JPS60258088A - Display device for state of operation of turning type construction machinery - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention (a) Technical Field The present invention relates to an operating state display device for a swing type construction machine.
More specifically, the present invention relates to a device that displays on a two-dimensional screen the positional relationship between the rotating position of a revolving upper structure and obstacles existing around the revolving upper structure.

(b) Prior art construction machines include mobile cranes and universal excavators (traveling trucks,
It consists of an upper revolving body and a front, and by replacing the front, it can be used for various purposes such as power shovels, drag shovels, grab buckets, drag lines, skin mascot tips, etc. be. The upper revolving body of such a swinging construction machine (crane will be explained below) has a large overhang, especially at the rear, making it difficult for the operator to see behind him during swinging, and there are blind spots, so he has to rely on his intuition. He was forced to maneuver, often resulting in contact with surrounding obstacles. Therefore, conventionally, when the crane turns,
A person (for example, a watchman or sling handler) was stationed outside the crane to monitor it.

However, noise levels are generally high at sites where work is carried out using cranes, and even if guidance or warnings are issued, the noise may not be reliably conveyed. A method of giving signals by hand has also been implemented, but this method is also extremely dangerous and uncertain, as visibility is obstructed by weather and obstacles, resulting in errors or delays in the signals. The method of giving a signal by sound or hand requires an additional person to act as a supervisor, which is problematic in that the total personnel cost increases.

(c) Purpose The present invention was devised in view of the conventional problems mentioned above, and its purpose is to enable the operator alone to confirm the safety of the rear immediately, accurately, and without the risk of misunderstanding. An object of the present invention is to provide an operating status display device for a swing type construction machine.

(d) Structure In order to achieve the above object, the present invention provides a revolving construction machine such as a mobile crane or a universal excavator in which an upper revolving body is rotatably supported on a truck, in which the upper revolving body is rotatably supported. a turning angle detector for detecting an angle; a turning position calculation means for calculating a contour position of the upper rotating body when viewed from vertically above based on the turning angle detected by the turning angle detector; Obstacle position setting means for specifying the turning area in which the obstacle exists when an obstacle exists in the turning area of the body; A display signal generating means that temporarily stores the data in the address and performs necessary processing on the data and sends a display signal; and a display unit that displays the area where the obstacle exists on a screen, so that the operator can visually confirm the positional relationship between the upper revolving structure and the obstacle on the display unit installed in the cockpit. It is characterized by having the following configuration.

Hereinafter, the configuration of an embodiment of the present invention will be described in detail based on the drawings.

FIG. 2 shows a side view of a truck crane to which the present invention can be applied.

In the figure, 1 is a truck that is a crane's trolley, 2
is an upper revolving body loaded on a truck 1 and rotatable around a rotation center O, and the base end of a boom 3, which is vertically undulating and whose length is variable, is pivoted on this upper revolving body 2. has been done.

A load 4, which is an object to be lifted by the crane, is suspended from the tip of the boom 3 by a wire rope. The truck 1 is provided with four outriggers 5a, 5b, 5c, and 5d that protrude downward and can support the entire truck with the axle floating. Book Outrigger 5
A to 5d support the truck crane on the foundation ground 6.

FIG. 3 shows a plan view of the truck crane of FIG. 2. 7
8 is an operator of this truck crane, and 8 is an obstacle that is located in the turning area of the upper revolving structure 2 and has a danger of coming into contact with it when turning, and is generally located at a position that cannot be seen from the position of the operator 7.

The rotation angle φ (see FIG. 3) of the upper revolving body 2 can be determined by, for example, providing a resistance band on either the upper revolving body 2 or the track 1, and providing a sliding brush in sliding contact with the resistance band on the other to configure a potentiometer. It can be determined from the output of the potentiometer. Using the rotation angle φ detected by a rotation angle detector such as a potentiometer, the rotation angle φ
When the contour Q (xo + y o ) of the upper rotating body 2 on the x-y plane when is 0° is rotated by φ around the rotation center 0, the position of the contour Q (x, y) is: Q(x,y)=Q(xo cosφ−yosjnφ.

xasjnφ+yocosφ) (1). The position R(xty) of the obstacle 8 can be considered to be constant. For example, the position R(xty) of the obstacle 8 can be considered constant.
The contour Q (xt y) at the turning angle φ when a part of the contour Q (xt y) of the upper rotating body 2 contacts or is about to contact the obstacle 8 is expressed as R(x + y).
It can be considered as In addition, each float 98~9d
You can also set it by actually measuring the distance from.

