigger 4 in the width direction of the vehicle 2 and grounding the jack cylinder.

The crane device 5 hooks the suspended load W on a hook and lifts it with a wire rope. The crane device 5 includes a swivel 6, a telescopic boom 7, a jib 8, a main hook block 9, a sub hook block 10, an undulating cylinder 11, a main winch 12, a main wire rope 13, a sub winch 14, a sub wire rope 15, and a stereo camera. It includes 16, a cabin 17, a 3D map generation unit 18 (see FIG. 2), an image creation unit 19 (see FIG. 2), a control device 20 (see FIG. 2), and the like.

The swivel base 6 is configured to allow the crane device 5 to swivel. The swivel base 6 is provided on the frame of the vehicle 2 via an annular bearing. The annular bearing is arranged so that its center of rotation is perpendicular to the installation surface of the vehicle 2. The swivel base 6 is configured to be rotatable in one direction and the other direction with the center of the annular bearing as the center of rotation. Further, the swivel base 6 is configured to be rotated by a hydraulic swivel motor. The swivel base 6 is provided with a swivel position detection sensor 21 (see FIG. 2) that detects the swivel position.

The telescopic boom 7 supports the wire rope so that the suspended load W can be lifted. The telescopic boom 7 is configured to be telescopic in the axial direction by being moved by a telescopic cylinder (not shown). The telescopic boom 7 is provided with a base end portion swingably on the swivel base 6. As a result, the telescopic boom 7 is configured to be horizontally rotatable and swingable on the frame of the vehicle 2. The telescopic boom 7 is provided with a telescopic boom length detection sensor 22 (see FIG. 2) for detecting the boom length and an undulation angle detection sensor 23 (see FIG. 2) for detecting the undulation angle.

The jib 8 expands the lift and working radius of the crane device 5. The jib 8 is held in a posture along the telescopic boom 7. The jib 8 is configured to be connectable to the tip of the telescopic boom.

The main hook block 9 suspends the suspended load W. The main hook block 9 is provided with a plurality of hook sheaves around which the main wire rope 13 is wound and a main hook 9a for suspending the suspended load W. The sub-hook block 10 suspends the suspended load W. The sub-hook block 10 is provided with a sub-hook 10a for suspending the suspended load W.

The undulating cylinder 11 erects and lays down the telescopic boom 7 to maintain the posture of the telescopic boom 7. The undulating cylinder 11 is composed of a hydraulic cylinder including a cylinder portion and a rod portion. In the undulating cylinder 11, the end of the cylinder portion is swingably connected to the swivel base 6, and the end of the rod portion is swingably connected to the telescopic boom 7. The undulating cylinder 11 raises the expansion / contraction boom 7 by supplying hydraulic oil so that the rod portion is pushed out from the cylinder portion, and the expansion / contraction boom is supplied by supplying hydraulic oil so that the rod portion is pushed back to the cylinder portion. It is configured to lie down the 7.

The stereo camera 16 is provided as a three-dimensional information acquisition means, and acquires an image (video) of a work site. The three-dimensional information is the position and shape of the structure represented by the point cloud data in addition to the topography at the work site. Specifically, the three-dimensional information represents the position and shape of the structure by innumerable point data in addition to the topography at the work site. Each point data has elements of latitude, longitude and altitude. Therefore, the three-dimensional information can be converted into a 3D map by performing processing such as polygonization. Therefore, three-dimensional information is almost synonymous with a 3D map. It can be said that the 3D map is an image of the actual work site.

The stereo camera 16 is provided at the tip of the telescopic boom or the tip of the jib 8. The stereo camera 16 is arranged at the tip of the telescopic boom via an actuator for changing its posture. The stereo camera 16 is configured to be swingable with an axis parallel to the swing axis of the telescopic boom 7 as a swing center. As a result, the stereo camera 16 is configured to be able to capture an image vertically downward from the installation position regardless of the tilt angle of the telescopic boom 7 or the tilt angle of the jib 8. The stereo camera 16 is composed of at least two or more cameras. Specifically, the stereo camera 16 is composed of one reference camera and one or a plurality of comparison cameras (one in the present embodiment). The stereo camera 16 is connected to the 3D map generation unit 18 so that the captured image can be transmitted to the 3D map generation unit 18.

