JP7363308B2 - Outrigger device and work vehicle - Google Patents

Description

The present invention relates to an outrigger device mounted on a working vehicle, and more particularly to an outrigger device extended by a drive device.

BACKGROUND ART Work vehicles having an outrigger device, such as a mobile crane, a truck crane, and an aerial work vehicle, are known (see Patent Document 1). The outrigger device described in Patent Document 1 includes a frame provided on a vehicle body, a beam slidably held on the frame via a slide cylinder, a jack provided at the tip of the beam, and a beam provided on the jack. and a control means for controlling the driving of the beam. The control means stops driving the beam when the obstacle sensor detects an obstacle.

Japanese Patent Application Publication No. 11-106183

In the outrigger device described in Patent Document 1, when the tip of the beam approaches an obstacle by a predetermined distance, the drive of the slide cylinder is stopped. That is, although this outrigger device detects obstacles while sliding the beam, the work of extending the beam may require extra effort. Specifically, for example, if the obstacle is difficult to move, the operator retracts the beam, moves the work vehicle, and then extends the beam again. In other words, in the outrigger device described in Patent Document 1, the work of extending the beam must be repeated.

An object of the present invention is to provide an outrigger device that can determine whether or not there is an obstacle that will impede beam extension before starting beam extension.

(1) The outrigger device according to the present invention includes: an outer beam provided on a traveling body and extending in the width direction of the traveling body; an inner beam held by the outer beam so as to be slidable along the width direction; A drive device that slides the inner beam, a jack provided at the tip of the inner beam, a bottom plate that the jack comes into contact with, and the shape of the obstacle that exists around the inner beam and the distance to the obstacle. The sensor includes a detection device that outputs detected information, and a controller. The controller performs a detection area determination process that determines a detection area including a movable region of the inner beam based on input of a predetermined trigger signal, and determines that the obstacle is within the detection area based on the detection information. an obstacle determination process for determining whether or not there is an obstacle; a drive process for driving the drive device based on the determination that there is no obstacle within the detection area; and a drive process for driving the drive device when the obstacle is within the detection area. a floor plate determination process for determining whether the obstacle is the floor plate; a position specifying process for identifying the position of the floor plate when the obstacle is the floor plate; and the driving process; a position confirmation process for determining whether the jack has reached above the bottom plate; a stop process for stopping the slide of the inner beam when the jack has reached above the bottom plate; and a stop process for stopping the slide of the inner beam when the jack has reached above the bottom plate; A grounding process is performed in which the grounding process is performed.

When the trigger signal is input, the controller determines whether or not there is an obstacle in the detection area including the movable area of the inner beam. When the controller determines that there is no obstacle in the detection area, the controller drives the drive device to slide the inner beam. That is, even if there is an obstacle outside the detection area, if there is no obstacle within the detection area, the inner beam starts sliding. Furthermore, if there is an obstacle within the detection area, the inner beam will not start sliding. That is, the outrigger device according to the present invention can determine, before starting to extend the inner beam, whether or not there is an obstacle that will hinder the extension of the inner beam.

According to the above configuration, the controller can automatically extend the inner beam, extend the jack, and bring it into contact with the floor plate.

(2) The controller performs a bottom plate position determination process that determines whether or not the bottom plate is in the movable area of the inner beam, and a position shift process that issues an alarm if the bottom plate is not in the movable area of the inner beam. Alarm processing may also be executed.

According to the above configuration, the operator can recognize that the bottom plate is located at a position where the jack does not come into contact with it.

(3) The inner beam and the jack may be provided on the left and right sides of the traveling body, respectively. The controller causes the left and right jacks to contact the bottom plate when the bottom plate corresponding to each jack is in the movable region of the inner beam.

According to the above configuration, only one of the left and right jacks is grounded and the traveling body is prevented from tilting.

(4) The outer beam may be provided before and after the traveling body. The detection device is placed between each outer beam.

The detection device is placed between the front and rear outer beams, so one detection device can detect both the inner beam held by the front outer beam and the inner beam held by the rear outer beam. The area including the beam movable area can be the detection area. As a result, the number of detection devices can be reduced.

(5) The controller may further execute an obstacle warning process of issuing a warning when there is an obstacle in the detection area.

According to the above configuration, the operator can recognize that there is an obstacle that obstructs the sliding of the inner beam.

(6) The controller performs a learning information acquisition process that acquires learning information indicating whether the detected obstacle is the floor plate, and the learning information and the detection that indicates the obstacle corresponding to the learning information. You may further perform an output process of correlating and outputting the information.

The controller acquires learning information indicating whether the detected obstacle is a proper object, and outputs the acquired learning information in association with detection information indicating the obstacle corresponding to the learning information. The output learning information and detection information are used for deep learning. As a result, the accuracy of determining whether an obstacle is a floor plate is improved.

(7) The present invention can also be viewed as a work vehicle.

According to the present invention, it is possible to provide an outrigger device that can determine whether or not there is an obstacle that will impede extension of the inner beam before starting extension of the inner beam.

FIG. 1 is an external perspective view of the crane truck 10. FIG. 2 is a schematic plan view of the crane vehicle 10 with the inner beams 34 and 35 of the front outrigger 31 and the rear outrigger 32 extended. FIG. 3 is a schematic cross-sectional view of the outrigger 30 with the inner beams 34 and 35 housed in the outer beam 33. FIG. 4 is a schematic cross-sectional view of the outrigger 30 in a state where the inner beam 35 extends from the outer beam 33. FIG. 5 is a diagram showing the movable region 75 and detection area 78 of the inner beam 34. FIG. 6 is a functional block diagram of the crane truck 10. FIG. 7 is a part of a flowchart of the overhanging process. FIG. 8 is another part of the flowchart of the overhanging process. FIG. 9 is a flowchart of storage processing. FIG. 10 is a diagram showing the first notification screen. FIG. 11 is a diagram showing the second notification screen. FIG. 12 is a diagram showing the third notification screen. FIG. 13 is a diagram showing the fourth notification screen. FIG. 14 is a diagram showing the fifth notification screen.

