JPWO2020067201A1 - Work equipment and contact monitoring system for work equipment - Google Patents

Abstract

The work machine is a work machine having a boom that can be swiveled and undulated, and can work at least partially overlapping the workable range of the first work machine, which is a work machine, while being arranged in the work area. The acquisition unit that acquires information about the second work machine that has a range and the first passage area that the first work machine passes during the transfer work are calculated, and the second work machine transports based on the information about the second work machine. A calculation unit that calculates the second passage area that passes during work, a determination unit that determines contact between the first work machine and the second work machine based on the first pass area and the second pass area, and a determination unit. When it is determined that the first working machine and the second working machine come into contact with each other, the operator of the first working machine is provided with a control unit for notifying the operator of the control for avoiding the contact.

Description

The present invention relates to a work machine and a work machine contact monitoring system.

Conventionally, in a large-scale construction site or the like, in order to improve the efficiency of construction work, cargo transportation work is performed at a plurality of places by a plurality of work machines (for example, cranes) arranged in the construction site. .. At this time, the cranes arranged in the construction site may be arranged so that their workable ranges overlap with each other. That is, cranes having overlapping workable ranges may come into contact with each other depending on the transfer timing and working posture. The operator of each crane performs the transport work while avoiding contact between the cranes while keeping close contact with other operators by radio or the like.

The operator determines the operating state of another crane (hereinafter referred to as "other aircraft") having a workable range that overlaps with the workable range of the crane he / she controls (hereinafter referred to as "own aircraft"). Since it is necessary to operate the own aircraft while checking, there is a problem that work efficiency is reduced. Therefore, there is known a crane proximity alarm device that notifies the operator by an alarm device or the like and automatically stops the crane when a possibility of collision occurs (see Patent Document 1).

In the crane proximity alarm device described in Patent Document 1, a control device of its own machine (crane) and a control device of a plurality of other machines (for example, a crane) are connected by wireless communication or the like. In the crane proximity alarm device, each control device acquires various information such as control information from each other and transmits a control signal. The crane proximity alarm device creates a simulation model of each crane based on the acquired information of each crane to simulate a collision. When it is determined that the cranes collide with each other, the crane proximity alarm device notifies the operator and stops the cranes when the proximity is continued. Such a crane proximity alarm device can avoid contact between cranes. However, since the crane is forcibly stopped, the work efficiency may be significantly reduced.

Japanese Unexamined Patent Publication No. 2003-118981

An object of the present invention is to provide a work machine and a contact monitoring system for the work machines, which can avoid contact between the work machines without lowering the work efficiency.

One aspect of the work machine according to the present invention is a work machine having a swingable and undulating boom, which is at least the workable range of the first work machine, which is a work machine, in a state of being arranged in the work area. Based on the information about the second work machine, the acquisition unit that acquires the information about the second work machine that has a partially overlapping workable range and the first pass area that the first work machine passes through during the transfer work are calculated. The contact between the first working machine and the second working machine is determined based on the calculation unit that calculates the second passing area through which the second working machine passes during the transport work, and the first passing area and the second passing area. When the determination unit determines that the first work machine and the second work machine come into contact with each other, the control unit that notifies the operator of the first work machine of information regarding control for avoiding the contact. , Equipped with.

One aspect of the working machine contact monitoring system according to the present invention is the contact of the working machine for monitoring the contact of the working machine in the work area where a plurality of working machines having a swivel and undulating boom are arranged. A monitoring system, one of a plurality of work machines, a first work machine having a first workable range, and one of a plurality of work machines, the first (Ii) A second work machine having a workable range and an external terminal communication-connected to the first work machine and the second work machine are provided, and the external terminal acquires information about the first work machine from the first work machine. First acquisition unit to acquire information about the second work machine from the second work machine, and the first passage through which the first work machine passes during the transfer work based on the information about the first work machine. Based on the calculation unit that calculates the area and calculates the second pass area that the second work machine passes during the transport work based on the information about the second work machine, and the first pass area and the second pass area. Information on the determination unit that determines the contact between the first work machine and the second work machine, and the control for avoiding the contact when the judgment unit determines that the first work machine and the second work machine come into contact with each other. A control unit for notifying the operator of at least one of the first working machine and the second working machine is provided.

According to the present invention, it is possible to realize a work machine and a contact monitoring system for work machines that can avoid contact between work machines without lowering work efficiency.

FIG. 1 is a side view showing the overall configuration of the crane according to the present invention. FIG. 2 is a block diagram showing a control configuration of the crane. FIG. 3 is a schematic view showing a mode of contact determination based on the shortest distance between the passing region of the own aircraft and the passing region of another aircraft. FIG. 4 is a graph showing the relationship between the position of the own machine during the transport work and the position of the other machine during the transport work. FIG. 5 is a flowchart showing a control mode of contact monitoring control. FIG. 6 is a block diagram showing a control configuration of the contact monitoring system according to the present invention.

Hereinafter, the working machine according to the embodiment of the present invention (in the case of the present embodiment, the rough terrain crane) will be described with reference to FIGS. 1 and 2. The working machine is not limited to the rough terrain crane. For example, the working machine may be an all-terrain crane, a truck crane, a loaded truck crane, an aerial work platform, or the like.

As shown in FIG. 1, the crane 1 is a mobile crane that can move to an unspecified place. The crane 1 has a vehicle 3 and a crane device 6 which is a working device. The crane is not limited to the mobile crane. The crane may be, for example, a tower crane.

The vehicle 3 is a traveling body that conveys the crane device 6. The vehicle 3 has a plurality of wheels 3a and travels by using the engine 4 as a power source. The vehicle 3 is provided with an outrigger 5.

The outrigger 5 has an overhang beam that can be extended by flood control on both sides of the vehicle 3 in the width direction and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 3 can widen the workable range Wr1 (see FIG. 3) of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 3 and grounding the jack cylinder.

The crane device 6 is a device for lifting the luggage W by a wire rope. The crane device 6 includes a swivel base 7, a boom 9, a jib 9a, a main hook block 10, a sub hook block 11, an undulating hydraulic cylinder 12, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. 17 and a control device 32 (see FIG. 2) and the like are provided.

The swivel base 7 is a structure that allows the crane device 6 to swivel. The swivel base 7 is provided on the frame of the vehicle 3 via an annular bearing. The swivel base 7 is rotatably configured with the center of the annular bearing as the center of rotation. The swivel base 7 is provided with a hydraulic swivel hydraulic motor 8 which is an actuator. The swivel base 7 is configured to be swivelable in one direction and the other direction by a swivel hydraulic motor 8.

