JP7088432B2 - Hazard range display device for cranes and cranes - Google Patents

Description

The present invention relates to a danger range display device for a crane and a crane.

Conventionally, a device for displaying a danger range below a suspended load of a crane is known (see, for example, Patent Document 1).

Patent Document 1 discloses a technique for displaying a dangerous area on a monitor, which may pose a danger to an operator when the suspended load is dropped or lowered.

Japanese Unexamined Patent Publication No. 2010-241548

However, in the case of the technique disclosed in Patent Document 1, the suspended load position is calculated from the information of the boom length, the boom elevation angle, and the boom direction, and the position of the dangerous area is set based on the calculated suspended load position. There is a problem that the dangerous area during the operation of the boom cannot be accurately displayed on the monitor.

Therefore, an object of the present invention is to provide a crane danger range display device and a crane capable of accurately displaying the danger range during operation of the boom on the display unit.

One aspect of the danger range display device for a crane according to the present invention is
It is a danger range display device for cranes that is mounted on a crane and displays the danger range during operation of the crane.
A display unit that displays a camera image of the suspended load taken from above,
A setting unit that sets a danger range around the suspended load or in the area below the suspended load in the camera image,
It is provided with a display control unit that superimposes an image indicating a danger range on the camera image and displays it on the display unit.
When implementing the above-mentioned danger range display device for a crane, preferably, the danger range display device for a crane has a surface existing below the suspended load in the vertical direction higher than the installation surface on which the crane is grounded. May be provided with a height information acquisition unit that acquires the distance from the hook or the suspended load to the surface .
Then, the setting unit may set the danger range according to the distance detected by the height information acquisition unit.

One aspect of the crane according to the present invention includes the above-mentioned danger range display device for a crane.

According to the present invention, it is possible to provide a danger range display device for a crane that can accurately display the danger range during operation of the boom on the display unit.

FIG. 1 is a side view showing a crane according to an embodiment of the present invention. FIG. 2 is a block diagram showing a system configuration of a danger range display device for a crane according to an embodiment of the present invention. FIG. 3 is a diagram showing an example in which the danger range before correction is displayed on the display unit. FIG. 4 is a diagram showing an example in which a danger range related to a height corrected to a size corresponding to height information is displayed on a display unit. FIG. 5 is a diagram showing an example in which a danger range related to turning corrected based on the turning direction is displayed on the display unit. FIG. 6 is a diagram showing an example in which a danger range related to turning corrected based on the turning direction is displayed on the display unit. FIG. 7 is a diagram showing an example in which a danger range related to undulation or a danger range related to expansion / contraction corrected based on the undulation direction or expansion / contraction direction is displayed on the display unit. FIG. 8 is a diagram showing an example in which a danger range related to undulation or a danger range related to expansion / contraction corrected based on the undulation direction or expansion / contraction direction is displayed on the display unit. FIG. 9 is a flowchart showing the flow of processing by the crane danger range display device. FIG. 10 is a diagram showing an example in which the danger range corrected based on the turning direction and the wind direction is displayed on the display unit.

Hereinafter, the danger range display device for a crane and the crane according to the present invention will be described with reference to the drawings.

[Embodiment]
The crane according to this embodiment is applied to a rough terrain crane (hereinafter, simply referred to as a crane) as a mobile crane. It should be noted that this embodiment is applicable not only to mobile cranes but also to various cranes.

(Crane configuration)
FIG. 1 is a side view of the crane according to the present embodiment. Hereinafter, the configuration of the crane according to this embodiment will be described.

As shown in FIG. 1, the crane 1 includes a traveling body 10, a swivel body 20, and a boom 30.

The traveling body 10 includes an outrigger 11 and a traveling device for self-propelling on a road or a work site.

During work, the outriggers 11 project horizontally and vertically to lift the entire vehicle body and stabilize its posture.

