JP7327052B2 - HORIZONTAL POSITION DETERMINATION DEVICE FOR VEHICLE HAVING OUTRIGGER - Google Patents

Description

The present invention relates to a vehicle body horizontal posture determination device having outriggers.

A mobile crane with a running body needs to hold the running body horizontally in order to increase stability when the crane is in use. Therefore, when the vehicle is parked on an inclined surface, outriggers are used to hold the vehicle horizontally.

In this work, the crane operator looks at the road surface and judges the slope of the road surface. was doing

However, an inexperienced operator cannot accurately determine the extension length of the jack and the thickness of the bottom plate to be installed. was For this reason, it took time and effort to bring the traveling body into a horizontal position.

Therefore, there has been proposed a method for horizontally correcting a vehicle with outriggers, in which the vehicle body is placed in a horizontal posture without intervention of an operator (see, for example, Patent Document 1). In this method, a first diagonal inclinometer for detecting the inclination in the diagonal direction connecting the left front hydraulic jack and the right rear hydraulic jack of the outrigger, and the left rear hydraulic jack of the right front hydraulic jack of the outrigger are used. Based on three inclinometers, a second diagonal inclinometer that detects the inclination in the connected diagonal direction and a vehicle length inclinometer that detects the inclination in the vehicle length direction, and the amount of inclination detected by these three inclinometers and an arithmetic control unit for calculating the amount of oil to be supplied to each hydraulic jack in order to level the vehicle body.

Japanese Patent No. 2542539

However, the technique disclosed in Patent Literature 1 assumes that the vehicle body is stopped on an inclined surface that allows the vehicle body to be horizontal by extending the jacks of the outriggers.

For this reason, it is not possible to cope with a situation in which the vehicle body cannot be leveled as it is, no matter how the extension amounts of the four jacks are combined.

The present invention has been made in view of the above circumstances. It is an object of the present invention to provide a horizontal attitude determination device for a vehicle body having outriggers, capable of determining whether or not the vehicle body can be leveled assuming that the

The present invention comprises a front outrigger installed on the front side of a vehicle body, a rear outrigger installed on the rear side of the vehicle body, and a vehicle width direction tilt sensor for detecting an inclination angle along the vehicle width direction of the vehicle body with respect to a horizontal plane. a vehicle length direction tilt sensor for detecting a tilt angle along the vehicle length direction of the vehicle body with respect to the horizontal plane; and the vehicle width detected by the vehicle width direction tilt sensor when the vehicle body is stopped on the inclined surface. The front outrigger jacks and the rear outrigger jacks are extended based on the tilt angle along the vehicle length direction and the tilt angle along the vehicle length direction detected by the vehicle length direction tilt sensor to extend the tires of the vehicle body. It is determined whether or not the vehicle body can be placed in a horizontal position while the vehicle is lifted, and when it is determined that the vehicle body cannot be placed in a horizontal position, the vehicle body can be placed in a horizontal position and a determination unit for determining whether or not there is an approach angle of the vehicle body with respect to the inclined surface that allows the vehicle body to move toward the inclined plane.

According to the apparatus for determining the horizontal posture of a vehicle body having outriggers according to the present invention, even in a situation where the vehicle body cannot be leveled by any combination of extension amounts of the four jacks, the vehicle body can enter the inclined surface. Assuming that the angle is changed, it is possible to determine whether or not the vehicle body can be leveled.

1 is a schematic diagram showing a rough terrain crane having outriggers according to the present invention; FIG. FIG. 2 is a bottom view of the crane shown in FIG. 1; FIG. 4 is a schematic diagram showing definitions of four outrigger positions E1, E2, E3, and E4 and the attitude of the crane. FIG. 4 is a schematic diagram showing an inclined plane inclined with a roll angle θ2 with respect to a horizontal plane. It is a schematic diagram which shows the inclined surface which made the inclined surface of FIG. 4 further inclined with the inclination of pitch angle (theta)1. FIG. 3 is a schematic diagram showing a case where a crane enters straight into an inclined surface having an inclination angle θ1 with respect to a horizontal plane (entering angle θ3=0 [degrees]). FIG. 7 is a schematic diagram showing an inclined surface E′ obtained by rotating the inclined surface shown in FIG. 6 about the x′-axis by an inclination angle θ2; 8 is a schematic diagram showing a state in which the crane on the inclined plane shown in FIG. 7 is rotated at a yaw angle θ3 around the z″ axis in order to simulate a state in which the approach angle to the inclined plane is changed. FIG. 4 is a flow chart showing the flow of processing of the horizontal posture determination device;

Hereinafter, a specific embodiment of a horizontal posture determination device for a vehicle body having outriggers according to the present invention will be described with reference to the drawings.