Embodiments of the present invention will be described below. Note that the embodiments described below are merely examples of the present invention, and it goes without saying that the embodiments of the present invention can be modified as appropriate without changing the gist of the present invention. For example, the execution order of each process described below can be changed as appropriate without changing the gist of the present invention. Alternatively, some of the processes described below can be omitted as appropriate without changing the gist of the present invention.

In this embodiment, a crane truck 10 shown in FIG. 1 will be described. The crane truck 10 corresponds to a "work vehicle" in the claims of the present invention.

The crane truck 10 mainly includes a traveling body 11, a working device 12 mounted on the traveling body 11, and a cabin 13. The traveling body 11 includes a vehicle body 20, an axle (not shown) having wheels 22, an engine 24, and a battery 25 (FIG. 6). The axle is suspended by the vehicle body 20.

The engine 24 rotationally drives the wheels 22, charges the battery 25, and drives a hydraulic pump (not shown) included in a hydraulic pressure supply device 18 (FIG. 6), which will be described later.

The working device 12 includes a crane device 16, an outrigger device 17, and a hydraulic pressure supply device 18 (FIG. 6). The construction of the crane device 16 is known. Note that, instead of the crane device 16, the work device 12 may include a boom device provided with a work platform. That is, the work vehicle according to the present invention may be realized as an aerial work vehicle instead of the crane vehicle 10. Alternatively, the work vehicle according to the present invention may be realized as a so-called truck crane. That is, the working vehicle according to the present invention may be any working vehicle as long as it includes the outrigger device 17 mounted on the traveling body 11.

The outrigger device 17 includes a pair of front and rear outriggers 31 and 32, and detection devices 50 and 51 (FIG. 2). The front outrigger 31 is arranged at the front of the vehicle body 20. The rear outrigger 32 is arranged at the rear of the vehicle body 20. The front outriggers 31 and the rear outriggers 32 have substantially the same configuration other than their positions in the vehicle body 20. Hereinafter, when the front outrigger 31 and the rear outrigger 32 are not distinguished, they will be described as "outrigger 30".

As shown in FIG. 3, the outrigger 30 includes an outer beam 33, a pair of left and right inner beams 34, 35, outrigger cylinders 44, 45, a pair of left and right jacks 36, 37, and four outrigger sensors 38, 39. , 40, 41, and a pair of left and right pressure sensors 42, 43.

The outer beam 33 has a rectangular tube shape. As shown in the figure, the longitudinal direction of the outer beam 33 corresponds to the width direction (left-right direction) 7 of the vehicle body 20. The inner beams 34 and 35 are arranged inside the outer beam 33 and are slidable in the width direction 7 of the vehicle body 20. The inner beams 34 and 35 slide between a retracted position in the outer beam 33 (FIG. 3) and an extended position in which they extend from the outer beam 33 (FIG. 4).

The outrigger cylinders 44 and 45 are, for example, hydraulic cylinders, and expand and contract by being supplied with hydraulic oil from a hydraulic pressure supply device 18, which will be described later. However, the outrigger cylinders 44 and 45 may be electric cylinders. The outrigger cylinder 44 slides the inner beam 34. The outrigger cylinder 45 slides the inner beam 35. However, the inner beams 34 and 35 may be slid by one outrigger cylinder. The outrigger cylinders 44 and 45 correspond to the "drive device" in the claims of the present invention.

The jacks 36 and 37 are, for example, hydraulic cylinders, and are supplied with hydraulic oil from a hydraulic pressure supply device 18, which will be described later, to expand and contract. However, the jacks 36 and 37 may be electric cylinders. The jack 36 is fixed to the tip of the inner beam 34. The jack 37 is fixed to the tip of the inner beam 35. The jacks 36 and 37 are fixed to the inner beams 34 and 35 with the vertical direction being the direction of expansion and contraction. The lower ends of the jacks 36 and 37 in the contracted state are located above the lowest point of the wheel 22. That is, the lower ends of the jacks 36 and 37 in the contracted state do not contact the ground 9. When the jacks 36 and 37 are extended, they come into contact with the bottom plate 26 placed on the ground 9 (FIG. 4). When the jacks 36 and 37 come into contact with the bottom plate 26, the outrigger device 17 maintains the crane vehicle 10 in a stable posture. The bottom plate 26 is, for example, a metal plate such as an iron plate.

The outrigger sensors 38, 39, 40, and 41 are, for example, limit switches having a pressing portion. The outrigger sensors 38 and 40 are arranged at the center of the outer beam 33. The outrigger sensors 39 and 41 are arranged at the tip of the outer beam 33. The pressing portions of the outrigger sensors 38, 40 are pressed against the inner beams 34, 35 in the retracted position. That is, the outrigger sensors 38 and 40 are sensors that output an ON detection signal when the inner beams 34 and 35 are in the retracted position, and output an OFF detection signal when the inner beams 34 and 35 are in a position other than the retracted position. It is.

