JP7208815B2 - Common control system for cranes - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane shared control system that restricts entry of a boom tip of a crane into an entry-prohibited area.

Conventionally, for example, Patent Document 1 discloses an invention that acquires spatial information by scanning the surroundings in three dimensions with a stereo camera, a laser scanner, etc., and shares this spatial information with other cranes to prevent contact between cranes. is described.
In Patent Document 2, a laser beam is used to create a limiting barrier at a position that secures a safe distance from a power transmission line, and when a reflector provided at the tip of the boom comes into contact with the limiting barrier (light wall), An invention is described that provides an alarm.

JP 2018-95364 A JP 2009-249910 A

However, in the prior art of Patent Document 1, it is necessary to acquire three-dimensional information of obstacles using a laser scanner, a stereo camera, or the like. range must be set. Therefore, knowledge and preparation for obtaining three-dimensional information, etc. are required, and there is a problem that setting takes time and effort. In addition, in the prior art of Patent Document 2, there are problems such as labor and cost for setting the barrier, because additional means for extending a mark line and projecting a laser beam are required in order to configure the limiting barrier.
Therefore, the present invention has been made by paying attention to such unresolved problems of the prior art, and it is possible to easily set an intrusion prohibited area only by measuring the coordinates of a plurality of points in the work site. The purpose is to provide a crane shared control system that is possible.

In order to achieve the above object, a crane control system according to a first aspect of the present invention is a crane control system that performs control to regulate the operation of a crane, and sets coordinates measured at a work site as representative points. a representative point setting unit, a no-entry range setting unit for setting a no-entry range based on the plurality of representative points set by the representative point setting unit, and a GNSS (Global Navigation) provided at the tip of the boom of the crane satellite system) antenna, a tip coordinate measuring unit for measuring the coordinates of the tip of the boom based on positioning signals from a plurality of GNSS satellites received by the GNSS antenna, and the tip of the boom measured by the tip coordinate measuring unit a determination unit that determines whether or not the tip of the boom has entered the prohibited entry area or has approached the prohibited entry area, based on the coordinates of the section and the coordinate information of the prohibited entry area; an operation control unit that controls the operation of the crane so that the tip of the boom does not continue to enter the prohibited entry range or does not enter the prohibited entry range based on the determination result of the determination unit; Prepare.
Moreover, in order to achieve the above object, a crane according to a second aspect of the present invention includes the crane control system of the first aspect.

In order to achieve the above object, a shared crane control system according to a third aspect of the present invention includes a server device and a plurality of cranes of the second aspect, which are connected via a communication line. Each of the cranes includes: a first information transmission unit configured to transmit information on the plurality of representative points or information on the prohibited intrusion range to the server device via the communication line; an acquisition request transmission unit that transmits an acquisition request for information within a prohibited range to the server device via the communication line; and a first information receiving unit that receives range information. The server device comprises: a second information receiving section for receiving information on the plurality of representative points or information on the no-entry range transmitted from the crane via the communication line; an information storage unit for storing the received information of the plurality of representative points or the information of the no-entry area; a second information transmission unit configured to transmit the information of the plurality of representative points or the information of the no-entry area stored in the unit to the crane that has transmitted the acquisition request.

Further, in order to achieve the above object, a crane control system according to a fourth aspect of the present invention is characterized in that, in the first aspect, the representative point setting unit measures the boom tip measured by the tip coordinate measuring unit The representative point can be set based on the coordinates of
Further, in order to achieve the above object, a crane control system according to a fifth aspect of the present invention, in the above first or fourth aspect, is characterized in that, in the no-entry range setting unit, the plurality of representative points are linearly A connecting boundary line is set, and the intrusion prohibited range is set based on the boundary line.
In order to achieve the above object, a sixth aspect of the present invention provides a crane control system according to the fifth aspect, wherein the no-entry range setting unit sets the intrusion limit based on a line obtained by extending the boundary line. Set prohibited range.

Further, in order to achieve the above object, a crane control system according to a seventh aspect of the present invention is characterized in that, in the fifth aspect, the representative point setting unit, as the plurality of representative points, sets an intrusion point of the tip of the boom. Planar view of the area to be prohibited, the first representative point consisting of the two-dimensional coordinates near one of the two sides forming the corner, and the two-dimensional coordinates near the other side A second representative point and a third representative point composed of two-dimensional coordinates near an intersection of the one side and the other side can be set. A line connecting the first representative point and the third representative point with a straight line and connecting the second representative point and the third representative point with a straight line is set as the boundary line.

Further, in order to achieve the above object, in the crane control system according to the eighth aspect of the present invention, in the fifth or sixth aspect, the representative point setting unit sets the boom as the plurality of representative points. A first representative consisting of two-dimensional coordinates of positions aligned along one side in the vicinity of one of the two sides forming the corner in plan view of the region where the tip should be prohibited from entering A point, a second representative point, and a third representative point and a fourth representative point consisting of two-dimensional coordinates of positions aligned along the other side in the vicinity of the other side can be set, The no-entry range setting unit includes a first straight line connecting the first representative point and the second representative point, and a second straight line connecting the third representative point and the fourth representative point. is set, and a line obtained by extending the first straight line and the second straight line to a position where they intersect is set as the boundary line.
Further, in order to achieve the above object, a crane control system according to a ninth aspect of the present invention is characterized in that, in the fifth aspect, the representative point setting unit sets the plurality of representative points as the building building in a plan view. , and the no-entry range setting unit defines a rectangular line connecting the coordinates of the four corners with a straight line as the boundary A line is set, and the outside of the square line is set as the intrusion prohibited range.

Further, in order to achieve the above object, a crane control system according to a tenth aspect of the present invention is a portable crane control system having the GNSS function in any one of the first and fourth to ninth aspects. A plurality of coordinates at the work site measured by the terminal can be input to the representative point setting unit from the terminal via a wireless or wired connection, or by manual input via an input unit.
Further, in order to achieve the above object, in the crane control system according to the eleventh aspect of the present invention, in the first, fourth to tenth aspects, the representative point setting unit sets the plurality of representative points as , three or more first plane coordinates consisting of three or more different three-dimensional coordinates on the same plane; three or more second plane coordinates consisting of dimensional coordinates can be set, and the no-entry range setting unit includes a first polygonal boundary line that is a polygonal line formed by connecting the first plane coordinates. and a second polygonal boundary line, which is a polygonal line formed by connecting the second plane coordinates, to set the prohibited area of entry.

Further, in order to achieve the above object, a crane control system according to a twelfth aspect of the present invention provides, in any one of the first and fourth to eleventh aspects, a control target for turning motion of the crane. A restricted area range setting unit that sets a restricted area range that is a turning range that includes at least part of the entry prohibited area; an output buffer range setting unit for setting a range, and limiting the output of the swing actuator to a range that does not stop the swing motion when it is determined that the tip of the boom of the crane is within the output buffer range, Turning regulation for controlling the output of the turning actuator so as to stop the turning motion in the direction of continuing to enter the regulated area when it is determined that the tip of the boom is within the regulated area. and a control unit.

According to the present invention, it is possible to easily set a no-entry area only by measuring representative coordinates at a work site, so that the effort, time, and cost required for setting the no-entry area can be reduced compared to the conventional art. can be reduced.

It is a side view showing composition of a crane concerning a 1st embodiment. 1 is a perspective view showing the configuration of a GNSS receiver according to a first embodiment; FIG. It is a perspective view which shows the attachment structure of the GNSS receiver which concerns on 1st Embodiment. It is a schematic diagram which shows the structure in the operator's cab of a crane. It is a block diagram showing an internal configuration of an engine room. 1 is a block diagram showing the configuration of a crane control system according to a first embodiment; FIG. 3 is a block diagram showing a specific functional configuration of a first controller according to the first embodiment; FIG. 4 is a block diagram showing a specific configuration of a range setting unit; FIG. (a) is a diagram showing an example of an entry prohibition range according to the first embodiment, and (b) is a diagram showing an example of a turning range according to the first embodiment. 7 is a flow chart showing an example of a processing procedure of mode setting processing according to the first embodiment; 6 is a flow chart showing an example of a processing procedure of no-entry range setting processing according to the first embodiment; FIG. 5 is a flowchart showing an example of a processing procedure of turning range setting processing according to the first embodiment; FIG. 7 is a flowchart illustrating an example of a processing procedure of regulation operation mode setting processing; 6 is a flow chart showing an example of a processing procedure of operation restriction control processing according to the first embodiment; 6 is a flow chart showing an example of a processing procedure of turning restriction control processing according to the first embodiment; (a) and (b) is a figure which shows an example of the setting operation|movement of the representative point in representative point specification mode. (a) and (b) are diagrams showing an example of an operation for setting a no-entry range based on set representative points. (a) is a diagram showing an example of a specific stop state, and (b) is a diagram showing an example of a turning range setting operation. (a) to (c) are diagrams showing an example of the turning motion of the crane 1 when the turning restriction control is performed. (a) and (b) are diagrams showing an example of the traveling motion of the crane 1 when the motion restriction control is performed. (a) to (d) are diagrams showing an example of the flow of operations from measurement of a representative point coordinate group MCP to generation of a boundary line in the representative point reception mode. (a) to (c) are diagrams showing an operation example when setting an extended intrusion prohibited range according to application example 1 of the first embodiment. FIG. 10 is a diagram showing an example of the operation of the crane when operation restriction control is performed for the extended no-entry range; 11A to 11C are diagrams showing an operation example when representative points are generated by special three-point designation for an intrusion-inhibited area having a corner in application example 2 of the first embodiment; FIG. (a) is a diagram showing an example of a boundary line setting operation according to an application example 2, and (b) is a diagram showing an example of an intrusion prohibited area and extended intrusion prohibited area setting operation according to an application example 2; be. (a) is a diagram showing an example of operation of a crane when operation restriction control is performed for an intrusion prohibited area according to application example 2; It is a figure which shows the operation example of the crane at the time of implementation. FIG. 12 is a diagram showing an operation example in the case of setting a representative point and a boundary line by special four-point designation for an intrusion prohibited area having corners in application example 3 of the first embodiment; FIG. 11 is a diagram showing an operation example of a crane when setting an entry prohibition range and operation restriction control for the entry prohibition range according to Application Example 3; (a) is a diagram showing an example of a representative point setting operation according to Application Example 4 of the first embodiment, and (b) is a diagram showing an example of a boundary line setting operation according to Application Example 4; . FIG. 14 is a diagram showing an example of an operation for setting an intrusion prohibited range according to Application Example 4; It is a figure which shows an example of the setting operation|movement of the structure of the tower crane which concerns on 2nd Embodiment, and an intrusion prohibition area. It is a figure which shows the structural example of the crane common control system which concerns on 3rd Embodiment. FIG. 12 is a block diagram showing the configuration of a shared system management server according to the third embodiment; FIG. 11 is a block diagram showing a specific functional configuration of a shared system management server according to the third embodiment; FIG. 11 is a block diagram showing a specific functional configuration of a first controller according to the third embodiment; FIG. FIG. 12 is a flow chart showing an example of a processing procedure of shared use management processing according to the third embodiment; FIG. FIG. 11 is a flow chart showing an example of a processing procedure of shared control processing according to the third embodiment; FIG.

Next, first to third embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, it should be noted that the drawings are schematic, and that the vertical and horizontal dimensions and scales of members and portions are different from the actual ones. Therefore, specific dimensions and scales should be determined with reference to the following description. In addition, it is a matter of course that there are portions with different dimensional relationships and ratios between the drawings.
Further, the first to third embodiments shown below are examples of apparatuses and methods for embodying the technical idea of the present invention. The shape, structure, arrangement, etc. are not specified as follows. Various modifications can be made to the technical idea of the present invention within the technical scope defined by the claims.

[First embodiment]
〔overall structure〕
A self-propelled hydraulic crane 1 (hereinafter simply referred to as "crane 1") equipped with a crane control system according to the first embodiment of the present invention includes a machine body 2 and an upper part of the machine body 2, as shown in FIG. and a crane device 3 provided in the center on the front side. The body 2 includes an upper revolving body 4 and a travel device 6 provided below the upper revolving body 4 . The upper revolving body 4 includes an engine room 4EG provided on the rear side thereof, and an operator's cab 5 provided on the left side of the crane device 3 .
The crane device 3 includes a telescopic boom 30 provided on the upper revolving body 4 so as to be able to rise and fall, and a hook 34 for lifting a load. A winch (not shown) is provided at the base end of the boom 30, and the wire rope 33 is guided from the winch to the tip 32 of the boom 30, and connected to the hook 34 via a pulley (not shown) at the tip 32. The hook 34 is suspended from the tip portion 32 of the boom 30 by hanging on the boom 30 . A boom telescoping hydraulic cylinder 35 , which is a hydraulic cylinder for telescoping the boom 30 , is provided inside the boom 30 . Furthermore, a GNSS (Global Navigation Satellite System) receiving device 71 is provided at a tip end portion 32 of the boom 30 (hereinafter referred to as a “boom tip end portion 32”).
The GNSS receiver 71 includes, as shown in FIG. 2, a shaft portion 71a, a plate member 71b, a base member 71c, a GNSS receiver 71d, and a GNSS antenna 71e.
One end of the shaft portion 71 a is fixed to the left side surface of the boom tip portion 32 . The plate-like member 71b has a rectangular shape in plan view, and one longitudinal end thereof is supported by the other end of the shaft portion 71a via a bearing (not shown) so as to be rotatable around the shaft portion 71a. .

The base member 71c has a cubic shape with rectangular faces, and one longitudinal end of the base member 71c is connected to the other longitudinal end of the plate-like member 71b so as to form a substantially L-shape in side view together with the plate-like member 71b. is fixed to The base member 71c functions as a weight and is thicker than the plate member 71b.
The GNSS receiver 71d has a cylindrical housing that is erected on the other end side of the base member 71c in the longitudinal direction. Equipped with various circuits of
The GNSS antenna 71e is disc-shaped and has an attachment shaft projecting from the center of one surface (lower surface in FIG. 2). The GNSS antenna 71e is fixed to the upper end portion of the housing of the GNSS receiver 71d by, for example, an adhesive or a screw via an attachment shaft. In addition, the terminal portion of the GNSS antenna 71e is electrically connected to the receiving circuit of the GNSS receiver 71d via an electric cable or the like.
With such a configuration, the GNSS receiver 71, for example, even if the boom 30 moves in the upright direction from the state shown in FIG. 3A to the upright state shown in FIG. , the entire portion other than the shaft portion 71a rotates around the shaft portion 71a so that the base member 71c is located on the lower side. In other words, the GNSS receiver 71 is configured so that the GNSS antenna 71e always faces upward regardless of the state of the boom 30.

Inside 5i of operator's cab 5, as shown in FIG. 4, a crane operating device having various operating levers including left operating lever 5rL and right operating lever 5rR, and control box 70 constituting crane control system 7, which will be described later. and are placed. Specifically, the control box 70 is attached to the right frame portion of the front window, which is a position visible to an operator seated in the driver's seat (not shown) provided in the interior 5i.
Inside the engine room 4EG, as shown in FIG. A pressure oil supply device 42 for supplying the generated pressure oil to hydraulic actuators such as various hydraulic cylinders and hydraulic motors is accommodated.
Specifically, the pressure oil supply device 42 supplies the pressure oil from the hydraulic pump 41 to the boom telescoping hydraulic cylinder 35, the boom hoisting hydraulic cylinder 36, the winch hydraulic motor 37, and the traveling hydraulic motors 60L and 60R. supply to In addition, in the first embodiment, pressure oil from the hydraulic pump 41 is supplied to the swing hydraulic motor 51 that is the swing actuator of the upper swing body 4 via the proportional electromagnetic valve 50 .

The upper revolving body 4 is configured to revolve according to the operator's operation of the left control lever 5rL (see FIG. 2). Specifically, when the left control lever 5rL is operated, the pressure oil generated by the hydraulic pump 41 is supplied to the proportional electromagnetic valve 50 via a turning switching control valve (not shown) provided in the pressure oil supply device 42. be.
Here, the proportional electromagnetic valve 50 operates based on an opening degree control signal Octr, which is a driving current signal from the second controller 20, which will be described later, so that the opening degree is proportional to the amount of current supplied by the signal Octr. . That is, the proportional solenoid valve 50 is set to 0% opening (shutoff state) when the amount of supplied current is 0, and to open (up to 100%) in proportion to the amount of supplied current when the amount of supplied current is greater than 0. Operate. Therefore, the pressure oil supplied to the proportional solenoid valve 50 is supplied to the turning hydraulic motor 51 at a flow rate corresponding to the opening degree of the proportional solenoid valve 50 . As a result, the turning hydraulic motor 51 is rotationally driven at a speed corresponding to the flow rate of the supplied pressure oil, and the upper turning body 4 is turned.

An operator operates the crane operating device to supply pressure oil generated by the hydraulic pump 41 to various hydraulic actuators through various switching control valves (not shown) provided in the pressure oil supply device 42 . As a result, when the boom telescoping hydraulic cylinder 35 telescopes, the boom 30 telescopes. On the other hand, when the boom hoisting hydraulic cylinder 36 expands and contracts, the boom 30 hovers. In addition, the wire rope 33 is let out from a winch drum (not shown) or wound around the winch drum by rotating the winch hydraulic motor 37 forward or backward. This causes the hook 34 to move up and down.