The stereo camera 16 is used as the three-dimensional information acquisition means, but the present invention is not limited to this, and for example, a laser scanner may be used. When a laser scanner is used, the measurement distance may be calculated from the time required for reflection on the object to be measured and returned, or the measurement distance may be calculated from the phase difference of a plurality of laser wavelengths. Further, it may be configured to acquire three-dimensional information from the outside via a network.

The cabin 17 covers the cockpit. The cabin 17 is provided on the side of the telescopic boom 7 on the swivel base 6. A cockpit is provided inside the cabin 17. To move the main operating tool for operating the main winch 12, the sub operating tool for operating the sub winch 14, the undulating operating tool for operating the telescopic boom 7, and the crane 1 to the driver's seat. A handle, a monitor 24 (see FIG. 2), and the like are provided.

The load detector 25 detects the load of the suspended load W. The load detector 25 is provided on the undulating cylinder 11.

The crane 1 configured in this way can move the crane device 5 to an arbitrary position by traveling the vehicle 2. Further, the crane 1 lifts the crane device 5 by erecting the telescopic boom 7 at an arbitrary undulating angle with the undulating cylinder 11 and extending the telescopic boom 7 to an arbitrary boom length or connecting the jib 8. And the working radius can be expanded.

As shown in FIG. 2, the 3D map generation unit 18 acquires point cloud data based on an image taken by the stereo camera 16 at the work site of the crane 1 and generates a 3D map. Specifically, the 3D map generation unit 18 compares each image simultaneously taken by the reference camera and the comparison camera constituting the stereo camera 16 and estimates the distance of each pixel of the reference camera to estimate the object. Acquires three-dimensional information (three-dimensional information represented by the camera coordinate system). Next, the 3D map generation unit 18 converts the three-dimensional information represented by the camera coordinate system into the three-dimensional information represented by a predetermined reference coordinate system (for example, the global coordinate system). The 3D map generation unit 18 stores in advance the position information of the stereo camera 16 with respect to the crane 1 based on the boom turning angle, the boom undulation angle, and the boom length.

The 3D map generation unit 18 uses three-dimensional information (point cloud data) of the suspended load W by object recognition from three-dimensional information (point cloud data) represented by a predetermined reference coordinate system acquired by using the stereo camera 16. Is identified and configured to be extractable. The object recognition method of the suspended load W may be an appearance-based object recognition method or a model-based object recognition method.

The 3D map generation unit 18 may generate a 3D map by converting the three-dimensional information acquired by using the stereo camera 16 into data representing the 3D structure of the object surface. Further, the 3D map generation unit 18 adds image data captured by a photographing means such as a stereo camera 16 to the point cloud data represented by a predetermined reference coordinate system acquired by the stereo camera 16 for each display area. A 3D map may be generated by pasting the separated image data.

The image creation unit 19 is connected to the 3D map generation unit 18, and the 3D map is displayed from an arbitrary viewpoint based on the three-dimensional information of the work site acquired by the 3D map generation unit 18, in the width direction and the depth. An image of a plan view which is a two-dimensional view in which direction information is displayed and a developed cross-sectional view which is a two-dimensional view in which information in the height direction is displayed is created. The developed cross-sectional view is formed along a line on the plan view. Further, the image creation unit 19 acquires the three-dimensional information of the suspended load W extracted by the 3D map generation unit 18, displays the movement start position of the suspended load W on the plan view and the developed sectional view, and displays the image. Can be created. In addition, the image creation unit 19 can calculate the movable range of the suspended load W and superimpose and display the movable range of the suspended load W on the plan view and the developed cross-sectional view to create an image.

A monitor 24 is connected to the image creation unit 19 as an input / output device. The monitor 24 can display an image taken by the stereo camera 16 in real time, or can display an image created by the image creation unit 19. In addition, the monitor 24 can select the image to be projected and input the movement route of the suspended load W by performing a touch operation. The input on the monitor 24 is not limited to the touch operation, and an input method using an input device such as a keyboard or a mouse may be used.