The swivel body 20 is provided above the traveling body 10 and can rotate around the vertical axis C1 with respect to the traveling body 10. The swivel body 20 includes a cabin 21. The cabin 21 has an operation unit (for example, a steering, a shift lever, an accelerator pedal, a brake pedal, etc.) for controlling the traveling of the traveling body 10. Further, the cabin 21 has an operation unit for operating the swivel body 20, the boom 30, the winch, and the like. The operator boarding the cabin 21 operates the operation unit to rotate the swivel body 20, undulate and expand the boom 30, and rotate the winch to perform the work.

The boom 30 includes a proximal end boom 31 on the proximal end side, an intermediate boom 32, and a distal end boom 33 on the distal end side. The intermediate boom 32 and the tip boom 33 are sequentially and nested inside the base boom 31.

The base end boom 31 is supported by an undulating cylinder 22 provided on the swivel body 20. As the undulating cylinder 22 expands and contracts, the boom 30 undulates via the root fulcrum 23. Further, the boom 30 expands and contracts as the telescopic cylinder (not shown) expands and contracts.

A sheave 34 is provided on the boom head 33a provided at the tip of the tip boom 33. A wire rope 35 for suspending is wound around a winch provided in a portion of the swivel body 20 near the base end of the boom 30. The wire rope 35 is arranged along the boom 30 from the winch to the sheave 34. The wire rope 35 hung around the sheave 34 is suspended vertically downward from the sheave 34. A hook 36 is provided at the bottom of the wire rope 35.

The hook 36 suspends the suspended load 37 via the slinging tool. The wire rope 35 is unwound by the winch, so that the hook 36 descends. Further, the hook 36 is raised by winding the wire rope 35.

The boom head 33a of the tip boom 33 is provided with a camera 40 and a height information acquisition unit 42. That is, the camera 40 and the height information acquisition unit 42 are attached to the tip of the boom 30.

The camera 40 is attached in a downward facing posture, and photographs a peripheral area including the suspended load 37 suspended from the hook 36 (hereinafter, simply referred to as “peripheral area”) from above the hook 36. Specifically, the camera 40 includes a predetermined region in the horizontal direction centered on the suspended load 37 and a predetermined region existing below the suspended load 37 (hereinafter, referred to as a lower region of the suspended load 37). Is taken from above.

The height information acquisition unit 42 may be, for example, a distance sensor. The height information acquisition unit 42 is attached to the tip of the boom 30 in a posture facing downward, and acquires information on the height of the peripheral region. The peripheral area means the area around the vertical projection point of the hook 36 on the ground. Examples of the height information of the peripheral area include information on the height of the roof of the building.

The swivel body 20 may be provided with a boom posture detecting unit 41 and / or a moving direction detecting unit 43.

The boom posture detection unit 41 may be a boom length detector that detects the length of the boom 30 or an angle detector that detects the undulation angle of the boom 30. That is, the boom posture detection unit 41 detects information about the posture of the boom 30 by detecting the length of the boom 30 and the undulation angle of the boom 30.

The moving direction detection unit 43 is a turning direction detector that detects the turning direction of the boom 30, an undulating direction detector that detects the undulating direction of the boom 30, and an expansion / contraction direction detector that detects the expansion / contraction direction of the boom 30. good. That is, the moving direction detecting unit 43 detects the moving direction related to the operation performed by the boom 30. The moving direction detecting unit 43 may detect the moving speed (turning speed, undulating speed, and / or expansion / contraction speed) of the boom 30 together with the moving direction of the boom 30.

The moving direction detecting unit 43 may detect the turning direction of the boom 30, the undulating direction of the boom 30, and the expansion / contraction direction of the boom 30 based on the operation of the operation lever.

The crane 1 configured in this way moves the suspended load 37 suspended from the hook 36 to a predetermined position by feeding and winding the wire rope 35 by the winch, undulating and expanding and contracting the boom 30, and turning the swivel body 20. Let me.