The pressing portions of the outrigger sensors 39 and 41 are pressed against the inner beams 34 and 35 in the extended position. That is, the outrigger sensors 39 and 41 output an ON detection signal when the inner beams 34 and 35 are in the extended position, and output an OFF detection signal when the inner beams 34 and 35 are in a position other than the extended position. This is a sensor that outputs . In this embodiment, outrigger sensors 38 and 40 detect that the inner beams 34 and 35 are in the retracted position, and outrigger sensors 39 and 41 detect that the inner beams 34 and 35 are in the extended position. Although four outrigger sensors are provided, the outer beam 33 may further be provided with an outrigger sensor that detects that the inner beams 34 and 35 are at intermediate positions between the retracted position and the extended position.

The pressure sensor 42 is a sensor that outputs a pressure signal according to the ground pressure of the jack 36. The ground pressure of the jack 36 is the pressure with which the lower end of the extended jack 36 presses the bottom plate 26. Similarly, the pressure sensor 43 is a sensor that outputs a pressure signal according to the ground pressure of the jack 37.

The outrigger sensors 38, 39, 40, 41 and the pressure sensors 42, 43 are connected to a power circuit 27 and a controller 60 (FIG. 6), which will be described later, via signal lines such as cables. That is, the outrigger sensors 38 , 39 , 40 , 41 and the pressure sensors 42 , 43 are driven by being supplied with power from the power supply circuit 27 , and input on/off detection signals and pressure signals to the controller 60 .

The detection device 50 includes a camera 52 and a distance measurement sensor 53, as shown in FIG. The detection device 51 includes a camera 54 and a distance measurement sensor 55. The detection device 50 is provided on the left side of the vehicle body 20 in the width direction 7. The detection device 51 is provided on the right side of the vehicle body 20 in the width direction 7 . More specifically, the detection devices 50 and 51 are arranged between the front outriggers 31 and the rear outriggers 32 in the longitudinal direction 8 of the vehicle body 20, and are fixed to the vehicle body 20.

The imaging region 73, which is the region imaged by the camera 52, is a region including the inner beams 34 of the front outriggers 31 and the rear outriggers 32. The imaging region 74, which is the region imaged by the camera 54, is a region including the inner beams 35 of the front outriggers 31 and the rear outriggers 32. In FIG. 2, the imaging areas 73 and 74 of the cameras 52 and 54 are indicated by hatching.

The distance sensors 53 and 55 are sensors that output distance data according to the distance to an obstacle. The distance measuring sensors 53 and 55 are, for example, a sonic sensor, a radar, a laser sensor, etc. that emit radiation waves such as sound waves, radio waves, and light and receive reflected waves reflected by obstacles.

Note that instead of the camera 52 and distance measurement sensor 53 and the camera 54 and distance measurement sensor 55, three-dimensional laser sensors may be provided on both left and right sides of the vehicle body 20. A three-dimensional laser sensor is a sensor that scans a scanning range while irradiating a laser beam, and generates and outputs image data corresponding to the shape of a detection target and distance data corresponding to the distance to the detection target.

The hydraulic supply device 18 shown in FIG. 6 includes a pump driven by an engine 24, piping that supplies hydraulic oil from the pump to actuators such as outrigger cylinders 44 and 45 and jacks 36 and 37, and an electromagnetic pipe installed in the piping. It is equipped with valves, etc. The solenoid valve is opened and closed by a drive signal input from a controller 60 (FIG. 6), which will be described later. By opening and closing the solenoid valves, the outrigger cylinders 44 and 45 and the jacks 36 and 37 are expanded or contracted. That is, the controller 60 controls the drive of the outrigger cylinders 44 and 45 and the jacks 36 and 37 by outputting a drive signal that opens and closes the electromagnetic valve.

The cabin 13 shown in FIG. 1 includes an operating device (not shown) that operates the crane truck 10, an operating device 15 (FIG. 6) that operates the crane device 16 and the outrigger device 17, and a touch panel 70 (FIG. 6). and has.

The operating device 15 shown in FIG. 6 has an operating lever, an operating button, etc. for operating the crane device 16. The operating device 15 also includes an extension button 46 that instructs to extend the inner beams 34 and 35 of the outrigger device 17, and a retraction button 47 that instructs to retract the inner beams 34 and 35. The operating device 15 is connected to the controller 60 via a signal line such as a cable. That is, an operation signal indicating that the extension button 46 or the retraction button 47 has been operated is input to the controller 60. The operation signal indicating that the extension button 46 or the retraction button 47 has been operated corresponds to a "trigger signal" in the claims of the present invention.

The touch panel 70 includes a display panel 71 and a transparent film-like touch sensor 72 superimposed on the display panel 71. The touch sensor 72 outputs position information according to the touched position on the display panel 71. The display panel 71 and the touch sensor 72 are connected to a power supply circuit 27 and a controller 60, which will be described later, by signal lines such as cable lines. The display panel 71 and the touch sensor 72 are driven by power supplied from the power supply circuit 27. The controller 60 inputs screen data to the display panel 71 and causes the display panel 71 to display a screen indicated by the screen data. Further, the controller 60 identifies the type of icon selected by the operator based on the position information input from the touch sensor 72. Details will be described later.

Cabin 13 (FIG. 1) has a control box (not shown). The control box includes a control board. The control board is mounted with a microcomputer, resistors, capacitors, diodes, and various ICs, and constitutes a controller 60, a power supply circuit 27, and a communication interface 69.

