WO2019208282A1 - Crane truck - Google Patents
Crane truck Download PDFInfo
- Publication number
- WO2019208282A1 WO2019208282A1 PCT/JP2019/016056 JP2019016056W WO2019208282A1 WO 2019208282 A1 WO2019208282 A1 WO 2019208282A1 JP 2019016056 W JP2019016056 W JP 2019016056W WO 2019208282 A1 WO2019208282 A1 WO 2019208282A1
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- WIPO (PCT)
- Prior art keywords
- obstacle
- sensor
- crane
- traveling body
- boom
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
- B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
Definitions
- This invention relates to a self-propelled crane vehicle.
- a self-propelled crane vehicle includes a traveling body and a crane device mounted on the traveling body.
- the crane apparatus is supported by the traveling body via a swivel, and the swivel may be provided with a driver's seat.
- Patent Document 1 discloses a crane vehicle in which an ultrasonic sensor is provided at the tip of a boom of a crane device.
- the ultrasonic sensor irradiates ultrasonic waves forward in the traveling direction of the traveling body, receives a reflected wave reflected by the detection target, and detects a distance to the detection target. Thereby, it is determined whether the detection target is an obstacle in traveling of the crane vehicle or crane work.
- the crane device is mounted in the center of the traveling body, and the driver's seat is disposed on one side in the width direction of the traveling body (for example, on the right side of the traveling body).
- the other side in the width direction for example, the left side of the traveling body
- the present invention has been made based on such a background, and an object of the present invention is to reliably detect an obstacle in a blind spot from the driver's seat, that is, a region on the opposite side of the driver's seat across the crane device. It is to provide a crane vehicle that realizes safe movement.
- a mobile crane includes a traveling body on which a crane device is mounted, a driver seat disposed on one side in the width direction of the traveling body, and a first sensor.
- the first sensor includes an irradiation unit that emits a detection wave that is at least one of light, a radio wave, and a sound wave toward the other in the width direction, and a reception unit that receives the detection wave reflected by the detection target.
- the first sensor irradiates the detection wave toward the side opposite to the side where the driver's seat is arranged, and receives the detection wave reflected by the detection object. Therefore, it is possible to detect an obstacle in an area that becomes a blind spot of the driver's seat by the crane device.
- the crane device may have a boom protruding forward from the front end of the traveling body during traveling.
- the plurality of first sensors are arranged at positions spaced apart from each other along the front-rear direction of the traveling body, and at least one first sensor is provided at the tip of the boom.
- the crane car has a longer vehicle body than ordinary ordinary passenger cars.
- the plurality of first sensors are provided apart from each other in the front-rear direction. Further, at least one first sensor is provided at the tip of the boom. Therefore, it is possible to sense a region that is a blind spot on the side opposite to the driver's seat over a wide range.
- the first sensor may be arranged between the rear part of the traveling body and the rear part and the tip of the boom.
- One first sensor is disposed at the rear of the crane vehicle, and the other first sensor is disposed between the rear and the tip of the boom. Therefore, it is possible to sense a region that is a blind spot on the side opposite to the driver's seat over a wider range.
- the first sensor provided at the tip of the boom may further irradiate the detection wave toward the front of the traveling body.
- a detection object in front of the crane vehicle.
- the first sensor disposed at the rear of the traveling body may further irradiate the detection wave toward the rear of the traveling body.
- Detecting objects (obstacles) behind the crane truck can also be detected using the first sensor arranged at the rear.
- a second sensor for detecting infrared rays may be disposed on at least one of the other side in the width direction of the traveling body or the tip of the boom.
- the boom is supported by a swivel provided on the traveling body so as to be raised and lowered.
- the first sensor may irradiate the detection wave toward a region below the tip of the boom in a state where the boom is raised and lowered.
- a mobile crane includes a traveling body on which a crane device is mounted, a driver seat disposed on one side in the width direction of the traveling body, and a sensor.
- the crane device includes a swivel provided on the traveling body and a telescopic boom supported on the swivel so as to be raised and lowered.
- the sensor includes a transmission antenna that radiates radio waves toward the other side in the width direction, and a plurality of reception antennas that receive reflected waves transmitted from the transmission antenna and reflected by a detection target.
- the plurality of receiving antennas are provided apart from each other in the front-rear direction of the traveling body on the other side in the width direction.
- the plurality of receiving antennas are provided on the other side in the width direction of the traveling body so as to be separated from each other in the front-rear direction, the area that is a blind spot on the side opposite to the driver's seat is accurately sensed over a wide range. be able to. Further, by suppressing the number of transmission antennas that transmit radio waves, it is possible to suppress power consumption required for transmitting radio waves.
- the present invention it is possible to reliably detect an obstacle in an area that is a blind spot from the driver's seat, that is, an area on the opposite side of the driver's seat across the crane device, thereby realizing safe movement.
- FIG. 1 is a right side view of a crane truck 10 according to the first embodiment.
- FIG. 2 is a schematic diagram inside the cabin 13.
- FIG. 3 is a schematic plan view of the crane 10 according to the first embodiment.
- FIG. 4 is a functional block diagram of the crane 10 according to the first embodiment.
- FIG. 5 is a flowchart of the display process.
- FIG. 6 is a flowchart of the obstacle detection process.
- FIG. 7A is a diagram showing an overhead image displayed on the display 48
- FIG. 7B is a diagram showing an enlarged overhead image.
- FIG. 8 is a schematic plan view of the mobile crane 10 according to the second embodiment.
- FIG. 9 is a perspective view of a mobile crane 70 according to the first modification.
- FIG. 10 is a flowchart of the display process of the first modification.
- FIG. 11 is a flowchart of a display process according to the second modification.
- FIG. 1 shows a crane 10 according to the present embodiment.
- the crane vehicle 10 mainly includes a traveling body 11, a crane device 12 mounted on the traveling body 11, and a cabin 13 on which an operator who operates the traveling body 11 and controls the crane device 12 is boarded. That is, the crane vehicle 10 is a rough terrain crane that performs the operation of the traveling body 11 and the operation of the crane device 12 by one cabin 13.
- the crane device In rough terrain cranes, the crane device is mounted on the traveling body, the vehicle body is long, and the number of cabins is one, so the range of blind spots from the operator is wider than ordinary vehicles.
- a crane vehicle 10 that can be safely operated and operated will be described.
- the traveling body 11 mainly includes a vehicle body 20, an engine (not shown) mounted on the vehicle body 20, a pair of left and right rear wheels 22 rotated by the engine, and four steerable front wheels 21.
- the front wheel 21 and the rear wheel 22 are rotatably held by the vehicle body 20.
- the traveling body 11 changes its direction when the front wheels 21 are steered during normal traveling on a road or the like.
- the traveling body 11 includes a hydraulic pump (not shown) mounted on the vehicle body 20 and a swivel base motor 23 (FIG. 4) which is a hydraulic motor driven by hydraulic oil supplied from the hydraulic pump.
- the swivel base motor 23 turns the swivel base 31 of the crane apparatus 12.
- the hydraulic pump supplies hydraulic oil to various hydraulic cylinders and hydraulic motors included in the crane device 12 in addition to the swivel motor 23.
- the width direction of the crane vehicle 10 is defined as the left-right direction, and the direction in which the crane vehicle 10 travels during normal travel is defined as the front.
- the traveling body 11 includes a pair of front and rear outriggers 24 that stabilize the posture of the crane vehicle 10 during work.
- the outrigger 24 is fixed to the vehicle body 20 and extends in the left-right direction, a pair of left and right inner cylinders (not shown) that are slidable in the left-right direction, and a tip of the inner cylinder. It has a pair of left and right jacks 25 provided.
- the jack 25 is a jack cylinder that can be expanded and contracted in the vertical direction.
- a ground plate 26 is provided at the lower end of the jack 25. The jack 25 is pulled out from the vehicle body 20 by a hydraulic cylinder (not shown) and then extended to ground the ground plate 26 to an iron plate or the like placed on the ground.
- the crane vehicle 10 is in a housing state in which the jack 25 is close to the vehicle body 20 and is supported by the front wheels 21 and the rear wheels 22 when moving. On the other hand, the crane 10 is supported by four jacks 25 that are pulled out and extended during operation.
- the traveling body 11 includes a battery 27 (FIG. 4) that is charged by driving the engine.
- the battery 27 supplies a DC voltage to a power supply circuit 65 described later.
- the crane apparatus 12 includes a swivel base 31 supported by the vehicle body 20 so as to be able to turn, and a boom 32 supported by the turn base 31 so as to be able to undulate.
- the swivel base 31 is located on the upper surface of the substantially central portion in the front-rear direction of the vehicle body 20.
- the swivel base 31 is supported by a swivel bearing (not shown) provided in the vehicle body 20 so as to be capable of swiveling, for example.
- the turntable 31 is turned by a turntable motor 23 (FIG. 4) provided on the vehicle body 20.
- a swivel (not shown) that distributes hydraulic oil, cooling water, and electricity (electric power and signals) between the car body 20 and the swivel base 31 is provided. Since the configuration of the swivel is well known, detailed description is omitted.
- the boom 32 is located on the left part of the swivel base 31 and is supported by the swivel base 31 so as to be able to rise and fall.
- the boom 32 is raised and lowered by a raising and lowering cylinder 33 (FIG. 4) provided between the swivel base 31 and the boom 32.
- the hoisting cylinder 33 is a hydraulic cylinder, and expands and contracts when hydraulic oil is supplied from a hydraulic pump provided in the vehicle body 20 through the above-described swivel.
- the boom 32 has a plurality of frames arranged in a nested manner, and can be expanded and contracted.
- the boom 32 is provided with a telescopic cylinder 34 for moving the frame.
- the telescopic cylinder 34 is a hydraulic cylinder and expands and contracts when hydraulic oil is supplied from a hydraulic pump provided in the vehicle body 20 through a swivel.
- a hook 35 (FIG. 4) connected to one end of the wire is disposed.
- the other end of the wire is connected to the winch 36 (FIG. 4).
- the winch 36 is driven when hydraulic oil is supplied from a hydraulic pump through a swivel. When the winch 36 is driven, the hook 35 is moved up and down.
- FIG. 1 shows the state of the crane vehicle 10 (hereinafter referred to as a moving state) during normal traveling or when moving at a work site.
- a moving state the boom 32 is contracted and laid down.
- the tip of the boom 32 in the moving state projects forward from the front surface of the vehicle body 20.
- the boom 32 is assumed to be in a posture in a moving state.
- the cabin 13 is located on the upper surface of the right part of the swivel base 31. That is, the cabin 13 is aligned with the boom 32 in the left-right direction. Therefore, in the state at the time of movement, the left side of the crane vehicle 10 becomes a blind spot from the operator who has boarded the cabin 13.
- the cabin 13 has a generally rectangular box shape.
- a driver seat 41 on which an operator is seated a driving device 42, a control device 43, a display 48, and an input device 49 used for display switching of the display 48. (FIG. 4) and a control box (not shown) are accommodated.
- the driving device 42 is used for driving the traveling body 11.
- the driving device 42 mainly includes a plurality of pedals 44 and a steering wheel 45.
- the pedal 44 is an input unit that receives an instruction to accelerate or decelerate the traveling body 11, and is an accelerator pedal, a brake pedal, a clutch pedal, or the like.
- the steering 45 is an input unit that receives an instruction to change the rudder angle of the front wheels 21 of the traveling body 11. Since the structure of the driving device 42 is already known, a detailed description is omitted.
- the control device 43 is used to control the crane device 12. Specifically, an instruction from an operator that drives the winch 36 is accepted by extending or retracting the jack 25 of the outrigger 24, turning the swivel 31, extending or lowering the boom 32.
- the control device 43 includes, for example, a lever 46, a pedal 47, or a switch (not shown). Since the configuration of the control device 43 is already known, a detailed description is omitted.
- the display 48 is disposed in the cabin 13 at a position biased to the left from the center in the left-right direction. More specifically, the display 48 is arranged on the left side of the steering wheel 45.
- the display 48 is supplied with electric power from a power supply circuit 65 described later, and receives an image signal from a controller 60 described later.
- the display 48 displays an image corresponding to the input image signal.
- the display 48 includes a state in which the jack 25 is extended, a turning angle of the swivel 31, a state (length) of the boom 32, an undulation angle of the boom 32, and an obstacle sensor described later.
- the obstacle detected by 50 is displayed.
- the input device 49 has one or more operation units operated by an operator such as push buttons. Alternatively, the input device 49 has a touch sensor superimposed on the display 48.
- the input device 49 accepts at least an instruction to select an obstacle display mode for displaying an obstacle image in a moving state, an instruction to select an image of an overhead image and a front image, and an instruction to select an enlarged image display.
- a control board is accommodated in a control box (not shown). On the control board, a resistor, an IC, a diode, a capacitor, and a microcomputer for realizing the controller 60, the power supply circuit 65, and the transmission / reception circuit 66 shown in FIG. 4 are mounted.
- the power circuit 65 is electrically connected to the battery 27 through a cable and a swivel, and is supplied with a DC voltage from the battery 27.
- the power supply circuit 65 has a DC / DC converter such as a switching regulator, and converts the supplied DC voltage into a stable predetermined voltage (12V, 5V, 3.3V, etc.) and outputs it.
- the power supply circuit 65 supplies a predetermined DC voltage as a drive voltage to the controller 60, the display 48, and the transmission / reception circuit 66.
- the controller 60 includes a CPU 61, a ROM 62 in which a program is stored, a RAM 63, a memory 64, and a communication bus (not shown).
- the CPU 61 executes the program by sequentially executing the instructions described in the program addresses stored in the ROM 62.
- the RAM 63 temporarily stores data and the like when the program is executed.
- the CPU 61, ROM 62, RAM 63, and memory 64 are connected by a communication bus. Note that the infrared sensor 52 indicated by a broken line in FIG. 4 has the configuration of the second modification, and will be described in the second modification.
- the controller 60 is connected to the driving device 42, the control device 43, the input device 49, the display 48, the speaker 68, and the transmission / reception circuit 66.
- the controller 60 receives an operation signal according to an operator's instruction from the driving device 42, the steering device 43, and the input device 49. Further, the controller 60 outputs an image signal to the display 48 and causes the display 48 to display an image. Further, the controller 60 outputs a control signal to the transmission / reception circuit.
- the controller 60 outputs an audio signal to the speaker 68.
- the speaker 68 is mounted on a control board, for example.
- the speaker 68 outputs a sound corresponding to the input sound signal.