(System configuration of danger range display device for cranes)
FIG. 2 is a block diagram showing a system configuration of a danger range display device for a crane according to the present embodiment. FIG. 3 is a diagram showing an example in which the danger range before correction is displayed on the display unit. FIG. 4 is a diagram showing an example in which a danger range related to a height corrected to a size corresponding to height information is displayed on a display unit. 5 and 6 are views showing an example in which the danger range related to the turn corrected based on the turn direction is displayed on the display unit. 7 and 8 are diagrams showing an example in which the danger range related to undulation or the danger range related to expansion / contraction corrected based on the undulation direction or the expansion / contraction direction is displayed on the display unit. Hereinafter, the system configuration of the danger range display device for a crane according to this embodiment will be described.

As shown in FIG. 2, the crane danger range display device 2 detects an image of the camera 40, detection information of the boom attitude detection unit 41, acquisition information of the height information acquisition unit 42, and detection of the movement direction detection unit 43. Information is input to the control unit 50. The control unit 50 calculates the danger range based on such input information. Then, the control unit 50 displays the calculated danger range on the display unit 60. The danger range is a range calculated in consideration of the possibility that the suspended load 37 may fall due to, for example, a defect in the slinging work.

(Input section)
The camera 40 photographs the peripheral area including the suspended load 37 suspended from the hook 36 from above. That is, the camera 40 photographs the lower region of the suspended load 37. An image taken by the camera 40 (hereinafter referred to as a camera image) is input to the control unit 50.

The boom posture detection unit 41 detects information about the posture of the boom 30 by detecting information about the length of the boom 30 and information about the undulation angle of the boom 30. The detection information detected by the boom posture detection unit 41 is input to the control unit 50.

The height information acquisition unit 42 acquires information regarding the height of the peripheral region. The acquired information acquired by the height information acquisition unit 42 is input to the control unit 50. For example, the height information acquisition unit 42 acquires information on the height of a surface existing below the suspended load 37 in the vertical direction.

In other words, the height information acquisition unit 42 acquires information regarding the distance from the hook 36 or the suspended load 37 to the surface. The surface is, for example, the ground surface existing below the suspended load 37 in the vertical direction or the roof surface of the building existing below the vertical direction of the suspended load 37.

The moving direction detecting unit 43 detects the turning direction, the undulating direction, and / or the expansion / contraction direction. The detection information detected by the moving direction detection unit 43 is input to the control unit 50.

(Control unit)
The control unit 50 includes a danger range calculation unit 51, a first danger range correction unit 52, a second danger range correction unit 53, and a danger range superimposition unit 54.

The control unit 50 sets a danger range around the suspended load 37 in the camera image or in a region below the suspended load 37. Then, an image indicating the danger range is superimposed on the camera image and displayed on the display unit 60. Therefore, the control unit 50 corresponds to an example of the setting unit and the display control unit. Hereinafter, a specific configuration of the control unit 50 will be described.

The danger range calculation unit 51 sets a danger range around the suspended load 37 in the camera image or in a region below the suspended load 37. For example, the danger range calculation unit 51 has a predetermined range from the vertical projection point P of the hook 36 to the ground, as shown in FIG. 3, based on the image of the camera 40 and the detection information of the boom posture detection unit 41. The danger range G1 (for example, 5 [m]) is calculated (set). The danger range calculation unit 51 may set the danger range G1 based on the input from the user.

Further, the danger range calculation unit 51 may set the danger range G1 based on the shape of the suspended load 37. Specifically, the danger range calculation unit 51 may recognize the shape of the suspended load 37 based on the image of the camera 40, and set the danger range G1 according to the recognized shape of the suspended load 37.

The first danger range correction unit 52 corresponds to an example of the correction unit, and expands the danger range G1 in a direction corresponding to the movement direction of the boom 30 or the suspended load 37 based on the moving direction of the boom 30 or the suspended load 37. ..

Specifically, when the moving direction detecting unit 43 detects that the turning direction of the boom 30 is the left direction, the first danger range correction unit 52 sets the danger range G1 to the left side as shown in FIG. It is expanded and corrected to a substantially elliptical danger range G31.