The power supply circuit 27 is connected to the battery 25 and is supplied with DC voltage from the battery 25 . The power supply circuit 27 is, for example, a DC/DC converter, and converts the DC voltage supplied from the battery 25 into a stable DC voltage having a predetermined voltage value and outputs the DC voltage. The DC voltage supplied by the power supply circuit 27 is supplied to the controller 60, outrigger sensors 38, 39, 40, 41, pressure sensors 42, 43, detection devices 50, 51, and the like. In addition, in FIG. 6, illustration of the power supply lines from the power supply circuit 27 to the outrigger sensors 38, 39, 40, 41, the pressure sensors 42, 43, etc. is omitted.

The communication interface 69 is a communication module that connects to the Internet through a mobile communication network. For example, a well-known communication module may be used as the communication interface 69.

The controller 60 includes a CPU 61 that is a central processing unit, a ROM 62, a RAM 63, and a memory 64. The ROM 62 stores an OS 65, which is an operating system, and a control program 66. The OS 65 controls communication through the communication interface 69, for example. The control program 66 executes processes such as expansion processing and storage processing, which will be described later. The OS 65 and the control program 66 are executed by the CPU 61 in pseudo-parallel manner, for example, by multitasking. Note that the OS 65 and the control program 66 may be stored in the memory 64. The memory 64 is, for example, an EEPROM.

The RAM 63 is an execution area for the OS 65 and the control program 66, and stores data and information necessary for the execution of the OS 65 and the control program 66. The memory 64 stores in advance screen data showing the notification screens shown in FIGS. 10 to 14.

The expansion process and storage process performed by the control program 66 executed by the CPU 61 will be described below. In addition, below, the process executed by the control program 66 will be described as the process executed by the controller 60.

After stopping the crane truck 10 at the work site, the operator places the bottom plate 26 on the ground 9. Next, the operator boards the cabin 13, operates a power button (not shown) of the operating device 15 to turn on the operating device 15, and then operates the extension button 46.

The controller 60 executes the extension process shown in FIG. 7 based on the power being turned on. For example, the controller 60 periodically executes the extension process at predetermined time intervals. First, the controller 60 determines whether an on operation signal has been input from the extended button 46 (S11). That is, the controller 60 determines whether the overhang button 46 has been operated. When the controller 60 determines that the ON operation signal is not input from the extension button 46 (S11: No), it ends the extension process (FIG. 8).

When the controller 60 determines that an ON operation signal has been input from the extension button 46 (S11: Yes), the controller 60 detects the detection signals output by the outrigger sensors 38, 39, 40, and 41 provided on the front outrigger 31 and the rear outrigger 32. The outrigger sensor signal is acquired, and the positions of the inner beams 34 and 35 are detected based on the acquired outrigger sensor signal (S12). For example, the controller 60 detects the position of the inner beam 34 as the "storage position" when an ON detection signal is input from the outrigger sensor 38.

The controller 60 determines a detection area 78 (FIG. 5) for detecting an obstacle based on the acquired outrigger sensor signal (S13). The detection area 78 will be explained in detail with reference to FIG. 5. Note that although the detection area 78 determined for the inner beam 34 will be described below, the detection area 78 for the inner beam 35 is determined in the same manner.

The detection area 78 is an area including the movable area 75 of the inner beam 34. FIG. 5A shows a first movable region 76 that is the movable region 75 when the inner beam 34 is in the retracted position. The first movable region 76 is a space through which the inner beam 34 in the retracted position slides to the extended position. FIG. 5C shows a second movable region 77 that is the movable region 75 when the inner beam 34 is in the intermediate position. The intermediate position is a position between the retracted position and the extended position. The second movable region 77 is a space through which the inner beam 34 at the intermediate position passes when sliding to the extended position.

In the example shown in FIGS. 5(B) and 5(D), the detection area 78 is a rectangular parallelepiped-shaped area surrounding the movable area 75. In the example shown in FIG. 5(E), the detection area 78 is an elliptical spherical area surrounding the movable area 75. A first detection area 79 (FIGS. 5B and 5E), which is the detection area 78, is determined as an area including the first movable region 76 (FIG. 5A). A second detection area 80 (FIG. 5(D)), which is the detection area 78, is determined as an area including the second movable region 77 (FIG. 5(C)).

Determination of the detection area 78 will be explained in more detail. Memory 64 stores a first table. In the first table, "storage position" and "first detection area information" indicating the first detection area 79 are associated with each other, and "intermediate position" and "second detection area information" indicating the second detection area 80 are associated with each other. ” are associated with each other. The controller 60 acquires "first detection area information" or "second detection area information" associated with the detected positions of the inner beams 34 and 35 from the first table. The first detection area information and the second detection area information may be, for example, a function or a function indicating a boundary dividing the first detection area 79 or the second detection area 80 in a three-dimensional coordinate space whose origin is the center of the crane truck 10. , coordinates indicating each vertex of the first detection area 79 or the second detection area 80. Similarly, memory 64 stores a second table used when storing inner beams 34,35.

Note that the memory 64 may store only the first detection area information. In that case, the controller 60 determines the detection area 78 as the first detection area 79 regardless of the positions of the inner beams 34 and 35. That is, regardless of the positions of the inner beams 34, 35, the detection area 78 may be an area including the first movable area 76, which is the maximum movable area of the inner beams 34, 35. The process in step S13 in which the controller 60 determines the detection area 78 corresponds to the "detection area determination process" in the claims of the present invention.