- the controller 60 is connected to members such as a turntable motor 23, a hoisting cylinder 33, a telescopic cylinder 34, a winch 36, and an electromagnetic valve that controls the operation of the jack 25.
- the operation of the telescopic cylinder 34, the winch 36, and the jack 25 is controlled.
- the transmission / reception circuit 66 is electrically connected to obstacle sensors 50A, 50B, and 50C described later through cables and swivels.
- the transmission / reception circuit 66 includes, for example, a transmission circuit that generates a detection wave, an amplification circuit that amplifies the detection wave generated by the oscillation circuit and supplies the detection wave to the obstacle sensor 50 that is an antenna, and a radio wave received by the obstacle sensor 50. And a detection circuit that generates and amplifies the corresponding detection signal and outputs the detection signal to the controller 60.
- the transmission / reception circuit 66 is driven by receiving power (DC voltage) from the power supply circuit 65.
- the transmission / reception circuit supplies a detection wave to the obstacle sensor 50 based on a control signal input from the controller 60, and generates and outputs a detection signal.
- the memory 64 is a nonvolatile memory such as an EEPROM.
- the memory 64 stores a vehicle object that is a schematic picture of the crane vehicle 10. The vehicle object is used to generate an obstacle screen described later.
- the memory 64 stores threshold distance and color data. The threshold distance and color data are used to determine the color of the obstacle on the obstacle screen.
- the crane vehicle 10 includes three obstacle sensors 50A, 50B, and 50C.
- the obstacle sensor 50 ⁇ / b> A is attached to the lower surface of the tip portion of the boom 32.
- the obstacle sensor 50 ⁇ / b> B is attached to the upper surface of the center portion of the vehicle body 20 in the front-rear direction, which is the left portion of the vehicle body 20.
- the obstacle sensor 50C is attached to the rear surface of the vehicle body 20 and on the upper surface of the central portion of the vehicle body 20 in the left-right direction.
- the obstacle sensor 50 corresponds to the “first sensor” of the present invention.
- the obstacle sensor 50A provided in the boom 32 is electrically connected to a transmission / reception circuit 66 of a control board provided in the cabin 13 through a cable.
- Obstacle sensors 50B and 50C provided in the vehicle body 20 are electrically connected to a transmission / reception circuit 66 of a control board provided in the cabin 13 through a cable (not shown) and the swivel described above.
- the obstacle sensors 50A, 50B, and 50C are not distinguished, they will be described as the obstacle sensor 50.
- the obstacle sensor 50 is a transmission / reception antenna that transmits and receives radio waves.
- the obstacle sensor 50 transmits radio waves (detection waves) by the transmission / reception circuit 66, and receives radio waves (detection waves) reflected by the obstacles.
- the obstacle corresponds to the “detection target” of the present invention.
- the obstacle sensor 50 which is an antenna, has directivity.
- the directivity of the obstacle sensor 50 is indicated by hatching.
- the obstacle sensor 50A mainly transmits radio waves toward the front and left sides of the crane truck 10 and receives radio waves incident from the front and left sides of the crane truck 10 with high sensitivity. That is, the obstacle sensor 50 ⁇ / b> A detects an obstacle on the left side of the vehicle body 20 that is a blind spot from the cabin 13 and in front of the vehicle body 20.
- the obstacle sensor 50B mainly transmits radio waves toward the left side of the crane vehicle 10 and receives radio waves incident from the left side of the crane vehicle 10 with high sensitivity. That is, the obstacle sensor 50B detects an obstacle on the left side of the vehicle body 20 that is a blind spot from the cabin 13.
- the obstacle sensor 50C mainly transmits radio waves toward the left side and the rear side of the crane vehicle 10 and receives radio waves incident from the left side and the rear side of the crane vehicle 10 with high sensitivity. That is, the obstacle sensor 50 ⁇ / b> C detects an obstacle on the left side of the vehicle body 20 that is a blind spot from the cabin 13 and on the rear side of the vehicle body 20.
- Controller 60 determines whether the operator has selected the obstacle display mode using input device 49 (S11). Specifically, the controller 60 determines whether or not a start signal is input from the input device 49. That is, the display process is triggered by the operator's selection of the obstacle display mode.
- Controller 60 waits until a start signal is input (S11: No). When the controller 60 determines that the start signal has been input (S11: Yes), the controller 60 executes an obstacle detection process (S12). Details of the obstacle detection processing will be described with reference to FIG.
- the controller 60 outputs a control signal to the transmission / reception circuit 66 (S31), and transmits a detection wave from the obstacle sensor 50.
- the transmitted detection wave is reflected by the obstacle.
- the detection wave (reflected wave) reflected by the obstacle is received by the obstacle sensor 50.
- the reflected wave received by the obstacle sensor 50 is processed by the transmission / reception circuit 66 and output to the controller 60 as a detection signal. Since the processing performed by the transmission / reception circuit 66 is known, a detailed description thereof will be omitted.
- Controller 60 waits until a detection signal is input from transmission / reception circuit 66 (S32: No).
- the controller 60 detects the direction in which the obstacle is located (S33), the separation distance to the obstacle (S34), and the size of the obstacle (S35). The obstacle detection process is terminated.
- the controller 60 has a time from when the obstacle sensor 50A transmits a detection wave until it receives a reflected wave, a time from when the obstacle sensor 50B transmits a detection wave to when it receives a reflected wave, From the intensity distribution with respect to the reception angle (reception direction) of the received reflected wave, the distance to the obstacle, the direction in which the obstacle is located (that is, the position of the obstacle), and the size of the obstacle are calculated. .
- the controller 60 has a time from when the obstacle sensor 50B transmits a detection wave until it receives a reflected wave, a time from when the obstacle sensor 50C transmits a detection wave to when it receives a reflected wave, From the intensity distribution with respect to the reception angle (reception direction) of the received reflected wave, the distance to the obstacle, the direction in which the obstacle is located (that is, the position of the obstacle), and the size of the obstacle are calculated. .
- the above-described detection of the position of the obstacle and detection of the size of the obstacle are examples, and other detection methods may be used.
- the controller 60 performs the processes of steps S33, S34, and S35 on all detected obstacles.
- the controller 60 determines whether or not the detected separation distance is equal to or greater than the threshold distance stored in the memory 64 (S13). That is, the controller 60 determines whether or not the obstacle is close to the crane vehicle 10.
- the controller 60 determines that the separation distance is greater than or equal to the threshold distance (S13: Yes)
- the controller 60 determines the color of the obstacle as the first predetermined color indicated by the color data stored in the memory 64 (S14).
- the controller 60 determines the color of the obstacle as the second predetermined color indicated by the color data stored in the memory 64 (S15).
- the first predetermined color is, for example, green or blue
- the second predetermined color is, for example, red or yellow.
- the controller 60 determines the type of image selected by the operator using the input device 49 based on the operation signal input from the input device 49 (S16). Specifically, the controller 60 determines whether the type of image selected by the operator is “overhead image”, “front image”, or “left image”.
- the bird's-eye view image is an image when the crane vehicle 10 and its surroundings are viewed from above the crane vehicle 10.
- a front image is an image when the front of the crane vehicle 10 is viewed from the crane vehicle 10.
- the left image is an image when the left side of the crane vehicle 10 is viewed from the crane vehicle 10.
- the controller 60 uses the vehicle object stored in the memory 64 to display an obstacle display image (see FIG. 7 (A)). More specifically, the controller 60 generates an obstacle display image including a vehicle object stored in the memory 64 and an obstacle object indicating an obstacle detected by the obstacle detection process. At that time, the controller 60 arranges an obstacle object having a size corresponding to the size of the obstacle detected by the obstacle detection processing at the position (direction and distance) of the obstacle detected by the obstacle detection processing. In addition, the controller 60 generates an obstacle object with the color determined in step S14 or S15.
- the controller 60 determines that the type of image selected by the operator is “front image” (S16: front image), the controller 60 generates an obstacle display image that is a front image (S18), and the operator selects it. If it is determined that the image type is “left image” (S16: left image), an obstacle display image that is a left image is generated (S19).
- the controller 60 determines whether the operator has instructed to enlarge the image using the input device 49 (S20). Specifically, the controller 60 determines whether or not an operation signal indicating image enlargement is input from the input device 49.
- the controller 60 determines that the operation signal indicating the enlargement of the image is input from the input device 49 (S20: Yes)
- the controller 60 generates an enlarged image (FIG. 7B) obtained by enlarging the generated obstacle display image (S21). ).
- the controller 60 generates an enlarged image by enlarging a predetermined area of the obstacle display image.
- the controller 60 uses the input device 49 to enlarge the area designated by the operator and generate an enlarged image.
- controller 60 determines that the operation signal indicating the enlargement of the image is not input from the input device 49 (S20: No), it skips the process of step S21 for generating the enlarged image.
- the controller 60 displays the overhead image generated in step S17, the forward image generated in step S18, the left image generated in step S19, or the enlarged image generated in step S21 as an obstacle display image. (S22).
- the controller 60 determines whether or not the operator inputs an instruction to end the obstacle display mode using the input device 49 (S23). Specifically, the controller 60 determines whether or not an end signal is input from the input device 49. When the controller 60 determines that the end signal is not input (S23: No), the controller 60 returns to the process of step S12 and continues the display process. On the other hand, if the controller 60 determines that the end signal has been input (S23: Yes), the display process ends.
- the obstacle sensor 50 irradiates a detection wave toward the left side opposite to the right side where the cabin 13 on which the operator is boarded is disposed, and receives the reflected wave reflected by the obstacle. Therefore, an obstacle can be detected in the region that becomes the blind spot of the operator by the crane device 12.
- the obstacle since the obstacle is detected by radio waves, the obstacle can be reliably detected even when the surroundings are dark, such as at night.
- the three obstacle sensors 50A, 50B, and 50C are provided on the vehicle body 20 so as to be separated in the front-rear direction.
- the obstacle sensor 50 ⁇ / b> A is provided at the tip of the boom 32. Therefore, it is possible to detect the obstacle on the left side that becomes a blind spot from the operator over a wide range.
- the three obstacle sensors 50A, 50B, 50C are provided on the vehicle body 20 so as to be separated in the front-rear direction.
- the obstacle sensor 50C is provided at the rear part of the vehicle body 20. Therefore, it is possible to detect the obstacle on the left side that becomes a blind spot from the operator over a wide range.
- the obstacle sensor 50A provided at the tip of the boom 32 irradiates the detection wave forward as well as on the left side. Therefore, the obstacle ahead of the crane vehicle 10 can also be detected using the obstacle sensor 50 ⁇ / b> A that detects the obstacle on the left side of the crane vehicle 10.
- the obstacle sensor 50C provided at the rear part of the vehicle body 20 irradiates the detection wave to the rear in addition to the left side. Therefore, the obstacle behind the crane vehicle 10 can also be detected using the obstacle sensor 50 ⁇ / b> C that detects the obstacle on the left side of the crane vehicle 10.
- each obstacle sensor 50 is a transmission / reception antenna.
- an example will be described in which a detection wave is transmitted from one transmission antenna and a reflected wave is received by a plurality of reception antennas.
- an obstacle sensor 51A which is a receiving antenna, is provided at the tip of the boom 32 in place of the obstacle sensor 50A described in the first embodiment.
- the directivity of the obstacle sensor 51A is the same as the directivity of the obstacle sensor 50A described in the first embodiment.
- an obstacle sensor 51 ⁇ / b> C that is a receiving antenna is provided at the rear portion of the vehicle body 20.
- the directivity of the obstacle sensor 51C is the same as the directivity of the obstacle sensor 50C described in the first embodiment.
- an obstacle sensor 51B which is a transmission / reception antenna is provided at the center of the vehicle body 20 in the front-rear direction.
- the directivity of the obstacle sensor 51B is different from the directivity of the obstacle sensor 50B described in the first embodiment.
- the obstacle sensor 50B has directivity such that the obstacle sensors 51A and 51C radiate a detection wave having a high intensity toward a region (detection region) where the reflected wave is received with high sensitivity.
- the detection wave irradiated by the obstacle sensor 51B which is a transmission / reception antenna, is reflected by the obstacle and received by the obstacle sensors 50A, 50C, which are reception antennas, and the obstacle sensor 50B, which is a transmission / reception antenna.
- the obstacle sensors 51A, 51B, 51C correspond to “sensors” of the present invention.
- the obstacle sensor 51B corresponds to the “transmission antenna” of the present invention.
- the obstacle sensors 51A, 51B, 51C correspond to the “receiving antenna” of the present invention.
- the display process executed by the controller 60 and other configurations of the crane 10 are the same as those in the first embodiment.
- the obstacle sensor 51B transmits a detection wave. Therefore, compared with the crane vehicle 10 of the first embodiment in which the obstacle sensors 50A, 50B, and 50C each transmit a detection wave, the power consumption required to transmit the detection wave can be reduced.
- the configuration of the control board (control circuit) becomes simple. As a result, the cost of the control board can be reduced.
- the obstacle sensor 50A is used to detect obstacles around the luggage suspended by the hook 35 and the distance to the suspended luggage when the crane device 12 is operated.
- the input device 49 receives an instruction to select an obstacle detection mode for detecting obstacles around the luggage 71 when the crane device 12 is operated.
- the state display image indicating the turning angle of the swivel 31, the undulation angle of the boom 32, the length of the boom 32, etc. is displayed on the display of the presence or absence of obstacles around the load 71, This is processing for displaying the distance to the package 71 and the like.
- the controller 60 determines whether the operator has selected the obstacle detection mode using the input device 49 (S41). Specifically, the controller 60 determines whether or not a start signal is input from the input device 49. In other words, the display process is triggered by the fact that the operator has selected the obstacle detection mode.
- Controller 60 waits until a start signal is input (S41: No).
- the controller 60 determines that the start signal has been input (S41: Yes)
- the controller 60 changes the direction of the obstacle sensor 50A (S42). Specifically, the direction of the obstacle sensor 50 ⁇ / b> A is changed to the direction in which the detection wave is irradiated downward from the tip of the boom 32.
- the controller 60 executes an obstacle detection process (S43). Specifically, the controller 60 outputs a control signal to the transmission / reception circuit 66 and receives a detection signal, similarly to the process of step S31 (FIG. 6). Based on the received detection signal, the controller 60 determines whether there is an obstacle around the luggage 71 (S44).
- the controller 60 determines that an obstacle exists around the luggage 71 (S44: Yes)
- the controller 60 displays an image indicating that an obstacle exists around the luggage 71 on the display 48, or displays a warning sound on the speaker 68. (S45).