The swivel hydraulic motor 8 which is an actuator is rotated by a swivel valve 22 (see FIG. 2) which is an electromagnetic proportional switching valve. The swivel valve 22 can control the flow rate of the hydraulic oil supplied to the swivel hydraulic motor 8 to an arbitrary flow rate.

That is, the swivel base 7 is configured to be controllable to an arbitrary swivel speed via the swivel hydraulic motor 8 that is rotationally operated by the swivel valve 22. The swivel 7 is provided with a swivel sensor 27 (see FIG. 2) that detects the swivel position (angle) and swivel speed of the swivel 7.

The boom 9 is a structure that supports the wire rope so that the luggage W can be lifted. The boom 9 is composed of a plurality of boom members. The boom 9 is provided so that the base end of the base boom member can swing at substantially the center of the swivel base 7.

The boom 9 is configured to be able to expand and contract in the axial direction by moving each boom member by an expansion / contraction hydraulic cylinder (not shown) which is an actuator. Further, the boom 9 is provided with a jib 9a. The jib 9a is held in a posture along the base boom member by a jib support portion provided on the base boom member of the boom 9. The base end of the jib 9a is configured to be connectable to the jib support portion of the top boom member.

The expansion / contraction hydraulic cylinder (not shown), which is an actuator, is expanded / contracted by the expansion / contraction valve 23 (see FIG. 2), which is an electromagnetic proportional switching valve. The expansion / contraction valve 23 can control the flow rate of the hydraulic oil supplied to the expansion / contraction hydraulic cylinder to an arbitrary flow rate. The boom 9 is provided with a telescopic sensor 28 (see FIG. 2) that detects the length of the boom 9.

The camera 9b, which is an image acquisition means, acquires images of the luggage W and features around the luggage W. The camera 9b is provided at the tip of the boom 9. The camera 9b is configured to be capable of photographing the features and terrain around the luggage W and the crane 1 from vertically above the luggage W. Further, the camera 9b is configured to be rotatable 360 °, and can shoot in all directions centered on the tip of the boom 9.

The main hook block 10 and the sub hook block 11 are members for suspending the luggage W. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound and a main hook 10 for suspending the luggage W. The sub-hook block 11 is provided with a sub-hook 11 for suspending the luggage W.

The undulating hydraulic cylinder 12 is an actuator that raises and lays down the boom 9 and holds the posture of the boom 9. In the undulating hydraulic cylinder 12, the end of the cylinder portion is swingably connected to the swivel base 7, and the end of the rod portion is swingably connected to the base boom member of the boom 9.

The undulating hydraulic cylinder 12 is expanded and contracted by the undulating valve 24 (see FIG. 2), which is an electromagnetic proportional switching valve. The undulation valve 24 can control the flow rate of the hydraulic oil supplied to the undulation hydraulic cylinder 12 to an arbitrary flow rate. The boom 9 is provided with an undulation sensor 29 (see FIG. 2) for detecting the undulation angle of the boom 9, a weight sensor for detecting the weight of the luggage W, and the like.

The main winch 13 and the sub winch 15 carry out (winding up) and unwinding (winding down) the main wire rope 14 and the sub wire rope 16.

The main winch 13 has a main drum around which the main wire rope 14 is wound. The main drum is rotated by a main hydraulic motor (not shown) which is an actuator.

The sub winch 15 has a sub drum around which the sub wire rope 16 is wound. The sub drum is rotated by a sub hydraulic motor (not shown) which is an actuator. The main drum and the sub drum are provided with a winding sensor 26 (see FIG. 2) for detecting the amount of rotation of each drum.

The main hydraulic motor is rotated by a main valve 25 m (see FIG. 2), which is an electromagnetic proportional switching valve. The main winch 13 is configured to control the main hydraulic motor by a main valve 25 m so that it can be operated at arbitrary feed-in and feed-out speeds.

Similarly, the sub winch 15 is configured to control the sub hydraulic motor by the sub valve 25s (see FIG. 2), which is an electromagnetic proportional switching valve, so that the sub winch 15 can be operated at an arbitrary feeding and feeding speed.

The cabin 17 is a structure that covers the driver's seat and is mounted on the swivel base 7. The cabin 17 is provided with a driver's seat (not shown) and a display device (not shown). The display device may be, for example, a monitor provided in the cockpit. Alternatively, the display device may be a portable terminal (for example, a smartphone, a tablet terminal) brought into the cockpit by the operator.

In the driver's seat, an operation tool for operating the vehicle 3 and a turning operation tool 18 for operating the crane device 6, an undulation operation tool 19, a telescopic operation tool 20, a main drum operation tool 21m, and a sub-drum operation tool 21s Etc. are provided (see FIG. 2).

The turning operation tool 18 is an operating tool for the operator to operate the turning hydraulic motor 8. Such a turning operation tool 18 outputs an operation signal for operating the turning hydraulic motor 8 based on the operation of the operator.

The undulation operating tool 19 is an operating tool for the operator to operate the undulating hydraulic cylinder 12. The undulation operation tool 19 outputs an operation signal for operating the undulation hydraulic cylinder 12 based on the operation of the operator.

The expansion / contraction operating tool 20 is an operating tool for the operator to operate the expansion / contraction hydraulic cylinder (not shown). The telescopic operating tool 20 outputs an operating bedding for operating the telescopic hydraulic cylinder based on the operation of the operator.

The main drum operating tool 21m is an operating tool for the operator to operate the main hydraulic motor (not shown). The main drum operating tool 21m outputs an operation signal for operating the main hydraulic motor based on the operation of the operator.

The sub-drum operating tool 21s is an operating tool for operating a sub hydraulic motor (not shown). The sub-drum operation tool 21s outputs an operation signal for operating the sub-hydraulic motor based on the operation of the operator.

The GNSS receiver 30 is a receiver that constitutes a global positioning satellite system, receives ranging radio waves from the satellite, and calculates latitude, longitude, and altitude, which are the position coordinates of the receiver. It is a thing.

The GNSS receiver 30 is provided at the tip of the boom 9 and the cabin 17. That is, the crane 1 can acquire the position coordinates of the tip of the telescopic boom 9, the position coordinates of the cabin 17, and the orientation with reference to the vehicle 3 by the GNSS receiver 30.

The communication device 31 corresponds to an example of a communication unit, and is a device for communicating with another mobile crane (other machine) arranged in a work area Wa such as a construction site, an external server, or the like. ..

The communication device 31 is provided in the cabin 17. The communication device 31 transmits information about the crane 1 (own machine) to another machine or the system control device 34. The own machine is communication-connected to another machine and / or an external server (for example, a system control device 34 described later) via a communication device 31.