Further, when the moving direction detecting unit 43 detects that the turning direction of the boom 30 is in the right direction, the first danger range correction unit 52 expands the danger range G1 to the right as shown in FIG. It is corrected to a substantially elliptical danger range G32. That is, the first danger range correction unit 52 sets the danger range according to the turning direction of the boom 30. Hereinafter, the danger ranges G31 and G32 are collectively referred to as a danger range G3 related to turning.

Further, when the moving direction detecting unit 43 detects that the undulating direction of the boom 30 is the undulating direction, the first danger range correction unit 52 expands the danger range G1 upward as shown in FIG. It is corrected to a substantially elliptical danger range G41.

Further, when the moving direction detecting unit 43 detects that the undulating direction of the boom 30 is the upright direction, the first danger range correction unit 52 expands the danger range G1 downward as shown in FIG. The danger range is corrected to a substantially elliptical danger range G42. Hereinafter, the danger ranges G41 and G42 are collectively referred to as a danger range G4 regarding undulations.

Further, when the movement direction detection unit 43 detects that the expansion / contraction direction of the boom 30 is the extension direction, the first danger range correction unit 52 expands the danger range G1 upward as shown in FIG. It is corrected to a substantially elliptical danger range G51.

Further, when the moving direction detecting unit 43 detects that the expansion / contraction direction of the boom 30 is the contraction direction, the first danger range correction unit 52 expands the danger range G1 downward as shown in FIG. The danger range is corrected to a substantially elliptical danger range G52. Hereinafter, the danger ranges G51 and G52 are collectively referred to as a danger range G5 relating to expansion and contraction.

The second danger range correction unit 53 corresponds to an example of the correction unit, and as shown in FIG. 4, information on the height of the roof surface of, for example, a building 5 in the peripheral area acquired by the height information acquisition unit 42. Based on (in other words, the distance from the suspended load 37 to the roof surface), the danger range G1 is corrected to the danger range G2 having a size corresponding to the height information.

The height information may be information on the height from the installation surface of the crane 1. That is, the second danger range correction unit 53 corrects the danger range G1 to the danger range G2 based on the acquisition information of the height information acquisition unit 42 that acquires the height information of the peripheral region. The higher the height of the peripheral area, the shorter the distance from the suspended load 37 to the roof surface.

Since the roof surface of the building in which the danger range G2 is set is higher than the ground surface in which the danger range G1 is set, the dangerous range is narrow when the suspended load 37 falls. Therefore, in FIG. 4, the area of the danger range G2 is smaller than the danger range G1. However, since the roof surface of the building in which the danger range G2 is set is higher than the ground surface in which the danger range G1 is set, the size of the display unit 60 on the screen is such that the danger range G2 is larger than the danger range G1. It may be displayed large. Hereinafter, the danger range G2 may be referred to as a height-related danger range G2.

The danger range superimposing unit 54 corresponds to an example of an image generation unit, and is a camera image taken by the camera 40 of a danger range G2 regarding height, a danger range G3 regarding turning, a danger range G4 regarding undulations, and a danger range G5 regarding expansion and contraction. Generates a superimposed image superimposed on.

The danger range superimposing unit 54 may superimpose an image obtained by appropriately combining the danger ranges G2, G3, G4, and G5 on the image taken by the camera 40 to generate a superposed image. Then, the control unit 50 displays the superimposed image generated by the danger range overlapping unit 54 on the display unit 60. As described above, the control unit 50 has a function as a display control unit that controls the display operation of the display unit 60.

(output)
As shown in FIG. 4, the display unit 60 displays a superposed image in which the danger range G2 is superimposed on the image taken by the camera 40 on the display unit 60 under the control of the control unit 50. As shown in FIG. 5 or 6, the display unit 60 displays on the display unit 60 a superposed image in which the danger range G3 related to turning is superimposed on the image taken by the camera 40 under the control of the control unit 50. Further, as shown in FIG. 7 or 8, the display unit 60 superimposes a superposed image in which the danger range G4 related to undulation or the danger range G5 related to expansion / contraction is superimposed on the image taken by the camera 40 under the control of the control unit 50. , Displayed on the display unit 60.