The control device 20 controls the image creation unit 19 based on the input on the monitor 24 to specify the three-dimensional movement path of the suspended load W. Then, when the crane 1 has an autopilot function, the control device 20 automatically operates the crane 1, so that the swivel operation valve for swiveling the swivel base 6 and the undulation operation valve for raising and lowering the telescopic boom 7 It controls the operation of the boom expansion / contraction operation valve that expands / contracts the expansion / contraction boom 7 and the hydraulic motor that drives the winch.

The control device 20 is connected to the turning position detection sensor 21 of the turning table 6 and can acquire the turning direction and the turning angle of the turning table 6 detected by the turning position detection sensor 21.

The control device 20 is connected to the telescopic boom length detection sensor 22 and the undulation angle detection sensor 23 of the telescopic boom 7, and the boom length and undulation angle detection sensor 23 of the telescopic boom 7 detected by the telescopic boom length detection sensor 22. Can acquire the undulation angle of the telescopic boom 7 detected by.

The control device 20 is connected to the load detector 25 and can acquire the load of the suspended load W detected by the load detector 25.

The control device 20 is connected to the image creation unit 19 and can acquire the input value of the operator to the monitor 24. Further, the control device 20 can output a signal for controlling the image creation unit 19.

Next, a method of inputting a movement path of the suspended load W will be described with reference to FIGS. 3, 4, and 5.

As shown in FIG. 3, on the monitor 24 (see FIG. 2), in addition to the model image Ma of the structure at the work site, the model image Mb of the crane 1 and the model image Mc of the suspended load W are displayed from an arbitrary viewpoint. The 3D map is displayed. The model image Ma corresponds to the position and shape of the structure, the model image Mb corresponds to the position and shape of the crane 1, and the model image Mc corresponds to the position and shape of the suspended load W. The operator confirms such a 3D map of the site and examines the movement route of the suspended load W.

As shown in FIG. 4A, the image creation unit 19 (see FIG. 2) was instructed by the operator to operate the monitor 24 (see FIG. 2) to display the input screen of the movement path of the suspended load W. In this case, a plan view is created from the three-dimensional information and displayed on the monitor 24. On the monitor 24, a plan view of the model image Ma of the structure, the model image Mb of the crane 1, and the model image Mc of the suspended load W is displayed. The image creation unit 19 acquires the three-dimensional information of the suspended load W extracted by the 3D map generation unit 18 (see FIG. 2) when creating the plan view, and is the movement start position of the suspended load W on the plan view. Display point a1.

The image creation unit 19 (see FIG. 2) acquires the load of the suspended load W from the detection value of the load detector 25 or the input value input by the operator to the monitor 24 (see FIG. 2). Then, the image creation unit 19 calculates a crane performance range that is a range in which the crane 1 can move the suspended load W without tipping over, based on the detected load of the suspended load W and the performance according to the model of the crane 1. To do. The image creation unit 19 calculates and moves the movable range of the suspended load W within the calculated crane performance range and within the range where the telescopic boom 7 and the suspended load W do not interfere with the structure at the work site. The range is superimposed and displayed on the monitor 24 (see the two-dot chain line La). As a result, it is possible to prevent rework of the input due to the input of the movement route passing through the range in which the suspended load W cannot be moved.

As shown in FIG. 4 (b), the operator draws a movement path from point a1 to point a9 (see solid line Ra) with a finger (see arrow A) to move the suspended load W in the horizontal direction. Enter.

As shown in FIG. 5A, the image creation unit 19 (see FIG. 2) deploys the suspended load W along the horizontal moving path after the input of the horizontal moving path of the suspended load W is completed. A cross-sectional view is created and displayed on the monitor 24 (see FIG. 2). Lines a1 to a9 on the developed cross-sectional view correspond to points a1 to a9 on the plan view in the horizontal direction, and are displayed on the developed cross-sectional view. Further, the movable range of the suspended load W is superimposed and displayed on the developed cross-sectional view as in the case of displaying on the plan view (see the two-dot chain line La). Since the horizontal movement path is not input to the left side of the line a1 and the right side of the line a9, it is assumed that the movement path in the height direction cannot be input, and the line a1 and the line a9 are the two-dot chain line La. It becomes.

As shown in FIG. 5 (b), the operator draws a movement path (see solid line Ra) from point a10 to point a11 with a finger (see arrows B1 and B2) to increase the height of the suspended load W. Enter the movement route in the direction.