<Overview of Crane Configuration>
FIG. 1 is a schematic diagram showing a rough terrain crane 100 having outriggers (front outrigger 200 and rear outrigger 300) according to the present invention, and FIG. 2 is a bottom view of the crane 100 shown in FIG. A rough terrain crane 100 (hereinafter referred to as a crane 100) is an example of a vehicle body having a vehicle body horizontal posture determination device having outriggers according to the present invention.

The crane 100, as shown in FIG. 1, includes a traveling body 10, a revolving body 20, a telescopic boom 30, and the like. The traveling body 10 has tires 11 on the front, rear, left, and right so that it can travel on a road surface such as a road. The running body 10 includes front outriggers 200 and rear outriggers 300 .

The front outrigger 200 is provided at a position forward of the front tire 11 of the traveling body 10 . The rear outrigger 300 is provided at a position behind the rear tire 11 of the traveling body 10 . The front outrigger 200 includes a box 210, left and right beams 220, 230, hydraulic jacks 240, 250, and floats 241, 251, as shown in FIG.

The box 210 is fixed to the frame of the running body 10 and has a length approximately equal to the width of the frame of the running body 10 . The left and right beams 220 and 230 project from the state housed inside the box 210 to the left and right outside in the vehicle width direction, respectively, and are housed inside the box 310 from the state of being stretched.

The hydraulic jack 250 (240) is provided along the vertical direction at the outer tip of the right beam 230 (left beam 220) as shown in FIG. Hydraulic jacks 240 and 250 extend vertically downward by supplied hydraulic pressure, and contract vertically upward from the extended state.

The floats 241, 251 are provided at the lower ends of the hydraulic jacks 240, 250, respectively, and contact the road surface when the hydraulic jacks 240, 250 are extended, and leave the road surface when the hydraulic jacks 240, 250 are shortened.

The rear outrigger 300 has the same configuration as the front outrigger 200, and includes a box 310, left and right beams 320, 330, hydraulic jacks 340, 350, and floats 341, 351. Box 310 corresponds to box 210, beams 320 and 330 correspond to beams 220 and 230, hydraulic jacks 340 and 350 correspond to hydraulic jacks 240 and 250, and floats 341 and 351 correspond to floats 241 and 251. there is

The revolving body 20 is provided above the traveling body 10 and is rotatable about a vertical axis with respect to the traveling body 10 . The vertical axis that is the center of rotation of the revolving body 20 is set at the center of the vehicle width of the traveling body 10 .

The revolving body 20 is provided with a cabin 21 and a telescopic boom 30 . Therefore, the cabin 21 and the telescopic boom 30 rotate together with the rotating body 20 with respect to the traveling body 10 .

The cabin 21 is provided with equipment for a crane operator to operate the crane and to make the traveling body 10 travel. The telescopic boom 30 is raised and lowered and telescopically operated by an operator.

A wire (not shown) stretched along the telescopic boom 30 and extending vertically downward from the extremity of the telescopic boom 30 is reeled in and out, whereby the hook provided on the wire is pulled out. (not shown) is raised and lowered to raise and lower the load suspended on the hook.

<Configuration of Horizontal Posture Determining Device>
The crane 100 of this embodiment includes a horizontal posture determination device 400 . The horizontal posture determination device 400 determines whether or not the crane 100 can be placed in a horizontal posture by extending and retracting the four hydraulic jacks 240 , 250 , 340 , 350 based on the posture of the crane 100 in the current installation state.

FIG. 3 is a schematic diagram showing definitions of four outrigger positions E1, E2, E3, and E4 and the posture of the crane 100. As shown in FIG.