The display unit 60 may display the danger range G1 together with the danger ranges G2, G3, G4, and G5. When the boom 30 is not moving, the display unit 60 may display only the danger range G1. The display unit 60 may display the vertical projection point P on the display unit 60, or may display the horizontal line L1 passing through the vertical projection point P and the line L2 orthogonal to the line L1 on the display unit 60. good. At this time, the lines L1 and L2 may be provided with a scale that serves as a guide for the distance in the actual space. The display unit 60 may display the contour line obtained by projecting the suspended load 37 onto the ground on the display unit 60. The line L1 may be a substantially semicircular figure showing a turning locus of the vertical projection point P.

(Processing by the danger range display device for cranes)
FIG. 9 is a flowchart showing a processing flow by the crane danger range display device 2 according to the present embodiment. Hereinafter, the flow of processing by the crane danger range display device 2 will be described.

First, the control unit 50 acquires an image of the peripheral region including the suspended load 37 taken by the camera 40 (step S101).

Next, the control unit 50 acquires information regarding the posture of the boom 30 detected by the boom posture detection unit 41 (step S102). The information about the posture of the boom 30 may include information about the length of the boom 30, information about the turning angle of the boom 30, and / or information about the undulation angle of the boom 30.

Next, the control unit 50 acquires information regarding the movement direction of the boom 30 detected by the movement direction detection unit 43 (step S103). The information regarding the moving direction of the boom 30 may include information regarding the turning direction of the boom 30, information regarding the expansion / contraction direction of the boom 30, and / or information regarding the undulating direction of the boom 30.

Next, the control unit 50 acquires the height information of the peripheral region acquired by the height information acquisition unit 42 (step S104).

Next, the danger range calculation unit 51 calculates the danger range G1 based on the image of the camera 40 and the information regarding the posture of the boom 30 (step S105).

Next, the first danger range correction unit 52 expands the danger range G1 based on the moving direction of the boom 30, and calculates the danger ranges G2, G3, G4, and G5. Specifically, the first danger range correction unit 52 corrects the danger range G1 to the danger range G3 (see FIG. 5 or FIG. 6) related to turning based on the turning direction of the boom 30 (step S106). If the boom 30 is not turning, this step is omitted.

Further, the first danger range correction unit 52 corrects the danger range G1 to the danger range G4 (see FIG. 7 or FIG. 8) relating to the undulation based on the undulation direction of the boom 30 (step S106). If the boom 30 is not undulating, this step is omitted.

Further, the first danger range correction unit 52 corrects the danger range G1 to the danger range G5 (see FIG. 7 or FIG. 8) related to expansion / contraction based on the expansion / contraction direction of the boom 30 (step S106). If the boom 30 is not expanding and contracting, this step is omitted. If the boom 30 is not moving (not moving), step S106 may be omitted.

Next, the second danger range correction unit 53 corrects the danger range G1 to the danger range G2 regarding the height based on the acquisition information of the height information acquisition unit 42 that acquires the height information of the peripheral region (step S107). ). At this time, if the danger range G1 is corrected by the first danger range correction unit 52 in step S106, the danger range related to the height is based on the corrected danger range (danger range G3, G4, G5). Set G2. If the installation surface of the crane 1 is flat (the peripheral area is flat) or the surface of the suspended load 37 below in the vertical direction is the ground surface, this step may be omitted.

Next, the danger range superimposing unit 54 generates a superposed image in which the corrected danger ranges G2, G3, G4, and G5 are superimposed on the image taken by the camera 40 (step S108).

Next, the control unit 50 displays the superimposed image on the display unit 60 (step S109), and ends the process.

(Action of danger range display device for crane)
Hereinafter, the operation of the crane danger range display device 2 according to the present embodiment will be described.