As shown in FIG. 6, the operator sets the point a9 as the target position in the horizontal direction on the plan view (see FIG. 4 (b)), but is within the operable range of the suspended load W and on the horizontal movement path. If so, the target position in the horizontal direction can be changed. The operator changes the target position in the horizontal direction between the line a6 and the line a7 by performing an operation of drawing a movement path from the point a10 to the point a12 with a finger (see arrow C).

With this configuration, the crane 1 is input separately into a plan view and a developed cross-sectional view in which the three-dimensional movement path is two-dimensional information in two directions. Further, it is not necessary for the operator to input the movement start position of the suspended load W. Further, even when the horizontal movement path is bent or curved, it is displayed as a developed cross-sectional view, so that it is not necessary to be aware of the form of the horizontal movement path. Then, it is possible to prevent rework of inputting the movement route due to the input of the movement route passing through the non-movable range. As a result, the operator can easily input the three-dimensional movement path of the suspended load W desired.

As a method of displaying the plan view and the developed sectional view, the plan view and the developed sectional view are displayed on the monitor 24 (see FIG. 2) at the same time, but the screen may be switched from the plan view to the developed sectional view and displayed. ..

As shown in FIG. 7, after the operator inputs the movement path of the suspended load W, the movement of the crane 1 when moving the suspended load W is displayed by animation on a 3D map from an arbitrary viewpoint and moved. It may be configured so that it can be confirmed whether there is a problem in the route.

As shown in FIG. 8, after the operator inputs the movement path of the suspended load W, a cross-sectional view formed along the telescopic boom 7 based on the position of the suspended load W specified by the operator is created, and the monitor 24 ( It may be configured to be displayed in FIG. 2). The operator touches the point a7 on the plan view (see FIG. 8A). After that, the image creating unit 19 (see FIG. 2) is formed along the axial direction of the telescopic boom 7 when the suspended load W is at the position of the point a7 (see the alternate long and short dash line H) based on the three-dimensional information. The cross-sectional view of the model image Ma of the structure and the model image Mb of the crane 1 are displayed (see FIG. 8B). The cross-sectional views may be continuously switched and displayed in the order in which the telescopic boom 7 moves along the input movement path.

With this configuration, the crane 1 can confirm the possibility of interference between the telescopic boom 7 and an obstacle. As a result, the operator can easily input the three-dimensional movement path of the suspended load W desired.

After inputting the movement path of the suspended load W, the operator may manually operate the crane 1 to move the suspended load W based on the input moving path of the suspended load W. When the crane 1 is manually operated to move the suspended load W, the image creating unit 19 (see FIG. 2) causes the monitor 24 (see FIG. 2) to rotate the swivel base 6 and expand / contract and undulate the telescopic boom 7. , The procedure of the operation timing and the operation amount with the hoisting and lowering of the winch can be shown to assist the operation of the operator. Further, when the crane 1 has an autopilot function for automatically moving the suspended load W, the suspended load W may be automatically moved along the input movement path. When the suspended load W is automatically moved, the structure may be controlled so that the moving distance of the tip of the telescopic boom or the energy consumed by the crane 1 is minimized.

With this configuration, the crane 1 automatically moves the suspended load W along the input movement path. As a result, the suspended load W can be moved based on the input movement path.

Next, with reference to FIG. 9, the control mode in the input of the movement path of the suspended load W in the control device 20 of the crane 1 will be specifically described. It is assumed that the 3D map of the work site has already been generated.

In step S100, the control device 20 controls the image creation unit 19 (see FIG. 2) to display a 3D map of the work site on the monitor 24 (see FIG. 2), and shifts the step to step S110.

In step S110, the control device 20 controls the image creation unit 19 to acquire the three-dimensional information of the suspended load W from the 3D map generation unit 18 (see FIG. 2), and shifts the step to step S120.

In step S120, the control device 20 acquires the load of the suspended load W from the load detector 25 (see FIG. 2) or the input value of the operator, and shifts the step to step S130.

In step S130, the control device 20 controls the image creation unit 19 to calculate the horizontal movement start position of the suspended load W and the movable range of the suspended load W, and shifts the step to step S140.