Returning to FIG. 1, the travel device 6 has a left crawler device 6L and a right crawler device 6R (not shown) mounted on the left and right of the lower part of the body 2. As shown in FIG. Two traveling hydraulic motors 60L and 60R (see FIG. 5) individually corresponding to the left crawler device 6L and the right crawler device 6R are provided. The traveling hydraulic motors 60L and 60R are each independently operated by supplying pressure oil from the pressure oil supply device 42 through a traveling switching control valve (not shown). .
Accordingly, by individually operating the left operating lever 5rL and the right operating lever 5rR forward or backward, the corresponding left crawler device 6L and right crawler device 6R can be driven individually.
An operator operates the various operation levers to perform the hoisting motion of the boom 30, the telescopic motion of the boom 30, the payout or winding motion of the wire rope, the swiveling motion of the upper rotating body 4, and the traveling motion of the traveling device 6. conduct. As a result, it is possible to move a load such as a building material suspended on the hook 34 using a sling tool or the like to a position desired by the operator.

[Configuration of Crane Control System 7]
Next, a specific configuration of the crane control system 7 will be described with reference to FIG.
The crane 1 of the first embodiment includes a crane control system 7, as shown in FIG. The crane control system 7 includes a GNSS receiver 71d and a GNSS antenna 71e provided on the boom tip 32 described above. Additionally, the crane control system 7 includes a swing angle sensor 75 provided on the swing shaft (not shown) of the upper swing structure 4 . Further, the crane control system 7 includes a second controller 20 which is a controller for controlling the operations of the machine body 2 and the crane device 3, and a proportional electromagnetic valve 50 for adjusting the flow rate of pressure oil supplied to the turning hydraulic motor 51. and
The control box 70, as shown in FIG. 6, includes a first controller 70a, a memory reader 70b, a storage device 70c, a display/input device 70d, and a wireless communication device 70e.
A GNSS receiver 71d and a turning angle sensor 75 are connected to the first controller 70a via an in-vehicle network (not shown) such as CAN (Controller Area Network).

The GNSS receiver 71d transmits positioning signals GNSS corresponding to GNSS radio waves from a plurality of (for example, five or more) GNSS satellites received via the GNSS antenna 71e to the first controller 70a via an in-vehicle network.
A turning angle sensor 75 detects a turning angle θt of the upper turning body 4 . The turning angle sensor 75 transmits the detected turning angle θt to the first controller 70a via the in-vehicle network.
The first controller 70a is composed of, for example, a microcontroller, and has a CPU, a ROM, a RAM, an internal/external bus, an I/F circuit, etc., although not shown. Various programs such as the control program of the crane control system 7 and data used in the programs are stored in the ROM or a storage device 70c, which will be described later.

The first controller 70a loads the control program stored in the ROM or the storage device 70c into the RAM, and causes the CPU to execute the control program loaded into the RAM, thereby realizing each function of the crane control system 7.
Specifically, the crane control system 7 of the first embodiment has an intrusion prohibition range setting function, a turning range setting function, and a crane operation regulation control function.
The entry prohibition range setting function of the first embodiment prevents the boom tip 32 of the crane 1 and the suspended load from entering the vicinity of the regulated object in order to prevent damage or breakage of the regulated object due to an operation error of the crane 1. This is a function to set the prohibited range.
Here, the objects to be regulated include structures that must not be broken or damaged by cargo handling work, and also include the boom tip 32 of the crane 1 and areas that must not be intruded by the suspended load. In other words, structures subject to regulation include, for example, temporary structures such as scaffoldings, above-ground structures such as utility poles and houses, overhead lines such as electric wires, and railway tracks when construction is performed near the railway site. and railway structures such as railroad crossings. In addition, the restricted area includes, for example, the area ahead of the railroad boundary line, the lane on the opposite side of the road where construction is being performed, and the area outside the outer periphery of the roof of the building. Furthermore, it also includes an area where personnel such as workers may be present near or inside (for example, under an opening) an opening of a construction pier or an opening formed on the ground by excavation.

In addition, the turning range setting function of the first embodiment is a function for setting a range in which the turning speed is limited step by step for the purpose of preventing damage or breakage of the regulated object due to a turning operation mistake of the crane 1 or load shaking. be.
Further, the crane operation restriction control function of the first embodiment is a function of performing control to restrict the operation of the crane 1 based on the above-described no-entry range and turning range.
The memory reader 70b inserts a memory medium (for example, a memory card, a USB memory, or the like) composed of a non-volatile memory such as a flash memory into an insertion section (not shown) to transmit data to the inserted memory medium. It is a device for reading. In the first embodiment, the memory reader 70b is used to import data such as a representative point coordinate group MCP (described later) and an intrusion prohibition range IPR (described later) created externally into the storage device 70c.

The storage device 70c is composed of a non-volatile storage medium having a relatively large capacity, such as a hard disk. In the first embodiment, the storage device 70c is used to store data of the representative point coordinate group MCP input via the display input device and various data stored in the memory medium via the memory reader 70b. . In addition, the control program and various data necessary for executing the control program may be stored.
The display input device 70d has a display panel that is a combination of a liquid crystal display panel and a touch panel. When the display input device 70d executes a mode setting process, an intrusion prohibition range setting process, a turning range setting process, a regulation operation mode setting process, an operation regulation control process, a turning regulation control process, etc., which are processes for realizing the functions described above. display various display information. In addition, the function of the touch panel enables the operator to input information according to the touch position by touching the display screen with a finger or the like.
In the first embodiment, the display input device 70d displays a plurality of button images including the setting instruction button image for each process and the selection button image for various modes, and the operator touches the button image through the touch panel. Then, information corresponding to the type of touched button is input to the first controller 70a.

The wireless communication device 70e is a device that performs wireless communication with an external device having a wireless communication function. In the first embodiment, it is used for receiving a correction signal COR from a GNSS reference station (not shown) and communicating with a mobile communication terminal such as a smart phone or tablet (not shown). It may also be used for communication with a TS (Total Station). The wireless communication device 70e transmits data received from an external device to the first controller 70a via the I/F circuit.
Here, the GNSS reference station is a GNSS receiver installed at a reference point (distinct position) on the construction site, has a GNSS antenna and a radio, and receives GNSS signals from multiple (eg, five or more) positioning satellites. Radio waves are received, and a correction signal COR including GNSS signals corresponding to the received GNSS radio waves from a plurality of satellites and position information of GNSS reference stations is wirelessly transmitted to an external device.

[Functional Configuration of First Controller 70a]
Next, based on FIG. 7, a specific functional configuration of the first controller 70a will be described.
As shown in FIG. 7, the first controller 70a includes a positioning information correction unit 170, a representative point setting unit 171, an image display processing unit 172, a range setting unit 173, and an operation regulation control unit as its functional components. 174.
The positioning information correction unit 170 has an RTK (Real Time Kinematic) positioning function. Based on the positioning signal GNSS input from the GNSS receiver 71d and the correction signal COR from the GNSS reference station input via the wireless communication device 70e, the positioning information correction unit 170 corrects the phase difference between these GNSS signals. Wavenumber (integer value bias) is calculated. Then, receiver coordinates (X, Y, Z), which are three-dimensional coordinate information of the GNSS receiver 71d, are calculated based on the calculated phase difference and wave number. The positioning information correction unit 170 outputs the calculated receiver coordinates (X, Y, Z) to the representative point setting unit 171 as the boom tip coordinates BC.

The representative point setting unit 171 sets representative coordinates MCP (hereinafter referred to as “representative point coordinate group MCP”) for setting the prohibited entry range IPR at the work site. Here, the prohibited entry range IPR is a range in which entry of the boom tip portion 32 of the crane 1 and the suspended load is prohibited at the work site. The prohibited entry range IPR is information including coordinate information of the prohibited range.
Specifically, in response to input of representative point setting mode information from the image display processing unit 172, the representative point setting unit 171 shifts to a mode indicated by the input setting mode information. Here, in the first embodiment, the representative point setting modes include a representative point specifying mode, a representative point reading mode, and a representative point receiving mode.
The representative point designation mode is a setting mode using the GNSS receiver 71d, and moves the crane 1 closer to the restricted object and moves the boom tip portion 32 to the boundary position to be set as the no-entry range IPR. In this mode, the boom tip coordinate BC at that time is set as the representative point CP. The representative points CP are measured at a plurality of different positions along the boundary position, and the plurality of representative points CP are set as a representative point coordinate group MCP1. Also, in the representative point designation mode, it is possible to select a representative point designation method from among a plurality of methods. Specifically, the method of specifying the number of representative points, etc., can be selected according to the shape, range, etc. of the area to be prohibited from entering.

The representative point readout mode is a mode in which the information of the representative point coordinate group pre-stored in the storage device 70c is read out via the memory reader 70b or the like, and the readout representative point coordinate group is set as the representative point coordinate group MCP2.
In the representative point reception mode, for example, information of a representative point coordinate group previously measured by a portable communication terminal such as a smartphone or tablet having a positioning function by GNSS is received via the wireless communication device 70e, and received. This is the mode for setting the representative point coordinate group obtained as the representative point coordinate group MCP3. In the first embodiment, it is assumed that application software for measuring the representative point CP is installed in the communication terminal.
Hereinafter, when the representative point coordinate groups MCP1 to MCP3 are not distinguished, they are simply referred to as "representative point coordinate group MCP".
The representative point setting unit 171 outputs information on the representative point coordinate group MCP set according to each mode to the range setting unit 173, and stores information on the representative point coordinate groups MCP1 and MCP3 in the storage device 70c.

The image display processing unit 172 displays and inputs an image necessary for various processes such as the above-described mode setting process, entry prohibition range setting process, turning range setting process, regulation operation mode setting process, operation regulation control process, and turning regulation control process. Processing for displaying on the device 70d is performed.
Specifically, in the mode setting process, the image display processing unit 172 displays a mode setting image including a selection button image for setting an entry prohibition range setting mode, a turning range setting mode, and a crane operation regulation control setting mode. An image display signal for display is output to the display input device 70d. In addition, the image display processing unit 172 outputs, to the representative point setting unit 171, notification information indicating that the prohibited area setting mode has been selected when the selection button for the prohibited area setting mode is pressed.
Further, the image display processing unit 172 outputs an image display signal for displaying the representative point setting image according to the instruction from the representative point setting unit 171 when the no-entry range setting mode is set to the display input device 70d. output to The representative point setting images are a representative point designation button image that is a selection button image for the representative point designation mode, a representative point readout button image that is a selection button image for the representative point readout mode, and a selection button image for the representative point reception mode. It includes a representative point reception button image and a setting completion button image. Also, the image display processing unit 172 outputs information on the selected mode to the representative point setting unit 171 based on the touch input of the selection button image in the representative point setting image.

Furthermore, when the representative point designation mode is set, the image display processing unit 172 displays a selection button image for selecting a specific representative point designation method according to an instruction from the representative point setting unit 171. image display signal to the display input device 70d. For example, the designated number of representative points can be selected. Further, the image display processing unit 172 outputs information on the selected designation method to the representative point setting unit 171 based on the touch input of the designation method selection button image.
On the other hand, when the turning range setting mode selection button is pressed, the image display processing unit 172 outputs notification information indicating that the turning range setting mode has been selected to the range setting unit 173 . In addition, when the turning range setting mode is set, the image display processing unit 172 displays a turning range setting guide image for assisting setting of a turning range 8 (described later) in accordance with an instruction from the range setting unit 173. An image display signal for displaying is output to the display input device 70d. The turning range setting guide image includes, for example, an image indicating the stop position, a button image indicating completion of stopping, an image indicating the prohibited entry range IPR, an image indicating the relative position of the boom tip coordinates BC with respect to the prohibited entry range IPR, and the like. It is a thing.

Further, when the selection button for the crane operation regulation control setting mode is pressed, the image display processing unit 172 outputs notification information indicating that the crane operation regulation control setting mode has been selected to the operation regulation control unit 174 . In addition, the image display processing unit 172 displays an image display signal for displaying the restricted operation mode setting image in response to an instruction from the operation restriction control unit 174 when the crane operation restriction control setting mode is set. Output to the input device 70d.
Here, the restriction operation mode setting image includes a selection button image for selecting ON/OFF of the operation restriction control mode, a selection button image for selecting ON/OFF of the turning restriction control mode, and a selection for selecting the type of prohibition mode. It includes a button image and a setting completion button image. The movement regulation control mode is a mode for executing movement regulation control processing for the crane 1 based on the prohibited entry range IPR, and the turning regulation control mode is a mode for executing turning regulation control processing for the crane 1 based on the turning range 8. is. In addition, the prohibition mode is a mode corresponding to the content of the operation to be prohibited in the intrusion prohibition range IPR. There is also a second prohibition mode in which the operation is restricted when the approach distance of the distal end portion 32 to the intrusion prohibition range IPR becomes equal to or less than a predetermined distance.

Further, the image display processing unit 172 outputs notification information indicating the ON/OFF state of the operation restriction control mode to the operation restriction control unit 174 in response to pressing of a selection button for selecting ON/OFF of the operation restriction control mode. do. Furthermore, in response to depression of a selection button for selecting ON/OFF of the turning regulation control mode, notification information indicating the ON/OFF state of the turning regulation control mode is output to the motion regulation control unit 174 . Furthermore, in response to pressing of a selection button for selecting the type of prohibition mode, notification information indicating whether the prohibition mode is set to the first prohibition mode or the second prohibition mode is sent to the range setting unit 173. Output.
As shown in FIG. 8, the range setting section 173 includes an entry prohibition range setting section 173a and a turning range setting section 173b.
The prohibited entry range setting unit 173 a sets the prohibited entry range IPR based on the information of the plurality of representative points CP included in the representative point coordinate group MCP input from the representative point setting unit 171 .

Hereinafter, as shown in FIG. 9A, the case of setting the prohibited intrusion range IPR1 based on a representative point coordinate group MCP including two representative points CP1 and CP2 will be taken as an example. The setting method is explained. Three or more representative points CP may be set as the representative point coordinate group MCP.
An actual boundary line BL1 indicated by a dashed dotted line in FIG. 9(a) is an area where the boom tip 32 cannot enter (hereinafter referred to as an "intrusion-inhibited area") indicated by hatched lines in FIG. It is the boundary line with the side of the intrusion-free area (hereinafter referred to as "intrusion-allowable area") side. It should be noted that the actual boundary line BL1 and the shaded area are shown for convenience of explanation, and are information that cannot be displayed on the screen unless the coordinate information or the like is known in advance. In the first embodiment, it is assumed that the coordinate information is not known and that no screen display or the like is performed. Further, in setting the intrusion prohibited range IPR1, it is necessary to set in advance information indicating the direction of the intrusion prohibited area with respect to the boom tip coordinates BC. For example, for the boom tip coordinate BC, the information indicating the direction is set such that the side where the GNSS coordinate value increases is set as the intrusion prohibited area side and the side where the GNSS coordinate value decreases as the intrusion permitted area side. This information is set by, for example, manual input by an operator. In addition to this configuration, for example, a GNSS receiver is also provided on the upper rotating body 4 side to obtain the coordinate position of the upper rotating body 4, and the actual boundary line BL1 or the boundary line L (described later) Alternatively, the side on which the upper rotating body 4 does not exist may be automatically set as the no-entry area side. Further, for example, the configuration may be such that the operator causes the crane 1 to travel toward the actual boundary line BL1, and the boom tip coordinate BC is changed at that time to automatically set by calculation.

The coordinates of the representative points CP1 and CP2 are set along the actual boundary line BL1 with a predetermined distance (margin) on the intrusable area side of the actual boundary line BL1. That is, the representative points CP1 and CP2 are desirably set at coordinate positions with a margin in consideration of the size of the suspended load, the range of load fluctuation, and the like. In addition, in the first embodiment, by setting the turning range 8 separately, it is possible to take countermeasures against the size of the suspended load, the vibration of the load, etc. with respect to the turning motion. A boundary line L1 indicated by a solid line in FIG. 9A is a boundary line connecting the representative points CP1 and CP2 with a straight line. In the example of FIG. 9A, a rectangular area on the intrusion prohibited area side from the boundary line L1 is set as the intrusion prohibited range IPR1. Here, an example of setting two representative points has been described, but when setting three or more representative points, the boundary line L is set by connecting the respective representative points with a straight line in a preset order. Further, the details of the setting method of the representative points CP1 and CP2 will be described later.

When the turning range setting mode is set, the turning range setting unit 173b displays a guide image for the operator to stop the crane 1 in a specific posture at a position for cargo handling work. Hereinafter, this stopped state is referred to as a "specific stopped state". Here, it is desirable that the specific stop state be a stop state in which the crane device 3 is in the longest posture (with the largest turning radius) in the radial direction that can be taken during cargo handling work. In the first embodiment, since the crane 1 is not equipped with a sensor for detecting the length of the boom 30 or a sensor for detecting the hoisting angle, the maximum length is set as the length in the radial direction. These sensors may be provided so that the operator can instruct the appropriate maximum length by instructing (for example, manually inputting) the boom length and the hoisting angle according to the work content. Alternatively, the operator may extend and recline the boom 30 to assume the maximum length during cargo handling work, thereby automatically recognizing the boom 30 .