- Whether the item is a load 71 or an obstacle is determined based on, for example, the position of the detected object. For example, the controller 60 determines that an object located directly below the hook 35 is “luggage”, and determines an object existing around the “luggage” as “obstacle”.
- the controller 60 determines whether or not the operator inputs an instruction to end the obstacle detection mode using the input device 49 (S48). Specifically, the controller 60 determines whether or not an end signal is input from the input device 49. When the controller 60 determines that the end signal is not input (S48: No), the controller 60 returns to the process of step S42 and continues the display process. On the other hand, if the controller 60 determines that the end signal has been input (S48: Yes), the display process ends.
- step S44 determines in step S44 that there is no obstacle (S44: No)
- the controller 60 calculates a suspension distance that is the distance to the load 71 (S46).
- the suspension distance is calculated by, for example, the time from when the detection wave is irradiated until when the reflected wave reflected by the load 71 is received.
- the controller 60 displays the calculated suspension distance on a state display image indicating the turning angle of the turntable 31, the undulation angle of the boom 32, the length of the boom 32, and the like (S47). Thereafter, the controller 60 determines whether or not an end signal is input from the input device 49 (S48). If the controller 60 determines that the end signal is not input (S48: No), the process returns to the process of step S42 to perform display processing. Continue. On the other hand, if the controller 60 determines that the end signal has been input (S48: Yes), the display process ends.
- the infrared sensor 52 is disposed adjacent to the obstacle sensors 50A, 50B, and 50C. That is, three infrared sensors 52 are provided in the crane vehicle 10.
- the infrared sensor 52 corresponds to the “second sensor” of the present invention.
- the infrared sensor 52 includes a lens that collects incident infrared light, a light receiving unit that receives the infrared light collected by the lens, and an amplification circuit that amplifies and outputs a signal corresponding to the infrared light received by the light receiving unit. .
- the amplifier circuit is driven by a DC voltage supplied from the power supply circuit 65.
- the infrared sensor 52 is disposed adjacent to the obstacle sensor 50, so that power is supplied using a cable or a swivel connecting the obstacle sensor 50 and the control board.
- the receiving unit may output a signal corresponding to the intensity of received infrared light, or may have a plurality of light receiving units.
- the infrared sensor 52 having a plurality of light receiving units outputs a signal corresponding to the difference in the intensity of infrared light received by each light receiving unit. That is, when a detection object such as a person emitting infrared rays moves, the infrared sensor 52 outputs a detection signal indicating that the detection object has been detected.
- the region where the lens of the infrared sensor 52 condenses coincides with the directivity region of the obstacle sensor 50 which is an antenna. That is, the lens of the infrared sensor 52 condenses infrared rays that are incident from a region where the obstacle sensor 50 mainly emits the detection wave. Therefore, the infrared sensor 52 sets the same area as the detection area of the obstacle sensor 50 as the detection area.
- the controller 60 executes the display process shown in FIG. 11 instead of the display process (first embodiment) shown in FIG. In the display process shown in FIG. 11, the same process as the display process shown in FIG.
- the controller 60 executes the processes of steps S11 to S15 and S24 as in the first embodiment (display process shown in FIG. 5). Next, the controller 60 determines whether or not the obstacle detected by the obstacle sensor 50 is a “person” (S51). Specifically, the controller 60 calculates the position of the detection object that radiates infrared rays by the detection signals input from the plurality of infrared sensors 52 in the same manner as in the first embodiment described above. The controller 60 determines whether or not the calculated position of the detection object matches the position of the obstacle. Next, the controller 60 determines whether or not the size of the obstacle detected by the obstacle sensor 50 is greater than or equal to a threshold value. The threshold value is stored in the memory 64 in advance.
- the controller 60 determines that the obstacle is a “person” when the position of the object to be detected matches the position of the obstacle and the size of the obstacle is equal to or greater than a threshold value.
- the controller 60 determines that the detected obstacle is a person (S51: Yes), it changes the first predetermined color determined in step S14 to the third predetermined color, or the second predetermined color determined in step S15. Is changed to the fourth predetermined color (S52). For example, when the obstacle that is less than the threshold distance is not “person”, the color of the obstacle is “yellow”, and when it is “person”, it is “red”. Further, for example, when the obstacle that is less than the threshold distance is not “person”, the color of the obstacle is “blue”, and when it is “person”, it is “orange”.
- step S52 determines that the detected obstacle is not a person (S51: No)
- the controller 60 executes the processing from step S16 to S23 as in the first embodiment described above.
- a driving power can be supplied to the infrared sensor 52 by diverting a cable or a swivel that electrically connects the obstacle sensor 50 and the controller 60. it can.
- the wiring (cable routing) of the crane vehicle 10 can be simplified.
- the obstacle sensor 50 is not provided in the right part of the swivel base 31 on which the cabin 13 is disposed has been described.
- the obstacle sensor 50 may also be provided on the right part of the swivel base 31.
- the boom 32 is located on the left part of the swivel base 31 and the cabin 13 is located on the right part of the swivel base 31 has been described.
- the boom 32 may be located on the right side of the swivel base 31 and the cabin 13 may be located on the left part of the swivel base 31.
- the obstacle detection mode may always be executed.
- the transmission / reception circuit 66 is mounted on the control board, the obstacle sensor 50 as an antenna is provided on the boom 32 or the vehicle body 20, and the transmission / reception circuit 66 and the obstacle sensor 50 are electrically connected via a cable or a swivel.
- the example which was connected was explained.
- a transmission / reception module in which the antenna and the transmission / reception circuit 66 are integrated may be used instead of the obstacle sensor 50 and the transmission / reception circuit 66.
- an antenna power supply circuit that supplies power to the obstacle sensor 50 may be provided in the vehicle body 20 separately from the power supply circuit 65.
- the antenna power supply circuit transforms the DC voltage supplied from the battery 27 into a predetermined DC voltage and outputs it.
- the obstacle sensor 50 and the controller 60 may be configured to be capable of wireless communication, and a signal corresponding to the reflected wave received by the obstacle sensor 50 may be input to the controller 60 by wireless communication.
- the obstacle sensor 50 has a transmission antenna for wireless communication.
- a reception antenna (pattern antenna) for wireless communication is provided on the control board. Since the signal output from the obstacle sensor 50 is input to the controller 60 by wireless communication, noise is prevented from being superimposed on the signal in the swivel.
- the obstacle sensor 50 that transmits radio waves has been described.
- the obstacle sensor 50 may irradiate light such as laser light.
- the obstacle sensor 50 outputs a light emitting unit such as a light emitting diode that emits light, a light receiving unit such as a photodiode that receives light and outputs a voltage corresponding to the intensity of the received light, and the light receiving unit outputs And an amplifying unit for amplifying the output voltage and outputting it as a detection signal.
- the obstacle sensor 50 that transmits radio waves has been described.
- the obstacle sensor 50 may irradiate sound waves (including ultrasonic waves).
- the obstacle sensor 50 is an (ultra) sonic sensor, a Doppler sensor, or the like.
- the crane 10 is provided with a temperature sensor for temperature compensation such as a thermistor for detecting the outside air temperature.
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Abstract
[Problem] To provide a crane truck capable of reliably detecting an obstacle in a blind spot area from a driver's seat, more specifically, on the opposite side of the driver's seat across a boom, so as to ensure safe movement. [Solution] A crane truck 10 is provided with obstacle sensors 50A, 50B, and 50C, which correspond to transceiving antennas, for transmitting detection waves and receiving a detection wave reflected from an obstacle. The obstacle sensor 50A is provided on a lower surface of a distal end portion of a boom 32 and transmits detection waves to an area ahead of the crane truck 10 and an area on the left side of the crane truck 10. The obstacle sensor 50B is provided on an upper surface of a left end portion of the vehicle body 20 and transmits a detection wave to an area on the left side of the crane truck 10. The obstacle sensor 50C is provided on an upper surface of a rear end portion of the vehicle body 20 and transmits detection waves to an area behind the crane truck 10 and an area on the left side of the crane truck 10. A signal corresponding to the reflected wave received by the obstacle sensors 50A, 50B, and 50C is amplified and input to a controller.
Description
この発明は、自走可能なクレーン車に関する。
This invention relates to a self-propelled crane vehicle.
自走可能なクレーン車は、走行体と、走行体に架装されたクレーン装置とを備える。クレーン装置は、旋回台を介して走行体に支持されており、この旋回台に運転席が備えられる場合もある。
A self-propelled crane vehicle includes a traveling body and a crane device mounted on the traveling body. The crane apparatus is supported by the traveling body via a swivel, and the swivel may be provided with a driver's seat.
特許文献1には、クレーン装置のブームの先端に超音波センサが設けられたクレーン車が開示されている。超音波センサは、走行体の進行方向における前方に向かって超音波を照射し、検知対象物が反射した反射波を受信し、検知対象物までの距離を検出する。これにより、検知対象物がクレーン車の走行やクレーン作業における障害物であるかどうかが判断される。
Patent Document 1 discloses a crane vehicle in which an ultrasonic sensor is provided at the tip of a boom of a crane device. The ultrasonic sensor irradiates ultrasonic waves forward in the traveling direction of the traveling body, receives a reflected wave reflected by the detection target, and detects a distance to the detection target. Thereby, it is determined whether the detection target is an obstacle in traveling of the crane vehicle or crane work.
ところで、上記クレーン装置は、走行体の中央に架装され、上記運転席は、走行体の幅方向の一方側(例えば走行体の右側)に配置される。このため、走行時やクレーン作業時において、オペレータにとって上記幅方向の他方側(例えば走行体の左側)が死角となる。
Incidentally, the crane device is mounted in the center of the traveling body, and the driver's seat is disposed on one side in the width direction of the traveling body (for example, on the right side of the traveling body). For this reason, the other side in the width direction (for example, the left side of the traveling body) becomes a blind spot for the operator during traveling or crane operation.
特許文献1に記載のクレーン車では、運転席から死角となる領域について、障害物の検知を十分に行うことはできない。
In the crane vehicle described in Patent Document 1, obstacles cannot be sufficiently detected in a blind spot area from the driver's seat.
本発明は、かかる背景のもとになされたものであり、その目的は、運転席から死角となる領域、すなわち、クレーン装置を挟んで運転席の反対側の領域における障害物を確実に検知し、安全な移動を実現するクレーン車を提供することである。
The present invention has been made based on such a background, and an object of the present invention is to reliably detect an obstacle in a blind spot from the driver's seat, that is, a region on the opposite side of the driver's seat across the crane device. It is to provide a crane vehicle that realizes safe movement.
(1) 本発明に係るクレーン車は、クレーン装置を搭載する走行体と、当該走行体の幅方向における一方側に配置された運転席と、第1センサと、を備える。上記第1センサは、上記幅方向の他方へ向かって光と電波と音波との少なくとも一つである検出波を照射する照射部と、検知対象物によって反射された上記検出波を受ける受信部と、を有する。
(1) A mobile crane according to the present invention includes a traveling body on which a crane device is mounted, a driver seat disposed on one side in the width direction of the traveling body, and a first sensor. The first sensor includes an irradiation unit that emits a detection wave that is at least one of light, a radio wave, and a sound wave toward the other in the width direction, and a reception unit that receives the detection wave reflected by the detection target. Have.
第1センサは、運転席が配置された側とは反対側へ向かって検出波を照射し、検知対象物によって反射された検出波を受信する。したがって、クレーン装置によって運転席の死角となる領域について、障害物を検知することができる。
The first sensor irradiates the detection wave toward the side opposite to the side where the driver's seat is arranged, and receives the detection wave reflected by the detection object. Therefore, it is possible to detect an obstacle in an area that becomes a blind spot of the driver's seat by the crane device.
(2) 上記クレーン装置は、走行時における上記走行体の前端よりも前方に向かって突出するブームを有していてもよい。複数の上記第1センサが上記走行体の前後方向に沿って互いに離間する位置に配置され、且つ少なくとも1つの第1センサは、上記ブームの先端部に設けられている。
(2) The crane device may have a boom protruding forward from the front end of the traveling body during traveling. The plurality of first sensors are arranged at positions spaced apart from each other along the front-rear direction of the traveling body, and at least one first sensor is provided at the tip of the boom.
クレーン車は、一般の普通乗用車などよりも車体が長い。複数の第1センサは、前後方向において互いに離間して設けられている。また、少なくとも1つの第1センサは、ブームの先端部に設けられている。したがって、運転席とは反対側の死角となる領域を広い範囲に亘ってセンシングすることができる。
The crane car has a longer vehicle body than ordinary ordinary passenger cars. The plurality of first sensors are provided apart from each other in the front-rear direction. Further, at least one first sensor is provided at the tip of the boom. Therefore, it is possible to sense a region that is a blind spot on the side opposite to the driver's seat over a wide range.
(3) 上記走行体の後部並びに当該後部と上記ブームの先端部との間に上記第1センサが配置されていてもよい。
(3) The first sensor may be arranged between the rear part of the traveling body and the rear part and the tip of the boom.
一の第1センサは、クレーン車の後部に配置されており、他の一の第1センサは、後部と、上記ブームの先端部との間に配置されている。したがって、運転席とは反対側の死角となる領域をさらに広い範囲に亘ってセンシングすることができる。
One first sensor is disposed at the rear of the crane vehicle, and the other first sensor is disposed between the rear and the tip of the boom. Therefore, it is possible to sense a region that is a blind spot on the side opposite to the driver's seat over a wider range.
(4) 上記ブームの先端部に設けられた上記第1センサは、上記走行体の前方へ向かって上記検出波をさらに照射してもよい。
(4) The first sensor provided at the tip of the boom may further irradiate the detection wave toward the front of the traveling body.
ブームの先端部に設けられた第1センサを用いて、クレーン車の前方の検知対象物(障害物)も検出することができる。
Using the first sensor provided at the tip of the boom, it is also possible to detect a detection object (obstacle) in front of the crane vehicle.
(5) 上記走行体の後部に配置された上記第1センサは、上記走行体の後方へ向かって上記検出波をさらに照射してもよい。
(5) The first sensor disposed at the rear of the traveling body may further irradiate the detection wave toward the rear of the traveling body.
後部に配置された第1センサを用いて、クレーン車の後方の検知対象物(障害物)も検出することができる。
Detecting objects (obstacles) behind the crane truck can also be detected using the first sensor arranged at the rear.