The crane danger range display device 2 according to the present embodiment is attached to the tip of the boom 30, and has an image of the camera 40 that captures the peripheral area including the suspended load 37 suspended from the hook 36 from above, and the posture of the boom 30. Based on the detection information of the boom attitude detection unit 41 that detects the above, the danger range calculation unit 51 that calculates the danger range G1 that is a predetermined range from the vertical projection point P of the hook 36 to the ground, and the boom 30 The first danger range correction unit 52 that corrects the danger range G1 and the corrected danger ranges G3, G4, and G5 are superimposed and displayed on the image based on the detection information of the movement direction detection unit 43 that detects the movement direction. A display unit 60 and a display unit 60 are provided (FIG. 5).

Thereby, the danger range G1 can be corrected based on the operation of the boom 30. Therefore, the dangerous ranges G3, G4, and G5 during the operation of the boom 30 can be accurately displayed on the display unit 60. As a result, the danger range display device 2 for a crane with improved safety can be obtained.

Further, the crane danger range display device 2 according to the present embodiment corrects the danger range G1 based on the acquisition information of the height information acquisition unit 42 that acquires the height information of the peripheral region. A unit 53 is provided (FIG. 4).

Thereby, the danger range G1 can be corrected based on the information on the height of the peripheral region. Therefore, the danger range G2 according to the height from the ground can be displayed on the display unit 60. As a result, the danger range display device 2 for a crane with improved safety can be obtained.

In the crane danger range display device 2 according to the present embodiment, the moving direction detecting unit 43 detects the turning direction of the boom 30, and the first danger range correction unit 52 corrects the danger range G1 based on the turning direction. (FIGS. 5 and 6).

Thereby, the danger range G1 can be corrected based on the turning direction. Therefore, when the boom 30 is turning to the right side, the danger range G1 can be expanded so that the danger range expands to the right side. Further, when the boom 30 is turning to the left side, the danger range G1 can be expanded so that the danger range expands to the left side. Therefore, the danger range G3 during the turning operation of the boom 30 can be accurately displayed on the display unit 60.

Further, in the crane danger range display device 2 according to the present embodiment, the moving direction detecting unit 43 detects the undulating direction of the boom 30, and the first danger range correction unit 52 determines the danger range G1 based on the undulating direction. Is corrected (FIGS. 7 and 8).

Thereby, the danger range G1 can be corrected based on the undulating direction. Therefore, when the boom 30 is in the standing up operation (standing up operation), the danger range G1 can be expanded so that the danger range expands downward. Further, when the boom 30 is in a lodging motion, the danger range G1 can be expanded so that the danger range expands upward. Therefore, the danger range G4 during the undulating operation of the boom 30 can be accurately displayed on the display unit 60.

Further, in the crane danger range display device 2 according to the present embodiment, the moving direction detecting unit 43 detects the expansion / contraction direction of the boom 30, and the first danger range correction unit 52 determines the danger range G1 based on the expansion / contraction direction. Is corrected (FIGS. 7 and 8).

Thereby, the danger range G1 can be corrected based on the expansion / contraction direction. Therefore, when the boom 30 is in the extended operation, the danger range G1 can be expanded so that the danger range expands upward. Further, when the boom 30 is contracting, the danger range G1 can be expanded so that the danger range expands downward. Therefore, the accurate danger range G4 during the expansion / contraction operation of the boom 30 can be displayed on the display unit 60.

The range in which the danger range G1 is extended by the first danger range correction unit 52 may be determined according to the moving speed of the boom 30.

The danger range display device 2 for a crane according to the present invention has been described above based on the embodiment. However, the specific configuration is not limited to this embodiment, and design changes and additions are permitted as long as the gist of the invention according to each claim is not deviated from the claims. Further, the above-mentioned configurations may be appropriately combined as long as they are technically consistent.

In the above-described embodiment, an example is shown in which the danger range of the suspended load 37 suspended from the hook 36 is displayed on the display unit 60. However, in a crane having a main hook and a sub hook, the danger range of the sub hook or the suspended load suspended from the main hook may be displayed on the display unit. Further, in a crane equipped with a jib, the danger range of the suspended load suspended from the hook when the jib is mounted may be displayed on the display unit.