When the operator recognizes that the crane 1 has been put into a specific stop state, the turning range setting unit 173b uses this state as a reference, and based on preset turning range setting data, turns as shown in FIG. 9B. Set range 8. The details of the turning range setting data will be described later.
Specifically, when the operator operates the crane 1 to bring the crane 1 into a specific stop state, the turning range setting unit 173b first automatically sets the turning prohibited range 80 using the turning angle in the specific stop state as a reference angle. . After that, the first and second hydraulic damping ranges 81A and 81B, the third and fourth hydraulic damping ranges 82A and 82B, and the normal turning range 83 shown in FIG. 9B are automatically set. As a result, the turning range 8 including the prohibited turning range 80, the first and second hydraulic damping ranges 81A and 81B, the third and fourth hydraulic damping ranges 82A and 82B, and the normal turning range 83 is set. be.
Hereinafter, the prohibited turning range 80, the first and second hydraulic damping ranges 81A and 81B, and the third and fourth hydraulic damping ranges 82A and 82B are collectively abbreviated as "turning restricted ranges 80 to 82". Also, the first and second hydraulic damping ranges 81A and 81B and the third and fourth hydraulic damping ranges 82A and 82B are collectively abbreviated as "hydraulic damping ranges 81-82".

It should be noted that the turning prohibited range 80 is a turning angle range in which control for prohibiting turning motion is performed. In the first embodiment, when the crane device 3 is in the radially longest posture (the posture shown in FIG. 9B) (the posture shown in FIG. 9B), the boom tip portion 32 of the crane 1 or the hanging The range includes a turning position in which at least one of the loads cannot avoid the restricted object. Specifically, when the restricted object is the restricted object, the range includes the boom tip 32 and the turning position where the suspended load collides with the restricted object, and when the restricted object is the area to be avoided, the boom tip 32 and the swivel position where the load enters that area.
Further, the hydraulic buffering range 81 to 82 is a turning angle range in which control is performed to reduce the change in the flow rate of the hydraulic oil supplied to the turning hydraulic motor 51 within a predetermined turning angle range before and after the turning prohibited range 80 . A normal turning range 83 is a turning angle range in which normal turning control is performed.

Returning to FIG. 7 , the motion restriction control section 174 sets the motion restriction flag, the turning restriction flag, and the prohibited mode flag based on various kinds of notification information from the image display processing section 172 .
Here, the operation regulation flag is, for example, a flag whose value is "1" when the operation regulation control mode is set to ON, and whose value is "0" when it is set to OFF. . Further, the turning regulation flag is a flag that takes a value of "1" when the turning regulation control mode is set to ON, and a value of "0" when it is set to OFF. The prohibition mode flag is a flag whose value is "1" when the first prohibition mode is set, and "0" when the second prohibition mode is set. .
Furthermore, the motion regulation control unit 174 controls the set motion regulation flag, turning regulation flag, and prohibition mode flag, the boom tip coordinate BC from the positioning information correction unit 170, the turning angle θt from the turning angle sensor 75, and the RAM Alternatively, control for restricting the operation of the crane 1 is executed based on the currently set information on the prohibited entry range IPR and the turning range 8 stored in the storage device 70c.

Specifically, when the operation restriction control mode is set to ON and the first prohibition mode is set, the operation restriction control unit 174 performs the first operation restriction control based on the first prohibition mode and the intrusion prohibition range IPR. Execute the process. That is, based on the boom tip coordinates BC and the information on the prohibited entry range IPR, the operation regulation control section 174 determines whether the boom tip portion 32 has entered the prohibited entry range IPR due to the hoisting motion, traveling motion, or the like of the crane 1. Sometimes, control is performed to prohibit the operation in the direction in which the boom tip portion 32 continues to intrude.
On the other hand, when the operation restriction control mode is set to ON and the second prohibition mode is set, the operation restriction control unit 174 performs the second operation restriction control process based on the second prohibition mode and the intrusion prohibition range IPR. Run. That is, based on the boom tip coordinates BC and the information on the prohibited entry range IPR, the operation regulation control unit 174 controls the approach distance of the boom tip end portion 32 to the prohibited entry range IPR by a hoisting motion, a running motion, or the like, to a predetermined distance or less. Then, control is performed to prohibit the operation in the direction in which the boom tip portion 32 continues to approach.
More specifically, the operation regulation control unit 174 of the first embodiment controls the crane 1 when the boom tip coordinate BC is within the prohibited entry range IPR or is a coordinate that is a predetermined distance or less from the prohibited entry range IPR. to the second controller 20, a first regulation control signal RC1 for regulating the operation of The first restriction control signal RC1 includes information about the prohibited mode being set.

Further, when the turning regulation control mode is set to ON, the movement regulation control unit 174 determines that the turning angle θt is within the hydraulic buffer range based on the turning angle θt from the turning angle sensor 75 and the information of the turning range 8 . When it is within 81 and 82, control is performed to alleviate the change in the flow rate of the pressure oil. In addition, when the swing angle θt falls within the swing prohibition range 80, control is performed to prohibit swing motion in the direction in which the boom tip portion 32 of the crane 1 continues to enter. In the first embodiment, the operation regulation control process based on the prohibited entry range IPR is given priority over the turning regulation control process based on the turning range 8 .
Here, in the first embodiment, as shown in FIG. There are two stages of cushioning ranges corresponding to the right and left turning directions of 82A and 82B. In the first embodiment, the opening degrees of the first and second hydraulic damping ranges 81A and 81B are A [%], and the opening degrees of the third and fourth hydraulic damping ranges 82A and 82B are B [%]. In this case, the opening is set so that the relationship "0<B<A<100" is established.

Further, the turning restriction control based on the turning range 8 of the first embodiment sets the opening degree of the proportional electromagnetic valve 50 to 100% when the turning angle θt of the upper turning body 4 is within the normal turning range 83. 2 regulation control signal RC2 is sent to the second controller 20, and the opening degree of the proportional electromagnetic valve 50 is set to A [%] when the turning angle θt is within the first or second hydraulic damping range 81A or 81B. 3 regulation control signal RC3 to the second controller 20. In addition, a fourth regulation control signal RC4 is sent to the second controller 20 to set the degree of opening of the proportional electromagnetic valve 50 to B [%] when the turning angle θt is within the third or fourth hydraulic damping range 82A or 82B. A fifth regulation control signal RC5 that sets the opening of the proportional electromagnetic valve 50 to 0% when the turning angle θt is within the turning prohibited range 80 or becomes a turning angle with a turning angle difference equal to or less than a predetermined angle. is transmitted to the second controller 20 . Here, the second to fifth regulation control signals RC2 to RC5 are signals containing information on each degree of opening, which is the control target value.
That is, in the first embodiment, the opening of the proportional solenoid valve 50 is set to 0% in the rotation prohibition range 80 to forcibly stop the rotation operation, and the openings A and B (B< A) is an opening degree between 0[%] and 100[%], and control is performed to mitigate changes in the flow rate of pressure oil between the normal turning range 83 and the prohibited turning range 80 . In addition, in the normal turning range 83, the opening degree is set to 100[%] (no regulation), and control is performed to enable normal turning operation to be executed.

Further, in the first embodiment, as shown in FIG. 9B, the turning angle ranges of the first and second hydraulic damping ranges 81A and 81B are set to β1 [°], respectively, and the third and fourth hydraulic damping ranges are Assuming that the turning angle ranges of the ranges 82A and 82B are β2[°], the angle ranges are set so as to satisfy the relationship of "β1=β2". It should be noted that other configurations such as "β1<β2" and "β1>β2" are also possible without being limited to this configuration.
Assuming that the turning angle range of the turning prohibited range 80 is γ[°] and the turning angle range of the normal turning range 83 is α[°], the relationship "α=360−2×(β1+β2)+γ" is established.
That is, as shown in FIG. 9B, when the upper rotating body 4 is turned leftward from the normal turning range 83, the normal turning range 83→first hydraulic buffer range 81A→third hydraulic buffer range 82A→ Turning is performed in the order of turning prohibited range 80'. On the other hand, when turning to the right, the turning is performed in the order of "normal turning range 83→second hydraulic buffer range 81B→fourth hydraulic buffer range 82B→turn prohibition range 80". Therefore, when the upper swing body 4 swings from the normal swing range 83 toward the swing prohibition range 80, the opening degree decreases stepwise from 100% to 0% in the hydraulic damping range 81-82. will change. For example, assume that the opening degrees of the first and second hydraulic damping ranges 81A and 81B are set to 80[%], and the opening degrees of the third and fourth hydraulic damping ranges 82A and 82B are set to 60[%]. In this case, the opening changes in the order of 100 [%] → 80 [%] → 60 [%] → 0 [%]. The change in the degree of opening is gentle compared to As a result, changes in the flow rate of the pressurized oil are moderated, so that changes in the turning speed are moderated, and it is possible to reduce the fluctuation of the suspended load.

On the other hand, when the second controller 20 of the first embodiment receives the first restriction control signal RC1, the second controller 20 controls the entry prohibition range IPR according to the prohibition mode specified by the received first restriction control signal RC1. A control signal Ctr for stopping the movement of the boom tip portion 32 to continue intrusion or the movement in the direction of intrusion is generated, and the generated control signal Ctr is transmitted to the pressure oil supply device 42 . As a result, the pressure oil supply device 42 stops the operation of each hydraulic actuator associated with the continuous intrusion of the boom tip portion 32 or the intrusion direction.
In addition, the second controller 20 of the first embodiment, in response to receiving the second to fifth regulation control signals RC2 to RC5, controls the opening degree of the current amount to be the opening degree specified by the received regulation control signal RC. A signal Octr is generated and the generated opening degree control signal Octr is sent to the proportional solenoid valve 50 .
As a result, the proportional solenoid valve 50 operates so that the opening is proportional to the current amount of the received opening control signal Octr, and the flow rate of the pressure oil supplied to the turning hydraulic motor 51 is adjusted according to the opening. amount.

The motion regulation control unit 174 monitors the boom tip coordinate BC, and when the crane 1 moves out of the turning range 8, stops the turning regulation control and sets the turning regulation flag to "0". setting to turn off the turning restriction control mode. Also, the currently set turning range 8 is invalidated.

[Mode setting processing]
Next, based on FIG. 10, the processing procedure of the mode setting processing of the first embodiment will be described.
When the control program is executed and the mode setting process is started in the CPU of the first controller 70a, as shown in FIG. 10, the process first proceeds to step S100.
In step S100, the image display processing unit 172 outputs an image display signal for displaying the mode setting image to the display/input device 70d to display the mode setting screen on the display/input device 70d. After that, the process proceeds to step S102.
As a result, the display/input device 70d displays a mode setting image including selection button images for setting the no-entry range setting mode, the turning range setting mode, and the crane operation restriction control setting mode.

In step S102, the image display processing unit 172 determines whether or not the entry prohibition range setting mode selection button has been pressed according to the operator's touch input. If it is determined that the button has been pressed (Yes), mode information indicating that the entry prohibition range setting mode has been selected is output to the representative point setting unit 171, and the process proceeds to step S104. (No), the process proceeds to step S106.
When the process proceeds to step S104, the representative point setting unit 171 and the prohibited intrusion range setting unit 173a execute processing for setting the prohibited intrusion range IPR to set the prohibited intrusion range IPR. After that, the series of processes is terminated and the original process is returned to.
On the other hand, in step S102, if the entry prohibition range setting mode selection button is not pressed and the process proceeds to step S106, the image display processing unit 172 selects the turning range setting mode selection button in response to the operator's touch input. Determines whether or not the button has been pressed. If it is determined that the button has been pressed (Yes), mode information indicating that the turning range setting mode has been selected is output to the range setting unit 173, and the process proceeds to step S108. ) goes to step S110.

When the process proceeds to step S108, the turning range 8 is set by executing the turning range 8 setting processing in the turning range setting unit 173b. After that, the series of processes is terminated and the original process is returned to.
Further, in step S106, if the turning range setting mode selection button is not pressed and the process proceeds to step S110, the image display processing unit 172 selects the crane operation regulation control setting mode selection button in response to the operator's touch input. is pressed. When it is determined that the button has been pressed (Yes), mode information indicating that the crane operation restriction control setting mode has been selected is output to the operation restriction control unit 174, the process proceeds to step S112, and it is determined otherwise. In the case (No), the process proceeds to step S102.
In step S112, the operation regulation control unit 174 executes mode setting processing for crane operation regulation control to set the operation regulation control mode, turning regulation control mode, and prohibition mode. After that, the series of processes is terminated and the original process is returned to.

[Intrusion prohibited range setting process]
Next, based on FIG. 11, the processing procedure of the no-entry range setting processing of the first embodiment will be described.
In the CPU of the first controller 70a, when the control program is executed and the entry prohibition range setting process is started, as shown in FIG. 11, the process first proceeds to step S200.
In step S200, the representative point setting unit 171 causes the image display processing unit 172 to display the representative point setting image on the display input device 70d, and the process proceeds to step S202.
As a result, the representative point designation button image, the representative point readout button image, and the representative point reception button image are displayed on the display input device 70d.
In step S<b>202 , the representative point setting unit 171 determines whether or not the representative point specifying button has been pressed based on the mode information input from the image display processing unit 172 . If it is determined that the button has been pressed (Yes), the process proceeds to step S204, and if it is determined otherwise (No), the process proceeds to step S214.

When the process proceeds to step S204, the representative point setting unit 171 switches to the coordinate designation mode and causes the image display processing unit 172 to display an image for the coordinate designation mode on the display input device 70d. As a result, the display input device 70d displays a selection button image for selecting a representative point designation method, a guide image for setting the representative point coordinate group MCP1 by the selected designation method, and the current boom tip coordinates BC. is displayed as a representative point setting button image or the like. After that, based on the information from the image display processing unit 172, when it is determined that the method of specifying the representative point CP has been selected, the process proceeds to step S206.
In step S<b>206 , the representative point setting unit 171 determines whether or not the representative point setting button has been pressed based on the touch input information from the image display processing unit 172 . If it is determined that the button has been pressed (Yes), the process proceeds to step S208, and if it is determined otherwise (No), the determination process is repeated until the button is pressed.

When the process proceeds to step S208, the representative point setting unit 171 determines the current boom tip coordinates BC as one of the representative points CP. Then, the coordinate information of the determined representative point CP is stored in the storage device 70c, and the process proceeds to step S210.
That is, the operator operates the crane 1 to move the boom tip portion 32 to a position to be set as the representative point CP, and presses the representative point setting button image at that position to set the boom tip coordinates BC at that time. It is set as one of the representative points CP.
In step S210, the representative point setting unit 171 determines whether or not the setting of the representative points CP is completed based on the set designation method and the number of already set representative points CP. If it is determined that the process has ended (Yes), the information of the representative point coordinate group MCP1 including the plurality of set representative points CP is output to the range setting unit 173, the process proceeds to step S212, and it is determined otherwise. In the case (No), the process proceeds to step S206.

When the process proceeds to step S212, the prohibited-intrusion range setting unit 173a of the range setting unit 173 sets the prohibited-intrusion range IPR based on the information of the input representative point coordinate group MCP. After that, the information of the set intrusion prohibited range IPR is stored in the storage device 70c, and the series of processes is terminated to return to the original process.
Here, the prohibited intrusion range setting unit 173a is specifically configured to set the prohibited intrusion range IPR by a range setting method predetermined for each representative point designation method.
On the other hand, in step S202, if the representative point designation button is not pressed and the process proceeds to step S214, the representative point read button is pressed in the representative point setting unit 171 based on the touch input information from the image display processing unit 172. It is determined whether or not When it is determined that the button has been pressed (Yes), the process proceeds to step S216, and when it is determined otherwise (No), the process proceeds to step S222.

When the process proceeds to step S216, the representative point setting unit 171 switches to the representative point readout mode, and the image display processing unit 172 executes processing for displaying an image for the representative point readout mode on the display input device 70d. . After that, the process proceeds to step S218.
As a result, a selection list image for selecting a representative point coordinate group to be read is displayed on the display/input device 70d. As the selection list, the identification information of the representative point coordinate group stored in advance via the external device or the memory reader 70b, the identification information of the representative point coordinate group set in the coordinate designation mode, and the like are displayed.
In step S<b>218 , the representative point setting unit 171 determines whether or not a representative point coordinate group to be read has been selected based on touch input information from the image display processing unit 172 . If it is determined that the item is selected (Yes), the process proceeds to step S220, and if it is determined otherwise (No), the determination process is repeated until the item is selected.

In step S220, representative point setting section 171 reads the selected representative point coordinate group from storage device 70c and outputs the read representative point coordinate group to range setting section 173 as representative point coordinate group MCP2. After that, the process proceeds to step S212.
Further, in step S214, when the process proceeds to step S222, the representative point setting unit 171 determines whether or not the representative point reception button has been pressed based on the touch input information from the image display processing unit 172. When it is determined that the button has been pressed (Yes), the process proceeds to step S224, and when it is determined otherwise (No), the process proceeds to step S202.
If the process proceeds to step S224, the representative point setting unit 171 switches to the representative point readout mode, and causes the image display processing unit 172 to perform processing for displaying an image for the representative point readout mode on the display input device 70d. . After that, the process proceeds to step S226.
As a result, a guide image or the like for receiving the representative point coordinate group MCP from the external device is displayed on the display/input device 70d.