In step S140, the control device 20 controls the image creation unit 19 to create a plan view, displays the plan view on the monitor 24, and shifts the step to step S140.

In step S150, the control device 20 acquires the horizontal movement path of the suspended load W input by the operator and shifts the step to step S160.

In step S160, the control device 20 determines whether or not the input completion signal operated by the operator has been received for the horizontal movement path.
As a result, when it is determined that the signal of the completion of input of the movement path operated by the operator is received for the movement path in the horizontal direction, the control device 20 shifts the step to step S170.
On the other hand, when it is determined that the signal of the completion of input of the movement path operated by the operator has not been received for the movement path in the horizontal direction, the control device 20 shifts the step to step S150.

In step S170, the control device 20 controls the image creation unit 19 to calculate the movement start position of the suspended load W in the height direction and the movable range of the suspended load W, and shifts the step to step S180.

In step S180, the control device 20 controls the image creation unit 19 to create a developed cross-sectional view formed along the horizontal movement path of the suspended load W acquired in step S150, and the developed cross-sectional view is shown on the monitor 24. Is displayed and the step is shifted to step S190.

In step S190, the control device 20 acquires the movement path of the suspended load W in the height direction input by the operator and shifts the step to step S200.

In step S200, the control device 20 determines whether or not the input completion signal operated by the operator has been received for the movement path in the height direction.
As a result, when it is determined that the input completion signal by the operator's operation has been received for the movement path in the height direction, the control device 20 ends the process of inputting the movement path.
On the other hand, when it is determined that the input completion signal by the operator's operation has not been received for the movement path in the height direction, the control device 20 shifts the step to step S190.

Next, the crane 26, which is the second embodiment of the crane, will be described with reference to FIGS. 10, 11, 12, and 13. The cranes 26 according to the following embodiments refer to the same cranes by using the names, drawing numbers, and symbols used in the explanations of the cranes 1 shown in FIGS. 1 to 5, and in the following embodiments, the same ones are used. Regarding the same points as those of the above-described embodiment, the specific description thereof will be omitted, and the differences will be mainly described.

The image creation unit 19 (see FIG. 2) can create a plan view of an arbitrary height.

As shown in FIG. 10A, in addition to the model image Md of the structure at the work site, the model image Mb of the crane 26 and the model image Mc of the suspended load W are arbitrarily displayed on the monitor 24 (see FIG. 2). The 3D map displayed from the viewpoint is displayed. In the lower part of the model image Md on the crane side, there is a space where there are no obstacles.

As shown in FIG. 10B, when inputting the horizontal movement path of the suspended load W, the operator touches the screen to set a horizontal plane as a reference for inputting the horizontal movement path. Enter the height. In this embodiment, the operator inputs the height at the bottom of the model image Md of the structure where there are no obstacles.

As shown in FIG. 11A, the image creation unit 19 (see FIG. 2) creates a plan view of the height specified by the operator and displays it on the monitor 24 (see FIG. 2).

As shown in FIG. 11B, the movement path from the point b1 to the point b6 (see the solid line Ra) is drawn with a finger (see the arrow D), and the horizontal movement path of the suspended load W is input. There is.

As shown in FIG. 12A, the monitor 24 (see FIG. 2) displays a developed cross-sectional view formed along the horizontal movement path.

As shown in FIG. 12B, the operator can input the movement path in the height direction of the suspended load W by performing an operation of drawing a movement path with a finger (see arrow F) on the developed cross-sectional view. It is the same as one embodiment. The operator inputs the movement path (see solid line Ra) from the point b7 to the point b8 in the space where there is no obstacle below the model image Md.

Next, with reference to FIG. 13, in the control device 20 of the crane 26, a control mode in inputting the movement path of the suspended load W will be specifically described.

In step S111, the control device 20 acquires the height of the plan view from the input value of the operator and shifts the step to step S120.

In step S141, the control device 20 controls the image creation unit 19 (see FIG. 2) to create a plan view at the height acquired in step S111, and displays the plan view on the monitor 24 (see FIG. 2). The step is shifted to step S150.

With this configuration, the crane 26 displays only obstacles that may interfere with the suspended load W on the plan view. As a result, the operator can easily input the three-dimensional movement path of the suspended load W desired.