In the above-described embodiment, an example in which the height information acquisition unit 42 is used as a distance sensor is shown. However, the height information acquisition unit is not limited to this aspect, and may acquire height information based on, for example, the parallax of the images of the two cameras.

Further, in the above-described embodiment, the first danger range correction unit 52 shows an example of correcting the danger range G1 so as to swell in the moving direction of the boom 30. However, the first danger range correction unit may correct the danger range so as to swell in the direction opposite to the moving direction of the boom depending on how the suspended load swings. That is, the first danger range correction unit may correct the danger range in consideration of the movement direction of the boom 30 and the swinging method of the suspended load.

Further, in the present embodiment, the first danger range correction unit 52 shows an example of correcting the danger range G1 to the danger ranges G3, G4, and G5 based on the moving direction of the boom 30. However, the first danger range correction unit can also correct the danger range in consideration of the influence based on the wind direction and the wind speed measured by the anemometer. That is, the first danger range correction unit may correct the danger range in consideration of the moving direction of the boom 30 and the disturbance (wind direction and wind speed) acting on the boom 30 and the suspended load 37.

Specifically, for example, the anemometer is provided at the tip of the boom 30. The anemometer may detect the wind speed and / or the wind direction at predetermined time intervals. The anemometer sends the detected value to the control unit 50.

The first danger range correction unit 52 expands the danger range G1 according to the information regarding the wind speed and / or the wind direction acquired from the anemometer. FIG. 10 is a diagram showing a state in which a danger range considering the wind speed and the wind direction is displayed on the display unit.

For example, when the turning direction of the boom 30 is the direction indicated by the arrow A1 in FIG. 10 and the wind direction is the direction indicated by the arrow _A2 in FIG. 10, the _first danger range correction unit 52 makes the danger range G1 dangerous. Extend to range G6.

The danger range G6 is a range obtained by expanding the danger range G1 in the direction (leeward side) indicated by the arrow A3, which is the vector _sum of the arrow A1 and the arrow _A2 . Such a danger range G6 is a danger range in which the moving direction (turning direction) of the boom 30 and the wind direction are taken into consideration.

When considering the wind speed and / or the wind direction, only the danger range G6 in FIG. 10 may be displayed on the display unit 60 as a danger range. The danger range G6 may be updated each time the control unit 50 acquires information on the wind speed and / or the wind direction from the anemometer. By adopting such a configuration, the operator can know the danger range according to the wind condition in real time.

Further, when considering the wind speed and / or the wind direction, the display unit 60 may display the danger range G6 in FIG. 10 and the danger range G3 related to turning as the danger range. In other words, when considering the wind speed and / or the wind direction, the display unit 60 shows the movement of the boom as a danger range together with the movement direction of the boom and the danger range considering the wind speed and / or the wind direction (for example, the danger range G6). A danger range (for example, danger range G3) considering only the direction may be displayed.

The danger range G7 in FIG. 10 is a danger range considering only the wind speed and / or the wind direction. The display unit 60 may display the danger range G7 together with the danger range G6.

In the above-described embodiment, the display unit 60 shows an example in which the display unit 60 displays the superimposed image in which the danger range is superimposed on the image taken by the camera 40. However, the display unit may display the determination result of the human intrusion determination unit that determines whether or not a person has entered the dangerous range based on the detection information of the human detection means that detects a person from the image of the camera. Such a determination may be made by image analysis by the control unit 50. That is, the control unit 50 may have a function of determining whether or not a person has invaded the dangerous area by analyzing the image taken by the camera 40.

Further, the crane danger range display device 2 according to the present embodiment is provided on the boom 30, and is a projection image corresponding to the above-mentioned danger ranges G1 to G7 (see G3 to FIGS. 8 and 9) (hereinafter, simply a projection image). It may be provided with a projection device 70 (see FIG. 1) that directly projects the suspended load 37 onto a surface (for example, a roof surface or a ground surface) existing below the suspended load 37 in the vertical direction.