At step 226, the representative point setting unit 171 determines whether or not the representative point coordinate group has been received from the external device. If it is determined that it has been received (Yes), the received representative point coordinate group is output to the range setting unit 173 as the representative point coordinate group MCP3, and the process proceeds to step S212. On the other hand, if it is determined that it has not been received (No), the determination process is repeated until it is received.

[Rotation range setting process]
Next, the processing procedure of the turning range setting processing of the first embodiment will be described based on FIG. 12 .
When the turning range setting mode is set and the turning range setting process is started in the CPU of the first controller 70a, as shown in FIG. 12, the process first proceeds to step S300.
In step S300, the turning range setting section 173b of the range setting section 173 causes the image display processing section 172 to display a turning range setting guidance image on the display input device 70d. After that, the process proceeds to step S302.
As a result, the turning range setting guide image is displayed on the display input device 70d. The turning range setting guidance image includes an image instructing the crane 1 to stop in a specific posture at a position where cargo handling work is to be performed, and a stop for notifying that the crane 1 has stopped in a specific posture at the work position. Contains the Done button image. In addition, the image includes a reset button image for resetting the turning range 8, a setting completion button image for completing the setting of the turning range 8, and the like. That is, it becomes a guide image for setting the turning range 8 . This guidance image may display information for assisting the operator, such as information on the linear distance D1 between the boom tip coordinates BC and the boundary line L, as a guideline for the work position (FIG. 17). ).

According to the guidance on the screen, the operator causes the crane 1 to travel and stop at the working position, and furthermore, rotates the upper swing body 4 and extends and raises and lowers the boom 30 to shift to a specific posture. . That is, the crane 1 is shifted to the specific stop state.
In step S302, the turning range setting unit 173b determines whether or not the stop completion button has been pressed based on the touch input information from the image display processing unit 172. FIG. If it is determined that the button has been pressed (Yes), the process proceeds to step S304, and if it is determined otherwise (No), the determination process is repeated until the button is pressed.
When the process proceeds to step S304, the turning range setting unit 173b sets the turning prohibited range 80 based on the turning angle θt information and the turning range setting data in the specific stop state. After that, the process proceeds to step S306.
Specifically, with the current turning position (θt) of the crane 1 as a reference position (θt=0°), the prohibited turning range 80 is set based on the turning range setting data stored in advance in the storage device 70c. This setting information is stored in the RAM or storage device 70c.

In the turning range setting data, for example, a virtual straight line passing through the turning center of the crane 1 and parallel to the boundary line L1 is set, and a turning angle range of 180° on the entry prohibition range IPR side is set with respect to this virtual straight line. Information set as the turning prohibition range 80 is included. In addition, the no-turn area 80, the third and fourth hydraulic damping areas 82A and 82B adjacent to the no-turn area 80, and the first and second hydraulic damping areas 82A and 82B adjacent to the third and fourth hydraulic damping areas 82A and 82B. of the hydraulic damping ranges 81A and 81B.
In step S306, the turning range setting unit 173b sets the hydraulic buffer ranges 81 to 82 based on the turning prohibited range 80 set in step S304 and the turning range setting data. After that, the process proceeds to step S308.
That is, once the turning prohibition range 80 is determined, the hydraulic buffer ranges 81 to 82 can also be determined by calculation.

In step S308, the normal turning range 83 is set in the turning range setting unit 173b based on the results of setting the prohibited turning range 80 set in step S304 and the results of setting the hydraulic buffer ranges 81 to 82 in step S306. After that, the process proceeds to step S310.
That is, the normal turning range 83 is set to the turning prohibited range 80 and the hydraulic buffering range 81 to 82 in the turning range 360[°].
In step S310, the turning range setting section 173b causes the image display processing section 172 to display an image of the set turning range 8 on the display input device 70d. After that, the process proceeds to step S312. Specifically, an image of the turning range 8 as shown in FIG. 9B is displayed.
In step S312, the turning range setting unit 173b determines whether or not the reset button image has been pressed based on the touch input information from the image display processing unit 172. FIG. If it is determined that the button has been pressed (Yes), the turning range can be reset, and the process proceeds to step S302. If not (No), the process proceeds to step S314.

That is, in the first embodiment, for example, when the work position is wrong, or when the size of the load to be lifted is forgotten, the turning range 8 is reset after the crane 1 is stopped in a specific stop state. It is possible.
In step S<b>314 , the turning range setting unit 173 b determines whether or not the setting completion button image has been pressed based on the touch input information from the image display processing unit 172 . If it is determined that the button has been pressed (Yes), the series of processes is terminated and the original process is returned to.If not (No), the process proceeds to step S312.

[Regulation operation mode setting process]
Next, based on FIG. 13, the processing procedure of the regulation operation mode setting processing of the first embodiment will be described.
When the regulation operation mode setting process is started in the CPU of the first controller 70a, as shown in FIG. 13, the process first proceeds to step S400.
In step S400, the operation restriction control unit 174 causes the image display processing unit 172 to display a restriction operation mode setting image on the display input device 70d. After that, the process proceeds to step S402.
As a result, the restriction operation mode setting image is displayed on the display/input device 70d. That is, a selection button image for selecting ON/OFF of the movement restriction control mode, a selection button image for selecting ON/OFF of the turning restriction control mode, a selection button image for selecting the type of prohibition mode, and a setting completion button image. An image containing and is displayed.
In step S402, based on the notification information from the image display processing unit 172, the operation restriction control unit 174 determines whether or not the operation restriction control mode selection button (hereinafter referred to as the "operation restriction ON/OFF button") has been pressed. judge. When it is determined that the button has been pressed (Yes), the process proceeds to step S404, and when it is determined otherwise (No), the process proceeds to step S410.

When the process proceeds to step S404, the motion restriction control unit 174 sets the motion restriction flag to "1" when the current motion restriction flag is "0", and sets the motion restriction flag to "1" when the current motion restriction flag is "1". sets the operation restriction flag to "0". After that, the process proceeds to step S406.
Here, the operation restriction ON/OFF button is composed of a single button image, and the operation restriction control unit 174 is configured to change the value of the flag each time the operation restriction ON/OFF button is pressed. ing. The ON/OFF state of the operation restriction control mode may be made visible by, for example, changing the display color of the operation restriction ON/OFF button between the ON state and the OFF state. Alternatively, for example, the ON/OFF state may be changed by pressing the button for a long time. That is, the image display processing unit 172 outputs notification information only when the button is pressed for a predetermined time or longer.
In step S<b>406 , based on the notification information from the image display processing unit 172 , the operation regulation control unit 174 determines whether or not the setting completion button has been pressed. If it is determined that the button has been pressed (Yes), the series of processes is terminated and the original process is returned to.If not (No), the process proceeds to step S402.

On the other hand, in step S402, if the motion restriction ON/OFF button is not pressed and the process proceeds to step S408, the motion restriction control unit 174 selects the turning restriction control mode based on the notification information from the image display processing unit 172. A determination is made as to whether or not a button (hereinafter referred to as a "swing restriction ON/OFF button") has been pressed. If it is determined that the button has been pressed (Yes), the process proceeds to step S410, and if it is determined otherwise (No), the process proceeds to step S414.
When the process proceeds to step S410, the motion restriction control unit 174 sets the rotation restriction flag to "1" when the current rotation restriction flag is "0", and sets the rotation restriction flag to "1" when the current rotation restriction flag is "1". sets the turning restriction flag to "0". After that, the process proceeds to step S408.
Here, the turning regulation ON/OFF button is composed of a single button image, and the motion regulation control unit 174 is configured to change the value of the flag each time the turning regulation ON/OFF button is pressed. ing. The ON/OFF state of the turning regulation control mode may be made visible by, for example, changing the display color of the turning regulation ON/OFF button between the ON state and the OFF state. Alternatively, for example, the ON/OFF state may be changed by pressing the button for a long time. That is, the image display processing unit 172 outputs notification information only when the button is pressed for a predetermined time or longer.

Further, in step S408, if the turn regulation ON/OFF button is not pressed and the process proceeds to step S412, the operation regulation control unit 174 selects the type of prohibition mode based on the notification information from the image display processing unit 172. It is determined whether or not a selection button (hereinafter referred to as a "prohibition mode button") has been pressed. If it is determined that the button has been pressed (Yes), the process proceeds to step S414, and if it is determined otherwise (No), the process proceeds to step S408.
Here, in the first embodiment, the display input device 70d is configured to display two selection button images, a first prohibition mode button image and a second prohibition mode button image.

In step S414, when the operation restriction control unit 174 determines that the first prohibition mode button has been pressed based on the notification information from the image display processing unit 172, the prohibition mode flag is set to "1". However, when it is determined that the second prohibition mode button has been pressed, the prohibition mode flag is set to "0". After that, the process proceeds to step S408.
Here, in the first embodiment, when the first prohibition mode button is pressed, the first prohibition mode is set, and when the second prohibition mode button is pressed in this state, the setting of the first prohibition mode is canceled. A second prohibition mode is set. Similarly, when the first prohibition mode button image is pressed while the second prohibition mode is set, the setting of the second prohibition mode is canceled and the first prohibition mode is set.

[Operation restriction control process]
Next, based on FIG. 14, the processing procedure of the motion regulation control processing of the first embodiment will be described.
When the operation restriction control process is started in the CPU of the first controller 70a, as shown in FIG. 14, the process first proceeds to step S500.
In step S500, the motion restriction control unit 174 determines whether or not the motion restriction control mode is set based on the motion restriction control flag. If it is determined that it is set (Yes), the process proceeds to step S502, and if it is determined otherwise (No), the series of processes is terminated and the original process is returned to.
When the process proceeds to step S502, the operation regulation control unit 174 determines whether or not the first prohibition mode is set based on the prohibition mode flag. And when it determines with it being set (Yes), it transfers to step S504, and when it determines with it not being set (No), it transfers to step S510.

When the process proceeds to step S504, the current boom tip coordinates BC are obtained from the positioning information corrector 170 in the motion regulation control section 174, and the process proceeds to step S506.
In step S506, operation restriction control unit 174 reads out prohibited entry range IPR from storage device 70c. After that, based on the read prohibited entry range IPR and the boom tip coordinates BC obtained in step S504, it is determined whether or not the approach distance of the boom tip portion 32 to the prohibited entry range IPR is equal to or less than a predetermined distance. If it is determined that the distance is less than or equal to the predetermined distance (Yes), the process proceeds to step S508, and if it is determined otherwise (No), the series of processes is terminated and the original process is returned to.
In step S508, the operation regulation control unit 174 outputs the first regulation control signal RC1 to the second controller 20, ends the series of processes, and returns to the original process.
When the second controller 20 receives the first regulation control signal RC1 from the first controller 70a, the second controller 20 controls various hydraulic actuators of the crane device 3 based on the prohibited mode information included in the received first regulation control signal RC1. Generate a control signal Ctr.

Specifically, when the first prohibition mode is set, the control signal Ctr for controlling the drive of the hydraulic actuator for prohibiting the operation in the direction in which the boom tip portion 32 continues to approach the intrusion prohibition range IPR is generated. . Then, the generated control signal Ctr is output to the pressure oil supply device 42 . This forcibly stops the movement of the approach-related hydraulic actuator in the approaching direction.
On the other hand, when the second prohibition mode is set, the control signal Ctr for controlling the drive of the hydraulic actuator for prohibiting the operation in the direction in which the boom tip portion 32 continues to enter the penetration prohibition range IPR is generated. Then, the generated control signal Ctr is output to the pressure oil supply device 42 . This forcibly stops the movement of the hydraulic actuator associated with the intrusion in the direction of continued intrusion.

On the other hand, in step S502, if the second prohibition mode is set instead of the first prohibition mode and the process proceeds to step S510, the current boom tip coordinates BC are obtained from the positioning information correction unit 170 in the operation regulation control unit 174. Then, the process proceeds to step S512.
In step S512, operation regulation control unit 174 reads out prohibited entry range IPR from storage device 70c. After that, it is determined whether or not the boom tip portion 32 has entered the prohibited entry range IPR based on the read prohibited range IPR and the boom tip coordinates BC acquired in step S510. If it is determined that an intrusion has occurred (Yes), the process proceeds to step S508, and if it is determined otherwise (No), the series of processes is terminated and the original process is returned to.

[Turn regulation control process]
Next, based on FIG. 15, the processing procedure of the turning restriction control processing of the first embodiment will be described.
When the turning restriction control process is started in the CPU of the first controller 70a, as shown in FIG. 15, the process first proceeds to step S600.
In step S600, the motion regulation control section 174 determines whether or not the turning regulation control mode is set based on the turning regulation control flag. If it is determined that it is set (Yes), the process proceeds to step S602, and if it is determined otherwise (No), the series of processes is terminated and the original process is returned to.
In step S602, the motion restriction control unit 174 acquires the turning angle θt from the turning angle sensor 75, and the process proceeds to step S604.
In step S<b>604 , the motion restriction control unit 174 determines whether or not the turning angle θt acquired in step S<b>602 is within the normal turning range 83 . If it is determined that it is within the normal turning range 83 (Yes), the process proceeds to step S606, and if it is determined otherwise (No), the process proceeds to step S608.

When the process proceeds to step S606, the operation regulation control unit 174 transmits the second regulation control signal RC2 including the information of the degree of opening 100 [%] to the second controller 20, and terminates the series of processes. Return to processing.
When the second controller 20 receives the second regulation control signal RC2 from the first controller 70a, the proportional electromagnetic valve 50 is controlled based on the information of the opening degree 100 [%] included in the received second regulation control signal RC2. 100[%] of the opening control signal Octr is generated. Then, the generated opening degree control signal Octr is output to the proportional solenoid valve 50 .
As a result, the opening degree of the proportional solenoid valve 50 becomes 100[%], and the pressure oil is supplied to the turning hydraulic motor 51 at the maximum flow rate. As a result, the turning hydraulic motor 51 rotates at a rotational speed corresponding to the flow rate of the supplied pressure oil, and the upper turning body 4 turns at a turning speed corresponding to the rotational speed of the turning hydraulic motor 51 .

On the other hand, if the turning angle θt is not within the normal turning range 83 in step S604 and the process proceeds to step S608, the operation regulation control unit 174 changes the turning angle θt acquired in step S602 to the first hydraulic buffer range 81A or the first hydraulic buffer range 81A. 2 or not within the hydraulic buffer range 81B. If it is determined to be within the first hydraulic damping range 81A or the second hydraulic damping range 81B (Yes), the process proceeds to step S610, and if it is determined otherwise (No), the process proceeds to step S612. do.
When the process proceeds to step S610, the operation restriction control unit 174 transmits the third restriction control signal RC3 including information on the opening degree A [%] to the second controller 20, and the process proceeds to step S612.

When the second controller 20 receives the third regulation control signal RC3 from the first controller 70a, the proportional electromagnetic valve 50 is controlled based on the information of the opening degree A [%] included in the received third regulation control signal RC3. The opening degree control signal Octr of the current amount with the opening degree of A [%] is generated. Then, the generated opening degree control signal Octr is output to the proportional solenoid valve 50 .
As a result, the degree of opening of the proportional solenoid valve 50 changes from 100% to A [%] (e.g., 80%), and the flow rate of pressure oil corresponding to the degree of opening A [%] (opening of 100%) is supplied to the turning hydraulic motor 51 at a flow rate smaller than that at the time. As a result, the turning hydraulic motor 51 rotates at a rotational speed corresponding to the flow rate of the supplied pressure oil, and the upper turning body 4 turns at a turning speed (opening of 100%) corresponding to the rotational speed of the turning hydraulic motor 51. ] at a slower speed).

On the other hand, if the turning angle θt is not within the first hydraulic damping range 81A or the second hydraulic damping range 81B in step S608 and the process proceeds to step S612, the operation regulation control unit 174 controls the turning angle θt acquired in step S602. is within the third hydraulic damping range 82A or the fourth hydraulic damping range 82B. Then, if it is determined that it is within the third hydraulic damping range 82A or the fourth hydraulic damping range 82B (Yes), the process proceeds to step S614, and if it is determined otherwise (No), the process proceeds to step S616. do.
When the process proceeds to step S614, the operation restriction control unit 174 transmits a fourth restriction control signal RC4 including information on the opening degree B [%] to the second controller 20, and the process proceeds to step S614.

When the second controller 20 receives the fourth regulation control signal RC4 from the first controller 70a, the proportional electromagnetic valve 50 is controlled based on the information of the opening degree B [%] included in the received fourth regulation control signal RC4. The opening degree control signal Octr of the current amount that sets the opening degree of B [%] is generated. Then, the generated opening degree control signal Octr is output to the proportional solenoid valve 50 .
As a result, the degree of opening of the proportional solenoid valve 50 changes from A [%] to B [%] (for example, 60 [%]), and the pressure oil flows according to the degree of opening B [%]. is supplied to the turning hydraulic motor 51 at a flow rate smaller than that at the time. As a result, the turning hydraulic motor 51 rotates at a rotational speed corresponding to the flow rate of the supplied pressure oil, and the upper turning body 4 turns at a turning speed (opening A [%) corresponding to the rotational speed of the turning hydraulic motor 51. ] at a slower speed).