The horizontal attitude determination device 400 includes a vehicle length direction tilt sensor 410 , a vehicle width direction tilt sensor 420 , and a determination section 430 . The vehicle width direction tilt sensor 420 is provided on the traveling body 10 and detects the vehicle width direction tilt angle (roll angle about the vehicle length direction (X-axis)) θ2 of the crane 100 with respect to the horizontal plane. A vehicle length direction tilt sensor 410 is also provided on the traveling body 10, and detects the vehicle length direction tilt angle (pitch angle about the vehicle width direction (Y-axis)) θ1 of the crane 100 with respect to the horizontal plane.

Determination unit 430 is provided in cabin 21 . The determination unit 430 determines the tilt angle (roll angle) θ2 along the vehicle width direction detected by the vehicle width direction tilt sensor 420 and the vehicle length direction tilt sensor 410 when the crane 100 is stopped on the inclined surface. By extending at least one of the hydraulic jacks 240, 250, 340, and 350 based on the inclination angle (pitch angle) θ1 along the vehicle length direction, the crane 100 is lifted while the tire 11 of the traveling body 10 is lifted. can be placed in a horizontal posture.

When the judging section 430 judges that the crane 100 can be placed in a horizontal position while the crane 100 is stopped on the inclined surface, the hydraulic jacks 240, 250, 340, and 350 for setting the horizontal position. or the remaining extension length of each hydraulic jack 240, 250, 340, 350 (remaining amount of length that can be further extended after being extended by the extension length).

The extended length or the remaining extended length of each hydraulic jack 240, 250, 340, 350 output from the determination unit 430 (the extended length and the remaining extended length are hereinafter collectively referred to as the extended length, etc.) are For example, it is displayed on a display unit provided in the determination unit 430 .

When the determining unit 430 determines that the crane 100 cannot be placed in a horizontal posture while the crane 100 is stopped on the inclined surface, the hydraulic jack 240 is moved by changing the approach angle of the crane 100 with respect to the inclined surface. , 250, 340, 350 are extended to float the tires 11 of the traveling body 10, the crane 100 can be placed in a horizontal position.

That is, specifically, the determination unit 430 assumes (assumes) that the crane 100 has changed its approach angle by 1 [degree] from the current state in which the crane 100 is stopped on the inclined surface. , a simulation is performed to determine the length of extension of each of the hydraulic jacks 240, 250, 340, 350 required to bring the crane 100 into a horizontal posture for each approach angle that has been changed.

Then, the determining unit 430 determines that the extension length of each of the hydraulic jacks 240, 250, 340, 350 obtained by the simulation is within the extension length range predetermined as the specifications of each of the hydraulic jacks 240, 250, 340, 350. , it is determined that the crane 100 can be placed in a horizontal posture at that approach angle.

When determining that the crane 100 can be placed in a horizontal posture, the determination unit 430 determines the approach angle at that time and the extension length of each of the hydraulic jacks 240, 250, 340, and 350 to achieve the horizontal posture. memorize the

Since the determination unit 430 performs a simulation assuming (assumed) that the approach angle is changed by 1 [degree], there may be a plurality of approach angles that are determined to allow the crane 100 to take the horizontal posture. In this way, when the crane 100 can be placed in the horizontal posture at each of a plurality of approach angles, the determination unit 430 determines whether each hydraulic jack 240, Store extension lengths of 250,340,350.

Furthermore, the determination unit 430 determines the extension length of the longest hydraulic jack (240, 250, 340 or 350) among the extension lengths of the four hydraulic jacks 240, 250, 340, 350 stored for each approach angle. selects the approach angle for which is the shortest (minimum).

The determination unit 430 outputs the extension length of each of the hydraulic jacks 240, 250, 340, and 350 for each approach angle at which the crane 100 can be placed in a horizontal posture. The optimal approach angle is output in a state that can be distinguished from other approach angles.

All the approach angles at which the determination unit 430 determines that the crane 100 can be placed in a horizontal position and the extension lengths of the hydraulic jacks 240, 250, 340, and 350 at each approach angle output from the determination unit 430 are , for example, is displayed on a display unit or the like provided in the determination unit 430 .

At this time, the approach angle selected by determination unit 430 is displayed so as to be distinguishable from other approach angles. As the identifiable display, for example, different display colors, display with decoration (display by adding a decorative frame such as a rectangular frame, etc.), etc., can be applied.