Next, the controller 60 drives the detection devices 50 and 51 as shown in FIG. 7 (S14). Specifically, the controller 60 supplies power to the cameras 52 and 54 to cause the cameras 52 and 54 to capture images, and supplies power to the distance measuring sensors 53 and 55 to cause the cameras 52 and 54 to perform distance measurement. Then, the controller 60 waits until detection information including image data generated by imaging by the cameras 52 and 54 and distance data output by the ranging sensors 53 and 55 is input (S15: No). When the controller 60 determines that the detection information has been input (S15: Yes), it detects the obstacle based on the image data included in the detection information (S16). For example, the ROM 62 of the controller 60 stores an existing image recognition program. The control program 66 passes the acquired image data to the image recognition program, and causes the image recognition program to determine whether or not an obstacle is captured in the image indicated by the image data. Note that the control program 66 instructs the image recognition program not to identify the outrigger 30 as an obstacle to be detected.

For example, if the operator forgets to place the bottom plate 26 on the ground 9 and operates the extension button 46, and there are no obstacles other than the outriggers 30 in the imaging areas 73 and 74, the controller 60 determines that no obstacle has been detected (S16: No). When the controller 60 determines that no obstacle has been detected (S16: No), the controller 60 inputs screen data indicating the first notification screen to the display panel 71, and causes the first notification screen to be displayed on the display panel 71 (S17). .

FIG. 10 shows the first notification screen. The first notification screen is ``The bottom board could not be confirmed. Please install the bottom board and select "OK." ” and an “OK” icon 81. After placing the bottom plate 26 on the ground 9, the operator selects the "OK" icon 81.

As shown in FIG. 7, the controller 60 determines whether the "OK" icon 81 is selected on the first notification screen (S18). The controller 60 displays the first notification screen on the display panel 71 until the "OK" icon 81 is selected (S18: No). When the controller 60 determines that the "OK" icon 81 has been selected on the first notification screen (S18: Yes), it re-executes the processes from step S14 onwards. If the operator selects the "OK" icon 81 after placing the floor plate 26 on the ground 9, the controller 60 determines that an obstacle (the floor plate 26) has been detected in step S16 (S16: Yes).

When the controller 60 determines that an obstacle has been detected (S16: Yes), the controller 60 determines whether the detected obstacle is the floor plate 26 (S19). The process in step S19 corresponds to the "bottom board determination process" in the claims of the present invention. The controller 60 passes, for example, image data indicating the detected obstacle to a learning program installed on a cloud server or the like via a communication interface 69, a mobile communication network, and the Internet. The learning program determines whether or not the obstacle indicated by the image data is the floor plate 26, and transmits the determination result to the crane truck 10 via the Internet and mobile communication network.

When the controller 60 determines that the detected obstacle is not the floor plate 26 based on the determination result sent by the learning program (S19: No), the controller 60 displays the second notification screen on the display panel 71 (S20). As shown in Fig. 11, the second notification screen displays the words ``The bottom board could not be confirmed.'', the words ``・The bottom board has been installed,'' the ``Installed'' icon 82, and the words ``・The bottom board has been installed.'' Not installed. Install the floor plate and select "OK". ” and an “OK” icon 83.

The operator selects the "installed" icon 82 if the bottom plate 26 has been installed. For example, if the above-described learning program erroneously determines that the obstacle is not the floor plate 26, the operator selects the “installed” icon 82 after checking the floor plate 26 visually. If the operator has forgotten to install the bottom plate 26, he selects the "OK" icon 83 after placing the bottom plate 26 on the ground 9.

As shown in FIG. 7, the controller 60 determines whether the icon selected on the second notification screen is the "installed" icon 82 or the "OK" icon 83 (S21). Note that the controller 60 displays the second notification screen on the display panel 71 until the "installed" icon 82 or the "OK" icon 83 is selected.

When the controller 60 determines that the selected icon on the second notification screen is the "OK" icon 83 (S21: OK), it re-executes the processes from step S14 onwards. When the controller 60 determines that the selected icon on the second notification screen is the "installed" icon 82 (S21: installed), the controller 60 causes the memory 64 to store learning information indicating that the obstacle is the floor plate 26. (S22). The learning information includes, for example, image data indicating an obstacle and information indicating that the obstacle indicated by the image data is the floor plate 26. The learning information is used for deep learning of the learning program in order to improve the accuracy of determining whether the obstacle indicated by the image data is the floor plate 26 or not. Step S22 corresponds to "learning information acquisition processing" in the claims of the present invention.

When the controller 60 determines that the detected obstacle is the floor plate 26 (S19: Yes), or after executing the process of step S22, it determines whether an obstacle other than the obstacle determined to be the floor plate 26 has been detected. (S23).

When the controller 60 determines that an obstacle other than the floor plate 26 has been detected (S23: Yes), the controller 60 determines whether the obstacle is within the detection area 78 (S24). For example, the controller 60 identifies the coordinates of the obstacle based on the detection information, and determines whether the identified coordinates are within the detection area 78. The process in step S24 is an example of "obstacle determination process" in the claims of the present invention.

When the controller 60 determines that the obstacle is within the detection area 78 (S24: Yes), the controller 60 displays the third notification screen on the display panel 71 (S25). The process of step S25 for displaying the third notification screen on the display panel 71 corresponds to "obstacle warning process" in the claims of the present invention.

As shown in Figure 12, the third notification screen displays the message ``There is an obstacle. Move the vehicle or remove the obstacle, then select ``OK''. ” and an “OK” icon 84. The operator selects the "OK" icon 84 after moving the crane truck 10 or removing the obstacle.

As shown in FIG. 7, the controller 60 displays the third notification screen on the display panel 71 until the "OK" icon 84 is selected on the third notification screen (S26: No). When the controller 60 determines that the "OK" icon 84 has been selected on the third notification screen (S26: Yes), it re-executes the processes from step S12 onwards.