The projection device 70 emits, for example, a red laser beam having a relatively long wavelength. The projected image is, for example, a frame shape showing the boundary position between the dangerous range and the other range. In the case of the structure shown in FIG. 1, the projection device 70 is provided at the tip of the boom 30. However, the position of the projection device 70 is not limited to the tip of the boom 30.

The projection device 70 may be provided, for example, at the tip end portion (a portion exposed to the outside) of the intermediate boom 32. Further, the number of projection devices 70 may be plural. Depending on the shape and size of the suspended load 37, a part of the light emitted by the projection device 70 may be blocked by the suspended load 37, and a part of the projected image may be chipped. At this time, if a plurality of projection devices 70 are provided at different positions of the boom 30, even if the light emitted by one projection device 70 is blocked by the suspended load 37 and a part of the projected image is missing, another projection is performed. The device 70 can make up for the missing portion of the projected image. Further, the projected image can be brightened by utilizing the interference of the light emitted by the plurality of projection devices 70.

If such a configuration is adopted, a worker working below the suspended load 37 can recognize the danger range by looking at the danger ranges G1 to G7 projected on the ground. As a result, the safety of the worker working under the suspended load 37 can be further enhanced.

Further, in the above-described embodiment, an example of applying the present invention to the boom is shown. However, in a crane equipped with a jib, the present invention can also be applied to the jib. In this case, the jib is a concept included in the boom.

The disclosure of the specification, drawings and abstract contained in the Japanese application of Japanese Patent Application No. 2020-25977 filed on February 19, 2020 is incorporated herein by reference in its entirety.

The present invention is not limited to the rough terrain crane 1, and can be applied to various cranes having a boom.

1 Crane 10 Traveling body 11 Out trigger 2 Hazard range display device for crane 20 Swing body 21 Cabin 22 Undulating cylinder 23 Root fulcrum 30 Boom 31 Base end boom 32 Intermediate boom 33 Tip boom 33a Boom head 34 Sheave 35 Wire rope 36 Hook 37 Suspended load 40 Camera 41 Boom posture detection unit 42 Height information acquisition unit 43 Movement direction detection unit 5 Building 50 Control unit 51 Danger range calculation unit 52 1st danger range correction unit 53 2nd danger range correction unit 60 Display unit 70 Projection device G1, G2, G3, G31, G32, G4, G41, G42 Danger range G5, G51, G52, G6, G7 Danger range P Vertical projection point

Claims (7)

It is a danger range display device for cranes that is mounted on a crane and displays the danger range during operation of the crane.
A display unit that displays a camera image of the suspended load taken from above,
A height information acquisition unit that acquires the distance from the hook or the suspended load to the surface when the surface existing below the suspended load in the vertical direction is higher than the installation surface on which the crane is grounded .
A setting unit that sets the danger range around the suspended load or in a region below the suspended load in the camera image.
A display control unit that superimposes an image indicating the danger range on the camera image and displays it on the display unit is provided.
The setting unit sets the danger range according to the distance detected by the height information acquisition unit.
Hazard range display device for cranes. The crane danger range display device according to claim 1, wherein the setting unit expands the danger range in a direction corresponding to a moving direction of the boom. The crane danger range display device according to claim 1 or 2, wherein the setting unit expands the danger range according to the wind speed and / or the wind direction. The crane danger range display device according to any one of claims 1 to 3, wherein the setting unit sets the danger range on a surface existing below the suspended load in the vertical direction. The crane danger range display device according to claim 4, wherein the setting unit narrows the danger range as the distance from the suspended load to the surface becomes shorter. The invention according to any one of claims 1 to 5, further comprising a projection device provided on the boom and directly projecting a projection image corresponding to the danger range onto a surface existing vertically below the suspended load. Hazard range display device for cranes. A crane provided with the danger range display device for a crane according to any one of claims 1 to 6.

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