When at least one extension length of each hydraulic jack 240, 250, 340, 350 obtained by the simulation exceeds the range of extension length predetermined as the specification of each hydraulic jack, determination unit 430 At that approach angle, it is determined that the crane 100 cannot be placed in a horizontal posture.

When the determination unit 430 determines that the crane 100 cannot be placed in a horizontal posture at all simulated approach angles, the crane 100 is placed in a horizontal posture with respect to the inclined surface regardless of the approach angle. It is determined that the crane 100 cannot be set to the horizontal posture, and the determination result that the crane 100 cannot be set to the horizontal posture is output. The determination result output from the determination unit 430 that the crane 100 cannot be placed in the horizontal posture is displayed, for example, on a display unit or the like provided in the determination unit 430 .

In each determination by the determination unit 430 described above, the beams 220 and 230 of the front outrigger 200 are projected from the box 210 according to the load (moment) defined by the weight of the suspended load and the working radius of the telescopic boom. The beams 320 and 330 of the rear outrigger 300 are protruded from the box 310 to protrude in the vehicle width direction.

The determination unit 430 may also perform a simulation assuming that the overhang lengths of the front outriggers 200 and the rear outriggers 300 are changed, and determine whether or not the crane 100 can be placed in a horizontal posture. can. When performing a simulation assuming that the extension lengths of the front outriggers 200 and the rear outriggers 300 are changed, the operator sets the numerical values of the extension lengths of the front outriggers 200 and the rear outriggers 300 to the determination unit 430. By inputting to the reception unit, the determination unit 430 performs simulation by calculation using the input numerical value.

<Specific method of determination by the determination unit>
A specific method of determination by the determination unit 430 described above will be described in detail below.

First, the tilt angle (roll angle) θ2 output by the vehicle width direction tilt sensor and the tilt angle output by the vehicle length direction tilt sensor in a state where the crane 100 is installed on a horizontal plane and the crane 100 is in a horizontal posture (Pitch angle) θ1 is reset to 0 [degree].

At this time, as shown in FIG. 3, the three-dimensional coordinates (x4, y4, z4) of the center position E4 of the float 241 of the hydraulic jack (front left hydraulic jack) 240 of the left beam 220 of the front outrigger 200 are: (design value, design value+projection length of left beam 220, 0 (zero)). Note that front left hydraulic jack 240 is in a fully retracted state (most retracted state).

Similarly, the three-dimensional coordinates (x1, y1, z1) of the center position E1 of the float 251 of the hydraulic jack (front right hydraulic jack) 250 of the right beam 230 of the front outrigger 200 are (design value, design value+right beam 230 overhang length, 0 (zero)). Front right hydraulic jack 250 is in a fully retracted state (most retracted state).

Similarly, the three-dimensional coordinates (x3, y3, z3) of the center position E3 of the float 341 of the hydraulic jack (rear left hydraulic jack) 340 of the left beam 320 of the rear outrigger 300 are (design value, design value + left The overhang length of beam 320 is 0 (zero). Rear left hydraulic jack 340 is in a fully retracted state (most retracted state).

Similarly, the three-dimensional coordinates (x2, y2, z2) of the center position E2 of the float 351 of the hydraulic jack (rear right hydraulic jack) 350 of the right beam 330 of the rear outrigger 300 are (design value, design value + right The overhang length of the beam 330 is 0 (zero). The rear right hydraulic jack 350 is in a fully retracted state (most retracted state). The three-dimensional position (xi, yi, zi) of each position Ei (i=1, 2, 3, 4) described above is stored in the determination unit 430 .

However, as shown in FIG. 3, the vehicle length direction of the crane 100 is the x-axis direction, the vehicle width direction is the y-axis direction, and the height direction is the z-axis direction. 0, y=0. A plane passing through four positions Ei (i=1 to 4) is defined as a horizontal reference plane E (hereinafter also referred to as horizontal plane E) parallel to the horizontal plane on which the tire 11 of the crane 100 is in contact with the ground.

FIG. 4 is a schematic diagram showing an inclined plane E' inclined with respect to the horizontal plane E at a roll angle .theta.2 and a pitch angle .theta.1. FIG. 5 is a schematic diagram showing the horizontal plane E'' in FIG.