(6) 赤外線を検出する第2センサが、上記走行体の幅方向における他方側又は上記ブームの先端部の少なくとも一方に配置されていてもよい。
(6) A second sensor for detecting infrared rays may be disposed on at least one of the other side in the width direction of the traveling body or the tip of the boom.
上記構成によれば、障害物が人か否かを判断することができる。
According to the above configuration, it can be determined whether or not the obstacle is a person.
(7) 上記ブームは、上記走行体に設けられた旋回台に起伏可能に支持されており、
上記第1センサは、上記ブームが起伏された状態において、上記ブームの先端部の下方の領域へ向かって前記検出波を照射してもよい。 (7) The boom is supported by a swivel provided on the traveling body so as to be raised and lowered.
The first sensor may irradiate the detection wave toward a region below the tip of the boom in a state where the boom is raised and lowered.
上記第1センサは、上記ブームが起伏された状態において、上記ブームの先端部の下方の領域へ向かって前記検出波を照射してもよい。 (7) The boom is supported by a swivel provided on the traveling body so as to be raised and lowered.
The first sensor may irradiate the detection wave toward a region below the tip of the boom in a state where the boom is raised and lowered.
上記構成によれば、作業時において、第1センサを利用して、クレーン装置が吊り下げる荷物までの距離を検出することができる。また、荷物の周囲の障害物を検出することができる。
According to the above configuration, at the time of work, it is possible to detect the distance to the load that the crane apparatus suspends using the first sensor. In addition, obstacles around the luggage can be detected.
(8) 本発明に係るクレーン車は、クレーン装置を搭載する走行体と、当該走行体の幅方向の一方に配置された運転席と、センサと、を備える。上記クレーン装置は、上記走行体に設けられた旋回台及び当該旋回台に起伏可能に支持された伸縮可能なブームを有する。上記センサは、上記幅方向の他方へ向かって電波を照射する送信アンテナと、当該送信アンテナから送信され、検知対象物によって反射された反射波を受信する複数の受信アンテナとを有する。当該複数の受信アンテナは、上記幅方向の他方側に、上記走行体の前後方向において互いに離間して設けられている。
(8) A mobile crane according to the present invention includes a traveling body on which a crane device is mounted, a driver seat disposed on one side in the width direction of the traveling body, and a sensor. The crane device includes a swivel provided on the traveling body and a telescopic boom supported on the swivel so as to be raised and lowered. The sensor includes a transmission antenna that radiates radio waves toward the other side in the width direction, and a plurality of reception antennas that receive reflected waves transmitted from the transmission antenna and reflected by a detection target. The plurality of receiving antennas are provided apart from each other in the front-rear direction of the traveling body on the other side in the width direction.
複数の受信アンテナは、走行体の幅方向の他方側に、前後方向において互いに離間して設けられているので、運転席とは反対側の死角となる領域を広い範囲に亘って精度良くセンシングすることができる。また、電波を送出する送信アンテナの数を抑えることにより、電波の送出に要する電力消費を抑えることができる。
Since the plurality of receiving antennas are provided on the other side in the width direction of the traveling body so as to be separated from each other in the front-rear direction, the area that is a blind spot on the side opposite to the driver's seat is accurately sensed over a wide range. be able to. Further, by suppressing the number of transmission antennas that transmit radio waves, it is possible to suppress power consumption required for transmitting radio waves.
本発明によれば、運転席から死角となる領域、すなわち、クレーン装置を挟んで運転席の反対側の領域における障害物を確実に検知し、安全な移動を実現することができる。
According to the present invention, it is possible to reliably detect an obstacle in an area that is a blind spot from the driver's seat, that is, an area on the opposite side of the driver's seat across the crane device, thereby realizing safe movement.
以下、本発明の好ましい実施形態が、適宜図面が参照されつつ説明される。なお、本実施形態は、本発明の一態様にすぎず、本発明の要旨を変更しない範囲で実施態様が変更されてもよいことは言うまでもない。
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings as appropriate. In addition, this embodiment is only 1 aspect of this invention, and it cannot be overemphasized that an embodiment may be changed in the range which does not change the summary of this invention.
[第1実施形態]
[First embodiment]
本実施形態のクレーン車10を図1に示す。クレーン車10は、走行体11と、走行体11に搭載されたクレーン装置12と、走行体11の運転及びクレーン装置12の操縦を行うオペレータが搭乗するキャビン13と、を主に備える。すなわち、クレーン車10は、走行体11の運転とクレーン装置12の操縦とを1つのキャビン13で行うラフテレーンクレーンである。
FIG. 1 shows a crane 10 according to the present embodiment. The crane vehicle 10 mainly includes a traveling body 11, a crane device 12 mounted on the traveling body 11, and a cabin 13 on which an operator who operates the traveling body 11 and controls the crane device 12 is boarded. That is, the crane vehicle 10 is a rough terrain crane that performs the operation of the traveling body 11 and the operation of the crane device 12 by one cabin 13.
ラフテレーンクレーンでは、走行体にクレーン装置が搭載されており、かつ、車体が長く、さらに、キャビンが1つであるため、オペレータから死角となる範囲が一般の車両などに比べて広い。本実施形態では、安全に運転及び操縦が可能なクレーン車10を説明する。
In rough terrain cranes, the crane device is mounted on the traveling body, the vehicle body is long, and the number of cabins is one, so the range of blind spots from the operator is wider than ordinary vehicles. In this embodiment, a crane vehicle 10 that can be safely operated and operated will be described.
[走行体11]
[Running body 11]
走行体11は、車体20と、車体20に搭載された不図示のエンジンと、エンジンによって回転駆動される左右一対の後輪22と、操舵可能な4つの前輪21と、を主に備える。前輪21及び後輪22は、回転可能に車体20に保持されている。
The traveling body 11 mainly includes a vehicle body 20, an engine (not shown) mounted on the vehicle body 20, a pair of left and right rear wheels 22 rotated by the engine, and four steerable front wheels 21. The front wheel 21 and the rear wheel 22 are rotatably held by the vehicle body 20.
走行体11は、道路などを走行する通常走行時において、前輪21が操舵されることによって、向きを変える。
The traveling body 11 changes its direction when the front wheels 21 are steered during normal traveling on a road or the like.
また、走行体11は、車体20に搭載された不図示の油圧ポンプと、油圧ポンプから供給された作動油によって駆動される油圧モータである旋回台モータ23(図4)とを備える。旋回台モータ23は、クレーン装置12の旋回台31を旋回させる。油圧ポンプは、旋回台モータ23に加え、クレーン装置12が備える種々の油圧シリンダや油圧モータに作動油を供給する。
The traveling body 11 includes a hydraulic pump (not shown) mounted on the vehicle body 20 and a swivel base motor 23 (FIG. 4) which is a hydraulic motor driven by hydraulic oil supplied from the hydraulic pump. The swivel base motor 23 turns the swivel base 31 of the crane apparatus 12. The hydraulic pump supplies hydraulic oil to various hydraulic cylinders and hydraulic motors included in the crane device 12 in addition to the swivel motor 23.
以下では、クレーン車10の幅方向を左右方向とし、クレーン車10が通常走行時に進む向きを前方として説明する。
In the following description, the width direction of the crane vehicle 10 is defined as the left-right direction, and the direction in which the crane vehicle 10 travels during normal travel is defined as the front.
走行体11は、作業時においてクレーン車10の姿勢を安定させる前後一対のアウトリガ24を備える。アウトリガ24は、車体20に固定されて左右方向に延びる外筒(不図示)と、左右方向にスライド可能に外筒に保持された左右一対の内筒(不図示)と、内筒の先端に設けられた左右一対のジャッキ25とを有する。ジャッキ25は、上下方向に伸縮可能なジャッキシリンダである。ジャッキ25の下端には、接地板26が設けられている。ジャッキ25は、不図示の油圧シリンダによって車体20から引き出された後、伸長され、地面に載置された鉄板などに接地板26を接地させる。
The traveling body 11 includes a pair of front and rear outriggers 24 that stabilize the posture of the crane vehicle 10 during work. The outrigger 24 is fixed to the vehicle body 20 and extends in the left-right direction, a pair of left and right inner cylinders (not shown) that are slidable in the left-right direction, and a tip of the inner cylinder. It has a pair of left and right jacks 25 provided. The jack 25 is a jack cylinder that can be expanded and contracted in the vertical direction. A ground plate 26 is provided at the lower end of the jack 25. The jack 25 is pulled out from the vehicle body 20 by a hydraulic cylinder (not shown) and then extended to ground the ground plate 26 to an iron plate or the like placed on the ground.
クレーン車10は、移動時において、ジャッキ25が車体20に近接する収容状態にされ、前輪21及び後輪22によって支持される。一方、クレーン車10は、作業時において、引き出されるとともに伸長された4つのジャッキ25に支持される。
The crane vehicle 10 is in a housing state in which the jack 25 is close to the vehicle body 20 and is supported by the front wheels 21 and the rear wheels 22 when moving. On the other hand, the crane 10 is supported by four jacks 25 that are pulled out and extended during operation.
また、走行体11は、エンジンの駆動によって充電されるバッテリ27(図4)を備える。バッテリ27は、後述の電源回路65に直流電圧を供給する。
The traveling body 11 includes a battery 27 (FIG. 4) that is charged by driving the engine. The battery 27 supplies a DC voltage to a power supply circuit 65 described later.
[クレーン装置12]
[Crane device 12]
クレーン装置12は、車体20に旋回可能に支持された旋回台31と、旋回台31に起伏可能に支持されたブーム32とを備える。
The crane apparatus 12 includes a swivel base 31 supported by the vehicle body 20 so as to be able to turn, and a boom 32 supported by the turn base 31 so as to be able to undulate.
旋回台31は、車体20の前後方向におけるほぼ中央部の上面に位置している。旋回台31は、例えば、車体20に設けられた旋回ベアリング(不図示)によって、旋回可能に支持されている。旋回台31は、車体20に設けられた旋回台モータ23(図4)によって旋回される。
The swivel base 31 is located on the upper surface of the substantially central portion in the front-rear direction of the vehicle body 20. The swivel base 31 is supported by a swivel bearing (not shown) provided in the vehicle body 20 so as to be capable of swiveling, for example. The turntable 31 is turned by a turntable motor 23 (FIG. 4) provided on the vehicle body 20.
車体20と旋回台31との間には、車体20と旋回台31との間で作動油や冷却水や電気(電力及び信号)を流通させる不図示のスイベルが設けられている。スイベルの構成は公知であるので、詳しい説明は省略する。
Between the vehicle body 20 and the swivel base 31, a swivel (not shown) that distributes hydraulic oil, cooling water, and electricity (electric power and signals) between the car body 20 and the swivel base 31 is provided. Since the configuration of the swivel is well known, detailed description is omitted.
ブーム32は、旋回台31の左部に位置しており、旋回台31に起伏可能に支持されている。ブーム32は、旋回台31とブーム32との間に設けられた起伏シリンダ33(図4)により、起伏される。起伏シリンダ33は、油圧シリンダであり、車体20に設けられた油圧ポンプから上述のスイベルを通じて作動油が供給されることによって、伸縮する。
The boom 32 is located on the left part of the swivel base 31 and is supported by the swivel base 31 so as to be able to rise and fall. The boom 32 is raised and lowered by a raising and lowering cylinder 33 (FIG. 4) provided between the swivel base 31 and the boom 32. The hoisting cylinder 33 is a hydraulic cylinder, and expands and contracts when hydraulic oil is supplied from a hydraulic pump provided in the vehicle body 20 through the above-described swivel.
ブーム32は、入れ子状に配置された複数のフレームを有しており、伸縮可能である。ブーム32には、フレームを移動させる伸縮シリンダ34が設けられている。伸縮シリンダ34は、油圧シリンダであり、車体20に設けられた油圧ポンプからスイベルを通じて作動油が供給されることによって、伸縮する。
The boom 32 has a plurality of frames arranged in a nested manner, and can be expanded and contracted. The boom 32 is provided with a telescopic cylinder 34 for moving the frame. The telescopic cylinder 34 is a hydraulic cylinder and expands and contracts when hydraulic oil is supplied from a hydraulic pump provided in the vehicle body 20 through a swivel.
ブーム32の先端には、ワイヤの一端と接続されたフック35(図4)が配置されている。ワイヤの他端は、ウインチ36(図4)と接続されている。ウインチ36は、油圧ポンプからスイベルを通じて作動油が供給されることによって、駆動する。ウインチ36が駆動することにより、フック35が昇降される。
At the tip of the boom 32, a hook 35 (FIG. 4) connected to one end of the wire is disposed. The other end of the wire is connected to the winch 36 (FIG. 4). The winch 36 is driven when hydraulic oil is supplied from a hydraulic pump through a swivel. When the winch 36 is driven, the hook 35 is moved up and down.
図1には、通常走行時や作業現場での移動時などにおけるクレーン車10の状態(以下、移動時状態と記載する)が示されている。移動時状態において、ブーム32は、縮小されており、かつ、倒伏されている。移動時状態におけるブーム32の先端は、車体20の前面よりも前方へ突出している。以下では、特に明記しない限り、ブーム32は、移動時状態における姿勢にあるものとする。
FIG. 1 shows the state of the crane vehicle 10 (hereinafter referred to as a moving state) during normal traveling or when moving at a work site. In the moving state, the boom 32 is contracted and laid down. The tip of the boom 32 in the moving state projects forward from the front surface of the vehicle body 20. Hereinafter, unless otherwise specified, the boom 32 is assumed to be in a posture in a moving state.
キャビン13は、旋回台31の右部の上面に位置している。すなわち、キャビン13は、左右方向においてブーム32と並んでいる。したがって、移動時状態において、キャビン13に搭乗したオペレータから、クレーン車10の左側方が死角となる。
The cabin 13 is located on the upper surface of the right part of the swivel base 31. That is, the cabin 13 is aligned with the boom 32 in the left-right direction. Therefore, in the state at the time of movement, the left side of the crane vehicle 10 becomes a blind spot from the operator who has boarded the cabin 13.
キャビン13は、概ね矩形の箱状である。キャビン13の内部空間には、図2に示されるように、オペレータが着座する運転席41と、運転装置42と、操縦装置43と、ディスプレイ48と、ディスプレイ48の表示切替などに用いる入力装置49(図4)と、不図示の制御ボックスと、が収容されている。
The cabin 13 has a generally rectangular box shape. In the interior space of the cabin 13, as shown in FIG. 2, a driver seat 41 on which an operator is seated, a driving device 42, a control device 43, a display 48, and an input device 49 used for display switching of the display 48. (FIG. 4) and a control box (not shown) are accommodated.