The information about the own machine corresponds to the information about the first work machine, the information about the position of the own machine, the information about the own machine, the information about the control of the own machine, the information about the work contents of the own machine, and the transportation of the own machine. Includes information about routes, etc. In the present embodiment, the own machine corresponds to an example of the first working machine. Further, the other machine corresponds to an example of the second working machine.

In addition, the own machine acquires information about the other device from the other device via the communication device 31. The information about the other machine corresponds to the information about the second work machine, the position information of the other machine, the information about the machine of the other machine, the information about the control of the other machine, the information about the work contents of the other machine, and the transport route of the other machine. Contains information about. Further, the communication device 31 acquires information about the space of the work area Wa (see FIG. 3) from an external server or the like (for example, the system control device 34 described later).

The information about the position is the position coordinate data by the GNSS receiver 30 and the like of the own machine and another machine. The information about the aircraft is information about the performance specification data of the own aircraft and other aircraft. The control information includes information on the operating state of the cranes of the own machine and other machines, information on control signals, information on the detection values of the winding sensor 26, the turning sensor 27, the expansion / contraction sensor 28, and the undulation sensor 29. And so on.

The information regarding the control may be regarded as including the information regarding the posture of the working machine. Information on the attitude of the work equipment includes information on the length of the boom, information on the undulation angle of the boom, information on the turning angle of the boom, information on the length of the jib, information on the undulation angle of the jib, and the extension length of the wire rope. Can be thought of as containing information about.

The information about the work may be, for example, predetermined information as a daily work report. Information on the work includes information on the lifting position (first position) of the cargo W and the cargo when the cargo W is transported from the lifting position (also referred to as the first position) to the hanging position (also referred to as the second position). Contains information about the hanging position (second position) of W. The work-related information includes information on the cargo W, information on the number of items to be transported, and / or information on the daily work report or information on the transportation plan drawing in which the transportation schedule and the like are described.

The information regarding the luggage W includes information regarding the type of the luggage W, information regarding the dimensions of the luggage W, and / or information regarding the weight of the luggage W. Information about the work may be stored in a storage unit (not shown) of the crane.

The information regarding the transport route includes information regarding the transport route of the cargo W and / or the transport speed and the like. Information on the transport path may be stored in a storage unit (not shown) of the crane.

The information related to the work may be regarded as the information related to the transport work performed by the work machine in the work area. The information about the work may be regarded as the information that has been decided before the transportation work is performed.

As shown in FIG. 2, the control device 32 is a computer that controls the actuator of the crane device 6 via each valve (not shown). The control device 32 is provided in the cabin 17. The control device 32 may substantially have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like.

The control device 32 includes an acquisition unit 32a, a calculation unit 32b, a determination unit 32c, and a control unit 32d.

The acquisition unit 32a acquires information about another machine (second work machine) having a workable range that overlaps with the workable range of the own machine while being arranged in the work area. The workable range of the own machine (crane 1) corresponds to an example of the first workable range. The workable range of the other machine (see Crane 2 and FIG. 3) corresponds to an example of the second workable range.

The calculation unit 32b uses the other machine (second work) based on the information about the first passage area A1 (described later) through which the own machine (first work machine) passes during the transfer work and the other machine (second work machine). The second passage area A2 (described later) through which the machine) passes during the transfer operation is calculated.

The determination unit 32c determines the contact between the own machine (first working machine) and another machine (second working machine) based on the first passing area A1 and the second passing area A2.

When the determination unit 32c determines that the first working machine and the second working machine come into contact with each other, the control unit 32d tells the operator of the own machine (first working machine) that the own machine (first working machine) and others. Notifies information about control for avoiding contact with the machine (second working machine). Such functions of the acquisition unit 32a, the calculation unit 32b, the determination unit 32c, and the control unit 32d are some functions of the control device 32. Therefore, the functions of the acquisition unit 32a, the calculation unit 32b, the determination unit 32c, and the control unit 32d will also be described below as the functions of the control device 32.

The control device 32 stores various programs and data for controlling the operation of each actuator, switching valve, sensor, and the like.

The control device 32 is connected to the camera 9b, the swivel operation tool 18, the undulation operation tool 19, the expansion / contraction operation tool 20, the main drum operation tool 21m, and the sub-drum operation tool 21s. The control device 32 can acquire an image of the camera 9b, and can acquire information on the operating amounts of the turning operation tool 18, the undulation operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s. The information regarding the operation amount may be regarded as being included in the operation signals output by the operation tools 18, 19, 21m, and 21s.

The control device 32 (specifically, the acquisition unit 32a) is connected to the communication device 31. The control device 32 acquires information about the other device from the other device and / or an external server (for example, the system control device 34 described later) via the communication device 31. The information about the other aircraft includes information about the position of the other aircraft, information about the aircraft of the other aircraft, information about the control of the other aircraft, information about the work contents of the other aircraft, and information about the transport route of the other aircraft. Further, the control device 32 acquires information about the space of the work area Wa from an external server or the like via the communication device 31.

Further, the control device 32 provides information on the position of the own machine, information on the machine, information on the control, information on the work content, information on the transport route, and the like via the communication device 31 to another machine and / or an external server. (For example, it is transmitted to the system control device 34 described later).

The control device 32 (specifically, the calculation unit 32b) has information on the space of the work area Wa (see FIG. 3), information on the position of the own machine, information on the machine of the own machine, information on the control of the own machine, and own. Based on the information on the work contents of the machine and the information on the transport route of the own machine, the first passage area A1 (see FIG. 3), which is the area through which the machine of the own machine passes during the transport work of the luggage W, is calculated.

Further, the control device 32 (specifically, the calculation unit 32b) has information on the space of the work area Wa (see FIG. 3), information on the position of the other machine, information on the machine of the other machine, and information on the control of the other machine. , The second passage area A2 (see FIG. 3), which is the area through which the aircraft of the other aircraft passes during the transportation work of the luggage W, is calculated based on the information on the work contents of the other aircraft and the information on the transportation route of the other aircraft. do.

Further, the control device 32 calculates the shortest distance Lm (see FIG. 3) between the calculated first passing region A1 and the second passing region A2. The shortest distance Lm may be regarded as the shortest distance between the crane 1 (first working machine) and the crane 2 (second working machine). The shortest distance between the crane 1 (first working machine) and the crane 2 (second working machine) is the luggage W suspended by the crane 1 when the crane 1 and / or the crane 2 suspends the luggage W. It may be regarded as a distance considering the width and the width of the luggage W suspended by the crane 2.

The control device 32 calculates the work start timing at which the transfer work can be performed without contacting the other machine from the operating status of the own machine and the other machine as the control information regarding the time to avoid the contact with the other machine. Display on a display device (not shown).