FIG. 1 shows the axis Q of the upper revolving structure 2 of the crane and the position R of the obstacle 8, for example CR, T.
, is a schematic diagram displayed on a two-dimensional screen such as a liquid crystal display.

In the figure, 9a to 9d are floats at the tips of the outriggers 5a to 5d, and ■ indicates a line connecting each float 98 to 9d. The position of the axis Q is displayed on the screen in response to the rotation movement of the upper rotating body 2, but when the position is near the position R of the obstacle 8, the position of the two-part rotating body 2 is displayed. Indicates that there is a risk of contact with the obstacle 8.

Next, a description will be given of means for displaying what is shown in FIG. 1 on the screen.

FIG. 4 is a schematic block diagram showing a circuit configuration of an operating state display device that detects and displays the operating state of the crane, that is, the turning state of the upper revolving structure, and also displays the position of an obstacle.

In the figure, reference numeral 10 denotes a turning angle detector, which detects the turning angle φ from, for example, when the upper rotating body 2 is facing forward, and its detection signal is sent to the turning position calculation means 11. is input. The turning position calculation means 11 calculates the X and Y coordinates of the axis Q of the upper rotating body 2. That is, the axis Q of the two-part rotating body 2 is formed by seven straight lines as shown in FIG. . 7 * (
7) If , L=-) a. Air, 1. That is, when the upper rotating body 2 is facing forward, the rotation center 0 for each straight line is calculated based on the coordinates Q (xo, yo) of 7- and the turning angle φ from the turning angle detector IO. Coordinate Q (Xy y
) is calculated based on the above equation (1). Reference numeral 13 denotes an obstacle position setting means, which outputs a signal indicating the X coordinate and ■ coordinate of the obstacle R when the position (existence area) of the obstacle is input using a keyboard or the like, for example. 14 is a display signal generation circuit which receives the output Q (xt y) of the turning position calculation means 11 and the output R (x, y) of the obstacle position setting means 13;
The received data is temporarily stored at a predetermined address, the data is subjected to processing necessary for display, and a display signal is sent to the display body 15. The display unit 15 uses such a display signal generation circuit 14 to display the position of the obstacle R (X, y) and the axis Q (X+ Display the position of y). Here, in the turning position calculation means 11,
Adders and multipliers are used as appropriate, and sin and cos
The turning position Q (
xyy) calculations can be performed.

Next, the processing steps in the display signal generation circuit 14 will be described.

FIG. 5 shows a schematic block diagram of the display signal generation circuit 14.

In the same figure, each data Q (xt y) l R(xt y) input from calculation or keyboard
is once stored in the data buffer 16 in the display signal generation circuit 14, and then stored at a predetermined address in the display data storage circuit 17 composed of videos R and AM on a magnetic disk or the like.

Next, each of the stored data is read out by the display data readout circuit 18, and the graphic signal generation circuit 19
The image is processed into a shape according to the display format, and is output to the display peripheral circuit 20 together with a timing signal for display. Here, the graphic signal generation circuit 19 is, for example, a vector generator for generating figures such as straight lines and circles. The display peripheral circuit 20 performs control to display the outline Q of the upper revolving structure 2 and the obstacle position R on the display 15 in response to the timing signal from the display data readout circuit 18. For example, when the display 15 is If it is a CRT, it performs X deflection, ■ deflection of a deflection plate, or brightness modulation of an electron beam. Further, if the display 15 is a liquid crystal display made of nematic liquid crystal cells arranged in an XY matrix, the brightness and darkness of each dot of the liquid crystal display is controlled.

FIGS. 6(a), (b), and (c) are a perspective view and a front view respectively showing the structure of a liquid crystal display board as a display body for displaying the schematic diagram shown in FIG. 1 on a two-dimensional screen. FIG. 3 is a diagram and a side view.

In the figure, reference numeral 21 denotes, for example, an XY matrix liquid crystal display body, on the front of which is superimposed a trolley display board 22 made of a transparent plate on which the inputs and floats 98 to 9d shown in FIG. 1 are displayed in advance. It is being As described above, the outline Q of the upper rotating body 2 and the position (outline) R of the obstacle 8 are displayed on the liquid crystal display 21.