運転装置42は、走行体11の運転に用いられる。運転装置42は、複数のペダル44と、ステアリング45とを主に備える。ペダル44は、走行体11を加速或いは減速させる指示を受け付ける入力部であって、アクセルペダル、ブレーキペダル、クラッチペダル等である。ステアリング45は、走行体11の前輪21の舵角を変更する指示を受け付ける入力部である。運転装置42の構成は既に周知なので、詳細な説明は省略する。
The driving device 42 is used for driving the traveling body 11. The driving device 42 mainly includes a plurality of pedals 44 and a steering wheel 45. The pedal 44 is an input unit that receives an instruction to accelerate or decelerate the traveling body 11, and is an accelerator pedal, a brake pedal, a clutch pedal, or the like. The steering 45 is an input unit that receives an instruction to change the rudder angle of the front wheels 21 of the traveling body 11. Since the structure of the driving device 42 is already known, a detailed description is omitted.
操縦装置43は、クレーン装置12の操縦に用いられる。具体的には、アウトリガ24のジャッキ25を伸縮させ、旋回台31を旋回させ、ブーム32を伸縮及び起伏させ、ウインチ36を駆動させるオペレータの指示を受け付ける。操縦装置43は、例えば、レバー46、ペダル47、或いはスイッチ(図示省略)等によって構成される。操縦装置43の構成は既に周知なので、詳細な説明は省略する。
The control device 43 is used to control the crane device 12. Specifically, an instruction from an operator that drives the winch 36 is accepted by extending or retracting the jack 25 of the outrigger 24, turning the swivel 31, extending or lowering the boom 32. The control device 43 includes, for example, a lever 46, a pedal 47, or a switch (not shown). Since the configuration of the control device 43 is already known, a detailed description is omitted.
ディスプレイ48は、キャビン13内において、左右方向の中央より左方に偏った位置に配置されている。より詳細には、ディスプレイ48は、ステアリング45の左隣に配置されている。ディスプレイ48は、後述の電源回路65から電力を供給され、かつ、後述のコントローラ60から画像信号を入力される。ディスプレイ48は、入力された画像信号に応じた画像を表示する。具体的には、ディスプレイ48は、ジャッキ25の伸縮の状態や、旋回台31の旋回角や、ブーム32の伸縮の状態(長さ)や、及びブーム32の起伏角や、後述の障害物センサ50が検出した障害物を表示する。
The display 48 is disposed in the cabin 13 at a position biased to the left from the center in the left-right direction. More specifically, the display 48 is arranged on the left side of the steering wheel 45. The display 48 is supplied with electric power from a power supply circuit 65 described later, and receives an image signal from a controller 60 described later. The display 48 displays an image corresponding to the input image signal. Specifically, the display 48 includes a state in which the jack 25 is extended, a turning angle of the swivel 31, a state (length) of the boom 32, an undulation angle of the boom 32, and an obstacle sensor described later. The obstacle detected by 50 is displayed.
入力装置49は、押しボタンなど、オペレータによって操作される一乃至複数の操作部を有している。或いは、入力装置49は、ディスプレイ48に重畳されたタッチセンサを有する。入力装置49は、少なくとも、移動時状態において障害物画像の表示を行う障害物表示モードの選択指示、俯瞰画像と前方画像との画像の選択指示、及び画像の拡大表示の選択指示などを受け付ける。
The input device 49 has one or more operation units operated by an operator such as push buttons. Alternatively, the input device 49 has a touch sensor superimposed on the display 48. The input device 49 accepts at least an instruction to select an obstacle display mode for displaying an obstacle image in a moving state, an instruction to select an image of an overhead image and a front image, and an instruction to select an enlarged image display.
不図示の制御ボックス内には、制御基板が収容されている。制御基板には、図4に示されるコントローラ60、電源回路65、及び送受信回路66を実現する抵抗やICやダイオードやコンデンサやマイクロコンピュータが実装されている。
A control board is accommodated in a control box (not shown). On the control board, a resistor, an IC, a diode, a capacitor, and a microcomputer for realizing the controller 60, the power supply circuit 65, and the transmission / reception circuit 66 shown in FIG. 4 are mounted.
電源回路65は、ケーブル及びスイベルを通じてバッテリ27と電気的に接続されており、バッテリ27から直流電圧を供給される。電源回路65は、スイッチングレギュレータなどのDC/DCコンバータを有しており、供給された直流電圧を安定した所定の電圧(12V、5V、3.3Vなど)の直流電圧に変換して出力する。電源回路65は、コントローラ60、ディスプレイ48、及び送受信回路66に所定の直流電圧を駆動電圧として供給する。
The power circuit 65 is electrically connected to the battery 27 through a cable and a swivel, and is supplied with a DC voltage from the battery 27. The power supply circuit 65 has a DC / DC converter such as a switching regulator, and converts the supplied DC voltage into a stable predetermined voltage (12V, 5V, 3.3V, etc.) and outputs it. The power supply circuit 65 supplies a predetermined DC voltage as a drive voltage to the controller 60, the display 48, and the transmission / reception circuit 66.
コントローラ60は、図4に示されるように、CPU61と、プログラムが記憶されたROM62と、RAM63と、メモリ64と、不図示の通信バスとを備える。CPU61は、ROM62に記憶されたプログラムのアドレスに記述された命令を順に実行することにより、プログラムを実行する。RAM63は、プログラムが実行される際に、データなどを一時記憶する。CPU61、ROM62、RAM63、及びメモリ64は、通信バスによって接続されている。なお、図4に破線で示された赤外線センサ52は、変形例2の構成であり、変形例2で説明する。
As shown in FIG. 4, the controller 60 includes a CPU 61, a ROM 62 in which a program is stored, a RAM 63, a memory 64, and a communication bus (not shown). The CPU 61 executes the program by sequentially executing the instructions described in the program addresses stored in the ROM 62. The RAM 63 temporarily stores data and the like when the program is executed. The CPU 61, ROM 62, RAM 63, and memory 64 are connected by a communication bus. Note that the infrared sensor 52 indicated by a broken line in FIG. 4 has the configuration of the second modification, and will be described in the second modification.
コントローラ60は、運転装置42、操縦装置43、入力装置49、ディスプレイ48、スピーカ68、及び送受信回路66と接続されている。コントローラ60は、運転装置42、操縦装置43、及び入力装置49から、オペレータの指示に応じた操作信号を入力される。また、コントローラ60は、画像信号をディスプレイ48に出力し、画像をディスプレイ48に表示させる。また、コントローラ60は、制御信号を送受信回路に出力する。
The controller 60 is connected to the driving device 42, the control device 43, the input device 49, the display 48, the speaker 68, and the transmission / reception circuit 66. The controller 60 receives an operation signal according to an operator's instruction from the driving device 42, the steering device 43, and the input device 49. Further, the controller 60 outputs an image signal to the display 48 and causes the display 48 to display an image. Further, the controller 60 outputs a control signal to the transmission / reception circuit.
また、コントローラ60は、スピーカ68に音声信号を出力する。スピーカ68は、例えば、制御基板に実装されている。スピーカ68は、入力された音声信号に応じた音声を出力する。
Further, the controller 60 outputs an audio signal to the speaker 68. The speaker 68 is mounted on a control board, for example. The speaker 68 outputs a sound corresponding to the input sound signal.
また、コントローラ60には、旋回台モータ23、起伏シリンダ33、伸縮シリンダ34、ウインチ36、及びジャッキ25の動作を制御する電磁弁などの部材と接続されており、旋回台モータ23、起伏シリンダ33、伸縮シリンダ34、ウインチ36、及びジャッキ25の動作を制御する。
The controller 60 is connected to members such as a turntable motor 23, a hoisting cylinder 33, a telescopic cylinder 34, a winch 36, and an electromagnetic valve that controls the operation of the jack 25. The operation of the telescopic cylinder 34, the winch 36, and the jack 25 is controlled.
送受信回路66は、ケーブルやスイベルを通じて、後述の障害物センサ50A、50B、50Cと電気的に接続されている。送受信回路66は、例えば、検出波を生成する発信回路と、発振回路が生成した検出波を増幅してアンテナである障害物センサ50に供給する増幅回路と、障害物センサ50が受信した電波に応じた検出信号を生成及び増幅してコントローラ60へ出力する検知回路とを備える。送受信回路66は、電源回路65から電力(直流電圧)の供給を受けて駆動する。送受信回路は、コントローラ60から入力される制御信号に基づいて、検出波を障害物センサ50に供給し、また、検出信号を生成して出力する。
The transmission / reception circuit 66 is electrically connected to obstacle sensors 50A, 50B, and 50C described later through cables and swivels. The transmission / reception circuit 66 includes, for example, a transmission circuit that generates a detection wave, an amplification circuit that amplifies the detection wave generated by the oscillation circuit and supplies the detection wave to the obstacle sensor 50 that is an antenna, and a radio wave received by the obstacle sensor 50. And a detection circuit that generates and amplifies the corresponding detection signal and outputs the detection signal to the controller 60. The transmission / reception circuit 66 is driven by receiving power (DC voltage) from the power supply circuit 65. The transmission / reception circuit supplies a detection wave to the obstacle sensor 50 based on a control signal input from the controller 60, and generates and outputs a detection signal.
メモリ64は、EEPROMなどの不揮発性のメモリである。メモリ64は、クレーン車10の模式的な絵である車両オブジェクトを記憶する。当該車両オブジェクトは、後述の障害物画面の生成に用いられる。また、メモリ64は、閾値距離及び色データを記憶する。当該閾値距離及び色データは、障害物画面における障害物の色の決定に用いられる。
The memory 64 is a nonvolatile memory such as an EEPROM. The memory 64 stores a vehicle object that is a schematic picture of the crane vehicle 10. The vehicle object is used to generate an obstacle screen described later. The memory 64 stores threshold distance and color data. The threshold distance and color data are used to determine the color of the obstacle on the obstacle screen.
[障害物センサ50]
[Obstacle sensor 50]
図3に示されるように、クレーン車10は、3つの障害物センサ50A、50B、50Cを備える。図1に示されるように、障害物センサ50Aは、ブーム32の先端部の下面に取り付けられている。図3に示されるように、障害物センサ50Bは、車体20の左部であって、前後方向における車体20の中央部の上面に取り付けられている。障害物センサ50Cは、車体20の後部であって、左右方向における車体20の中央部の上面に取り付けられている。障害物センサ50は、本発明の「第1センサ」に相当する。
As shown in FIG. 3, the crane vehicle 10 includes three obstacle sensors 50A, 50B, and 50C. As shown in FIG. 1, the obstacle sensor 50 </ b> A is attached to the lower surface of the tip portion of the boom 32. As shown in FIG. 3, the obstacle sensor 50 </ b> B is attached to the upper surface of the center portion of the vehicle body 20 in the front-rear direction, which is the left portion of the vehicle body 20. The obstacle sensor 50C is attached to the rear surface of the vehicle body 20 and on the upper surface of the central portion of the vehicle body 20 in the left-right direction. The obstacle sensor 50 corresponds to the “first sensor” of the present invention.
ブーム32に設けられた障害物センサ50Aは、ケーブルを通じて、キャビン13に設けられた制御基板の送受信回路66と電気的に接続されている。車体20に設けられた障害物センサ50B、50Cは、不図示のケーブル及び上述のスイベルを通じて、キャビン13に設けられた制御基板の送受信回路66と電気的に接続されている。
The obstacle sensor 50A provided in the boom 32 is electrically connected to a transmission / reception circuit 66 of a control board provided in the cabin 13 through a cable. Obstacle sensors 50B and 50C provided in the vehicle body 20 are electrically connected to a transmission / reception circuit 66 of a control board provided in the cabin 13 through a cable (not shown) and the swivel described above.
以下では、障害物センサ50A、50B、50Cを区別しない場合は、障害物センサ50と記載して説明する。
Hereinafter, when the obstacle sensors 50A, 50B, and 50C are not distinguished, they will be described as the obstacle sensor 50.
障害物センサ50は、電波を送信し、かつ電波を受信する送受信アンテナである。障害物センサ50は、送受信回路66によって電波(検出波)を送信し、また、障害物が反射した電波(検出波)を受信する。障害物は、本発明の「検知対象物」に相当する。
The obstacle sensor 50 is a transmission / reception antenna that transmits and receives radio waves. The obstacle sensor 50 transmits radio waves (detection waves) by the transmission / reception circuit 66, and receives radio waves (detection waves) reflected by the obstacles. The obstacle corresponds to the “detection target” of the present invention.
アンテナである障害物センサ50は、指向性を有する。図3において、障害物センサ50の指向性をハッチングで示す。障害物センサ50Aは、主に、クレーン車10の前方及び左側方へ向かって電波を送信し、クレーン車10の前方及び左側方から入射する電波を感度良く受信する。すなわち、障害物センサ50Aは、キャビン13から死角となる車体20の左側方、及び車体20の前方の障害物を検出する。
The obstacle sensor 50, which is an antenna, has directivity. In FIG. 3, the directivity of the obstacle sensor 50 is indicated by hatching. The obstacle sensor 50A mainly transmits radio waves toward the front and left sides of the crane truck 10 and receives radio waves incident from the front and left sides of the crane truck 10 with high sensitivity. That is, the obstacle sensor 50 </ b> A detects an obstacle on the left side of the vehicle body 20 that is a blind spot from the cabin 13 and in front of the vehicle body 20.
障害物センサ50Bは、主に、クレーン車10の左側方へ向かって電波を送信し、クレーン車10の左側方から入射する電波を感度良く受信する。すなわち、障害物センサ50Bは、キャビン13から死角となる車体20の左側方の障害物を検出する。
The obstacle sensor 50B mainly transmits radio waves toward the left side of the crane vehicle 10 and receives radio waves incident from the left side of the crane vehicle 10 with high sensitivity. That is, the obstacle sensor 50B detects an obstacle on the left side of the vehicle body 20 that is a blind spot from the cabin 13.
障害物センサ50Cは、主に、クレーン車10の左側方及び後方へ向かって電波を送信し、クレーン車10の左側方及び後方から入射する電波を感度良く受信する。すなわち、障害物センサ50Cは、キャビン13から死角となる車体20の左側方、及び車体20の後方の障害物を検出する。
The obstacle sensor 50C mainly transmits radio waves toward the left side and the rear side of the crane vehicle 10 and receives radio waves incident from the left side and the rear side of the crane vehicle 10 with high sensitivity. That is, the obstacle sensor 50 </ b> C detects an obstacle on the left side of the vehicle body 20 that is a blind spot from the cabin 13 and on the rear side of the vehicle body 20.