Further, the control device 32 generates a control signal for stopping the turning of the swivel base 7, the expansion and contraction of the boom 9, and / or the undulation of the boom 9 as a predetermined control, and transmits the control signal to the corresponding valves. ..

The control device 32 is connected to a swivel valve 22, a telescopic valve 23, an undulating valve 24, a main valve 25 m, and a sub valve 25s. The control device 32 transmits a control signal to the swivel valve 22, the undulation valve 24, the main valve 25 m, and the sub valve 25s.

The control device 32 is connected to the winding sensor 26, the turning sensor 27, the expansion / contraction sensor 28, and the undulation sensor 29. The control device 32 has information on the amount of extension of the main wire rope 14, information on the amount of extension of the sub-wire rope 16, information on the turning position of the swivel base 7, information on the boom length, and information on the undulation angle of the boom and / or jib. , And at least one type of information regarding the weight of the baggage W.

The control device 32 generates a control signal corresponding to each operation tool based on the information regarding the operation amounts of the turning operation tool 18, the undulation operation tool 19, the expansion / contraction operation tool 20, the main drum operation tool 21m, and the sub drum operation tool 21s. ..

The crane 1 configured in this way can move the crane device 6 to an arbitrary position by traveling the vehicle 3.

Further, the crane 1 operates the undulating hydraulic cylinder 12 to erect the boom 9 at an arbitrary undulating angle by operating the undulating operating tool 19, and extends the boom 9 to an arbitrary boom 9 length by operating the telescopic operating tool 20. The lift and working radius of the crane device 6 can be expanded by combining the operations of making the crane device 6.

Further, the crane 1 lifts the luggage W by the main drum operating tool 21m and / or the sub-drum operating tool 21s, and swivels the swivel base 7 by operating the swivel operating tool 18. Can be transported.

Hereinafter, contact monitoring control with another machine in the work area Wa will be described with reference to FIGS. 3 to 5. It is assumed that the crane 1 which is the own machine and the crane 2 which is another machine are arranged in the work area Wa. The crane 2 is arranged so that its workable range Wr2 overlaps with the workable range Wr1 of the crane 1.

In the present embodiment, the workable range of a crane means the maximum work range that the crane can take. In this case, the working range of the crane may be regarded as a range uniquely determined for each crane model. However, the workable range of the crane may be a work range in consideration of the installation state of the crane.

Here, the installed state of the crane is, for example, information about the outrigger (for example, information about the overhang state of the outrigger), information about the counterweight (for example, information about the weight of the counterweight), and / or information about the jib (for example, information about the jib). Information about the usage status of the jib) may be included.

As shown in FIG. 3, the crane 1 and the crane 2 are arranged in the work area Wa. The crane 1 is planned to transport the load W on the first transport path R1 from the lifting position P1a to the hanging position P1b. The crane 2 is planned to transport the load W on the second transport path R2 from the lifting position P2a to the hanging position P2b.

The control device 32 of the crane 1 acquires information (three-dimensional information) regarding the space of the work area Wa from an external server or the like via the communication device 31.

Then, the control device 32 of the crane 1 has information on the space of the work area Wa, information on the position of the own machine, information on the machine of the own machine, information on the control of the own machine, information on the work contents of the own machine, and the own machine. The first passage area A1 (dark light ink portion) through which the body of the crane 1 passes when the load W is conveyed through the first transfer path R1 is calculated based on the information regarding the transfer path of the crane 1.

Further, the control device 32 of the crane 1 acquires information on the position, information on the airframe, information on the control, information on the work content, information on the transport route, and the like from the crane 2 at predetermined time intervals via the communication device 31. ..

Then, the control device 32 of the crane 1 includes spatial information of the work area Wa, information on the position of the crane 2, information on the body of the crane 2, information on the control of the crane 2, information on the work contents of the crane 2, and information on the work contents of the crane 2. From the information on the transport path and the like, the second passage area A2 (thin black portion) through which the crane 2's body passes when the crane 2 transports the cargo W through the second transport path R2 is calculated.

Similarly, the control device 32 of the crane 2 calculates the first passage area A1 and the second passage area A2. In the present embodiment, the first passage region A1 and the second passage region A2 are described as regions on the XY plane (horizontal plane), but may be three-dimensional regions in consideration of the Z direction (height). ..

The control device 32 of the crane 1 calculates the shortest distance Lm from the calculated first passing area A1 to the second passing area A2. When the shortest distance Lm is less than the contact reference value Ls, which is the threshold value for contact determination, the control device 32 of the crane 1 determines that the body of the crane 1 may come into contact with the body of the crane 2.

The contact reference value Ls in the situation where the crane 1 and / or the crane 2 carries the cargo W may be a value in consideration of the size of the cargo W carried by the crane 1 and the crane 2.

Specifically, the contact reference value Ls is the load W from the tip position of the boom 9 of the crane 1 to the outside in the working radius of the crane 1 in the bird's-eye view (see FIG. 3) of the crane 1 and the crane 2 as viewed from above. The value may be a value in consideration of the amount of protrusion of the load W from the tip position of the boom 9 of the crane 2 to the outside in the working radius of the crane 2.

Further, the contact reference value Ls may be a value in consideration of the swing width of the cargo W during transportation. Alternatively, the contact reference value Ls may be a value in consideration of a margin regarding the swing width of the cargo W during transportation.

The contact reference value Ls may be a value (fixed value) set for each posture of the crane, or a value set in real time based on the swing width (swing angle) of the cargo W being transported. May be good.

In the case of a crane that does not carry the cargo W, the contact reference value Ls may be a value that does not consider the size of the cargo W.

Further, the control device 32 of the crane 1 sets the positions P2c and P2d at both ends of the contact section where the shortest distance Lm (n) at each position on the path is less than the contact reference value Ls in the second transport path R2. calculate. Similarly, the control device 32 of the crane 2 has the positions P1c and P1d, which are the positions at both ends of the contact section in which the shortest distance Lm (n) at each position on the path is less than the contact reference value Ls in the first transport path R1. Is calculated.

As shown in FIG. 4, the crane 2 is steered so as to transport the cargo W toward the suspension position P2b along the second transfer path R2 while accelerating from the lifting position P2a to a predetermined speed at a constant acceleration. It is set based on the operation of the person.

From various information acquired from the crane 2, the control device 32 of the crane 1 calculates the time t1 from the time t0 at which the crane 2 starts the transport work on the outward path to the time t1 at which the position P2d is the end position of the contact section. The crane 1 may calculate the time t1 based on various information acquired from the crane 2, for example, in a situation where the crane 2 has started to convey the cargo W.

The control device 32 of the crane 1 notifies the time t1 as the timing at which the crane 1 can carry out the transport work on the outward route while avoiding contact as information on the control. The control device 32 of the crane 1 may display information on control on, for example, a display device provided in the cabin 17 of the crane 1. Alternatively, the control device 32 may notify the information regarding the control by voice.