In step S23, the controller 60 determines that no obstacle other than the floor plate 26 is detected (S23: No), or in step S24, if the controller 60 determines that the detected obstacle is not in the detection area 78 (S24: No), as shown in FIG. 8, the position of the obstacle determined to be the floor plate 26 is specified (S27). For example, the controller 60 specifies the coordinates of the floor plate 26 in a three-dimensional coordinate space with the center of the crane truck 10 as the origin, based on the detection information acquired in step S15. The process in step S27 corresponds to the "position specifying process" in the claims of the present invention.

Next, the controller 60 determines whether the specified position of the bottom plate 26 is at an appropriate position that allows it to be directly below the jacks 36, 37 provided on the inner beams 34, 35 (S28). An appropriate position that can be directly below the jacks 36 and 37 is a position that is directly below the movable area 75 of the inner beams 34 and 35. For example, the memory 64 stores in advance proper coordinates indicating the proper position in the three-dimensional coordinate space. The controller 60 determines that the specified position of the bottom plate 26 is at the proper position when the coordinates indicating the position of the bottom plate 26 are within the range of the coordinates indicating the proper position stored in the memory 64 (S28: Yes). ). Note that, if even one of the four bottom plates 26 is not in the proper position, the controller 60 determines that the bottom plate 26 is not in the proper position (S28: No). The process in step S28 corresponds to the "bottom plate position determination process" in the claims of the present invention.

When the controller 60 determines that the position of the bottom plate 26 is not an appropriate position (S28: No), the controller 60 displays the fourth notification screen on the display panel 71 (S29). The process of step S29 for displaying the fourth notification screen on the display panel 71 corresponds to "positional deviation alarm process" in the claims of the present invention.

As shown in Figure 13, the fourth notification screen displays "The bottom plate is out of position. Please adjust the bottom plate position and select "OK.'' ” and an “OK” icon 85. After moving the bottom plate 26, the operator selects the "OK" icon 85.

As shown in FIG. 8, the controller 60 displays the fourth notification screen on the display panel 71 until the "OK" icon 85 is selected (S30: No). When the controller 60 determines that the "OK" icon 85 has been selected (S30: Yes), it re-executes the processes from step S14 onwards.

If the controller 60 determines in step S28 that all four bottom plates 26 are at appropriate positions (S30: Yes), it extends the outrigger cylinders 44 and 45 (S31). The process in step S31 corresponds to the "driving process" in the claims of the present invention.

Next, the controller 60 again acquires the detection information output by the detection devices 50 and 51 in order to confirm whether a person or the like has entered the detection area 78 while the inner beams 34 and 35 are extended (S32). . Then, the controller 60 determines whether an obstacle is detected in the detection area 78 (S33). When the controller 60 determines that an obstacle is detected in the detection area 78 (S33: Yes), it stops the extension of the outrigger cylinders 44 and 45 (S34). Then, the controller 60 displays the fifth notification screen (FIG. 14) on the display panel 71 (S35).

As shown in FIG. 14, the fifth notification screen displays the words "There is a person or obstacle. Please remove the person or obstacle and select "OK"" and an "OK" icon 86. has. The operator selects the "OK" icon 86 after confirming the presence of a person or obstacle and having the person leave or the obstacle removed.

As shown in FIG. 8, the controller 60 displays the fifth notification screen on the display panel 71 until the "OK" icon 86 is selected on the fifth notification screen (S36: No). If the controller 60 determines that the "OK" icon 86 has been selected on the fifth notification screen (S36: Yes), or if it determines that no obstacle is detected within the detection area 78 in step S33 (S33: No). ), it is determined whether the outrigger cylinders 44, 45 have extended to the stop position (S37). The stopping position is a position where the jacks 36 and 37 are directly above the bottom plate 26. The controller 60 determines the drive time and slide amount of the outrigger cylinders 44 and 45 based on, for example, the position of the bottom plate 26 and the positions of the inner beams 34 and 35 detected in step S12, and determines the drive time and slide amount of the outrigger cylinders 44 and 45, and It is determined in step S37 whether or not the outrigger cylinders 44, 45 have been driven by the sliding amount. The process in step S37 corresponds to the "position confirmation process" in the claims of the present invention.

If the controller 60 determines that the outrigger cylinders 44 and 45 have not extended to the stop position (S37: No), it executes the processes of steps S32 and S33 again. That is, the controller 60 determines whether there are people or obstacles. The process of step S32 is repeatedly executed, for example, at predetermined time intervals stored in the memory 64 in advance until the outrigger cylinders 44 and 45 are stopped.

When the controller 60 determines that the outrigger cylinders 44 and 45 have extended to the stop position (S37: Yes), it stops driving the outrigger cylinders 44 and 45 (S38). The process in step S38 corresponds to the "stop process" in the claims of the present invention.

Next, the controller 60 extends the jacks 36 and 37 (S39). Then, the controller 60 determines whether the detected pressure indicated by the pressure signals input from the pressure sensors 42 and 43 has exceeded a threshold pressure stored in advance in the memory 64 (S40). The controller 60 extends the jacks 36 and 37 until the detected pressure reaches the threshold pressure (S40: No). When the controller 60 determines that the detected pressure has become equal to or higher than the threshold pressure (S40: Yes), the controller 60 stops driving the jacks 36 and 37 (S41). The process in step S39 corresponds to the "grounding process" in the claims of the present invention.