Further, if it is determined in step S612 that the turning angle θt is not within the third hydraulic damping range 82A or the fourth hydraulic damping range 82B but is within the turning prohibition range 80 and the process proceeds to step S616, the operation regulation control unit At 174, the fifth regulation control signal RC5 including the information of the opening degree of 0 [%] is transmitted to the second controller 20, the series of processing is terminated, and the original processing is resumed.
When the second controller 20 receives the fifth regulation control signal RC5 from the first controller 70a, the proportional solenoid valve 50 is controlled based on the information of the opening degree 0 [%] included in the received fifth regulation control signal RC5. output of the opening degree control signal Octr is stopped so that the opening degree of is set to 0 [%].
As a result, the degree of opening of the proportional solenoid valve 50 is changed from B [%] to 0 [%], and the supply of pressure oil to the turning hydraulic motor 51 is stopped. As a result, the turning hydraulic motor 51 stops, and the turning motion of the upper turning body 4 also stops.

〔motion〕
Specific operations of the crane 1 according to the first embodiment will be described below with reference to FIGS. 16 to 21. FIG.
Assume that the operator presses the selection button image of the no-entry range setting mode in the mode setting image displayed on the display/input device 70d. As a result, the no-entry range setting process is executed in the first controller 70a, and the representative point setting image is displayed on the display/input device 70d. Assume that the operator presses the representative point designation button image in the representative point setting image. As a result, a plurality of selection button images for specifying the representative point are displayed on the display/input device 70d. Here, for example, it is assumed that selection button images are displayed for selecting four types of designation methods, 2-point designation, 3-point designation, 4-point designation, and solid designation. Assume that the operator presses a selection button image for designating two points. As a result, the display input device 70d displays a guidance image for the two-point designation method. This guide image includes a representative point setting button image. Note that 3-point designation, 4-point designation, and solid designation will be separately described as application examples of the first embodiment.

Following the guidance on the screen, the operator stops the crane 1 near the boundary position between the intrusion prohibited area and the intrusion permitted area, as shown in FIG. 16(a), for example. Here, it is assumed that the vehicle has stopped at a position where cargo handling work is to be performed. Next, by operating various control levers, the boom 30 is telescopically moved and raised and lowered, and the upper rotating body 4 is rotated counterclockwise to bring the boom tip 32 closer to the vicinity of the actual boundary line BL1. In practice, the operator turns the boom tip 32 slightly from the boundary position to a position on the side of the intrusion-allowed area while visually confirming the boundary between the intrusion-prohibited area and the intrusable area that have been divided in advance at the work site. move. Then, after stopping at the target position, the representative point setting button image displayed on the display input device 70d is touched. As a result, in the crane 1, the current boom tip coordinate BC is determined as the representative point CP1 and stored in the storage device 70c as one of the representative points forming the representative point coordinate group MCP1.

Subsequently, as shown in FIG. 16(b), the operator can rotate the upper rotating body 4 of the crane 1 clockwise to allow the boom tip portion 32 to slightly enter from the boundary position while visually confirming the boundary position. Turn and move to the position on the area side. Then, after stopping at the target position, the representative point setting button image displayed on the display input device 70d is touched. As a result, the current boom tip coordinate BC is determined as the representative point CP2 and stored in the storage device 70c as one of the representative points forming the representative point coordinate group MCP1.
Since two-point designation is set as the representative point designation method, the first controller 70a determines that two-point designation has been completed, and terminates the representative point setting process. Subsequently, based on the representative point coordinate group MCP1 including the coordinate information of the representative points CP1 and CP2 shown in FIG. As shown in a), a boundary line L1 is generated by connecting the representative points CP1 and CP2 with a straight line. Although the actual boundary line BL1 is illustrated in FIG. 17A, the information of the actual boundary line BL1 is not displayed on the actual display/input device 70d, and the boundary line L1, the representative point CP1 and the CP2 and the current boom tip coordinate BC are displayed.

Subsequently, the operator indicates which side of the boundary line L1 will be the intrusion prohibited area. For example, it is specified by touching the intrusion prohibited area side (the left side in FIG. 17A) of the boundary line L1 of the display input device 70d with a finger.
When the information on the intrusion prohibited area side is input, the first controller 70a sets the shaded rectangular range on the intrusion prohibited area side from the boundary line L1 as the intrusion prohibited area IPR1, as shown in FIG. do. Note that the shaded range may be automatically set to a range specified in advance, may be set manually, or may be manually changed after automatic setting. In addition, in two-point designation, an intrusion prohibition range is set two-dimensionally (for example, by XY coordinates).
In this manner, the prohibited entry range IPR1 is set, and when the operator presses the setting completion button image, the mode setting image is displayed again on the display/input device 70d.

Assume that the operator subsequently presses the turning range setting mode selection button image in the mode setting image. As a result, the turning range setting process is executed in the first controller 70a, and a turning range setting guidance image is displayed on the display input device 70d. That is, the display input device 70d displays an image for instructing the crane 1 to stop at a position for cargo handling work in a specific posture, and an image for notifying that the crane 1 has stopped at the work position in a specific posture. An image including a stop completion button image and the like is displayed.
Following the guidance on the screen, the operator causes the upper revolving body 4 to turn so that the upper revolving body 4 takes a posture with its back to the boundary line L1, as shown in FIG. 18(a), for example. Here, while maintaining the position and posture when the representative point is set, the boom tip portion 32 is directed in the direction opposite to the prohibited entry range IPR1. At this time, information on the distance D1 between the boom tip coordinates BC and the boundary line L1 is displayed on the display input device 70d. This time, the representative points CP1 and CP2 were set by two-point designation and turning motion. need to be moved. Therefore, for example, by recording the distance D1 in the specific stop state in advance, it is possible to adjust the distance from the boundary line L while looking at the distance D1 displayed on the display input device 70d. .

After that, when the operator presses the stop completion button image in the turning range setting guidance image, the first controller 70a recognizes that the crane 1 is in the specific stop state.
The first controller 70a first sets the prohibited turning range 80 based on the information on the turning angle θt in the specific stop state and the turning range setting data stored in the storage device 70c.
Here, the turning angle θt in the specific stop state is set to 0[°], and the turning angle increases clockwise to 90[°], 180[°], and 270[°]. Then, as shown in FIG. 18B, an angle range of 90[°] to 270[°] (180[°] range) on the rear side of the upper rotating body 4 is set as the rotation prohibition range 80 .
Subsequently, the first controller 70a sets an angular range of 22.5[°] before and after the prohibited turning range 80 as the third and fourth hydraulic damping ranges 82A and 82B, respectively. Subsequently, the first controller 70a sets an angle range of 22.5[°] as the first hydraulic damping range 81A after the second hydraulic damping range 81B and before the fourth hydraulic damping range 82B. , an angle range of 22.5[°] is set as the third hydraulic damping range 82A. Then, the remaining angular range of 90 [°] is set as the normal turning range 83 .

Here, according to the turning range setting data, the angle ratio is 50% for the prohibited turning range 80, 6.25% for the first and second hydraulic buffer ranges 81A and 81B, and 6.25% for the third and second hydraulic damping ranges. It is assumed that the fourth hydraulic damping ranges 82A and 82B are each set to 6.25[%]. In addition, the opening degree of the turning prohibited range 80 is 0 [%], the opening degree A of the first and second hydraulic damping ranges 81A and 81B is 80 [%], and the third and fourth hydraulic damping ranges 82A and 82B. is set to 60[%], and the opening of the normal turning range 83 is set to 100[%].
In this manner, the turning range 8 is set, and when the operator presses the setting completion button image, the mode setting image is displayed again on the display/input device 70d.
Assume that the operator subsequently presses the selection button image for the crane operation regulation control setting mode in the mode setting image. As a result, the first controller 70a executes the mode setting process for the crane operation regulation control, and the display input device 70d displays a regulation operation mode setting image. That is, the display input device 70d includes an operation restriction ON/OFF button image, a turning restriction ON/OFF button image, a first prohibition mode button image, a second prohibition mode button image, and a setting completion button image. An image is displayed. By default, the motion restriction control mode and the turning restriction control mode are OFF, and the first prohibition mode is set as the prohibition mode.

Here, it is assumed that the operator presses the motion restriction ON/OFF button image, the turning restriction ON/OFF button image, and the second prohibition mode button image. As a result, the first controller 70a sets both the motion restriction flag and the turning restriction flag to "1" and the prohibition mode flag to "0". Assume that the operator then presses the setting completion button image. Thereby, the first controller 70a executes motion restriction control and turning restriction control. That is, the motion restriction control mode and the turning restriction control mode are turned on.
In this state, it is assumed that the operator operates the turning operation lever to turn the upper turning body 4 from the normal turning range 83 to the turning position shown in FIG. 19(a), for example. In this case, since the turning angle θt is within the first hydraulic damping range 81A, the first controller 70a transmits to the second controller 20 the third regulation control signal RC3 including the information of the opening degree 80[%]. .
As a result, the degree of opening of the proportional electromagnetic valve 50 is changed from 100[%] to 80[%], and pressure oil is supplied to the turning hydraulic motor 51 at a flow rate corresponding to the degree of opening 80[%]. As a result, the upper revolving body 4 revolves at a revolving speed slower than when the opening is 100[%]. Note that while the turning angle θt is within the first hydraulic damping range 81A, the opening degree of the proportional solenoid valve 50 is maintained at 80[%].

Suppose that the operator continues to operate the turning operation lever to turn the upper turning body 4 to the turning position shown in FIG. 19(b), for example. In this case, the turning angle θt is within the third hydraulic damping range 82A, so the first controller 70a transmits to the second controller 20 the fourth regulation control signal RC4 including information on the degree of opening of 60[%]. .
As a result, the degree of opening of the proportional solenoid valve 50 is changed from 80[%] to 60[%], and pressure oil is supplied to the turning hydraulic motor 51 at a flow rate corresponding to the degree of opening 60[%]. As a result, the upper revolving body 4 revolves at a revolving speed slower than when the opening degree is 80[%]. Note that while the turning angle θt is within the third hydraulic damping range 82A, the opening degree of the proportional solenoid valve 50 is maintained at 60[%].

Assume that the operator continues to operate the turning operation lever to turn the upper turning body 4 to, for example, the turning position shown in FIG. 19(c). In this case, the turning angle θt is within the turning prohibited range 80, so the first controller 70a transmits to the second controller 20 the fifth regulation control signal RC5 including the information of the opening degree 0 [%].
As a result, the opening degree of the proportional electromagnetic valve 50 is changed from 60[%] to 0[%], and the supply of pressure oil to the turning hydraulic motor 51 is stopped. As a result, the revolving motion of the upper revolving body 4 stops.
That is, when the turning operation is performed from the normal turning range 83 toward the turning prohibited range 80, the turning speed of the upper turning body 4 does not suddenly decrease to 0 from the turning speed at the opening of 100%, but rather in stages. slows down and then stops. Therefore, it is possible to prevent the suspended load from swinging greatly due to the sudden stop.

After that, for example, when the cargo handling work is finished and the operator operates the travel lever to move the crane 1 from the working position to the outside of the turning range 8, the first controller 70a changes the currently set turning range. The range 8 is invalidated, and the turning restriction control mode is turned off.
In this state, only the motion restriction control mode is valid. Assume that the crane 1 moves forward from the position shown in FIG. 20(a) and moves toward the position shown in FIG. 20(b) by the operation of the travel lever by the operator. In this case, since the first controller 70a is currently set to the second prohibition mode, the boom tip coordinates BC enter the prohibition range IPR1 based on the coordinate information of the boom tip coordinates BC and the prohibition range IPR1. At that time, the first regulation control signal RC1 is transmitted to the second controller 20. FIG. It should be noted that determination of entry into the prohibited entry range IPR1 is made only by the XY coordinates of the boom tip coordinates BC, and the Z coordinates (coordinates in the height direction) are ignored. That is, the operation of the crane 1 with a load suspended is taken into consideration.
As a result, driving of the traveling hydraulic motors 60L and 60R is stopped in response to the operation of the traveling lever in the forward direction by the operator. Thereafter, driving of the traveling hydraulic motors 60L and 60R is prohibited with respect to the operation of the traveling lever in the forward direction. On the other hand, in order to escape from the prohibited entry range IPR1, driving of the traveling hydraulic motors 60L and 60R is permitted with respect to lever operation in the reverse direction.

In addition, in the first embodiment, hydraulic actuators other than the travel hydraulic motors 60L and 60R that have caused the intrusion are prohibited from being driven by any lever operation.
The turning hydraulic motor 51, the boom telescoping hydraulic cylinder 35, the boom hoisting hydraulic cylinder 36, and the winch hydraulic motor 37 other than the traveling hydraulic motors 60L and 60R operate in the same manner.

On the other hand, when the first prohibition mode is set, driving of the traveling hydraulic motors 60L and 60R is stopped at the position shown in FIG. . In other words, the entry of the boom tip portion 32 into the entry prohibition range IPR1 itself is prohibited.
The same operation applies to the turning hydraulic motor 51, the boom telescoping hydraulic cylinder 35, the boom hoisting hydraulic cylinder 36, and the winch hydraulic motor 37 other than the traveling hydraulic motors 60L and 60R.

Next, a description will be given of the operation when the worker W on site sets the representative point coordinate group MCP using a portable communication terminal 90 (for example, a smart phone) having a GNSS positioning function. It is assumed that the communication terminal 90 has a touch panel.
When acquiring the representative point coordinate group MCP using the communication terminal 90, the worker W first activates dedicated application software. As a result, on the display screen of the communication terminal 90, a selection button image for specifying a representative point is displayed. Here, for example, it is assumed that selection button images for selecting three types of designation methods, 2-point designation, 3-point designation, and 4-point designation, are displayed. Assume that worker W presses a selection button image for designating two points. As a result, the display screen of the communication terminal 90 displays a guidance image for how to acquire the coordinates of the specified two points. This guide image includes a representative point acquisition button image.

The worker W moves by walking or the like according to the guidance on the screen, and positions the communication terminal 90 near the actual boundary line BL1 (target position), for example, as shown in FIG. 21(a). In practice, the worker W moves the communication terminal 90 from the boundary position to a position slightly closer to the intrusion-allowed area while visually confirming the boundary between the intrusion-prohibited area and the intrusable area that has been divided in advance at the work site. Take. Then, while the communication terminal 90 is at the target position, the representative point acquisition button image displayed on the display screen is touched. As a result, the current body coordinates (X, Y, Z) of the communication terminal 90 measured using the GNSS positioning function are determined as the representative point CP1, one of the representative points forming the representative point coordinate group MCP. is stored in the memory of the communication terminal 90.

Subsequently, for example, as shown in FIG. 21(b), the worker W moves to another target position away from the representative point CP1 in the vicinity of the boundary position while holding the communication terminal 90. As shown in FIG. Then, while the communication terminal 90 is at another target position, the representative point acquisition button image displayed on the display screen is touched. As a result, the current body coordinates of the communication terminal 90 measured using the GNSS positioning function are determined as the representative point CP2, and stored in the memory of the communication terminal 90 as one of the representative points forming the representative point coordinate group MCP. remembered.
Since 2-point designation is set as the representative point designation method, communication terminal 90 terminates the representative point acquisition processing assuming that the acquisition of the 2 points is completed.

Subsequently, the worker W carries the communication terminal 90 in which the representative point coordinate group MCP is stored, and moves to the place where the crane 1 is placed. Then, as shown in FIG. 21(c), wireless communication is performed with the control box 70 mounted on the crane 1, and the information of the representative point coordinate group MCP stored in the communication terminal 90 is wirelessly transmitted.
At this time, before wireless communication with the communication terminal 90, the operator of the crane 1 (here, the worker W and another person) presses the representative point reception button image in the representative point setting image displayed on the display input device 70d. Press. As a result, the first controller 70a shifts to the representative point reception mode. This enables the control box 70 to receive information on the representative point coordinate group MCP3 from the communication terminal 90 .
On the other hand, the worker W also performs an operation to transmit the representative point coordinate group MCP from the operation screen of the dedicated application software, and wirelessly transmits the representative point coordinate group MCP.
The first controller 70a receives the information of the representative point coordinate group MCP from the communication terminal 90 via the wireless communication device 70e, and sets the received representative point coordinate group MCP as the representative point coordinate group MCP3.

Subsequently, based on the representative point coordinate group MCP3 and a preset method of setting an intrusion prohibition range for two-point designation, first, as shown in FIG. A boundary line L1 is generated by connecting CP2 with a straight line. After that, the operation is the same as in the case of designation in the above representative point designation mode.
Here, in the first embodiment, the GNSS receiver 71 and the positioning information correction section 170 correspond to the tip coordinate measurement section, and the motion regulation control section 174 corresponds to the determination section and the motion control section.

[Action and effect of the first embodiment]
In the crane control system 7 according to the first embodiment, the representative point setting unit 171 sets the coordinates measured by GNSS, for example, as the representative point CP at the work site. The prohibited intrusion range setting unit 173 a sets the prohibited intrusion range IPR based on the plurality of representative points CP (representative point coordinate group MCP) set by the representative point setting unit 171 . The GNSS receiver 71 and the positioning information correction unit 170 measure the coordinates BC of the boom tip 32 based on positioning signals GNSS from a plurality of GNSS satellites received by the GNSS antenna provided at the boom tip 32 of the crane 1. do. The operation restriction control unit 174 determines whether the boom tip 32 is within the prohibited entry range IPR based on the coordinates BC of the boom distal end 32 measured by the GNSS receiver 71 and the positioning information correction unit 170 and the coordinate information of the prohibited entry range IPR. or approached the prohibited entry range IPR. In addition, based on this determination result, the operation of the crane 1 is controlled so that the boom 30 of the crane 1 does not continue to enter the prohibited entry range IPR or does not enter the prohibited entry range IPR.
With this configuration, it is possible to easily set the prohibited entry range IPR only by positioning the representative point CP by GNSS. can be reduced.