Here, it is assumed that the crane 100 is tilted with a predetermined inclination with respect to the horizontal plane E, as shown in FIG. First, when the crane 100 is rotated around the x-axis, the rotation matrix RotX(θ2) using the roll angle θ2 detected by the vehicle width direction tilt sensor is given by the following formula (1).

On the other hand, when the crane 100 is rotated around the y-axis, the rotation matrix RotY(θ1) using the pitch angle θ1 detected by the vehicle length direction tilt sensor is given by the following equation (2).

At this time, each position Ei of each float 241, 251, 341, 351 is displaced to position E'i after the rotation. Assuming that a plane passing through the four positions E'i after displacement is a plane E', the plane E' is obtained by the following equation (3).

Here, the plane E' is an inclined plane on which the roll angle .theta.2 and the pitch angle .theta.1 are detected, and the crane 100 is arranged. By substituting the three-dimensional position Ei for the portion of the plane E in the above equation, the three-dimensional position E'i on the plane E' is calculated.

It is assumed that each hydraulic jack 240, 250, 340, 350 is extended so that the z components of the four three-dimensional positions E'i obtained after displacement have the same value. As a result, the crane 100 is assumed to be placed on the horizontal plane E″ shown in FIG. 5, and assumes a horizontal posture.

At this time, using the maximum value z″max among the z components z″i of the four three-dimensional positions E″1, E″2, E″3, and E″4 after extension as a reference, the other three are Each extension length is set so as to match the reference maximum value z″max. Each extension length thus set is z″max−z′i.

Then, the extension length (z″max−z′i) of each hydraulic jack 240, 250, 340, 350 calculated by the determination unit 430 in this manner is the specification of each hydraulic jack 240, 250, 340, 350. , the determination unit 430 determines that the crane 100 can be placed in a horizontal posture.

On the other hand, even if the extension length (z″max−z′i) of each hydraulic jack 240, 250, 340, 350 is one, the extension possible length of the specification of each hydraulic jack 240, 250, 340, 350 is When exceeding, the determination unit 430 determines that the crane 100 cannot be placed in the horizontal posture.

Next, a simulation performed by the determination unit 430 by changing the approach angle to the inclined surface will be described.

Changing the angle of entry of the crane 100 with respect to the inclined plane rotates the crane 100 about the z-axis. A rotation matrix RotZ(θ3) using the rotation angle (yaw angle) θ3 about the z-axis is given by the following equation (4).

Here, a unit vector in the x-axis direction, a unit vector in the y-axis direction, and a unit vector in the z-axis direction on the horizontal plane E are defined as follows.

FIG. 6 is a schematic diagram showing a case where the crane 100 enters straight into an inclined plane E' having an inclination angle .theta.1 with respect to the horizontal plane E (entering angle .theta.3=0 degrees).

As shown in FIG. 6, when the crane 100 enters straight into an inclined surface having an inclination angle of θ1 with respect to the plane E, the crane 100 rotates around the y-axis at a pitch angle of θ1. A unit vector x' in the x-axis direction and a unit vector z' in the z-axis direction are obtained as follows using the rotation matrix RotY(θ1).

FIG. 7 is a schematic diagram showing an inclined surface E' obtained by rotating the inclined surface shown in FIG. 6 about the x' axis by an inclination angle .theta.2.

As shown in FIG. 7, the inclined surface of FIG. 6 is rotated by an inclination angle .theta.2 around the x'-axis. At this time, the crane 100 placed on the inclined surface shown in FIG. 6 rotates around the x' axis at a roll angle θ2. Since the basis is changing with the rotation shown, we have:

Therefore, the unit vector y' in the y-axis direction and the unit vector z'' in the z'-axis direction on the inclined surface E' are obtained as follows using the rotation matrix RotX'(.theta.2) of equation (7).

FIG. 8 shows a state in which the crane 100 on the inclined plane E' shown in FIG. 7 changes its approach angle to the inclined plane E'. FIG. 10 is a schematic diagram showing a state in which it is closed.

Next, as shown in FIG. 8, the crane 100 is yawed about the z″ axis in order to simulate a state in which the crane 100 on the inclined plane E' of FIG. 7 changes its approach angle to the inclined plane E'. Assume that the image is rotated by an angle .theta.3.The rotation matrix RotZ''(.theta.3) at this time is as follows.