The controller 60 transmits the learning information stored in the memory 64 through the communication interface 69 (S42), and ends the projecting process. The learning program receives learning information through the mobile communication network and the Internet, executes deep learning using the received learning information, and improves the accuracy of determining whether the obstacle is the floor plate 26 or not. The process in step S42 corresponds to the "output process" in the claims of the present invention.

Next, the storage process executed by the controller 60 will be described with reference to FIG. 9. Note that the same reference numerals are used for processes similar to those described in the overhang process, and the description thereof will be omitted.

The operator operates the storage button 47 of the operating device 15 after completing the crane work at the work site. The controller 60 determines whether an on operation signal has been input from the storage button 47 (S51). When the controller 60 determines that the ON operation signal is not input from the storage button 47 (S51: No), it ends the storage process. Note that the controller 60 repeatedly executes the storage process at predetermined time intervals, for example.

When the controller 60 determines that an ON operation signal has been input from the storage button 47 (S51: Yes), the controller 60 retracts the jacks 36 and 37 (S52). For example, the controller 60 retracts the jacks 36 and 37 only during the drive time stored in the memory 64 in advance.

Next, the controller 60 executes the processes of steps S12, S13, S14, S15, and S23 described above. If the controller 60 determines that an obstacle other than the floor plate 26 has been detected in the process of step S23 (S23: Yes), it executes the process of step S24 described above. When the controller 60 determines that the obstacle is within the detection area 78 in the process of step S24 (S24: Yes), the controller 60 causes the display panel 71 to display the fifth notification screen (FIG. 14) (S53). The operator selects the "OK" icon 86 after removing the obstruction or causing the person who is the obstruction to leave.

The controller 60 displays the fifth notification screen on the display panel 71 until the "OK" icon 86 is selected on the fifth notification screen (S54: No). When the controller 60 determines that the "OK" icon 86 has been selected (S54: Yes), it re-executes the processes from step S14 onwards.

If the controller 60 determines in step S23 that no obstacle other than the floor plate 26 is detected (S23: No), or if it determines that no obstacle is detected within the detection area 78 (S24: No), the controller 60 activates the outrigger. The cylinders 44 and 45 are contracted (S55). The process in step S55 corresponds to the "driving process" in the claims of the present invention.

Next, the controller 60 again acquires the detection information output by the detection devices 50 and 51 in order to confirm whether a person or the like has entered the detection area 78 while the inner beams 34 and 35 are being stored (S32). . Then, the controller 60 determines whether an obstacle is detected in the detection area 78 (S33). When the controller 60 determines that an obstacle has been detected in the detection area 78 (S33: Yes), it executes the processes of steps S34, S35, and S36, similarly to the overhang process.

Next, the controller 60 determines whether the inner beams 34, 35 have reached the storage position (S56). Specifically, the controller 60 determines whether the outrigger sensor signals input from the outrigger sensors 38 and 40 have changed from off to on. The controller 60 determines that the inner beams 34 and 35 have reached the storage position when the outrigger sensor signal changes from off to on (S56: Yes).

The controller 60 repeatedly executes the processes of steps S32 and S33 at predetermined time intervals until it determines that the inner beams 34 and 35 have reached the storage position (S56: No).

When the controller 60 determines that the inner beams 34 and 35 have reached the storage position (S56: Yes), the controller 60 stops the contraction of the outrigger cylinders 44 and 45 (S57), and ends the storage process.

[Operations and effects of embodiment]

When an operation signal is input from the operation device 15, the controller 60 determines a detection area 78 including a movable region 75 of the inner beams 34 and 35, and determines whether there is an obstacle within the detection area 78 based on the detection information. It is determined whether or not (S24). When the controller 60 determines that there is no obstacle in the detection area 78 (S24: No), the controller 60 extends the outrigger cylinders 44 and 45 to slide the inner beams 34 and 35. That is, even if there is an obstacle outside the detection area 78, if there is no obstacle within the detection area 78, the inner beams 34 and 35 start sliding. Further, if there is an obstacle within the detection area 78, the inner beams 34 and 35 do not start sliding. That is, before the inner beams 34, 35 start to extend, the presence of an obstacle that will hinder the extension of the inner beams 34, 35 is confirmed.

The controller 60 specifies the position of the bottom plate 26 (S27), stops driving the inner beams 34, 35 when the jacks 36, 37 are located above the bottom plate 26 (S38), and then stops the jacks 36, 37. It is extended and brought into contact with the bottom plate 26 (S39). Therefore, the controller 60 can automatically perform operations such as extending the inner beams 34 and 35, extending the jacks 36 and 37, and bringing the jacks 36 and 37 into contact with the bottom plate 26. As a result, the operator's effort in extending the outrigger 30 is omitted.

The controller 60 also determines whether or not the bottom plate 26 is in an appropriate position where the jacks 36 and 37 can come into contact (S28), and if the bottom plate 26 is not in the appropriate position (S28: No), the fourth notification screen is displayed on the display panel 71 (S29) to notify the operator that the position of the bottom plate 26 has shifted. Therefore, the operator can recognize that the bottom plate 26 is not in an appropriate position.

Further, in response to determining that all four bottom plates 26 are in proper positions (S28: Yes), the controller 60 extends the jacks 36 and 37 (S39). Therefore, only one of the left and right jacks 36, 37 is extended and the crane truck 10 is prevented from tilting.