Further, the crane control system 7 according to the first embodiment is further configured such that the representative point setting unit 171 can set the representative point CP based on the boom tip coordinates BC measured by the GNSS receiver 71 and the positioning information correction unit 170. It is
With this configuration, the representative point CP can be easily set by a simple operation such as operating the crane 1 to move the boom tip portion 32 to a position desired to be set as the representative point CP.
Further, in the crane control system 7 according to the first embodiment, the prohibited entry range setting unit 173a further sets a boundary line L connecting a plurality of representative points CP with a straight line, and based on this boundary line L, the prohibited entry range Set the IPR.
With this configuration, simply by setting a plurality of representative points CP (at least two points), a range obtained by interpolating the coordinate range between them with straight lines can be set as the intrusion prohibited range IPR, so that a wide range of intrusion prohibited range IPR can be easily achieved. can be set.

In addition, the crane control system 7 according to the first embodiment further communicates a plurality of representative points CP at the work site measured by the portable communication terminal 90 having a GNSS positioning function to the representative point setting unit 171. It is configured so that it can be input from the terminal 90 via radio.
With this configuration, it is possible to easily acquire the representative point CP by a communication terminal such as a smartphone, and to apply the acquired representative point CP to other cranes having the same functions as the crane 1. becomes possible.

Further, in the crane control system 7 according to the first embodiment, the turning range setting unit 173b further includes a turning prohibited range 80, which is a turning range including at least a part of the intrusion prohibited range IPR, as a target for regulation of the turning motion of the crane 1. set. In addition, before and after the prohibited turning range 80, a hydraulic damping range 81 to 82, which is a turning range for mitigating changes in the flow rate of pressure oil supplied to the turning hydraulic motor 51, is set. When the operation regulation control unit 174 determines that the boom tip 32 of the crane 1 (swing angle θt corresponding to the position of the boom tip 32 in the embodiment) is within the hydraulic pressure buffer range 81 to 82, the swing hydraulic pressure The flow rate of the pressure oil supplied to the motor 51 is limited within a range that does not stop the swing motion, and when it is determined that the tip of the boom is within the swing prohibition range 80, the output of the swing hydraulic motor 51 is reduced to the swing prohibition state. It is controlled so as to stop the turning motion in the direction of continuing the intrusion into the range 80 .
With this configuration, it is possible to gradually decrease the flow rate of the pressure oil supplied to the turning hydraulic motor 51 within the hydraulic damping range 81 to 82 within a range in which the turning motion is not stopped. This makes it possible to reduce the change in turning speed when turning is stopped, compared to a configuration that abruptly stops the turning motion. As a result, it is possible to prevent or reduce the occurrence of troubles such as the collapse of the ground contact balance of the crane 1 and the large swing of the load due to a change in the swing speed when the swing is stopped.

[Application example 1 of the first embodiment]
Next, an application example 1 of the first embodiment will be described. This application example 1 is an application example in which the boundary line L generated from two representative points CP set by two-point designation can be extended to expand the prohibited entry range.
Hereinafter, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted as appropriate, and different points will be described in detail.
〔Constitution〕
After forming a boundary line L by connecting a plurality of representative points CP set by the representative point setting unit 171 with a straight line, the entry prohibition range setting unit 173a according to the application example 1 extends the boundary line L and extends it. It is possible to generate a boundary line Lex. Furthermore, it is possible to set an extended intrusion prohibited range IPRex based on the extended boundary line Lex.

The extended boundary line Lex is set by, for example, displaying an image for setting the extended boundary line Lex on the display input device 70d, and performing appropriate touch input according to the guidance on the screen by the operator.
For example, it is possible to designate the length to be extended by touch input. Also, instead of entering a specific numerical value, for example, display a magnification button image or an infinite extension button image, and press this button image to extend with the content set for each button image. may For example, when the magnification button image is pressed, an extended boundary line L1ex is set by extending the boundary line L1 with the magnification set for this button, and when the infinite extension button image is pressed, the boundary line L1 is made infinite. set the extended boundary line L1ex.

〔motion〕
Next, based on FIG.22 and FIG.23, the operation example of the crane 1 which concerns on this application example 1 is demonstrated.
Now, as shown in FIG. 22A, it is assumed that a boundary line L1 is generated by connecting the representative points CP1 and CP2 set by the representative point setting unit 171 with a straight line.
When the boundary line L1 is generated, the first controller 70a displays an image for setting the extended boundary line Lex on the display input device 70d. This setting image includes a numerical value input button image, a magnification button image, an infinite extension button image, etc. for setting the length of extension.
Here, it is assumed that the operator presses the infinite extension button image. As a result, the first controller 70a generates an extended boundary line L1ex by infinitely extending the boundary line L1, as shown in FIG. 22(b). Subsequently, as in the first embodiment, the first controller 70a displays the extended boundary line L1ex and its The intrusion prohibited area side is set as an extended intrusion prohibited range IPR1ex.

As shown in FIG. 23, the first controller 70a of the first application example 1 can extend the extended intrusion prohibited range IPR1ex according to the type of the set prohibited mode, as shown in FIG. control for regulating the operation of the crane 1. That is, when the first prohibition mode is set, control is performed to restrict the operation so that the boom tip portion 32 does not enter the extended intrusion prohibition range IPR1ex. On the other hand, when the second prohibition mode is set, when the boom tip portion 32 enters the extended penetration prohibition range IPR1ex, control is performed to restrict the movement in the direction of continued penetration.
Further, the turning range 8 is set for each working position of the crane 1, and the set turning range 8 is controlled to restrict the turning motion in the same manner as in the first embodiment.

[Actions and Effects of Application Example 1 of First Embodiment]
In the crane control system 7 according to Application Example 1 of the first embodiment, the prohibited entry range setting unit 173a sets the extended prohibited range IPRex based on the extended boundary line Lex obtained by extending the boundary line L. FIG.
With this configuration, the prohibited intrusion range can be expanded simply by instructing the extension of the boundary line L, so it is possible to easily set the extended prohibited range IPRex by expanding the prohibited range IPR. . In particular, when the actual boundary line between the intrusion additional area and the intrusion permitted area is substantially straight and long, the extended intrusion prohibited range IPRex corresponding to substantially the entire area is set by simply setting two points in the near field and instructing extension. It is possible.

[Application example 2 of the first embodiment]
Next, an application example 2 of the first embodiment will be described. This application example 2 is an application example in which three representative points CP are set and an intrusion prohibition range IPR is set with respect to an intrusion prohibition region including a corner of a building or the like.
Hereinafter, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted as appropriate, and different points will be described in detail.
〔Constitution〕
The representative point setting unit 171 according to the application example 2 selects the representative point setting unit 171 according to the specific setting method when the three-point designation method is selected, for example, when the no-entry area has a corner of a building or the like. By setting the three points of CP, it is possible to easily set the prohibited entry range IPR in the area including the corner.

Specifically, in this application example 2, for example, as shown in FIG. A representative point CP1 is set in the vicinity of one of the two sides forming the part (actual boundary line BL2 in the example of FIG. 24). In addition, as shown in FIG. 24(b), a representative point CP2 is set in the vicinity of the intersection of the actual boundary line BL2 and the other side (the actual boundary line BL3 in the example of FIG. 24). , a representative point CP3 is set in the vicinity of the actual boundary line BL3. Note that the setting order is not limited to this order.
In addition, in the example of FIG. 24, representative points CP1 to CP3 are set by measuring the boom tip coordinates BC using the crane 1 only by the turning motion and the telescopic motion of the boom 30, but this method is not limited to this method. Absent. For example, the coordinates of the representative point may be measured while moving the crane 1 each time, or the position coordinates (XY coordinates) of the above three locations are measured by a communication terminal 90 such as a smartphone, and the representative point reception mode or You may make it set using a representative point read-out mode.

On the other hand, as shown in FIG. 25A, the entry prohibition range setting unit 173a according to the application example 2 connects the representative points CP1 and CP2 with a straight line, and connects the representative points CP3 and CP2 with a straight line. A substantially L-shaped line connecting the two is set as a boundary line L2. Then, as indicated by dark shading in FIG. 25B, based on the set boundary line L2, a rectangular intrusion prohibited range IPR2 in plan view is set on the intrusion prohibited area side including the boundary line L2.
Note that, in this application example 2, as shown by light shading in FIG. It is also possible to set an extended no-entry range IPR2ex based on the extended boundary line L2ex. The extended intrusion prohibited range IPR2ex is a range including the intrusion prohibited range IPR2.

As shown in FIG. 26A, the first controller 70a of this application example 2 sets the prohibited intrusion range IPR2 set in this manner in the same manner as in the first embodiment. The control for regulating the operation of the crane 1 is performed according to the type. Further, as shown in FIG. 26(b), the operation of the crane 1 is controlled in accordance with the set prohibition mode in the extended prohibition range IPR2ex as in Application Example 1 of the first embodiment. Control to regulate.
Further, the turning range 8 is set for each working position of the crane 1, and the set turning range 8 is controlled to restrict the turning motion in the same manner as in the first embodiment.

[Action and effect of application example 2 of the first embodiment]
In the crane control system according to the application example 2 of the first embodiment, the representative point setting unit 171 sets a plurality of representative points CP as a plurality of representative points CP in a plan view of an area where the boom tip end 32 should be prohibited from entering, and A representative point CP1 consisting of two-dimensional coordinates near one of the two sides to be formed, a representative point CP3 consisting of two-dimensional coordinates near the other side, and a point of intersection between one side and the other side. A representative point CP2 composed of two-dimensional coordinates in the neighborhood can be set. In addition, the no-entry range setting unit 173a sets a line connecting the representative points CP1 and CP2 with a straight line and connecting the representative points CP3 and CP2 with a straight line as the boundary line L2.
With this configuration, it is possible to easily set an intrusion prohibited range IPR for an intrusion prohibited area including corners of a building, etc., simply by setting three representative points.

[Application example 3 of the first embodiment]
Next, an application example 3 of the first embodiment will be described. This application example 3 is an application example in which four representative points CP are set and an intrusion prohibition range IPR is set in an area including corners of a building or the like.
Hereinafter, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted as appropriate, and different points will be described in detail.
〔Constitution〕
The representative point setting unit 171 according to the application example 3 selects the representative point setting unit 171 according to the specific setting method when the four-point designation method is selected, for example, when the no-entry area has a corner of a building or the like. By setting the four CPs, it is possible to easily set the prohibited entry range IPR in the area including the corners.

Specifically, in this application example 3, for example, as shown in FIG. 27, first, the operator operates the crane 1 to prohibit the boom tip 32 from entering the area (building BLD2 in the example of FIG. 27). in plan view, the crane 1 is moved to the front side of one of the two sides forming the corner (the actual boundary line BL4 in the example of FIG. 27). Then, the boom tip end portion 32 is positioned at two coordinate positions (for example, on the same Y-axis coordinates) that are arranged at a predetermined distance along the actual boundary line BL4 in the vicinity of the actual boundary line BL4, and these two coordinate positions are arranged. The boom tip coordinates BC of the location are set as representative points CP1 and CP2. In this application example 3, two-dimensional coordinates (XY coordinates) are obtained without considering the height direction (Z-axis coordinates).
Subsequently, the operator operates the crane 1 to move the crane 1 to the front side of the other side (actual boundary line BL5 in the example of FIG. 27) as shown in FIG. Then, the boom tip end portion 32 is positioned at two coordinate positions (for example, on the same X-axis coordinates) that are arranged in the vicinity of the actual boundary line BL5 with a predetermined distance therebetween along the actual boundary line BL5. The boom tip coordinates BC (two-dimensional coordinates) of the location are set as representative points CP3 and CP4.

Note that the actual boundary lines BL4 and BL5 are information that is not displayed on the display/input device 70d. Therefore, in practice, while visually checking the sides of the building BLD2, the crane 1 is operated to set the representative points CP1 and CP2 and CP4 and CP5 near and along the sides. Also, the order of setting is not limited to this order.
In the example of FIG. 27, the representative points CP1 to CP4 are set by measuring the boom tip coordinates BC using the crane 1, but the method is not limited to this. For example, the two-dimensional position coordinates (XY coordinates) of the four locations may be measured by the communication terminal 90 such as a smartphone, and set using the representative point reception mode or the representative point readout mode.

On the other hand, as shown in FIG. 27, the no-entry range setting unit 173a according to the third application example sets a first straight line L3 connecting the representative points CP1 and CP2, and the representative points CP3 and CP4. , and a second straight line L4 is generated by connecting . Subsequently, the generated first straight line L3 and second straight line L4 are extended until they intersect, and at the intersection they are connected to generate a substantially L-shaped boundary line L5. Here, let the coordinate of the intersection (the corner of the L-shape) on the extension of the first and second straight lines L3 and L4 be a representative point CP5. Then, as shown by shading in FIG. 28, based on the set boundary line L5, a rectangular intrusion prohibited range IPR3 in plan view is set on the intrusion prohibited area side including the boundary line L5.
Although illustration is omitted, an extended boundary line L5ex is set by extending the line L3 part and the L4 part of the boundary line L5 in the same manner as in the application example 1 of the first embodiment, and an intrusion is made based on the set extended boundary line L5ex. It is also possible to set an extended intrusion prohibited range IPR3ex, which is an extension of the prohibited range IPR3.

As shown in FIG. 28, the first controller 70a of this application example 3 sets the prohibited entry range IPR3 set in this way to the set prohibition mode type, as in the first embodiment. Control for restricting the operation of the crane 1 is performed accordingly. Although not shown, control is performed to restrict the operation of the crane 1 in accordance with the type of prohibition mode that has been set, as in Application Example 1 of the first embodiment. .
Further, the turning range 8 is set for each working position of the crane 1, and the set turning range 8 is controlled to restrict the turning motion in the same manner as in the first embodiment.

[Actions and Effects of Application Example 3 of First Embodiment]
In the crane control system 7 according to the application example 3 of the first embodiment, the representative point setting unit 171 sets a plurality of representative points CP (representative point coordinate group MCP) to an area (for example, , building BLD2) in plan view, representative points CP1 and CP2 are set as two-dimensional coordinates of positions aligned along one of the two sides forming the corner in the vicinity of the one side. do. In addition, a third representative point and a fourth representative point consisting of two-dimensional coordinates of positions aligned along the other side in the vicinity of the other side are set. The no-entry range setting unit 173a sets a first straight line L3 connecting the representative points CP1 and CP2, and a second straight line L4 connecting the representative points CP3 and CP4. A line obtained by extending the second straight line L3 to a position where the two intersect is set as a boundary line L5.
With this configuration, it is possible to easily set an intrusion prohibited area IPR for an intrusion prohibited area including corners of a building, etc., simply by setting four representative points.

[Application example 4 of the first embodiment]
Next, an application example 4 of the first embodiment will be described. This application example 4 is an application example in which the representative point CP is also set in the air, and the entry prohibition range IPR is set in a region including an obstacle at a high position such as an elevated line.
Hereinafter, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted as appropriate, and different points will be described in detail.
〔Constitution〕
The representative point setting unit 171 of the crane control system 7 according to the fourth application example is configured to be able to set an intrusion prohibition range IPR also in the air of the work range when the designation method of designating in the air is selected. there is For example, when the impenetrable area includes an obstacle at a high position such as an elevated line (hereinafter referred to as a "high-position obstacle"), by setting eight representative points CP in a specific setting method, It is possible to easily set an intrusion prohibition range IPR including an area in which a high-position obstacle exists.

Specifically, in this application example 4, for example, as shown in FIG. The crane 1 is moved so that the boom tip 32 of the crane 1 is sequentially positioned near each corner of the real polygonal boundary line BL6 indicated by the lower square line, which is the boundary position on the ground. Then, boom tip coordinates BC on the same plane near each corner (here, three-dimensional coordinates having a common Z-axis coordinate value) are set as representative points CP1, CP2, CP3, and CP4 in order.
Subsequently, the operator operates the crane 1 to determine the boundary position (solid polygonal boundary line The crane 1 is moved so that the boom tip portion 32 of the crane 1 is positioned in the vicinity of the plane surrounded by BL7. Then, in this application example 4, by setting one height coordinate (Z coordinate) at the boom tip coordinate BC at the neighboring position, the height coordinates of the representative points CP1, CP2, CP3, and CP4 are automatically set to The coordinates replaced with the set height coordinates are set as representative points CP5, CP6, CP7 and CP8. That is, four points on the same plane are set as representative points.
Note that the real polygon boundary lines BL6 and BL7 are information that is not displayed on the display input device 70d. Therefore, in practice, the representative points CP1 to CP4 and the height coordinates are set by operating the crane 1 while visually confirming the boundary positions on the ground and high-position obstacles.