Then, the unit vectors x″ and y″ after rotation using the rotation matrix RotZ″(θ3) are as follows.

When the crane 100 installed on the inclined plane E' is rotated at the yaw angle .theta.3, the pitch angle .theta.1' detected by the vehicle length direction tilt sensor 410 of the crane 100 is expressed by equation (11). Since it is the angle between the unit vector x″ and the normal vector N=(0, 0, 1) on the horizontal plane E, the following equation (13) holds.

Similarly, when the crane 100 installed on the inclined plane E' is rotated at the yaw angle .theta.3, the roll angle .theta.2' detected by the vehicle width direction tilt sensor 420 of the crane 100 is expressed by equation (12). Since it is the angle between the unit vector y″ and the normal vector N=(0, 0, 1) on the horizontal plane E, the following equation (14) holds.

Therefore, determination unit 430 determines the pitch angle θ1′ assumed to be detected by vehicle length direction tilt sensor 410 when yaw angle θ3 is changed by 1 degree, and the pitch angle θ1′ detected by vehicle width direction tilt sensor 420. A roll angle .theta.2' assumed to be calculated.

The determination unit 430 substitutes the calculated pitch angle θ1′ for the pitch angle θ1 in equation (3), and substitutes the roll angle θ2′ for roll angle θ2 in equation (3). Each position E'i of 251, 341, 351 is calculated.

Assuming that the hydraulic jacks 240, 250, 340, and 350 have been extended so that the z components of the four three-dimensional positions E'i have the same value, the determination unit 430 performs the same processing as described above. Find the extension length (z″max−z′i) of the hydraulic jacks 240, 250, 340, 350, and if it is less than the extension length of the specification of each hydraulic jack 240, 250, 340, 350, the crane It is determined that 100 can be placed in a horizontal orientation.

FIG. 9 is a flow chart showing the processing flow of the horizontal posture determination device 400. As shown in FIG.

The above-described processing flow of the horizontal posture determination device 400 of this embodiment is shown in FIG. That is, the crane 100 is installed on an inclined surface (S1), the pitch angle is obtained by the vehicle length direction tilt sensor 410, and the roll angle is obtained by the vehicle width direction tilt sensor 420 (S2).

Based on the acquired pitch angle and roll angle, the determining unit 430 determines whether the outriggers (the front outriggers 200 and the rear outriggers 300) can bring the crane 100 into a horizontal posture on an inclined surface ( S3).

The determination unit 430 changes the yaw angle of the crane 100 by 1 [degree] to obtain the pitch angle and roll angle (S4, S5, S6), and the crane 100 detects the calculated pitch angle and roll angle. It is determined by simulation whether or not the outriggers (the front outrigger 200 and the rear outrigger 300) can bring the crane 100 into a horizontal posture on an inclined surface assuming that the approach angle is arranged (S3).

As described above, according to the horizontal posture determination device 400 of the present embodiment, it is automatically determined whether or not the crane 100 can be brought into the horizontal posture by the outriggers on the inclined surface on which the crane 100 is actually arranged. can judge.

Therefore, whether or not the crane 100 can be placed in a horizontal posture can be determined without relying on the operator's experience and intuition. It is possible to prevent or suppress the time and effort required for the work of placing the 100 in a horizontal posture.

Further, the horizontal posture determination device 400 of the present embodiment not only determines whether or not the crane 100 can take a horizontal posture by the outriggers in a state where the crane 100 is actually placed on the inclined surface, It is also possible to simulate whether or not it is possible to take a horizontal attitude with the outriggers, assuming that the approach angle (yaw angle) with respect to the vehicle is changed.

Therefore, when it is determined as a result of the simulation by the horizontal attitude determining device 400 that the outriggers can assume a horizontal attitude by changing the yaw angle, the approach of the crane 100 to the displayed yaw angle is determined by the determination. By actually changing the angle, you can easily take a horizontal position with the outriggers.

As a result, the horizontal posture determination device 400 can make the work of placing the crane 100 in a horizontal posture easier than in the conventional case in which it was not possible to determine whether or not the horizontal posture can be taken even if the approach angle is changed. Labor can be greatly reduced.