In this way, when the operator of the crane 1 starts the transportation of the cargo W without considering the transportation status of the crane 2, the crane 1 (including the luggage W) and the crane 2 (including the luggage W) depending on the transportation status of the crane 1. (Including luggage W) may come into contact with it.

Therefore, in the case of the present embodiment, the control device 32 notifies the operator of the crane 1 of information regarding control for avoiding contact between the crane 1 and the crane 2 (information regarding the timing of starting work). The operator of the crane 1 can carry out the work of transporting the luggage W without contacting the crane 2 by operating the crane 1 according to the notified information regarding the control.

Further, when the operator of the crane 1 operates the crane 1 based on the above-mentioned information on the notified control, the crane 1 starts the transportation of the cargo W at the time t1 (time t1).

Here, the crane 1 is set to transport the cargo W toward the suspension position P1b along the first transfer path R1 while accelerating from the lifting position P1a to a predetermined speed at a constant acceleration.

The control device 32 of the crane 2 calculates the time t2 (time t2) for reaching the position P1d, which is the end position of the contact section, from the time t1 at which the crane 1 starts the transport work on the outward path from various information acquired from the crane 1. do.

The control device 32 of the crane 2 notifies the time t2 as the timing at which the crane 2 can carry out the transport work on the return path while avoiding contact as information on the control.

The control device 32 of the crane 2 may display information related to control on, for example, a display device provided in the cabin 17 of the crane 2. Alternatively, the control device 32 may notify the information regarding the control by voice.

Further, when the operator of the crane 2 operates the crane 1 based on the above-mentioned information on the notified control, the crane 2 starts the transportation of the cargo W at the time t2.

The control device 32 of the crane 1 calculates the time t3 (time t3) from the time t2 when the crane 2 starts the transport work on the return path to the time t3 (time t3) when the crane 2 reaches the position P2c which is the end position of the contact section from various information acquired from the crane 2. do. The control device 32 of the crane 1 notifies the time t3 as the timing at which the crane 1 can carry out the transport work on the return route while avoiding contact as information on the control.

Further, when the operator of the crane 1 operates the crane 1 based on the above-mentioned information on the notified control, the crane 1 starts the transportation of the cargo W at the time t3. From various information acquired from the crane 1, the control device 32 of the crane 2 sets the time t4 (time t4) from the time t3 at which the crane 1 starts the transport work on the double road to the time t4 (time t4) at which the position P1c is the end position of the contact section. calculate.

The control device 32 of the crane 2 notifies the time t4 as information related to control as a timing for the crane 2 to carry out the next outbound transfer work while avoiding contact. The timing of starting the notified transport work is updated at any time (every predetermined time for acquiring various information) according to the information related to the control of the other machine.

In this way, the control device 32 of the crane 1 notifies the operator of information on the control for keeping the distance between the crane 1 body and the crane 2 body at least the shortest distance Lm or more based on the information on the control of the crane 2. do.

The control device 32 of the crane 1 operates the crane 1 when a control signal for operating the crane 1 is input based on the transfer start timing notified as information related to control, or in a direction in which contact with the crane 2 does not occur. When a control signal is input, each valve is controlled according to the control signal.

Hereinafter, with reference to FIG. 5, regarding the contact monitoring control of the crane 1 by the control device 32, the control until the time t1 which is the timing at which the crane 1 can carry out the transport work on the outward route while avoiding the contact will be described. ..

In the present embodiment, the control device 32 automatically starts the contact monitoring control when the crane 2 which is another machine exists in the work area Wa. The contact monitoring control in the present embodiment is the contact monitoring control of the crane 1 whose monitoring target is the crane 2, but at the same time, the contact monitoring control whose monitoring target is the crane 1 is also implemented in the crane 2.

As shown in FIG. 5, in step S110 of the contact monitoring control, the control device 32 acquires the spatial information of the work area Wa and various information of the crane 2 existing in the work area Wa. Then, the control device 32 shifts the control process to step S120.

In step S120, the control device 32 calculates the first passing area A1 from various information of the crane 1, and calculates the second passing area A2 from various information of the crane 2. Then, the control device 32 shifts the control process to step S130.

In step S130, the control device 32 calculates the shortest distance Lm from the first passing region A1 to the second passing region A2. Then, the control device 32 shifts the control process to step S140.

In step S140, the control device 32 determines whether or not the shortest distance Lm is less than the contact reference value Ls, which is the threshold value for contact determination.

As a result, when the shortest distance Lm is less than the contact reference value Ls (“YES” in step S140), that is, when it is determined that the crane 1 and the crane 2 may come into contact with each other, the control device 32 controls. The process is transferred to S150.

On the other hand, when the shortest distance Lm is not less than the contact reference value Ls (“NO” in step S140), that is, when it is determined that the crane 1 and the crane 2 do not come into contact with each other, the control device 32 shifts the control process to step S110. Let me.

In step S150, the control device 32 calculates the positions P2c and P2d, which are the positions at both ends of the contact section in the transport path R2 of the crane 2. Then, the control device 32 shifts the control process to step S160.

In step S160, the control device 32 calculates the time t1 to reach the position P2d from the time t0 when the crane 2 starts the transport work on the outward route.

Then, the control device 32 notifies the time t1 as the timing at which the crane 1 can carry out the transport work on the outward route while avoiding contact as information on the control. After that, the control device 32 shifts the control process to step S170.

In step S170, the control device 32 receives a control signal indicating whether or not a control signal corresponding to the notified control information has been input from the operator, or a control signal for operating the crane 1 in a direction in which contact with the crane 2 does not occur. Determine if the input was made by the operator. That is, the control device 32 determines whether or not a control signal that may cause contact with the crane 2 has been input from the operator.

As a result, when a control signal is input from the operator based on the notified control information (“YES” in step S170), or when the control signal for operating the crane 1 is operated in a direction in which contact with the crane 2 does not occur. When input from a person, the control device 32 shifts the control process to S180.

On the other hand, when the control signal is not input from the operator based on the notified control information (“NO” in step S170), or the control signal for operating the crane 1 in the direction in which contact with the crane 2 occurs is the operator. When input from, the control device 32 shifts the control process to S190.

In step S180, the control device 32 transmits the input control signal to each valve. Then, the control device 32 shifts the control process to step S110.

In step S190, the control device 32 cancels the input control signal and transmits a control signal for stopping the crane 1 to each valve. Then, the control device 32 ends the contact monitoring control.