On the other hand, as shown in FIG. 29B, the prohibited entry range setting unit 173a according to the fourth application example connects the representative points CP1 and CP2 with a straight line, connects the representative points CP2 and CP3 with a straight line, and connects the representative points CP2 and CP3 with a straight line. A polygonal boundary line L6 consisting of a square line connecting CP3 and CP4 with a straight line and connecting representative points CP4 and CP1 with a straight line is generated. Next, from a square line connecting the representative points CP5 and CP6 with a straight line, connecting the representative points CP6 and CP7 with a straight line, connecting the representative points CP7 and CP8 with a straight line, and connecting the representative points CP8 and CP5 with a straight line, A polygonal boundary line L7 is generated.
Then, as shown in FIG. 30, an intrusion prohibited area IPR4 (see FIG. 30) having a square shape (square ring shape) surrounding the polygonal boundary line L6 in plan view is located on the intrusion prohibited area side (outside the work area) including the polygonal boundary line L6. 30) are set. In addition, a cuboidal intrusion prohibition range IPR5 is set on the intrusion prohibition region side (upper sky side) including the polygonal boundary line L7 (dark shaded area in FIG. 30).

The first controller 70a of this application example 4 controls the operation of the crane 1 according to the type of the set prohibition mode, as in the first embodiment, with respect to the prohibition range IPR4 set in this manner. Control to regulate. That is, regardless of the Z coordinate of the boom tip coordinate BC, it is determined whether or not there is an entry into or approaching the prohibited entry range IPR4 based on the XY coordinates. On the other hand, for the prohibited entry range IPR5, control is performed to restrict the operation of the crane 1 based on the Z coordinate of the boom tip coordinate BC and the type of prohibited mode that has been set. That is, when the first prohibition mode is set, an operation is performed based on the Z coordinate of the boom tip portion 32 so that the boom tip portion 32 does not enter the intrusion prohibition range IPR5 by starting or extending the boom 30. to regulate. On the other hand, when the second prohibition mode is set, based on the Z coordinate of the boom tip portion 32, when the boom tip portion 32 enters the intrusion prohibition range IPR5 due to the start-up operation or the extension operation of the boom 30, Perform control to regulate the movement in the direction of continuous intrusion.

(Action and effect of application example 4 of the first embodiment)
In the crane control system 7 according to the application example 4 of the first embodiment, the representative point setting unit 171 sets three or more first coordinates each consisting of three or more different three-dimensional coordinates on the same plane as a plurality of representative points. Planar coordinates (for example, CP1 to CP4) and three or more second plane coordinates (for example, CP5 to CP8) can be set. In addition, the no-entry range setting unit 173a is configured by connecting a first polygonal boundary line (for example, the polygonal boundary line L6), which is a polygonal line formed by connecting the first plane coordinates, and a second plane coordinate. Intrusion prohibition range IPR (eg, IPR4 and IPR5) is set based on the second polygonal boundary line (eg, polygonal boundary line L7).

With this configuration, by simply setting three or more first plane coordinates and three or more second plane coordinates that differ from the first plane coordinates only in coordinates in the height direction, It is possible to easily set an intrusion prohibition range IPR for an intrusion prohibition area including high-position obstacles above the work area.

[Second embodiment]
Next, a second embodiment of the invention will be described. The second embodiment differs from the first embodiment in that the crane control system 7 of the first embodiment is mounted on a fixed tower crane.
Hereinafter, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted as appropriate, and different points will be described in detail.
〔Constitution〕
A tower crane 1T (hereinafter simply referred to as "crane 1T") according to the second embodiment includes a base 320 provided on a building 310 and a mast erected on the base 320, as shown in FIG. 38, and a revolving body 4T rotatably supported on the upper end of the mast 38. As shown in FIG. In addition, a crane device 3T and an operator's cab 5T are provided on the upper part of the revolving body 4T.

The crane device 3T includes a boom (also called a jib) 30T provided on the upper part of the revolving body 4T so that it can be raised and lowered, an A frame 39 provided on the upper part of the revolving body 4T behind the boom 30T, and an upper part of the revolving body 4T. It also has a hoisting winch 31A provided inside the A frame 39, a hoisting winch 31B provided on the top of the A frame 39, and a hook 34T. A wire rope 33T1 is guided from the hoisting winch 31A to the tip portion 32T of the boom 30T (hereinafter referred to as "boom tip portion 32T") via the A frame 39, and hooked to the hook 34T via the pulley of the boom tip portion 32T. By turning, the hook 34T is suspended from the boom tip portion 32T. On the other hand, the crane device 3T raises and lowers the boom 30T by winding a wire rope 33T2 from the hoisting winch 31B to the boom tip portion 32T and raising or lowering the hoisting winch 31B.

Although not shown, the crane 1T includes an engine room provided behind the operator's cab 5T. In addition, a swing motor for swinging the swing structure 4T and a hoisting motor for rotating the winch drum of the hoisting winch 31A, which are driven by power (electric power, hydraulic pressure, etc.) supplied from the engine room. , and a hoisting motor for rotating the winch drum of the hoisting winch 31B. Further, although not shown, a turning angle sensor for detecting the turning angle θt of the turning body 4T is provided.
The second controller 20 according to the second embodiment controls the driving of these various motors according to instructions from the operation device of the crane T1 provided in the interior 5Ti of the operator's cab 5T and instructions from the first controller 70a. is configured to
Further, in the second embodiment, as shown in FIG. 31, a GNSS receiver 71 is provided at the tip portion 32T of the boom 30T. Although not shown, a control box 70 is provided in the interior 5Ti of the operator's cab 5T.

Then, similarly to the first embodiment, the first controller 70a according to the second embodiment can determine the tip coordinates JC of the boom 30T obtained by the GNSS receiver 71 (hereinafter referred to as "boom tip coordinates JC"), A representative point CP is set based on the body coordinates and the like obtained by the GNSS positioning function of the communication terminal 90 . Further, an entry prohibition range IPR is set based on the set representative point CP. In the second embodiment, the turning range 8 setting process and turning restriction control process are not performed.

〔motion〕
An operation example of the crane 1T according to the second embodiment will be described below with reference to FIG.
As shown in FIG. 31, a pickup stage 330 is provided around the construction building 310, and a square line around the circumference of the pickup stage 330 is a solid polygonal boundary line BL8. That is, the inside of the real polygonal boundary line BL8 is the enterable area, and the outside is the impenetrable area.
The operator operates the crane 1T to turn the revolving body 4T, raise and lower the boom 30T, and sequentially move the boom tip 32T to the four corners of the pick-up stage 330 in the vicinity of the real polygonal boundary line BL8. position. Then, when the operator touches the representative point setting button image displayed on the display input device 70d at each position, the first controller 70a sets the boom tip coordinates JC at each position to the representative points CP1, CP2, CP3 and Set as CP4. Here, in the second embodiment, the XY coordinates of the three-dimensional boom tip coordinates JC (X, Y, Z) are set as the representative points CP1 to CP4.
Note that the real polygon boundary line BL8 is information that is not displayed on the display input device 70d. Therefore, the operator actually operates the crane 1 while visually confirming the four corners and boundary positions of the pickup stage 330 to set the representative points CP1 to CP4.

On the other hand, as shown in FIG. 31, the prohibited entry range setting unit 173a according to the second embodiment connects the representative points CP1 and CP2 with a straight line, connects the representative points CP2 and CP3 with a straight line, and connects the representative points CP3 and CP4. , and the representative points CP4 and CP1 are connected by straight lines to generate a polygonal boundary line L8 formed of a square line. Then, on the side (outside) of the intrusion prohibited area including the polygonal boundary line L8, a square-shaped (square ring-shaped) intrusion prohibited area IPR6 (shaded portion in FIG. 31) is set in a plan view surrounding the polygonal boundary line L8. do.
The first controller 70a performs control to restrict the operation of the crane 1T in accordance with the type of prohibition mode that has been set, as in the first embodiment, with respect to the prohibited entry range IPR6 that has been set in this manner. . That is, when the first prohibition mode is set, the operation is regulated based on the XY coordinates of the boom tip portion 32T so that the boom tip portion 32 does not enter the intrusion prohibition range IPR6 due to the boom tipping motion of the boom 30T. . On the other hand, when the second prohibition mode is set, based on the XY coordinates of the boom tip portion 32T, when the boom tip portion 32 enters the penetration prohibition range IPR6 due to the boom 30T lying down, the boom tip portion 32 continues to enter. Performs control to regulate directional movement.

[Action and effect of the second embodiment]
In the crane control system 7 according to the second embodiment, the representative point setting unit 171 sets the two-dimensional coordinates of the four corners of the pickup stage 330 formed so as to surround the building 310 in plan view as a plurality of representative points. (representative points CP1 to CP4) can be set. The prohibited-intrusion range setting unit 173a sets a square line connecting the representative points CP1 to CP4 with straight lines as a polygonal boundary line L8, and defines a square-shaped (square ring-shaped) range outside the polygonal boundary line L8 as the prohibited-intrusion range. Set as IPR6.
With this configuration, the same actions and effects as those of the first embodiment can be obtained.

[Third Embodiment]
Next, a third embodiment of the invention will be described. The third embodiment includes a plurality of cranes 1 of the first embodiment and a server device, and information such as the representative point CP and the no-entry range IPR generated by one of the cranes 1 is transmitted to the cranes 1 1 is different from the first embodiment.
Hereinafter, the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted as appropriate, and different points will be described in detail.
〔Constitution〕
A crane shared control system 9 according to the third embodiment is configured including cranes 1A, 1B and 1C, a shared system management server 400, a base station 500, and a network 600, as shown in FIG. . Via base station 500 and network 600, shared system management server 400 and cranes 1A to 1C are connected so as to be able to communicate with each other. Cranes 1A to 1C are hereinafter referred to as "crane 1" when there is no need to distinguish between them.

The shared system management server 400 comprises a third controller 410, a storage device 430, a display device 440, and a communication device 450, as shown in FIG.
The third controller 410 is composed of, for example, a microcontroller, and has a CPU, ROM, RAM, internal/external bus, I/F circuit, etc., although not shown. The ROM or storage device 430 stores various programs such as the control program of the crane shared control system 9 and data used in the programs.
The third controller 410 reads the control program stored in the ROM or storage device 430 into the RAM, and causes the CPU to execute the control program read into the RAM, thereby realizing each function of the crane shared control system 9 .

As the above functions, the third controller 410 receives data such as the representative point coordinate group MCP and the no-entry range IPR transmitted from the cranes 1A to 1C via the base station 500 and the network 600, and received It has a receiving function that stores data in the storage device 430 . In addition, data such as the representative point coordinate group MCP and the no-entry range IPR stored in the storage device 430 in response to the acquisition request transmitted from the cranes 1A to 1C via the base station 500 and the network 600. to the requesting crane 1.
The storage device 430 is composed of a relatively large-capacity non-volatile storage medium such as a hard disk. In the third embodiment, the storage device 430 stores the data of the representative point coordinate group MCP and the no-entry range IPR received via the communication device 450, the control program, and various data necessary for executing the control program.

The display device 440 is, for example, a well-known display device such as a CRT display or a liquid crystal display, and displays various information according to commands from the CPU. The display device 440 displays information for the server administrator to confirm, for example, the data of the representative point coordinate group MCP and the no-entry range IPR received from the cranes 1A to 1C.
The communication device 450 is a device for communicating with an external device on a network such as LAN, WAN, Internet, etc., and is composed of a well-known network adapter called a LAN card, for example. The communication device 450 is connected to a router, hub, or the like via a network cable, and connects the shared system management server 400 to the network 600 via these.
The shared system management server 400 is configured to be mounted on, for example, a well-known personal computer.

[Functional Configuration of Third Controller 410]
Next, based on FIG. 34, a specific functional configuration of the third controller 410 will be described.
The third controller 410 includes a communication control section 410a as its functional component, as shown in FIG. The communication control unit 410a includes an information transmission unit 410b and an information reception unit 410c.
In response to an acquisition request Reqa from the crane 1 received via the communication device 450, the information transmission unit 410b reads out the representative point coordinate group MCP or the no-entry range IPR stored in the storage device 430. FIG. Then, via the communication device 450, the representative point coordinate group MCP or the prohibited entry range IPR that has been read is transmitted to the crane 1 that is the source of the request. Specifically, it outputs to the communication device 450 a transmission instruction including the information of the read representative point coordinate group MCP or the no-entry range IPR and the information of the requesting crane 1 .
Based on the registration request Reqr from the crane 1 received via the communication device 450, the information receiving unit 410c stores the representative point coordinate group MCP or the no-entry range IPR received together with the registration request Reqr in the storage device 430.

[Functional Configuration of First Controller 70a]
Next, based on FIG. 35, a specific functional configuration of the first controller 70a of the crane 1 according to the third embodiment will be described.
The first controller 70a according to the third embodiment has a configuration in which a communication control unit 175 is newly added to the functional configuration of the first embodiment.
In addition to the functions of the first embodiment, the image display processing unit 172 of the third embodiment has a function of displaying the common system image including the registration button image and the acquisition button image on the display/input device 70d. are doing. The registration button image is a button image for selecting an operation for registering the representative point coordinate group MCP or the prohibited intrusion range IPR in the shared system management server 400 . Also, the acquisition button image is a button image for selecting an operation for acquiring the representative point coordinate group MCP or the prohibited intrusion range IPR registered in the shared system management server 400 .

Further, the image display processing unit 172 has a function of displaying a registration guide image including a registration information selection image and a registration request transmission button image on the display input device 70d when the registration button image is pressed. there is The registration information selection image is an image for selecting the representative point coordinate group MCP or the prohibited entry range IPR stored in the storage device 70c, and the registration request transmission button image is the selected representative point coordinate group MCP or It is an instruction button image for registering the intrusion prohibited range IPR in the shared system management server 400 .
Further, the image display processing unit 172 has a function of displaying an acquisition guidance image including an acquisition information selection image and an acquisition request transmission button image on the display input device 70d when the acquisition button image is pressed. there is The acquisition information selection image is an image for selecting the desired acquisition from the representative point coordinate group MCP or the intrusion prohibition range IPR stored in the shared system management server 400. The acquisition request transmission button image is , is an instruction button image for acquiring the selected representative point coordinate group MCP or intrusion prohibited range IPR from the shared system management server 400. FIG.

When the registration request transmission button image is pressed, the communication control unit 175 transmits the registration request Reqr including the selected representative point coordinate group MCP or the intrusion prohibited range IPR to the shared system management server via the wireless communication device 70e. 400 is processed. On the other hand, when the acquisition request transmission button image is pressed, an acquisition request Req including selection information of the selected representative point coordinate group MCP or intrusion prohibited range IPR and information of the transmission source is transmitted via the wireless communication device 70e. Processing for transmission to the shared system management server 400 is performed.
Further, when the communication control unit 175 receives the information of the representative point coordinate group MCP or the intrusion prohibition range IPR in response to the acquisition request Reqa from the shared system management server 400, the communication control unit 175 stores the received information in the storage device 70c. .
The representative point setting unit 171 can set the representative point coordinate group MCP stored in the storage device 70c in this manner as the representative point coordinate group MCP2 in the representative point read mode. On the other hand, the operation restriction control unit 174 can perform operation restriction control based on the prohibited intrusion range IPR from the shared system management server 400, which is stored in the storage device 70c.

[Shared management processing]
Next, based on FIG. 36, the processing procedure of shared management processing executed by the shared system management server 400 will be described.
In the CPU of the third controller 410, when the control program is executed and the sharing management process is started, as shown in FIG. 36, the process first proceeds to step S700.
In step S700, the information receiving unit 410c of the communication control unit 410a determines whether or not the registration request Reqr from the crane 1 has been received. If it is determined that it is not (No), the process proceeds to step S704.

When the process proceeds to step S702, the information receiving unit 410c stores the information of the representative point coordinate group MCP or the prohibited entry range IPR included in the received registration request Reqr in the storage device 430. FIG. After that, the series of processes is terminated and the original process is returned to.
On the other hand, in step S700, if the registration request Reqr is not received and the process proceeds to step S704, it is determined whether or not the acquisition request Reqa from the crane 1 has been received. When it transfers to step S706 and determines that it is not (No), it transfers to step S700.
When the process proceeds to step S706, the information transmitting unit 410b reads from the storage device 430 the information of the representative point coordinate group MCP or the prohibited entry range IPR specified by the acquisition request Reqa. After that, the process moves to step S708.
In step S708, the information transmission unit 410b transmits the data read out in step S706 to the crane 1 that requested the acquisition. After that, the series of processes is terminated and the original process is returned to.

[Shared control processing]
Next, based on FIG. 37, the procedure of shared control processing executed by the first controller 70a of the crane 1 will be described.
In the CPU of the first controller 70a, when the control program is executed and the sharing control process is started, as shown in FIG. 37, the process first proceeds to step S800.
In step S800, the image display processing unit 172 outputs an image display signal for displaying the shared system image to the display/input device 70d to display the shared system image on the display/input device 70d. After that, the process moves to step S802.
As a result, the common system image including the registration button image and the acquisition button image is displayed on the display/input device 70d.

In step S<b>802 , the communication control unit 175 determines whether or not the registration button image has been pressed based on the touch input information from the image display processing unit 172 . If it is determined that the button has been pressed (Yes), the process proceeds to step S804, and if it is determined otherwise (No), the process proceeds to step S810.
When the process proceeds to step S804, the communication control unit 175 outputs an instruction to the image display processing unit 172 to display the registration guidance image on the display input device 70d. After that, the process moves to step S806. Accordingly, the image display processing unit 172 outputs an image display signal for displaying the registration guidance image on the display/input device 70d, and causes the display/input device 70d to display the registration guidance image. That is, the display/input device 70d displays a registration guidance image including a registration information selection image and a registration request transmission button image.