[表示処理]
[Display processing]
以下、移動時状態においてコントローラ60がディスプレイ48に画像を表示させる表示処理について、図5を参照して説明する。なお、以下で説明する各処理(各ステップ)の実行順序は、発明の要旨を変更しない限りにおいて、適宜変更可能である。
Hereinafter, a display process in which the controller 60 displays an image on the display 48 in the moving state will be described with reference to FIG. In addition, the execution order of each process (each step) demonstrated below can be suitably changed unless the summary of invention is changed.
コントローラ60は、入力装置49を用いてオペレータが障害物表示モードを選択したか否かを判断する(S11)。具体的には、コントローラ60は、入力装置49から開始信号が入力したか否かを判断する。すなわち、表示処理は、オペレータが障害物表示モードを選択したことをトリガとして開始される。
Controller 60 determines whether the operator has selected the obstacle display mode using input device 49 (S11). Specifically, the controller 60 determines whether or not a start signal is input from the input device 49. That is, the display process is triggered by the operator's selection of the obstacle display mode.
コントローラ60は、開始信号が入力されるまで待機する(S11:No)。コントローラ60は、開始信号が入力されたと判断すると(S11:Yes)、障害物検出処理を実行する(S12)。図6を参照して、障害物検出処理の詳細を説明する。
Controller 60 waits until a start signal is input (S11: No). When the controller 60 determines that the start signal has been input (S11: Yes), the controller 60 executes an obstacle detection process (S12). Details of the obstacle detection processing will be described with reference to FIG.
[障害物検出処理]
[Obstacle detection processing]
まず、コントローラ60は、送受信回路66に制御信号を出力し(S31)、障害物センサ50から検出波を送信させる。送信された検出波は、障害物によって反射される。障害物によって反射された検出波(反射波)は、障害物センサ50によって受信される。障害物センサ50が受信した反射波は、送受信回路66によって処理され、検出信号としてコントローラ60へ出力される。送受信回路66が行う処理は公知であるので、詳しい説明は省略する。
First, the controller 60 outputs a control signal to the transmission / reception circuit 66 (S31), and transmits a detection wave from the obstacle sensor 50. The transmitted detection wave is reflected by the obstacle. The detection wave (reflected wave) reflected by the obstacle is received by the obstacle sensor 50. The reflected wave received by the obstacle sensor 50 is processed by the transmission / reception circuit 66 and output to the controller 60 as a detection signal. Since the processing performed by the transmission / reception circuit 66 is known, a detailed description thereof will be omitted.
コントローラ60は、送受信回路66から検出信号が入力されるまで待機する(S32:No)。コントローラ60は、検出信号が入力されると(S32:Yes)、障害物が位置する方向(S33)、障害物までの離間距離(S34)、及び障害物の大きさ(S35)を検出し、障害物検出処理を終了する。
Controller 60 waits until a detection signal is input from transmission / reception circuit 66 (S32: No). When the detection signal is input (S32: Yes), the controller 60 detects the direction in which the obstacle is located (S33), the separation distance to the obstacle (S34), and the size of the obstacle (S35). The obstacle detection process is terminated.
例えば、コントローラ60は、障害物センサ50Aが検出波を送信してから反射波を受信するまでの時間と、障害物センサ50Bが検出波を送信してから反射波を受信するまでの時間と、受信した反射波の受信角度(受信方向)に対する強度分布などとから、障害物までの離間距離及び障害物が位置する方向(すなわち、障害物の位置)と、障害物の大きさと、を算出する。また、コントローラ60は、障害物センサ50Bが検出波を送信してから反射波を受信するまでの時間と、障害物センサ50Cが検出波を送信してから反射波を受信するまでの時間と、受信した反射波の受信角度(受信方向)に対する強度分布などとから、障害物までの離間距離及び障害物が位置する方向(すなわち、障害物の位置)と、障害物の大きさと、を算出する。なお、上述した障害物の位置の検出及び障害物の大きさの検出は一例であり、他の検出方法が用いられてもよい。
For example, the controller 60 has a time from when the obstacle sensor 50A transmits a detection wave until it receives a reflected wave, a time from when the obstacle sensor 50B transmits a detection wave to when it receives a reflected wave, From the intensity distribution with respect to the reception angle (reception direction) of the received reflected wave, the distance to the obstacle, the direction in which the obstacle is located (that is, the position of the obstacle), and the size of the obstacle are calculated. . In addition, the controller 60 has a time from when the obstacle sensor 50B transmits a detection wave until it receives a reflected wave, a time from when the obstacle sensor 50C transmits a detection wave to when it receives a reflected wave, From the intensity distribution with respect to the reception angle (reception direction) of the received reflected wave, the distance to the obstacle, the direction in which the obstacle is located (that is, the position of the obstacle), and the size of the obstacle are calculated. . The above-described detection of the position of the obstacle and detection of the size of the obstacle are examples, and other detection methods may be used.
コントローラ60は、検出した全ての障害物に対して、ステップS33、S34、S35の処理を実行する。
The controller 60 performs the processes of steps S33, S34, and S35 on all detected obstacles.
図5に示されるように、コントローラ60は、障害物検出処理が終了すると(S12)、検出した離間距離が、メモリ64に記憶された閾値距離以上か否かを判断する(S13)。すなわち、コントローラ60は、障害物がクレーン車10に近いか否かを判断する。コントローラ60は、離間距離が閾値距離以上であると判断すると(S13:Yes)、障害物の色を、メモリ64に記憶された色データが示す第1所定色に決定する(S14)。一方、コントローラ60は、離間距離が閾値距離以上でないと判断すると(S13:No)、障害物の色を、メモリ64に記憶された色データが示す第2所定色に決定する(S15)。第1所定色は、例えば緑や青であり、第2所定色は、例えば赤や黄色である。ステップS15の実行後、コントローラ60は、スピーカ68に音声信号を出力し、スピーカ68から警告音を出力させる(S24)。すなわち、障害物までの距離が近い場合、スピーカ68から警告音が出力される。コントローラ60は、検出した全ての障害物に対して、ステップS13~S15、S24の処理を実行する。
As shown in FIG. 5, when the obstacle detection process is completed (S12), the controller 60 determines whether or not the detected separation distance is equal to or greater than the threshold distance stored in the memory 64 (S13). That is, the controller 60 determines whether or not the obstacle is close to the crane vehicle 10. When the controller 60 determines that the separation distance is greater than or equal to the threshold distance (S13: Yes), the controller 60 determines the color of the obstacle as the first predetermined color indicated by the color data stored in the memory 64 (S14). On the other hand, when the controller 60 determines that the separation distance is not greater than or equal to the threshold distance (S13: No), the controller 60 determines the color of the obstacle as the second predetermined color indicated by the color data stored in the memory 64 (S15). The first predetermined color is, for example, green or blue, and the second predetermined color is, for example, red or yellow. After execution of step S15, the controller 60 outputs a sound signal to the speaker 68, and outputs a warning sound from the speaker 68 (S24). That is, when the distance to the obstacle is short, a warning sound is output from the speaker 68. The controller 60 executes the processes of steps S13 to S15 and S24 for all detected obstacles.
次に、コントローラ60は、入力装置49を用いてオペレータが選択した画像の種類を、入力装置49から入力した操作信号に基づいて判断する(S16)。具体的には、コントローラ60は、オペレータが選択した画像の種類が「俯瞰画像」であるか、「前方画像」であるか、「左方画像」であるかを判断する。俯瞰画像とは、クレーン車10の上方からクレーン車10及びその周囲を見た場合の画像である。前方画像とは、クレーン車10からクレーン車10の前方を見た場合の画像である。左方画像とは、クレーン車10からクレーン車10の左方を見た場合の画像である。
Next, the controller 60 determines the type of image selected by the operator using the input device 49 based on the operation signal input from the input device 49 (S16). Specifically, the controller 60 determines whether the type of image selected by the operator is “overhead image”, “front image”, or “left image”. The bird's-eye view image is an image when the crane vehicle 10 and its surroundings are viewed from above the crane vehicle 10. A front image is an image when the front of the crane vehicle 10 is viewed from the crane vehicle 10. The left image is an image when the left side of the crane vehicle 10 is viewed from the crane vehicle 10.
コントローラ60は、オペレータが選択した画像の種類が「俯瞰画像」であると判断すると(S16:俯瞰画像)、メモリ64に記憶された車両オブジェクトを用いて、俯瞰画像である障害物表示画像(図7(A))を生成する。詳しく説明すると、コントローラ60は、メモリ64に記憶された車両オブジェクトと、障害物検出処理で検出した障害物を示す障害物オブジェクトとを含む障害物表示画像を生成する。その際、コントローラ60は、障害物検出処理で検出した障害物の位置(方向及び距離)に、障害物検出処理で検出した障害物の大きさに応じた大きさの障害物オブジェクトを配置する。また、コントローラ60は、ステップS14またはS15で決定した色で障害物オブジェクトを生成する。
When the controller 60 determines that the type of image selected by the operator is “overhead image” (S16: overhead image), the controller 60 uses the vehicle object stored in the memory 64 to display an obstacle display image (see FIG. 7 (A)). More specifically, the controller 60 generates an obstacle display image including a vehicle object stored in the memory 64 and an obstacle object indicating an obstacle detected by the obstacle detection process. At that time, the controller 60 arranges an obstacle object having a size corresponding to the size of the obstacle detected by the obstacle detection processing at the position (direction and distance) of the obstacle detected by the obstacle detection processing. In addition, the controller 60 generates an obstacle object with the color determined in step S14 or S15.
同様に、コントローラ60は、オペレータが選択した画像の種類が「前方画像」であると判断すると(S16:前方画像)、前方画像である障害物表示画像を生成し(S18)、オペレータが選択した画像の種類が「左方画像」であると判断すると(S16:左方画像)、左方画像である障害物表示画像を生成する(S19)。
Similarly, when the controller 60 determines that the type of image selected by the operator is “front image” (S16: front image), the controller 60 generates an obstacle display image that is a front image (S18), and the operator selects it. If it is determined that the image type is “left image” (S16: left image), an obstacle display image that is a left image is generated (S19).
コントローラ60は、障害物表示画像を生成した後(S17、S18、S19)、入力装置49を用いてオペレータが画像の拡大を指示したか否かを判断する(S20)。具体的には、コントローラ60は、画像の拡大を示す操作信号が入力装置49から入力されたか否かを判断する。
After generating the obstacle display image (S17, S18, S19), the controller 60 determines whether the operator has instructed to enlarge the image using the input device 49 (S20). Specifically, the controller 60 determines whether or not an operation signal indicating image enlargement is input from the input device 49.
コントローラ60は、画像の拡大を示す操作信号が入力装置49から入力されたと判断すると(S20:Yes)、生成した障害物表示画像を拡大した拡大画像(図7(B))を生成する(S21)。コントローラ60は、例えば、障害物表示画像の予め決められた所定の領域を拡大して拡大画像を生成する。または、コントローラ60は、入力装置49を用いてオペレータが指定した領域を拡大して拡大画像を生成する。
When the controller 60 determines that the operation signal indicating the enlargement of the image is input from the input device 49 (S20: Yes), the controller 60 generates an enlarged image (FIG. 7B) obtained by enlarging the generated obstacle display image (S21). ). For example, the controller 60 generates an enlarged image by enlarging a predetermined area of the obstacle display image. Alternatively, the controller 60 uses the input device 49 to enlarge the area designated by the operator and generate an enlarged image.
コントローラ60は、画像の拡大を示す操作信号が入力装置49から入力されていないと判断すると(S20:No)、拡大画像を生成するステップS21の処理をスキップする。
If the controller 60 determines that the operation signal indicating the enlargement of the image is not input from the input device 49 (S20: No), it skips the process of step S21 for generating the enlarged image.
コントローラ60は、ステップS17で生成した俯瞰画像、または、ステップS18で生成した前方画像、または、ステップS19で生成した左方画像、または、ステップS21で生成した拡大画像を障害物表示画像としてディスプレイ48に表示させる(S22)。
The controller 60 displays the overhead image generated in step S17, the forward image generated in step S18, the left image generated in step S19, or the enlarged image generated in step S21 as an obstacle display image. (S22).
次に、コントローラ60は、入力装置49を用いてオペレータが障害物表示モードの終了の指示を入力したか否かを判断する(S23)。具体的には、コントローラ60は、終了信号が入力装置49から入力したか否かを判断する。コントローラ60は、終了信号が入力していないと判断すると(S23:No)、ステップS12の処理に戻って表示処理を継続する。一方、コントローラ60は、終了信号が入力したと判断すると、(S23:Yes)、表示処理を終了する。
Next, the controller 60 determines whether or not the operator inputs an instruction to end the obstacle display mode using the input device 49 (S23). Specifically, the controller 60 determines whether or not an end signal is input from the input device 49. When the controller 60 determines that the end signal is not input (S23: No), the controller 60 returns to the process of step S12 and continues the display process. On the other hand, if the controller 60 determines that the end signal has been input (S23: Yes), the display process ends.
[第1実施形態の作用効果]
[Effects of First Embodiment]
本実施形態では、障害物センサ50は、オペレータが搭乗するキャビン13が配置された右側とは反対の左側へ向かって検出波を照射し、障害物によって反射された反射波を受信する。したがって、クレーン装置12によってオペレータの死角となる領域について、障害物を検知することができる。
In the present embodiment, the obstacle sensor 50 irradiates a detection wave toward the left side opposite to the right side where the cabin 13 on which the operator is boarded is disposed, and receives the reflected wave reflected by the obstacle. Therefore, an obstacle can be detected in the region that becomes the blind spot of the operator by the crane device 12.
また、本実施形態では、電波によって障害物を検知するので、夜間など周囲が暗くても障害物を確実に検知することができる。
In the present embodiment, since the obstacle is detected by radio waves, the obstacle can be reliably detected even when the surroundings are dark, such as at night.
また、本実施形態では、3つの障害物センサ50A、50B、50Cが前後方向に離間して車体20に設けられている。また、障害物センサ50Aは、ブーム32の先端部に設けられている。したがって、オペレータから死角となる左側の障害物を広い範囲に亘って検出することができる。
In the present embodiment, the three obstacle sensors 50A, 50B, and 50C are provided on the vehicle body 20 so as to be separated in the front-rear direction. The obstacle sensor 50 </ b> A is provided at the tip of the boom 32. Therefore, it is possible to detect the obstacle on the left side that becomes a blind spot from the operator over a wide range.