Moreover, when determining that the horizontal posture can be taken at a plurality of approach angles, the horizontal posture determination device 400 selects the approach angle at which the extension remaining length of the hydraulic jack is the longest as the other approach angles. Since the information is output in an identifiable manner, it is possible to ensure a large margin for the extension length of the hydraulic jack.

In addition, since the horizontal posture determination device 400 can perform the above-described simulation and determination corresponding to the length of beam extension in the vehicle width direction, compared to the determination based only on the actual length of beam extension, It is possible to further reduce the time and effort required for the work of placing the crane 100 in the horizontal posture.

It should be noted that the horizontal attitude determination device 400 of the present embodiment extends the crane 100 assuming that the hydraulic jacks 240, 250, 340, and 350 are extended within the range of actual extendable lengths defined in the specifications. A simulation is performed to determine whether or not the hydraulic jacks 240, 250, 340, 350 can be placed in a horizontal posture. each hydraulic jack 240, 250 to bring the crane 100 to a horizontal position (assuming it has been extended to a length beyond the range of actual extendable lengths specified in the specification). , 340, 350 may be further simulated.

In this case, since the simulation exceeds the length that can be extended according to the specifications of the hydraulic jacks 240, 250, 340, 350, the extension length of the hydraulic jacks 240, 250, 340, 350 is unlimited, and the crane 100 must be Can be horizontal.

Then, the judging section 430 determines, through the simulation, that the hydraulic jacks 240, 250, 340, and 350 that have allowed the crane 100 to be placed in a horizontal posture have exceeded the assumed length of extension or the length that can be extended according to the specification. The length is output so as to be displayed on a display unit or the like provided in the determination unit 430 .

The operator can use the display to indicate the specific length of the hydraulic jacks 240, 250, 340, 350 required to bring the crane 100 into a horizontal posture, exceeding the extendable length specified in the specifications. can know.

Therefore, the operator prepares a floor plate having a thickness corresponding to the length exceeding the extendable length in the specifications of the hydraulic jacks 240, 250, 340, 350, and attaches this floor plate to any of the corresponding hydraulic jacks. By installing between the jacks 240, 250, 340, 350 and the inclined surface, the horizontal posture is maintained even if the hydraulic jacks 240, 250, 340, 350 are extended within the extendable length range according to the specifications. The crane 100 can be easily placed in a horizontal position even on an inclined surface that cannot be moved.

In addition, the determination unit 430 performs a simulation to determine whether or not the crane 100 can be brought into a horizontal posture by changing the approach angle (yaw angle) of the crane 100 with respect to an inclined surface, and determines whether or not the crane 100 can move horizontally at any yaw angle. Even when it is determined that the posture cannot be set, the horizontal posture determination device 400 assumes that the actual extendable length defined in the specifications of each hydraulic jack 240, 250, 340, 350 has been extended. of each hydraulic jack 240, 250, 340, 350 to bring the crane 100 to a horizontal position (assuming that it has been extended beyond the range of actual extendable lengths specified in the specification). Further simulations may be performed to determine the extension length.

In this case, since the simulation exceeds the length that can be extended according to the specifications of the hydraulic jacks 240, 250, 340, 350, the extension length of the hydraulic jacks 240, 250, 340, 350 is unlimited, and the crane 100 is all can always be in a horizontal position at an approach angle of .

Then, the determination unit 430 determines the assumed length of extension (or the length of extension according to the specification) of the hydraulic jacks 240, 250, 340, and 350 that can bring the crane 100 into the horizontal posture through the simulation at each approach angle. length exceeding the possible length).

Then, the determination unit 430 determines whether the assumed extension length (or the length exceeding the extension possible length in the specification) of the hydraulic jacks 240, 250, 340, and 350 corresponding to all approach angles is the shortest. , and determine the assumed extension length of the hydraulic jacks 240, 250, 340, 350 corresponding to the selected approach angle (or the length that exceeds the extendable length in the specifications). The data is output so as to be displayed on a display unit or the like provided in the unit 430 .

The operator can see the approach angle of the crane 100 with respect to the inclined surface and the hydraulic pressure required to bring the crane 100 into a horizontal posture when the crane 100 is approached to the inclined surface at that approach angle. It is possible to know the specific length of the jacks 240, 250, 340, 350 that exceeds the extendable length in the specification.