In this way, the crane 1 determines the possibility of the cranes coming into contact with each other based on the shortest distance Lm between the first passing area A1 through which the crane passes and the area through which the crane 2 passes, and each of the cranes 1 for avoiding the contact. It is configured to notify the operator of the crane 1 of the operating timing of the crane as information related to control.

With this configuration, even if the crane 2 is located in the workable range Wr1 where the aircraft may come into contact with each other, the crane 1 and the crane 1 are controlled based on the control information. It is possible to maintain the work efficiency of the transport work while avoiding contact with 2.

On the other hand, the crane 1 is a control signal that is not based on the notified control information, and when a control signal that operates the crane 1 in a direction close to the second passage region A2 is input from the operator, that is, contact. When a control signal is input, the control signal is canceled and the boom or the like is stopped.

In this way, the crane 1 regulates the control of the transport operation when a situation occurs in which the crane 1 may come into contact with the crane 2. Further, when the crane 2 is operating in a control mode different from the control information acquired by the crane 2, the control signal may be canceled to stop the boom or the like.

As a result, the crane 1 can avoid contact with the crane 2 even if the crane 2 is arranged in the workable range Wr1. In the present embodiment, the crane 1 implements contact monitoring control with the crane 2, but may be configured to perform contact monitoring control with a plurality of mobile cranes. Further, the method of setting the shortest distance Lm for determining contact is not limited to this embodiment.

Next, the contact monitoring system 33 of the mobile crane according to the present invention will be described with reference to FIGS. 3, 4, and 6. The following mobile crane contact monitoring system 33 refers to the same crane 1 shown in FIGS. 1 to 5 by using the names, drawing numbers, and symbols used in the description. In each of the above embodiments, the same points as those in the above-described embodiment will be omitted, and the differences will be mainly described.

As shown in FIG. 6, the mobile crane contact monitoring system 33 is a system that monitors the contact of a plurality of mobile cranes arranged in the work area Wa (see FIG. 3). In this embodiment, the plurality of mobile cranes are the crane 1 and the crane 2.

That is, the crane 1 and the crane 2 are arranged in a work area Wa such as a construction site in a state where they may come into contact with each other. Here, the state in which there is a possibility of contact means a state in which the workable range of the crane 1 and the workable range of the crane 2 overlap.

The mobile crane contact monitoring system 33 (hereinafter, simply referred to as "contact monitoring system 33") is composed of a crane 1, a crane 2, and a system control device 34, which are one of a plurality of mobile cranes. ..

The system control device 34 is a computer that transmits information related to control to the crane 1 and the crane 2 based on the information related to each control, and transmits a control signal. The system control device 34 is provided at an arbitrary location in the work area Wa.

The system control device 34 may substantially have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration including a one-chip LSI or the like. The system control device 34 stores programs for controlling the communication device 31 for acquiring various information, and various programs and data for controlling the operation of each actuator, switching valve, sensor, and the like.

The system control device 34 corresponds to an example of an external terminal, and includes an acquisition unit 34a, a calculation unit 34b, a determination unit 34c, and a control unit 34d.

The acquisition unit 34a corresponds to an example of the first acquisition unit and the second acquisition unit, and acquires information about the crane 1 (first working machine) from the crane 1. In addition, the acquisition unit 34a acquires information about the crane 2 (second working machine) from the crane 2.

The calculation unit 34b calculates the first passage area A1 through which the crane 1 (first work machine) passes during the transfer work based on the information about the crane 1 (first work machine). Further, the calculation unit 34b calculates the second passage area A2 through which the crane 2 (second work machine) passes during the transfer work based on the information about the crane 2 (second work machine).

The determination unit 34c determines the contact between the crane 1 (first working machine) and the crane 2 (second working machine) based on the first passing area A1 and the second passing area A2.

When the determination unit 34c determines that the crane 1 (first working machine) and the crane 2 (second working machine) come into contact with each other, the control unit 34d provides information on control for avoiding the contact with the crane 1 (first working machine). Notify the operator of at least one of the working machine) and the crane 2 (second working machine).

Such functions of the acquisition unit 34a, the calculation unit 34b, the determination unit 34c, and the control unit 34d are some functions of the system control device 34. Therefore, the functions of the acquisition unit 34a, the calculation unit 34b, the determination unit 34c, and the control unit 34d will also be described below as the functions of the system control device 34.

The system control device 34 is connected to the system side communication device 35, acquires position information, airframe information, control information, work content information, transport route information, and the like from the crane 1 and the crane 2, and externally. Acquires information about the space of the work area Wa from the server or the like. In addition, the system control device 34 can transmit control-related information and control signals to the crane 1 and the crane 2.

In the system control device 34, the crane 1 is loaded with a load W from information on the space of the work area Wa, information on the positions of the crane 1 and the crane 2, information on the airframe, information on the control, information on the work content, information on the transport route, and the like. Is calculated as the second passage area A2 through which the aircraft passes when the first passing area A1 and the crane 2 pass the load W on the second transport path R2. .. Further, the control device 32 calculates the shortest distance Lm between the calculated first passing region A1 and the second passing region A2 (see FIG. 3).

The system control device 34 provides information on control of the timing for avoiding contact between the crane 1 and the crane 2, and allows the transfer work to be performed without contacting each other depending on the operating status of the crane 1 and the crane 2. The start timing can be calculated and displayed on a display device or the like (not shown).

Further, the system control device 34 generates a control signal for stopping the turning of the swivel base 7, the expansion and contraction of the boom 9, and the undulation of the boom 9 as predetermined control, and corresponds to the crane 1 and the crane 2. Send to each valve.

The control device 32 of the crane 1 and the control device 32 of the crane 2 are connected to the communication device 31, respectively, and acquire information and control signals related to control from the system control device 34. Further, the control device 32 of the crane 1 and the control device 32 of the crane 2 provide the system control device 34 with information on the position of the own machine, information on the machine body, information on control, information on work contents, information on the transport route, and the like. Send.

Hereinafter, the contact monitoring control between the crane 1 and the crane 2 in the work area Wa by the contact monitoring system 33 will be described with reference to FIGS. 3 and 4. It is assumed that the crane 1 and the crane 2 are arranged in the work area Wa.

The crane 1 is planned to transport the load W on the first transport path R1 from the lifting position P1a to the hanging position P1b. The crane 2 is planned to transport the load W on the second transport path R2 from the lifting position P2a to the hanging position P2b.

As shown in FIG. 3, the system control device 34 is located at the position P1c and the position on the first transport path R1 where the shortest distance Lm (n) at each position on the path is the position at both ends of the contact section where the contact reference value Ls is less than the contact reference value Ls. In P1d and the second transport path R2, the positions P2c and P2d, which are the positions at both ends of the contact section in which the shortest distance Lm (n) at each position on the path is less than the contact reference value Ls, are calculated.