また、本実施形態では、本実施形態では、3つの障害物センサ50A、50B、50Cが前後方向に離間して車体20に設けられている。また、障害物センサ50Cは、車体20の後部に設けられている。したがって、オペレータから死角となる左側の障害物を広い範囲に亘って検出することができる。
In this embodiment, in this embodiment, the three obstacle sensors 50A, 50B, 50C are provided on the vehicle body 20 so as to be separated in the front-rear direction. The obstacle sensor 50C is provided at the rear part of the vehicle body 20. Therefore, it is possible to detect the obstacle on the left side that becomes a blind spot from the operator over a wide range.
また、本実施形態では、ブーム32の先端部に設けられた障害物センサ50Aは、左側方に加え、前方へも検出波を照射する。したがって、クレーン車10の左側方の障害物を検知する障害物センサ50Aを用いて、クレーン車10の前方の障害物も検知することができる。
In this embodiment, the obstacle sensor 50A provided at the tip of the boom 32 irradiates the detection wave forward as well as on the left side. Therefore, the obstacle ahead of the crane vehicle 10 can also be detected using the obstacle sensor 50 </ b> A that detects the obstacle on the left side of the crane vehicle 10.
また、本実施形態では、車体20の後部に設けられた障害物センサ50Cは、左側方に加え、後方へも検出波を照射する。したがって、クレーン車10の左側方の障害物を検知する障害物センサ50Cを用いて、クレーン車10の後方の障害物も検知することができる。
Further, in this embodiment, the obstacle sensor 50C provided at the rear part of the vehicle body 20 irradiates the detection wave to the rear in addition to the left side. Therefore, the obstacle behind the crane vehicle 10 can also be detected using the obstacle sensor 50 </ b> C that detects the obstacle on the left side of the crane vehicle 10.
[第2実施形態]
[Second Embodiment]
上述の第1実施形態では、各障害物センサ50は、それぞれ送受信アンテナである例を説明した。本実施形態では、一の送信アンテナから検出波を送信し、複数の受信アンテナで反射波を受信する例を説明する。
In the first embodiment described above, the example in which each obstacle sensor 50 is a transmission / reception antenna has been described. In this embodiment, an example will be described in which a detection wave is transmitted from one transmission antenna and a reflected wave is received by a plurality of reception antennas.
本実施形態では、図8に示されるように、第1実施形態で説明した障害物センサ50Aに代えて、受信アンテナである障害物センサ51Aがブーム32の先端部に設けられている。障害物センサ51Aの指向性は、第1実施形態で説明した障害物センサ50Aの指向性と同じである。
In this embodiment, as shown in FIG. 8, an obstacle sensor 51A, which is a receiving antenna, is provided at the tip of the boom 32 in place of the obstacle sensor 50A described in the first embodiment. The directivity of the obstacle sensor 51A is the same as the directivity of the obstacle sensor 50A described in the first embodiment.
また、第1実施形態で説明した障害物センサ50Cに代えて、受信アンテナである障害物センサ51Cが車体20の後部に設けられている。障害物センサ51Cの指向性は、第1実施形態で説明した障害物センサ50Cの指向性と同じである。
Further, instead of the obstacle sensor 50 </ b> C described in the first embodiment, an obstacle sensor 51 </ b> C that is a receiving antenna is provided at the rear portion of the vehicle body 20. The directivity of the obstacle sensor 51C is the same as the directivity of the obstacle sensor 50C described in the first embodiment.
また、第1実施形態で説明した障害物センサ50Bに代えて、送受信アンテナである障害物センサ51Bが、前後方向における車体20の中央部に設けられている。障害物センサ51Bの指向性は、第1実施形態で説明した障害物センサ50Bの指向性と相違する。具体的には、障害物センサ50Bは、障害物センサ51A、51Cが感度良く反射波を受信する領域(検出領域)に向かって強度の強い検出波を照射するような指向性を有する。
Further, instead of the obstacle sensor 50B described in the first embodiment, an obstacle sensor 51B which is a transmission / reception antenna is provided at the center of the vehicle body 20 in the front-rear direction. The directivity of the obstacle sensor 51B is different from the directivity of the obstacle sensor 50B described in the first embodiment. Specifically, the obstacle sensor 50B has directivity such that the obstacle sensors 51A and 51C radiate a detection wave having a high intensity toward a region (detection region) where the reflected wave is received with high sensitivity.
送受信アンテナである障害物センサ51Bが照射した検出波は、障害物で反射され、受信アンテナである障害物センサ50A、50Cや、送受信アンテナである障害物センサ50Bで受信される。障害物センサ51A、51B、51Cは、本発明の「センサ」に相当する。障害物センサ51Bは、本発明の「送信アンテナ」に相当する。障害物センサ51A、51B、51Cは、本発明の「受信アンテナ」に相当する。
The detection wave irradiated by the obstacle sensor 51B, which is a transmission / reception antenna, is reflected by the obstacle and received by the obstacle sensors 50A, 50C, which are reception antennas, and the obstacle sensor 50B, which is a transmission / reception antenna. The obstacle sensors 51A, 51B, 51C correspond to “sensors” of the present invention. The obstacle sensor 51B corresponds to the “transmission antenna” of the present invention. The obstacle sensors 51A, 51B, 51C correspond to the “receiving antenna” of the present invention.
コントローラ60が実行する表示処理や、クレーン車10のその他の構成は、第1実施形態と同様である。
The display process executed by the controller 60 and other configurations of the crane 10 are the same as those in the first embodiment.
[第2実施形態の作用効果]
[Effects of Second Embodiment]
本実施形態では、障害物センサ51Bのみが検出波を送信する。したがって、障害物センサ50A、50B、50Cがそれぞれ検出波を送信する第1実施形態のクレーン車10に比べ、検出波の送信に要する消費電力を低減することができる。
In this embodiment, only the obstacle sensor 51B transmits a detection wave. Therefore, compared with the crane vehicle 10 of the first embodiment in which the obstacle sensors 50A, 50B, and 50C each transmit a detection wave, the power consumption required to transmit the detection wave can be reduced.
また、障害物センサ51A、51Cは、反射波の受信のみを行うので、制御基板(制御回路)の構成が簡単になる。その結果、制御基板のコストを低減することができる。
Also, since the obstacle sensors 51A and 51C only receive the reflected wave, the configuration of the control board (control circuit) becomes simple. As a result, the cost of the control board can be reduced.
[変形例1]
[Modification 1]
本変形例では、障害物センサ50Aを用いて、クレーン装置12の操作時に、フック35で吊下する荷物の周囲の障害物や、吊下する荷物までの距離を検出する例を説明する。
In this modification, an example will be described in which the obstacle sensor 50A is used to detect obstacles around the luggage suspended by the hook 35 and the distance to the suspended luggage when the crane device 12 is operated.
図9に示されるクレーン車70の構成は、障害物センサ50Aのアンテナの向きを変える回転体を有する以外は、第1実施形態で説明したクレーン車10の構成と同じである。
9 is the same as the configuration of the crane vehicle 10 described in the first embodiment, except that it has a rotating body that changes the direction of the antenna of the obstacle sensor 50A.
入力装置49は、クレーン装置12の操作時において、荷物71の周囲の障害物を検出する障害物検出モードの選択指示を受け付ける。
The input device 49 receives an instruction to select an obstacle detection mode for detecting obstacles around the luggage 71 when the crane device 12 is operated.
以下、クレーン装置12の操作時にコントローラ60が実行する表示処理を、図10を参照して説明する。表示処理は、旋回台31の旋回角や、ブーム32の起伏角や、ブーム32の長さなどを示す状態表示画像に、荷物71の周囲の障害物の有無の表示や、ブーム32の先端から荷物71までの距離の表示などを行う処理である。
Hereinafter, display processing executed by the controller 60 when the crane device 12 is operated will be described with reference to FIG. In the display process, the state display image indicating the turning angle of the swivel 31, the undulation angle of the boom 32, the length of the boom 32, etc. is displayed on the display of the presence or absence of obstacles around the load 71, This is processing for displaying the distance to the package 71 and the like.
まず、コントローラ60は、入力装置49を用いてオペレータが障害物検出モードを選択したか否かを判断する(S41)。具体的には、コントローラ60は、入力装置49から開始信号が入力したか否かを判断する。すなわち、表示処理は、ペレータが障害物検出モードを選択したことをトリガとして開始される。
First, the controller 60 determines whether the operator has selected the obstacle detection mode using the input device 49 (S41). Specifically, the controller 60 determines whether or not a start signal is input from the input device 49. In other words, the display process is triggered by the fact that the operator has selected the obstacle detection mode.
コントローラ60は、開始信号が入力されるまで待機する(S41:No)。コントローラ60は、開始信号が入力されたと判断すると(S41:Yes)、障害物センサ50Aの向きを変更する(S42)。具体的には、ブーム32の先端の下方に向かって検出波が照射される向きに障害物センサ50Aの向きを変更する。
Controller 60 waits until a start signal is input (S41: No). When the controller 60 determines that the start signal has been input (S41: Yes), the controller 60 changes the direction of the obstacle sensor 50A (S42). Specifically, the direction of the obstacle sensor 50 </ b> A is changed to the direction in which the detection wave is irradiated downward from the tip of the boom 32.
次に、コントローラ60は、障害物検出処理を実行する(S43)。具体的には、コントローラ60は、ステップS31(図6)の処理と同様に、制御信号を送受信回路66に出力し、検出信号を受信する。コントローラ60は、受信した検出信号に基づいて、荷物71の周囲に障害物が存在するか否かを判断する(S44)。
Next, the controller 60 executes an obstacle detection process (S43). Specifically, the controller 60 outputs a control signal to the transmission / reception circuit 66 and receives a detection signal, similarly to the process of step S31 (FIG. 6). Based on the received detection signal, the controller 60 determines whether there is an obstacle around the luggage 71 (S44).
コントローラ60は、荷物71の周囲に障害物が存在すると判断すると(S44:Yes)、荷物71の周囲に障害物が存在することを示す画像をディスプレイ48に表示させ、或いは、警告音をスピーカ68から出力させる(S45)。なお、荷物71であるか障害物であるかは、例えば、検出した物体の位置によって判断される。例えば、コントローラ60は、フック35の真下に位置する物体を「荷物」と判断し、「荷物」の周囲に存在する物体を「障害物」と判断する。
When the controller 60 determines that an obstacle exists around the luggage 71 (S44: Yes), the controller 60 displays an image indicating that an obstacle exists around the luggage 71 on the display 48, or displays a warning sound on the speaker 68. (S45). Whether the item is a load 71 or an obstacle is determined based on, for example, the position of the detected object. For example, the controller 60 determines that an object located directly below the hook 35 is “luggage”, and determines an object existing around the “luggage” as “obstacle”.
その後、コントローラ60は、入力装置49を用いてオペレータが障害物検出モードの終了の指示を入力したか否かを判断する(S48)。具体的には、コントローラ60は、終了信号が入力装置49から入力したか否かを判断する。コントローラ60は、終了信号が入力していないと判断すると(S48:No)、ステップS42の処理に戻って表示処理を継続する。一方、コントローラ60は、終了信号が入力したと判断すると、(S48:Yes)、表示処理を終了する。
Thereafter, the controller 60 determines whether or not the operator inputs an instruction to end the obstacle detection mode using the input device 49 (S48). Specifically, the controller 60 determines whether or not an end signal is input from the input device 49. When the controller 60 determines that the end signal is not input (S48: No), the controller 60 returns to the process of step S42 and continues the display process. On the other hand, if the controller 60 determines that the end signal has been input (S48: Yes), the display process ends.
コントローラ60は、ステップS44の処理において、障害物が存在しないと判断すると(S44:No)、荷物71までの距離である吊下距離を算出する(S46)。吊下距離の算出は、例えば、検出波を照射したときから、荷物71によって反射された反射波を受信したときまでの時間によって算出する。
If the controller 60 determines in step S44 that there is no obstacle (S44: No), the controller 60 calculates a suspension distance that is the distance to the load 71 (S46). The suspension distance is calculated by, for example, the time from when the detection wave is irradiated until when the reflected wave reflected by the load 71 is received.
コントローラ60は、旋回台31の旋回角や、ブーム32の起伏角や、ブーム32の長さなどを示す状態表示画像などに、算出した吊下距離を表示する(S47)。その後、コントローラ60は、終了信号が入力装置49から入力したか否かを判断し(S48)、終了信号が入力していないと判断すると(S48:No)、ステップS42の処理に戻って表示処理を継続する。一方、コントローラ60は、終了信号が入力したと判断すると、(S48:Yes)、表示処理を終了する。
The controller 60 displays the calculated suspension distance on a state display image indicating the turning angle of the turntable 31, the undulation angle of the boom 32, the length of the boom 32, and the like (S47). Thereafter, the controller 60 determines whether or not an end signal is input from the input device 49 (S48). If the controller 60 determines that the end signal is not input (S48: No), the process returns to the process of step S42 to perform display processing. Continue. On the other hand, if the controller 60 determines that the end signal has been input (S48: Yes), the display process ends.
[変形例1の作用効果]
[Effects of Modification 1]
本変形例では、ブーム32の先端部に設けられた障害物センサ50Aを利用して、クレーン装置が吊り下げる荷物71までの距離を検出することができる。また、荷物71の周囲の障害物を検出することができる。
In this modification, it is possible to detect the distance to the load 71 that the crane apparatus suspends using the obstacle sensor 50A provided at the tip of the boom 32. In addition, obstacles around the luggage 71 can be detected.
[変形例2]
[Modification 2]
本変形例では、障害物センサ50に加え、赤外線を検出する赤外線センサ52が設けられた例を説明する。
In this modification, an example in which an infrared sensor 52 for detecting infrared rays is provided in addition to the obstacle sensor 50 will be described.
赤外線センサ52は、障害物センサ50A、50B、50Cにそれぞれ隣接して配置される。すなわち、3つの赤外線センサ52がクレーン車10に設けられる。赤外線センサ52は、本発明の「第2センサ」に相当する。
The infrared sensor 52 is disposed adjacent to the obstacle sensors 50A, 50B, and 50C. That is, three infrared sensors 52 are provided in the crane vehicle 10. The infrared sensor 52 corresponds to the “second sensor” of the present invention.