Therefore, the operator prepares a bottom plate having a thickness corresponding to the length exceeding the extendable length in the specifications of the hydraulic jacks 240, 250, 340, 350, and displays the crane 100 on the inclined surface. By installing the prepared floor plate between the corresponding one of the hydraulic jacks 240, 250, 340, 350 and the inclined surface in a state of entering at the approach angle, the hydraulic jacks 240, 250, 340, 350 2, the crane 100 can be easily placed in a horizontal posture even on an inclined surface where the horizontal posture cannot be attained even if the crane 100 is extended within the extendable length range specified in the specifications.

11 tires 100 rough terrain crane (body)
200 Front outriggers 240, 250, 340, 350 Hydraulic jack 300 Rear outrigger 400 Horizontal posture determination device 410 Vehicle length direction tilt sensor 420 Vehicle width direction tilt sensor 430 Determination unit θ1 Pitch angle (tilt angle)
θ2 roll angle (tilt angle)
θ3 Yaw angle (approach angle)

Claims (6)

A front outrigger installed on the front side of the vehicle body,
a rear outrigger installed on the rear side of the vehicle body;
a vehicle width direction tilt sensor for detecting a tilt angle along the vehicle width direction of the vehicle body with respect to a horizontal plane;
a vehicle length direction tilt sensor that detects a tilt angle along the vehicle length direction of the vehicle body with respect to the horizontal plane;
An inclination angle along the vehicle width direction detected by the vehicle width direction inclination sensor and an inclination angle along the vehicle length direction detected by the vehicle length direction inclination sensor when the vehicle body is stopped on an inclined surface. Based on and, it is determined whether or not the vehicle body can be placed in a horizontal posture with the tires of the vehicle body raised by extending the jacks of the front outriggers and the rear outriggers, and the vehicle body is a determination unit that determines whether or not there is an approach angle of the vehicle body with respect to the inclined plane at which the vehicle body can be placed in a horizontal posture when it is determined that the vehicle body cannot be in a horizontal posture. A horizontal posture determination device for a vehicle body having outriggers. 2. The outrigger according to claim 1, wherein when it is determined that the vehicle body can be placed in a horizontal posture, the determination unit outputs an extension length of the jack for setting the vehicle body in a horizontal posture. vehicle body horizontal posture determination device. When the judging section judges that the vehicle body cannot be placed in a horizontal posture, the judging section assumes that at least one of the four jacks has an extendable length, and moves the vehicle body horizontally. 3. The apparatus for determining horizontal attitude of a vehicle body having outriggers according to claim 1 or 2, which outputs the extension length of the jack extended according to the assumption which can be set to the attitude. When the determination unit determines that there is an approach angle of the vehicle body with respect to the inclined surface that allows the vehicle body to take a horizontal posture, the determination unit selects the most jack among the four approach angles obtained by the determination. 4. The method according to any one of claims 1 to 3, wherein an approach angle that minimizes the length of a long extended jack is obtained, and an extension length of the jack for setting the vehicle body to a horizontal posture is output. A vehicle body horizontal posture determination device having outriggers. When the determination unit determines that there is no approach angle of the vehicle body with respect to the inclined surface that allows the vehicle body to take a horizontal posture, the extension length of at least one of the four jacks is determined. Assuming that the vehicle is extended, the approach angle of the vehicle body with respect to the inclined surface that allows the vehicle body to be in a horizontal posture is obtained, and among the obtained approach angles, the extension length of the jack extended based on the above assumption is the largest. 4. The horizontal posture of a vehicle body having outriggers according to any one of claims 1 to 3, wherein a shortened approach angle is selected, and an extension length of the extended jack corresponding to the selected approach angle is output. judgment device. The determination unit determines whether or not the vehicle body can be placed in a horizontal position on the assumption that the length of protrusion of the outriggers in the vehicle width direction is changed, and determines whether the vehicle body can be placed in a horizontal position. 6. The apparatus for determining a horizontal posture of a vehicle body having outriggers according to claim 1, wherein determination is made as to whether or not there is an approach angle of the vehicle body with respect to the inclined surface that can be set to a posture.