In step S806, the communication control unit 175 determines whether or not the data to be registered has been selected and the registration request transmission button image has been pressed based on the touch input information from the image display processing unit 172 . If it is determined that the button has been pressed (Yes), the process proceeds to step S808, and if it is determined otherwise (No), the determination process is repeated.
Here, a list of titles of data that can be registered is displayed in the registration information selection image, and the operator can select data to be registered by touching the displayed title. . After selecting data, it is possible to instruct transmission of a registration request for the selected data by touching a registration request transmission button image.

In step S808, the communication control unit 175 performs processing for transmitting a registration request Reqr including the data selected in step S806 to the shared system management server 400 via the wireless communication device 70e. After that, the series of processes is terminated and the original process is returned to. Thereby, the registration request Reqr is transmitted to the shared system management server 400 via the base station 500 and the network 600 by the wireless communication device 70e.
On the other hand, in step S802, if the registration button image is not pressed and the process proceeds to step S810, the communication control unit 175 determines whether the acquisition button image has been pressed based on the touch input information from the image display processing unit 172. determine whether If it is determined that the button has been pressed (Yes), the process proceeds to step S812, and if it is determined otherwise (No), the process proceeds to step S802.

When the process proceeds to step S812, the communication control unit 175 outputs an instruction to the image display processing unit 172 to display the acquisition guidance image on the display input device 70d. After that, the process moves to step S814. Accordingly, the image display processing unit 172 outputs an image display signal for displaying the acquisition guidance image on the display input device 70d, and causes the display input device 70d to display the acquisition guidance image. That is, the display/input device 70d displays an acquisition guidance image including an acquisition information selection image and an acquisition request transmission button image.
In step S<b>814 , the communication control unit 175 determines whether data to be acquired has been selected and the acquisition request transmission button image has been pressed based on the touch input information from the image display processing unit 172 . If it is determined that the button has been pressed (Yes), the process proceeds to step S816, and if it is determined otherwise (No), the determination process is repeated.
Here, a list of titles of obtainable data is displayed in the acquisition information selection image, and the operator can select the data to be acquired by touching the displayed title. . After selecting data, it is possible to instruct transmission of an acquisition request for the selected data by touching an acquisition request transmission button image.

When the process proceeds to step S816, the communication control unit 175 performs processing for transmitting an acquisition request Reqa including the identification information of the data selected in step S814 to the shared system management server 400 via the wireless communication device 70e. conduct. After that, the series of processes is terminated and the original process is returned to. As a result, the acquisition request Reqa is transmitted to the shared system management server 400 via the base station 500 and the network 600 by the wireless communication device 70e.

〔motion〕
Next, an operation example of the crane shared control system 9 according to the third embodiment will be described.
Here, a shared mode selection button image is additionally displayed in the mode setting image of the first embodiment, and the operator touches this shared mode selection button image to display the shared system on the display/input device 70d. Assume that an image is displayed.
First, the operation when the crane 1A shown in FIG. 32 registers the self-set representative point coordinate group MCP in the shared system management server 400 will be described.
Assume now that the operator OPA of the crane 1A presses the registration button image in the shared system image displayed on the display input device 70d in order to register the representative point coordinate group MCP. Accordingly, the first controller 70a of the crane 1A performs processing for displaying the registration guide image on the display/input device 70d.

When the registration guide image is displayed on the display input device 70d, the operator selects the title to be registered from the list of titles of the representative point coordinate group MCP that can be registered displayed in the registration information selection image in the registration guide image. touch . As a result, the touched title is selected on the first controller 70a. Subsequently, when the operator presses the registration request transmission button image, the first controller 70a reads the data of the representative point coordinate group MCP corresponding to the selected title from the storage device 70c. Then, a registration request Reqr containing the read data of the representative point coordinate group MCP and the information of the work site corresponding to this data is generated, and the generated registration request Reqr is sent to the shared system management system via the wireless communication device 70e. Send to server 400 .
On the other hand, when the shared system management server 400 receives the registration request Reqr from the crane 1A via the communication device 450, the information receiving unit 410c of the third controller 410 receives the representative point coordinate group included in the received registration request Reqr. The MCP and work site information are stored in the storage device 430 in association with the identification information. This completes the registration process.

Next, the operation when the crane 1C shown in FIG. 32 acquires the representative point coordinate group MCP registered in the shared system management server 400 will be described.
Assume now that the operator OPC of the crane 1C presses the acquisition button image in the shared system image displayed on the display input device 70d in order to acquire the representative point coordinate group MCP registered in the shared system management server 400. . As a result, the first controller 70a of the crane 1C acquires information for displaying a list of registration information from the shared system management server 400 via the wireless communication device 70e. After that, based on the acquired information, a process of displaying an acquisition guide image on the display/input device 70d is performed.
When the acquisition guidance image is displayed, the operator selects from among the list of titles and work sites of the representative point coordinate group MCP and the no-entry range IPR displayed in the acquisition information selection image in the acquisition guidance image. , touch the title corresponding to the work site you want to acquire. Here, it is assumed that one of the titles of the representative point coordinate group MCP registered by the crane 1A is touched. As a result, the touched title is selected in the first controller 70a of the crane 1C. Subsequently, when the operator presses the acquisition request transmission button image, the first controller 70a generates the acquisition request Reqa including the identification information of the selected title. Then, the generated acquisition request Reqa is transmitted to the shared system management server 400 via the wireless communication device 70e.

On the other hand, when the shared system management server 400 receives the acquisition request Reqa from the crane 1C via the communication device 450, the information transmission unit 410b of the third controller 410 receives the representative point to be acquired included in the received acquisition request Reqa. Extract the identification information of the coordinate group MCP. Then, the representative point coordinate group MCP corresponding to the extracted identification information is read out from the storage device 430, and the data of the representative point coordinate group MCP read out is transmitted via the communication device 450 to the crane 1C that requested the acquisition.
When the crane 1C receives the representative point coordinate group MCP transmitted from the shared system management server 400 via the wireless communication device 70e, the received representative point coordinate group MCP is stored in the storage device 70c. As a result, the acquisition process is completed, and the prohibited entry range IPR can be set in the crane 1C using the representative point coordinate group MCP set in the crane 1A.

Next, the operation when the crane 1B shown in FIG. 32 acquires the prohibited entry range IPR registered in the shared system management server 400 will be described.
In this case, in the same way as when acquiring the representative point coordinate group MCP, the operator displays the obtainable representative point coordinate group MCP and the entry prohibition range IPR title and work site list displayed in the acquisition information selection image. From among them, touch the title of the prohibited entry range IPR of the work site that you want to acquire. Then, an acquisition request transmission button image is pressed. Accordingly, the first controller 70a of the crane 1B generates an acquisition request Reqa including the identification information of the selected title, and transmits the generated acquisition request Reqa to the shared system management server 400 via the wireless communication device 70e. do.

On the other hand, when the shared system management server 400 receives the acquisition request Reqa from the crane 1B via the communication device 450, the information transmitting unit 410b of the third controller 410 transmits the intrusion prohibited information to be acquired included in the received acquisition request Reqa. Extract the identity of the range IPR. Then, the access prohibition range IPR corresponding to the extracted identification information is read from the storage device 430, and the read access prohibition range IPR data is transmitted via the communication device 450 to the crane 1B that requested the acquisition.
When the crane 1B receives the prohibited intrusion range IPR transmitted from the shared system management server 400 via the wireless communication device 70e, the received prohibited range IPR is stored in the storage device 70c. As a result, the acquisition process is completed, and it becomes possible for the crane 1B to perform operation restriction control using the no-entry range IPR registered in the shared system management server 400. FIG.
Here, the network 600 corresponds to the communication line, the shared system management server corresponds to the server device, and the communication control section 175 corresponds to the acquisition request transmission section, the first information transmission section and the second information reception section. . Further, the information transmission unit 410b corresponds to the second information reception unit and the second information transmission unit, and the information reception unit 410c

[Action and effect of the third embodiment]
A shared crane control system 9 according to the third embodiment includes a shared system management server 400 and a plurality of cranes 1 (for example, the above cranes 1A to 1C) connected via a network 600 . In each crane, the communication control unit 175 transmits information on a plurality of representative points (representative point coordinate group MCP) or information on the prohibited intrusion range IPR to the shared system management server 400 via the network 600 . In addition, it transmits an acquisition request for information on the representative point coordinate group MCP or information on the prohibited intrusion range IPR to the shared system management server 400 via the network 600 . Furthermore, it receives information on the representative point coordinate group MCP or information on the prohibited intrusion range IPR transmitted from the shared system management server 400 via the network 600 .
In the shared system management server 400, the information receiving unit 410c receives the information of the representative point coordinate group MCP or the information of the no-entry range IPR transmitted from the crane 1 via the network 600. FIG. In addition, the information of the received representative point coordinate group MCP or the information of the prohibited entry range IPR is stored. In response to receiving the acquisition request Reqa transmitted from the crane 1 via the network 600, the information transmission unit 410b transmits the information of the representative point coordinate group MCP or the information of the no-entry range IPR stored in the storage device 430. Send to the crane that sent the acquisition request Reqa.

With this configuration, it is possible for a plurality of cranes 1 to share the representative point coordinate group MCP and the prohibited intrusion range IPR via the shared system management server 400 . As a result, at the same work site, any one of the plurality of cranes 1 creates the representative point coordinate group MCP or the no-entry range IPR, and the remaining cranes 1 create the representative point coordinate group MCP Alternatively, it is possible to save the trouble of creating an intrusion prohibited range IPR.

[Modification]
In each of the above embodiments, the turning range 8 is set and the turning regulation control process is performed by the motion regulation control unit 174. However, the turning range 8 is set and the turning range 8 is set. A configuration in which the turning restriction control process is not performed may be adopted. In this case, the turning movement is restricted by the prohibited entry range IPR.
Further, in each of the above-described embodiments, as the intrusion prohibited range IPR, a predetermined area on the intrusion prohibited area side including the boundary line L is set. may be set as the intrusion prohibited range IPR.
Further, in the above embodiments, the representative point CP is set by the coordinates of the GNSS coordinate system (WGS-84 coordinate system) measured by the portable communication terminal 90 having the GNSS positioning function. It is not limited to this configuration. For example, a representative point can be set based on the coordinates of a coordinate system different from the WGS-84 coordinate system (for example, a plane rectangular coordinate system) measured by a device such as a TS (total station) that can measure the position of the work site. good. In this case, for example, the coordinates of a coordinate system different from the WGS-84 coordinate system are converted into the WGS-84 coordinate system to set the representative point CP.

Further, in each of the above-described embodiments, the turning range 8 is set to limit the turning speed of the crane, but the configuration is not limited to this. For example, it may be configured to limit the speed of the traveling operation of the crane in the direction of entering the prohibition range IPR and the bending operation of the boom. For example, if the boom is to be laid down, similarly to the swing range 8, the boom tip end approaches the intrusion prohibited range IPR by setting the tilting prohibited range, the hydraulic buffer range, and the normal operating range in the same manner as the swing range 8. The configuration is such that the operating speed is limited in stages as much as possible.
Further, in the application examples 2 and 3 of the first embodiment, a building was taken as an example of an intrusion-proof area having corners, but it is not limited to a structure such as a building, and the tip part 32 of the boom or a suspended load may enter. A rectangular area surrounded by a rope or the like, which is prohibited from entering, may also be used as an intrusion-prohibited area having corners.

Further, in each of the above embodiments, the first and second hydraulic damping ranges 81A and 81B and the third and fourth hydraulic damping ranges 82A and 82B provide a proportional Although the opening degree of the solenoid valve 50 is restricted to two stages, the present invention is not limited to this configuration. For example, it may be configured to limit to one stage or three stages or more.
In each of the above-described embodiments, the hydraulic motor 51 for turning is used as the actuator for turning the upper turning body 4, but the configuration is not limited to this. For example, other actuators such as an engine or an electric motor may be used. In this case, instead of the pressure oil flow rate (the opening of the proportional solenoid valve 50), for example, the engine output (rotational speed, etc.) or the electric motor output (rotational speed, etc.) is controlled to perform swing regulation control. .

Further, in each of the above embodiments, the opening degree A is set to 80% and the opening degree B is set to 60%. Other openings may be used.
Further, in each of the above-described embodiments, the ratio of angles is 50 [%] for the prohibited turning range 80, 6.25 [%] for the first and second hydraulic buffer ranges 81A and 81B, and 6.25 [%] for the third and fourth hydraulic pressure buffer ranges. The buffer ranges 82A and 82B are not limited to 6.25[%], and other ratios and magnitude relationships may be used.
Further, in each of the above-described embodiments, a crane configured to travel by a crawler device and a fixed tower crane have been described as examples, but the present invention is not limited to this configuration, and a crane configured to travel by other traveling means such as wheels. , a self-propelled tower crane, a rough terrain crane, a backhoe equipped with a crane device, and other work vehicles equipped with a crane device.

1, 1A to 1C Crane 1T Tower crane 2 Machine body 3, 3T Crane device 4 Upper rotating body 5 Driver's cab 6 Travel device 7 Crane control system 8 Slewing range 9 Crane shared control system 20 Second controller 30, 30T Boom 31A Winch for hoisting 31B Winch for hoisting 32, 32T Boom tip 33, 33T1, 33T2 Wire ropes 34, 34T Hook 35 Hydraulic cylinder for boom expansion and contraction 36 Hydraulic cylinder for boom hoisting 37 Hydraulic motor for winch 38 Mast 39 A frame 40 Power source 41 Hydraulic pump 42 Pressure oil supply device 50 Proportional solenoid valve 51 Hydraulic motor for turning 70 Control box 70a First controller 70b Memory reader 70c Storage device 70d Display input device 70e Wireless communication device 71 GNSS receiver 71a Shaft 71b Plate member 71c Base member 71d GNSS Receiver 71e GNSS antenna 75 Turning angle sensor 80 Turning prohibition range 81A, 81B First and second hydraulic damping ranges 82A, 82B Third and fourth hydraulic damping ranges 83 Normal turning range 170 Positioning information correction unit 171 Representative point setting Unit 172 Image display processing unit 173 Range setting unit 173a Prohibited entry range setting unit 173b Turning range setting unit 174 Operation regulation control unit 175, 410a Communication control unit 310 Building 320 Base 330 Pick-up stage 400 Common system management server 410 Third Controller 410b Information transmitting unit 410c Information receiving unit 430 Storage device 440 Display device 450 Communication device 500 Base station 600 Network BC Boom tip coordinates BL1 to BL5 Actual boundary lines BL6 to BL8 Actual polygonal boundary lines BLD1, BLD2 Building CP, CP1 to CP8 Representative Point IPR, IPR1 to IPR6 Intrusion prohibited area IPRex, IPR2ex, IPR3ex Extended intrusion prohibited area L, L1, L2, L5 Boundary line L3 First straight line L4 Second straight line L6 to L8 Polygonal boundary line Lex, L2ex, L5ex Extended boundary line MCP Representative point coordinate group

Claims (3)

Equipped with a server device and multiple cranes connected via a communication line,
each of the cranes has a crane control system that controls the operation of the crane;
The crane control system includes a representative point setting unit that sets coordinates measured at the work site as representative points;
a no-entry range setting unit for setting a no-entry range based on the plurality of representative points set by the representative point setting unit;
A GNSS (Global Navigation Satellite System) antenna provided at the tip of the boom of the crane;
a tip coordinate measuring unit that measures the coordinates of the tip of the boom based on positioning signals from a plurality of GNSS satellites received by the GNSS antenna;
Based on the coordinates of the tip of the boom measured by the tip coordinate measuring unit and the coordinate information of the prohibited entry range, it is determined whether or not the tip of the boom has entered the prohibited range or approaches the prohibited range. a determination unit that determines whether or not
an operation control unit that controls the operation of the crane so that the tip of the boom does not continue to enter the prohibited entry range or does not enter the prohibited entry range based on the determination result of the determination unit; prepared,
Further, each said crane:
a first information transmission unit that transmits information on the plurality of representative points or information on the prohibited intrusion range to the server device via the communication line;
an acquisition request transmission unit that transmits an acquisition request for information on the plurality of representative points or information on the prohibited intrusion range to the server device via the communication line;
a first information receiving unit that receives the information of the plurality of representative points or the information of the no-intrusion range transmitted from the server device via the communication line;
The server device
a second information receiving unit that receives information on the plurality of representative points or information on the no-entry area transmitted from the crane via the communication line;
an information storage unit that stores the information of the plurality of representative points or the information of the no-entry range received by the second information reception unit;
In response to receiving the acquisition request transmitted from the crane via the communication line, the information of the plurality of representative points or the information of the no-entry range stored in the information storage unit is sent to the acquisition request. a second information transmission unit that transmits to the crane that is the transmission source;
A crane shared control system comprising: 2. The crane shared control system according to claim 1, wherein the representative point setting section is configured to be able to set the representative point based on the coordinates of the tip of the boom measured by the tip coordinate measuring section. 3. The crane shared control system according to claim 1, wherein the prohibited entry range setting unit sets a boundary line connecting the plurality of representative points with a straight line, and sets the prohibited entry range based on the boundary line.

Images