Next, the crane 27, which is the third embodiment of the crane, will be described with reference to FIGS. 14 and 15.

The control device 20 controls the image creation unit 19 (see FIG. 2) based on the input on the monitor 24 (see FIG. 2) to specify the three-dimensional movement path between the suspended load W and the tip of the telescopic boom. It is a thing.

As shown in FIG. 14A, when the operator wants to instruct the movement path of the tip of the telescopic boom in the height direction, it is input on the developed cross-sectional view. The inside of the alternate long and short dash line Lb is a range in which the telescopic boom 7 cannot move due to interference between the telescopic boom 7 and an obstacle.

As shown in FIG. 14B, the movement path of the tip of the telescopic boom (see solid line Rb) is input with the index finger (see arrow G), and at the same time, the movement path of the suspended load W (see solid line Ra) is input with the thumb (see solid line Ra). (See arrow H). The movement path of the telescopic boom 7 and the movement path of the suspended load W may be input in two steps.

Next, with reference to FIG. 15, in the control device 20 of the crane 27, a control mode in inputting the movement path of the suspended load W will be specifically described.

In step S191, the control device 20 acquires a movement path in the height direction between the suspended load W and the tip of the telescopic boom from the input value of the operator, and shifts the step to step S200.

With this configuration, the crane 27 moves the tip of the telescopic boom by an arbitrary path when moving the suspended load W. As a result, the operator can easily input the three-dimensional movement path of the tip of the telescopic boom.

In the above, the crane 1, the crane 26, and the crane 27 have described the configuration in which the operator inputs the movement path of the suspended load W by touch operation, but the present invention is not limited to this, and the operator numerically sets the coordinates of the movement path. The configuration may be directly specified.
The above-described embodiment only shows a typical embodiment, and can be variously modified and implemented within a range that does not deviate from the gist of one embodiment. It goes without saying that it can be carried out in various forms, and the scope of the present invention is indicated by the description of the claims, and further, the equal meaning described in the claims, and all within the scope. Including changes.

1 Crane 6 Swivel 7 Telescopic boom W Suspended load

Claims (7)

It is a crane equipped with an undulating telescopic boom on the swivel table and acquires the movement path of the suspended load using the three-dimensional information of the work site.
The three-dimensional information of the suspended load is extracted based on the three-dimensional information,
Create a two-dimensional diagram in which information in the width direction and the depth direction is displayed based on the three-dimensional information.
Acquire the horizontal movement path of the suspended load set by using the two-dimensional diagram in which the information in the width direction and the depth direction is displayed.
Based on the three-dimensional information, a two-dimensional diagram formed along the horizontal movement path and displaying the information in the height direction is created.
By acquiring the movement path in the height direction of the suspended load set by using the two-dimensional diagram in which the information in the height direction is displayed,
A crane that identifies a three-dimensional movement path of the suspended load. Based on the three-dimensional information of the extracted suspended load,
The crane according to claim 1, wherein the moving start position of the suspended load is displayed on a two-dimensional diagram in which information in the width direction and the depth direction is displayed, and on a two-dimensional diagram in which information in the height direction is displayed. .. The crane according to claim 1 or 2, wherein the two-dimensional diagram in which the information in the height direction is displayed is created by linearly developing the horizontal movement path of the acquired suspended load. Any one of claims 1 to 3, wherein the two-dimensional diagram in which the information in the width direction and the depth direction is displayed is a two-dimensional diagram in which the information in the width direction and the depth direction at an arbitrary height is displayed. The crane described in. The crane according to any one of claims 1 to 4, wherein a two-dimensional diagram is created based on the three-dimensional information, which is formed along the axial direction of the telescopic boom and displays the information in the height direction. .. On the two-dimensional diagram in which the information in the width direction and the depth direction is displayed, and on the two-dimensional diagram in which the information in the height direction is displayed.
Any one of claims 1 to 5, which superimposes and displays the movable range of the suspended load within the range of the crane performance range and the range in which the telescopic boom and the suspended load do not interfere with the structure at the work site. The crane described in the section. The crane according to any one of claims 1 to 6, wherein the suspended load is automatically moved by a three-dimensional movement path of the specified suspended load.

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