From various information acquired from the crane 2, the system control device 34 calculates the time t1 from the time t0 at which the crane 2 starts the transport work on the outward route to the time t1 at which the position P2d, which is the end position of the contact section, is reached.

Further, the system control device 34 calculates the time t2 from the time t1 at which the crane 1 starts the transport work on the outward route to the time t2 to reach the position P1d which is the end position of the contact section from various information acquired from the crane 1.

The system control device 34 transmits the time t1 to the control device 32 of the crane 1 as the control information at the timing when the crane 1 can carry out the transport work on the outward route while avoiding contact. Further, the system control device 34 transmits the time t2 to the control device 32 of the crane 2 as a timing at which the crane 2 can carry out the transfer work on the return path while avoiding contact.

Similarly, the system control device 34 transmits the time t3 to the control device 32 of the crane 1 as the control information at the timing when the crane 1 can carry out the transfer work on the return path while avoiding contact. Further, the system control device 34 transmits the time t4 to the control device 32 of the crane 2 at a timing when the crane 2 can carry out the next outbound transfer work while avoiding contact.

The system control device 34 is a control signal that is not based on the notified control information, and is a control signal that operates the crane 1 in a direction close to the second passage area A2 or a crane in a direction close to the first passage area A1. When the control signal for operating 2 is input from the operator, predetermined predetermined control is performed.

Specifically, the system control device 34 cancels the input control signal as a predetermined control, and sends a control signal for stopping the crane 1 and the crane 2 to the control device 32 of the crane 1 and the control device 32 of the crane 2. Send to. That is, the system control device 34 regulates the control of the crane 1 and the crane 2 when a situation occurs in which the crane 1 and the crane 2 may come into contact with each other.

As described above, the contact monitoring system 33 provides the control device 32 of the crane 1 and the control device 32 of the crane 2 with information on control for maintaining a distance of the shortest distance Lm or more between the body of the crane 1 and the body of the crane 2. Transmission is performed via the system-side communication device 35.

With this configuration, the contact monitoring system 33 has a state in which the workable range Wr1 of the crane 1 and the workable range Wr2 of the crane 2 overlap, and the crane 1 and the crane 2 may come into contact with each other. Even if it is arranged in, the system control device 34 collectively manages various information of each crane and simultaneously determines the contact between the cranes to avoid contact between the crane 1 and the crane 2 while performing the transfer work. Work efficiency can be maintained.

Further, the contact monitoring system 33 may be configured to perform contact monitoring not only with a plurality of mobile cranes arranged in the work area but also with other work vehicles such as aerial work platforms and bulldozers. Further, the contact monitoring system 33 may be configured to record the work contents of the transport work.

The above-described embodiment only shows a typical embodiment, and can be variously modified and implemented within a range that does not deviate from the gist of one embodiment. It goes without saying that it can be carried out in various forms, and the scope of the present invention is indicated by the description of the claims, and further, the equal meaning described in the claims, and all within the scope. Including changes.

The disclosures of the specification, drawings and abstract contained in the Japanese application of Japanese Patent Application No. 2018-179013 filed on September 25, 2018 are all incorporated herein by reference.

<Additional notes>
Hereinafter, an example of a mobile crane and a contact monitoring system for a mobile crane according to a reference example of the present invention will be described.

<Reference example 1>
The mobile crane according to Reference Example 1 is a mobile crane in which an undulating boom is provided on a swivel table, and obtains spatial information of a work area, and information on the position of the mobile crane, information on the aircraft, and control. Based on the information about the work area, the work content, and the transfer path, the passing area through which the mobile crane body passes during the transfer operation is calculated, and the information about the position of the other mobile crane in the work area is calculated. , Information about the aircraft, information about the control, information about the work content, and information about the transport route are acquired at predetermined time intervals, and information about the position of the other mobile cranes mentioned above, information about the aircraft, information about the control, information about the work content. Based on the information on the transfer path, the passing area through which the other mobile crane body passes during the transfer work is calculated, and the pass area through which the mobile crane body passes during the transfer work and the other If the shortest distance to the passing area that the body of the mobile crane passes during the transport work is less than the threshold value, it is judged that there is a possibility of contact with the other mobile cranes, and information on the control of the mobile cranes. And based on the information on the control of the other mobile crane, the information on the control for avoiding contact with the other mobile crane is notified.

<Reference example 2>
The mobile crane according to Reference Example 2 is the mobile crane according to Reference Example 1, and the information regarding the control of the mobile crane to be notified is such that the shortest distance from the other mobile crane is equal to or greater than a predetermined value. Information about the time when the transport work can be performed in a certain state.

<Reference example 3>
The mobile crane according to the reference example 3 is the mobile crane according to the reference example 1 or the above reference example 2, and is determined in advance when a control signal different from the notified information regarding the control of the mobile crane is input. Carry out the given predetermined control.

<Reference example 4>
The mobile crane contact monitoring system according to Reference Example 4 is a movement that monitors the presence or absence of contact possibility of the mobile crane in a work area where a plurality of mobile cranes are provided with undulating booms on the swivel table. A contact monitoring system for a type crane, the control device comprising a plurality of mobile cranes in the work area to be contact-monitored and a control device capable of communicating with the plurality of mobile cranes in the work area. The device acquires spatial information of the work area, and acquires information on the positions of a plurality of mobile cranes in the work area, information on the aircraft, information on control, information on the work content, and information on the transport route, respectively. , Each of the passing areas that the aircraft of the plurality of mobile cranes in the working area pass through during the transport work is calculated, and if the shortest distance between the passing areas is less than the threshold value, the movement passing through the passing area. Judging that the cranes may come into contact with each other, each mobile crane that may come into contact with control information to avoid contact based on the information about the control of each mobile crane that may come into contact with each other. Notify the crane.

<Reference example 5>
The mobile crane contact monitoring system according to Reference Example 5 is the mobile crane contact monitoring system according to Reference Example 4, and the information regarding the control to notify each mobile crane that may come into contact is provided. This is information on the time when the transfer work can be performed in a state where the shortest distance between the mobile cranes that may come into contact with each other is equal to or greater than a predetermined value.

<Reference example 6>
The mobile crane contact monitoring system according to Reference Example 6 is the mobile crane contact monitoring system according to Reference Example 4 or Reference Example 5, and the control device is a movement that may come into contact with each other. When the control information indicating that a control signal different from the control information notified to the mobile crane is acquired is acquired, a predetermined predetermined control signal is transmitted to each mobile crane which may come into contact with the above.