Furthermore, since the detection devices 50 and 51 are disposed between the front outrigger 31 and the rear outrigger 32 in the longitudinal direction 8 of the vehicle body 20, the detection device 50 detects the inner beam 34 of the front outrigger 31 and the rear outrigger. The sensing area 78 including the movable areas 75 of both inner beams 34 and the 32 inner beams 34 can be used as the imaging area 73. As a result, the number of required sensing devices is reduced. That is, the crane truck 10 is equipped with four inner beams, two inner beams 34 and two inner beams 35, but if a detection device is provided for each of the four inner beams, four detection devices are required. Become. In this embodiment, the two detection devices 50 and 51 can automatically extend and retract the outrigger device 17.

Further, when the controller 60 detects an obstacle that obstructs the extension or storage of the inner beams 34 and 35 (S24: Yes), the controller 60 causes the display panel 71 to display a third notification screen (S25). Therefore, the operator can recognize that there is an obstacle that obstructs the extension or retraction of the inner beams 34, 35.

Further, the controller 60 transmits image data and learning information indicating that the obstacle indicated by the image data is the floor plate 26 to the learning program. Therefore, the controller 60 can cause the learning program to perform deep learning, and as a result, the accuracy of judgment of the learning program can be improved.

[Modified example]

In the above-described embodiment, an example has been described in which the controller 60 causes the learning program to determine whether the obstacle is the floor plate 26 or not. However, the above-mentioned judgment may be made by the controller 60. In that case, the processes of steps S22 and S42 for storing and outputting the learning information in the memory 64 may be omitted.

In the embodiments described above, an example has been described in which the controller 60 detects the positions of the inner beams 34 and 35 using the outrigger sensors 38, 39, 40, and 41. However, the controller 60 may detect the positions of the inner beams 34 and 35 using the above detection information (ie, image data). In that case, the outrigger sensors 38, 39, 40, 41 are not provided in the crane vehicle 10. That is, the outrigger sensors 38, 39, 40, and 41 may not be provided. Moreover, when the outrigger sensors 38, 39, 40, and 41 are not provided in the crane vehicle 10, the detection area 78 may be an area including the first movable area 76, which is the maximum movable area of the inner beams 34, 35.

In the above-described embodiment, an example has been described in which the controller 60 provides notification using the display panel 71. However, this notification may be made by a speaker.

In the embodiment described above, a moving obstacle such as a person and a fixed obstacle are treated as the same obstacle, and the detection area 78 is determined. However, the controller 60 may determine a fixed obstacle detection area for detecting fixed obstacles and a moving obstacle detection area for detecting moving obstacles such as people. The fixed obstacle detection area is the detection area 78, and the moving obstacle detection area is an area that includes the detection area 78 and is wider than the detection area 78. By determining two types of detection areas, the safety in extending and retracting the inner beams 34 and 35 is further improved.

In the embodiment described above, the controller 60 determines that the bottom plate 26 is in the proper position when the bottom plate 26 is located directly below the movable area 75 of the inner beams 34 and 35. However, when the four bottom plates 26 are all in the proper position and the four bottom plates 26 are in a position where the four inner beams 34 and 35 extend the same amount, the controller 60 determines that the bottom plate 26 is in the proper position. It may be determined that the location is the same. In that case, the four inner beams 34 and 35 have the same amount of extension, and the outrigger device 17 supports the crane vehicle 10 more stably.

10... Crane vehicle 11... Traveling body 15... Operating device 17... Outrigger device 26... Bottom plate 33... Outer beams 34, 35... Inner beams 44, 45... Outrigger Cylinders 50, 51...detection device 60...controller 75...movable area 78...detection area

Claims (7)

an outer beam provided on the traveling body and extending in the width direction of the traveling body;
an inner beam held by the outer beam so as to be slidable along the width direction;
a drive device that slides the inner beam;
A jack provided at the tip of the inner beam and a bottom plate that the jack comes into contact with;
a detection device that outputs detection information according to the shape of an obstacle existing around the inner beam and the distance to the obstacle;
comprising a controller;
The above controller is
a detection area determination process that determines a detection area including the movable region of the inner beam based on input of a predetermined trigger signal;
Obstacle determination processing that determines whether the obstacle is within the detection area based on the detection information;
Driving processing for driving the driving device based on determining that there is no obstacle within the detection area;
When the obstacle is within the detection area, a floor plate determination process that determines whether or not the obstacle is the floor plate;
When the obstacle is the floor plate, a position specifying process for identifying the position of the floor plate, and the driving process;
a position confirmation process for determining whether the jack has reached above the bottom plate;
A stopping process for stopping the sliding of the inner beam when the jack reaches above the bottom plate;
An outrigger device that executes a grounding process of bringing the jack into contact with the bottom plate . The above controller is
A bottom plate position determination process for determining whether the position of the bottom plate is within the movable area of the inner beam;
2. The outrigger device according to claim 1 , further comprising a positional shift warning process for issuing a warning when the bottom plate is not in the movable area of the inner beam. The inner beam and jack are provided on the left and right sides of the traveling body, respectively,
The above controller is
The outrigger device according to claim 2 , wherein the left and right jacks are brought into contact with the bottom plate when the bottom plate corresponding to each jack is in a movable region of the inner beam. The outer beam is provided at the front and rear of the traveling body,
The outrigger device according to any one of claims 1 to 3 , wherein the detection device is arranged between each outer beam. The above controller is
The outrigger device according to any one of claims 1 to 4 , further executing an obstacle warning process for issuing a warning when there is an obstacle in the detection area. The above controller is
learning information acquisition processing for acquiring learning information indicating whether the detected obstacle is the floor plate;
The outrigger device according to any one of claims 1 to 3 , further comprising: outputting the learning information in association with the detection information indicating the obstacle corresponding to the learning information. A work vehicle comprising the outrigger device according to any one of claims 1 to 6 .

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