As described above, the liquid crystal display 21 (or CR
T display), the surroundings of the crane can be determined by looking at the positional relationship of the upper revolving structure 2 with respect to the position R of the floats 9a to 9d and the obstacle 8, as shown in FIG. You can judge at a glance whether or not it is safe to perform work. In this way, a single operator can safely operate the crane while being aware of the surrounding situation.

Note that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention.

For example, in the above embodiment, an example was shown in which the turning angle φ is detected by the resistance band, but in order to detect the relative turning amount between the upper rotating body 2 and the crane truck, Alternatively, the turning angle φ may be determined by counting the number of pulses generated from 35 and 1'.

Furthermore, instead of using the liquid crystal display 21, a CRT display (including a color display) can be used as the two-dimensional screen. Furthermore, when displaying as shown in FIG. 1, if the display is done in a color that corresponds to the degree of danger, it will be easier to judge. For example, in FIG. 1, safety can be easily confirmed by displaying an approach warning area around the position R of the obstacle 8.

Furthermore, although the two-dimensional screen display has been described using X-Y coordinates, it can also be expressed using polar coordinates. For example, considering polar coordinates with the turning center 0 as the origin, the position R of the obstacle 8 can be expressed by the distance from the turning center 0 and the turning angle φ. In addition, the contour Q of the upper revolving body 2 is determined by the coordinate Q as in this embodiment.
(x + y) is not calculated and plotted on the display 15, but a panel-like object shaped like an upper rotating body and rotated around the center of rotation O is mounted on a two-dimensional screen, and the rotation angle φ is It will be simpler if it is configured so that it rotates accordingly.

In addition, in the embodiment shown in FIG. 5, an example was explained in which the bogie display board 22 is provided and lines connecting the floats 98 to 9d representing bogies are displayed in advance on the bogie display board 22. The trolley display board 22 may be omitted so that the outline R of the upper revolving structure 2 and the obstacle is displayed on the liquid crystal display 21 or the CRT display.

Therefore, the present invention is not limited to the above-mentioned mobile crane, but can be applied to any type of slewing construction machine such as a power shovel or a drag shovel in which the upper revolving body 2 is rotatably supported on a traveling truck, regardless of its type or use. applicable.

(8) Effects As detailed above, according to the present invention, the positional relationship between the revolving upper structure and obstacles is displayed so that the operator can visually recognize it on a display installed in the cockpit. Therefore, the safety of the rear of the upper revolving structure was immediately assured by the operator's command.
It is possible to provide an operating state display device for a swing type construction machine that can be confirmed accurately and without the risk of misidentification.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing an example of the operating state display form of the present invention, FIGS. 2 and 3 are a side view and a plan view of a truck crane to which the present invention can be applied, and FIG. FIG. 5 is a schematic block diagram showing the circuit configuration of the embodiment, and FIG. 6 is a schematic block diagram of the display signal generation circuit shown in FIG.
), (b), and (c) are a perspective view, a front view, and a side view, respectively, showing the structure of an example of a display body that depicts the schematic diagram shown in FIG. 1. ■... Truck, 2... Upper revolving structure, 3... Boom, 4... Hanging load, 5a
~5d... Outrigger, 7... Operator, 8... Obstacle,
9a to 9d...Float, 10...Turning angle detector, 11...Turning position calculation means, 12...Initial data setting means, 13... ...
- Obstacle position setting means, 14...display signal generation circuit, 15...display body. 21...Liquid crystal display, 22...Bogie display board, Q...Outline of upper revolving body, R...Location of obstacle. Figure 1 Figure 2

Claims (1)

[Claims] (1) In a swing-type construction machine such as a mobile crane or a universal excavator in which an upper revolving body is rotatably supported on a truck, a swing angle detector for detecting a swing angle of the upper revolving body, and a turning position calculating means for calculating a contour position of the upper revolving body when viewed from vertically above based on a turning angle detected by an angle detector; Obstacle position setting means for setting a turning area in which an obstacle exists; receiving data output from the turning position calculating means and the obstacle position setting means; temporarily storing the data at predetermined addresses; A display signal generating means for performing necessary processing on data and transmitting a display signal, and a display body receiving the display signal from the display signal generating means and displaying the turning position and the obstacle presence area on a screen. An operating state display device for a revolving construction machine, characterized in that the operating state display device for a revolving construction machine is configured so that an operator can visually confirm the positional relationship between the upper revolving structure and the obstacle using the display installed in a cockpit.