<Action / effect of reference example>
In the case of the contact monitoring system of the mobile crane according to Reference Example 1 and the mobile crane according to Reference Example 4, the shortest distance between the area through which the mobile crane's body passes and the area through which the other mobile crane's body passes depends on the shortest distance. The possibility of contact between mobile cranes is determined. Therefore, the space efficiency when arranging the mobile crane is improved. In addition, when there is a possibility that the mobile cranes come into contact with each other, the operator is notified of information regarding control for avoiding the contact. As a result, contact between mobile cranes can be avoided without deteriorating work efficiency.

In the case of the contact monitoring system of the mobile crane according to Reference Example 2 and the mobile crane according to Reference Example 5, the operation timing of the mobile crane for avoiding contact in a situation where the mobile cranes may come into contact with each other. (Time) is notified. Therefore, it is not necessary to stop the control of the mobile crane. As a result, it is possible to avoid contact between the mobile cranes without lowering the work efficiency.

In the case of the mobile crane according to Reference Example 3 and the contact monitoring system for the mobile crane according to Reference Example 6, in a situation where the mobile crane is not controlled according to the control information notified to avoid contact, stoppage, etc. A predetermined control is carried out. As a result, contact between the mobile cranes can be avoided.

The working machine and the contact monitoring system for the working machine according to the present invention can be applied to various working machines.

1, 2 Crane 3 Vehicle 3a Wheel 4 Engine 5 Outrigger 6 Crane device 7 Swing stand 8 Swing hydraulic motor 9 Boom 9a Jib 9b Camera 10 Main hook block 11 Sub hook block 12 Undulating hydraulic cylinder 13 Main winch 14 Main wire rope 15 Sub winch 16 Sub wire rope 17 Cabin 18 Swivel operation tool 19 Undulation operation tool 20 Telescopic operation tool 21m Main drum operation tool 21s Sub drum operation tool 22 Swivel valve 23 Telescopic valve 24 Undulation valve 25m Main valve 25s Sub valve 26 Winding sensor 27 Turning sensor 28 Telescopic sensor 29 Undulation sensor 30 GNSS receiver 31 Communication device 32 Control device 32a Acquisition unit 32b Calculation unit 32c Judgment unit 32d Control unit 33 Contact monitoring system 34 System control device 34a Acquisition unit 34b Calculation unit 34c Judgment unit 34d Control unit 35 System side communication device W Luggage Wa Work area A1 First pass area A2 Second pass area Lm Shortest distance Ls Contact reference value

Claims (13)

A work machine with a swivel and undulating boom
An acquisition unit that acquires information about a second work machine having a workable range that at least partially overlaps the workable range of the first work machine, which is the work machine, while being arranged in the work area.
Calculation of the first passing area through which the first working machine passes during the conveying work, and calculating the second passing area through which the second working machine passes during the conveying work based on the information about the second working machine. Department and
A determination unit that determines contact between the first working machine and the second working machine based on the first passing area and the second passing area.
When the determination unit determines that the first work machine and the second work machine come into contact with each other, a control unit that notifies the operator of the first work machine of information regarding control for avoiding the contact. , Equipped with a working machine. The information regarding the second working machine includes information about the position of the second working machine, information about the body of the second working machine, information about controlling the second working machine, and information about the working contents of the second working machine. The work machine according to claim 1, further comprising at least one piece of information regarding the transport path of the second work machine. The work machine according to claim 1 or 2, wherein the workable range is the maximum work range that the first work machine and the second work machine can take. The first workable range, which is the workable range of the first work machine, is information on the state of the outriggers of the first work machine in a state where the first work machine is arranged in the work area, and the first work. It is a work range determined based on the information on the counterweight of the machine and the information on the jib of the first work machine.
The second workable range, which is the workable range of the second work machine, is information on the state of the outriggers of the second work machine in the state where the second work machine is arranged in the work area, and the second work. The work machine according to any one of claims 1 to 3, which is a work range determined based on the information on the counter weight of the machine and the information on the jib of the second work machine. A communication unit that communicates with the second working machine is further provided.
The work machine according to any one of claims 1 to 4, wherein the acquisition unit acquires information about the second work machine from the second work machine via the communication unit. It also has a communication unit that communicates with the server.
The work machine according to any one of claims 1 to 4, wherein the acquisition unit acquires information about the second work machine from the server via the communication unit. The first work machine is a crane or an aerial work platform.
The work machine according to any one of claims 1 to 6, wherein the second work machine is a crane or an aerial work platform. The information regarding the control is any one of claims 1 to 7, which is information regarding a time when the transfer work can be performed in a state where the shortest distance between the first working machine and the second working machine is equal to or more than a predetermined value. The working machine described in item 1. The operation according to any one of claims 1 to 8, wherein the control unit executes a predetermined predetermined control when a control signal different from the information related to the control is input from the operator. Machine. It is a contact monitoring system of a work machine for monitoring the contact of the work machine in a work area where a plurality of work machines having a swivel and undulating boom are arranged.
A first working machine that is one of the plurality of working machines and has a first workable range, and a first working machine.
A second work machine that is one of the plurality of work machines and has a second workable range, and a second work machine.
The first working machine and an external terminal communicatively connected to the second working machine are provided.
The external terminal is
The first acquisition unit that acquires information about the first working machine from the first working machine, and
A second acquisition unit that acquires information about the second work machine from the second work machine, and
Based on the information about the first working machine, the first passing area through which the first working machine passes during the transport work is calculated, and based on the information about the second working machine, the second working machine is during the transporting work. A calculation unit that calculates the second passing area to pass through,
A determination unit that determines contact between the first working machine and the second working machine based on the first passing area and the second passing area.
When the determination unit determines that the first working machine and the second working machine come into contact with each other, information regarding control for avoiding the contact is provided from the first working machine and the second working machine. A work machine contact monitoring system comprising a control unit that notifies the operator of at least one work machine. The information regarding the first working machine includes information about the position of the first working machine, information about the machine body of the first working machine, information about controlling the first working machine, and information about the working contents of the first working machine. And at least one of the information regarding the transport path of the first working machine,
The information regarding the second working machine includes information about the position of the second working machine, information about the body of the second working machine, information about controlling the second working machine, and information about the working contents of the second working machine. The contact monitoring system for a working machine according to claim 10, further comprising at least one piece of information regarding the transport path of the second working machine. The work machine according to claim 11, wherein the information on the control is information on a time when the transfer work can be performed in a state where the shortest distance between the first work machine and the second work machine is equal to or more than a predetermined value. Contact monitoring system. When the control unit acquires control information indicating that a control signal different from the information related to the control has been input from the working machine that has received the information related to the control, the control unit obtains a predetermined control signal predetermined as information related to the control. The contact monitoring system for a working machine according to claim 11 or 12, which transmits the information to the working machine.

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