赤外線センサ52は、入射する赤外線を集光するレンズと、レンズで集光された赤外線を受光する受光部と、受光部が受光した赤外線に応じた信号を増幅して出力する増幅回路とを備える。増幅回路は、電源回路65から供給された直流電圧によって駆動する。すなわち、赤外線センサ52は、障害物センサ50に隣接して配置されることにより、障害物センサ50と制御基板とを繋ぐケーブルやスイベルを流用して、電力を供給される。
The infrared sensor 52 includes a lens that collects incident infrared light, a light receiving unit that receives the infrared light collected by the lens, and an amplification circuit that amplifies and outputs a signal corresponding to the infrared light received by the light receiving unit. . The amplifier circuit is driven by a DC voltage supplied from the power supply circuit 65. In other words, the infrared sensor 52 is disposed adjacent to the obstacle sensor 50, so that power is supplied using a cable or a swivel connecting the obstacle sensor 50 and the control board.
受信部は、受信した赤外線の強度に応じた信号を出力するものであってもよいし、複数の受光部を有するものであってもよい。複数の受光部を有する赤外線センサ52では、各受光部が受光した赤外線の強度の差に応じた信号を出力する。すなわち、赤外線を放出する人などの検知対象物が移動した場合に、赤外線センサ52は、検知対象物を検知したことを示す検出信号を出力する。
The receiving unit may output a signal corresponding to the intensity of received infrared light, or may have a plurality of light receiving units. The infrared sensor 52 having a plurality of light receiving units outputs a signal corresponding to the difference in the intensity of infrared light received by each light receiving unit. That is, when a detection object such as a person emitting infrared rays moves, the infrared sensor 52 outputs a detection signal indicating that the detection object has been detected.
赤外線センサ52のレンズが集光する領域は、アンテナである障害物センサ50の指向性の領域と一致する。すなわち、赤外線センサ52のレンズは、障害物センサ50が検出波を主に照射する領域から入射する赤外線を集光する。したがって、赤外線センサ52は、障害物センサ50の検出領域と同じ領域を検出領域とする。
The region where the lens of the infrared sensor 52 condenses coincides with the directivity region of the obstacle sensor 50 which is an antenna. That is, the lens of the infrared sensor 52 condenses infrared rays that are incident from a region where the obstacle sensor 50 mainly emits the detection wave. Therefore, the infrared sensor 52 sets the same area as the detection area of the obstacle sensor 50 as the detection area.
[表示処理]
[Display processing]
本変形例では、コントローラ60は、図5に示される表示処理(第1実施形態)に代えて、図11に示される表示処理を実行する。なお、図11に示される表示処理において、図5に示される表示処理と同じ処理には、同一の符号を付して説明を省略する。
In this modification, the controller 60 executes the display process shown in FIG. 11 instead of the display process (first embodiment) shown in FIG. In the display process shown in FIG. 11, the same process as the display process shown in FIG.
コントローラ60は、上述の第1実施形態(図5に示される表示処理)と同様に、ステップS11からS15及びS24の処理を実行する。次に、コントローラ60は、障害物センサ50が検出した障害物が「人」か否かを判断する(S51)。具体的には、コントローラ60は、複数の赤外線センサ52から入力した検出信号により、上述の第1実施形態と同様にして、赤外線を放射する検知対象物の位置を算出する。コントローラ60は、算出した検知対象物の位置と障害物の位置とが一致するか否かを判断する。次に、コントローラ60は、障害物センサ50が検出した障害物の大きさが閾値以上であるであるか否かを判断する。当該閾値は、メモリ64に予め記憶される。コントローラ60は、検知対象物の位置と障害物の位置とが一致し、かつ、障害物の大きさが閾値以上であることに応じて、障害物を「人」と判断する。なお、上述した「人か否かの判断」は一例であって、他の方法によって「人か否かの判断」がされてもよい。
The controller 60 executes the processes of steps S11 to S15 and S24 as in the first embodiment (display process shown in FIG. 5). Next, the controller 60 determines whether or not the obstacle detected by the obstacle sensor 50 is a “person” (S51). Specifically, the controller 60 calculates the position of the detection object that radiates infrared rays by the detection signals input from the plurality of infrared sensors 52 in the same manner as in the first embodiment described above. The controller 60 determines whether or not the calculated position of the detection object matches the position of the obstacle. Next, the controller 60 determines whether or not the size of the obstacle detected by the obstacle sensor 50 is greater than or equal to a threshold value. The threshold value is stored in the memory 64 in advance. The controller 60 determines that the obstacle is a “person” when the position of the object to be detected matches the position of the obstacle and the size of the obstacle is equal to or greater than a threshold value. The above-described “determination as to whether or not a person” is merely an example, and “determination as to whether or not a person is present” may be performed by another method.
コントローラ60は、検出した障害物が人であると判断すると(S51:Yes)、ステップS14で決定した第1所定色を第3所定色に変更し、或いは、ステップS15で決定した第2所定色を第4所定色に変更する(S52)。例えば、閾値距離未満にある障害物が「人」でない場合、障害物の色が「黄色」にされ、「人」である場合、「赤色」にされる。また、例えば、閾値距離未満にある障害物が「人」でない場合、障害物の色が「青色」にされ、「人」である場合、「オレンジ色」にされる。
When the controller 60 determines that the detected obstacle is a person (S51: Yes), it changes the first predetermined color determined in step S14 to the third predetermined color, or the second predetermined color determined in step S15. Is changed to the fourth predetermined color (S52). For example, when the obstacle that is less than the threshold distance is not “person”, the color of the obstacle is “yellow”, and when it is “person”, it is “red”. Further, for example, when the obstacle that is less than the threshold distance is not “person”, the color of the obstacle is “blue”, and when it is “person”, it is “orange”.
一方、コントローラ60は、検出した障害物が人でないと判断すると(S51:No)、ステップS52の処理をスキップする。その後、コントローラ60は、上述の第1実施形態と同様に、ステップS16からS23までの処理を実行する。
On the other hand, if the controller 60 determines that the detected obstacle is not a person (S51: No), it skips the process of step S52. Thereafter, the controller 60 executes the processing from step S16 to S23 as in the first embodiment described above.
[変形例2の作用効果]
[Effects of Modification 2]
本変形例では、障害物センサ50に加えて赤外線センサ52を設けることにより、障害物が「人」か否かを判断することができる。
In this modification, by providing the infrared sensor 52 in addition to the obstacle sensor 50, it can be determined whether or not the obstacle is a “person”.
また、障害物センサ50に隣接して赤外線センサ52を設けることにより、障害物センサ50とコントローラ60とを電気的に接続するケーブルやスイベルを流用して赤外線センサ52に駆動電力を供給することができる。その結果、クレーン車10の配線(ケーブルの引き回し)を簡単にすることができる。
Further, by providing the infrared sensor 52 adjacent to the obstacle sensor 50, a driving power can be supplied to the infrared sensor 52 by diverting a cable or a swivel that electrically connects the obstacle sensor 50 and the controller 60. it can. As a result, the wiring (cable routing) of the crane vehicle 10 can be simplified.
[その他の変形例]
[Other variations]
上述の実施形態では、キャビン13が配置された旋回台31の右部に障害物センサ50を設けていない例を説明した。しかしながら、旋回台31の右部にも障害物センサ50が設けられていてもよい。
In the above-described embodiment, the example in which the obstacle sensor 50 is not provided in the right part of the swivel base 31 on which the cabin 13 is disposed has been described. However, the obstacle sensor 50 may also be provided on the right part of the swivel base 31.
上述の実施形態では、旋回台31の左部にブーム32が位置し、旋回台31の右部にキャビン13が位置する例を説明した。しかしながら、旋回台31の右部にブーム32が位置し、旋回台31の左部にキャビン13が位置していてもよい。
In the above-described embodiment, the example in which the boom 32 is located on the left part of the swivel base 31 and the cabin 13 is located on the right part of the swivel base 31 has been described. However, the boom 32 may be located on the right side of the swivel base 31 and the cabin 13 may be located on the left part of the swivel base 31.
また、上述の実施形態や変形例では、障害物検出モードの実行をユーザが選択する例を説明した。しかしながら、障害物検出モードは、常に実行されてもよい。
In the above-described embodiment and modification, the example in which the user selects execution of the obstacle detection mode has been described. However, the obstacle detection mode may always be executed.
また、上述の実施形態では、送受信回路66が制御基板に実装され、アンテナである障害物センサ50がブーム32や車体20に設けられ、送受信回路66と障害物センサ50とがケーブルやスイベルを通じて電気的に接続された例を説明した。しかしながら、アンテナと送受信回路66とが一体となった送受信モジュールが、障害物センサ50及び送受信回路66の代わりに用いられてもよい。
In the above-described embodiment, the transmission / reception circuit 66 is mounted on the control board, the obstacle sensor 50 as an antenna is provided on the boom 32 or the vehicle body 20, and the transmission / reception circuit 66 and the obstacle sensor 50 are electrically connected via a cable or a swivel. The example which was connected was explained. However, a transmission / reception module in which the antenna and the transmission / reception circuit 66 are integrated may be used instead of the obstacle sensor 50 and the transmission / reception circuit 66.
また、上述の実施形態では、キャビン13に設けられた電源回路65から供給された電力により、障害物センサ50が検出波を送信する例を説明した。しかしながら、障害物センサ50へ電力を供給するアンテナ用電源回路が、電源回路65とは別に、車体20に設けられていてもよい。アンテナ用電源回路は、バッテリ27から供給された直流電圧を所定の直流電圧に変圧して出力する。
In the above-described embodiment, the example in which the obstacle sensor 50 transmits the detection wave by the power supplied from the power supply circuit 65 provided in the cabin 13 has been described. However, an antenna power supply circuit that supplies power to the obstacle sensor 50 may be provided in the vehicle body 20 separately from the power supply circuit 65. The antenna power supply circuit transforms the DC voltage supplied from the battery 27 into a predetermined DC voltage and outputs it.
また、上述の実施形態では、障害物センサ50が受信した反射波に応じた信号が、ケーブルやスイベルを通じてコントローラ60に入力される例を説明した。しかしながら、障害物センサ50とコントローラ60とが、無線通信可能に構成され、障害物センサ50が受信した反射波に応じた信号が、無線通信によってコントローラ60に入力されてもよい。具体的には、障害物センサ50は、無線通信用の送信アンテナを有する。制御基板には、無線通信用の受信アンテナ(パターンアンテナ)が設けられる。障害物センサ50が出力する信号が無線通信によってコントローラ60に入力されるので、スイベルにおいて当該信号にノイズが重畳されることが防止される。
In the above-described embodiment, an example in which a signal corresponding to the reflected wave received by the obstacle sensor 50 is input to the controller 60 through a cable or a swivel has been described. However, the obstacle sensor 50 and the controller 60 may be configured to be capable of wireless communication, and a signal corresponding to the reflected wave received by the obstacle sensor 50 may be input to the controller 60 by wireless communication. Specifically, the obstacle sensor 50 has a transmission antenna for wireless communication. A reception antenna (pattern antenna) for wireless communication is provided on the control board. Since the signal output from the obstacle sensor 50 is input to the controller 60 by wireless communication, noise is prevented from being superimposed on the signal in the swivel.
また、上述の実施形態では、電波を送信する障害物センサ50を説明した。しかしながら、障害物センサ50は、レーザー光などの光を照射するものであってもよい。その場合、障害物センサ50は、光を照射する発光ダイオードなどの発光部と、光を受光し、受光した光の強度に応じた電圧を出力するフォトダイオードなどの受光部と、受光部が出力した電圧を増幅して検出信号として出力する増幅部とを備える。
In the above-described embodiment, the obstacle sensor 50 that transmits radio waves has been described. However, the obstacle sensor 50 may irradiate light such as laser light. In that case, the obstacle sensor 50 outputs a light emitting unit such as a light emitting diode that emits light, a light receiving unit such as a photodiode that receives light and outputs a voltage corresponding to the intensity of the received light, and the light receiving unit outputs And an amplifying unit for amplifying the output voltage and outputting it as a detection signal.
また、上述の実施形態では、電波を送信する障害物センサ50を説明した。しかしながら、障害物センサ50は、音波(超音波を含む)を照射するものであってもよい。その場合、障害物センサ50には、(超)音波センサやドップラセンサなどが用いられる。なお、音波を用いて障害物を検出する場合、クレーン車10には、外気温を検出するサーミスタなどの温度補償用の温度センサが設けられる。
In the above-described embodiment, the obstacle sensor 50 that transmits radio waves has been described. However, the obstacle sensor 50 may irradiate sound waves (including ultrasonic waves). In this case, the obstacle sensor 50 is an (ultra) sonic sensor, a Doppler sensor, or the like. When detecting an obstacle using sound waves, the crane 10 is provided with a temperature sensor for temperature compensation such as a thermistor for detecting the outside air temperature.
10・・・クレーン車
11・・・走行体
12・・・クレーン装置
13・・・キャビン
31・・・旋回台
32・・・ブーム
41・・・運転席
50・・・障害物センサ(第1センサ)
51A、51C・・・障害物センサ(受信アンテナ)
51B・・・障害物センサ(送信アンテナ、受信アンテナ)
52・・・赤外線センサ(第2センサ) DESCRIPTION OFSYMBOLS 10 ... Crane 11 ... Traveling body 12 ... Crane apparatus 13 ... Cabin 31 ... Turntable 32 ... Boom 41 ... Driver's seat 50 ... Obstacle sensor (1st Sensor)
51A, 51C ... Obstacle sensor (receiving antenna)
51B: Obstacle sensor (transmitting antenna, receiving antenna)
52 ... Infrared sensor (second sensor)
11・・・走行体
12・・・クレーン装置
13・・・キャビン
31・・・旋回台
32・・・ブーム
41・・・運転席
50・・・障害物センサ(第1センサ)
51A、51C・・・障害物センサ(受信アンテナ)
51B・・・障害物センサ(送信アンテナ、受信アンテナ)
52・・・赤外線センサ(第2センサ) DESCRIPTION OF
51A, 51C ... Obstacle sensor (receiving antenna)
51B: Obstacle sensor (transmitting antenna, receiving antenna)
52 ... Infrared sensor (second sensor)
Claims (8)
- クレーン装置を搭載する走行体と、当該走行体の幅方向における一方側に配置された運転席と、第1センサと、を備えており、
上記第1センサは、上記幅方向の他方へ向かって検出波を照射する照射部と、検知対象物によって反射された上記検出波を受ける受信部と、を有するクレーン車。 A traveling body on which the crane device is mounted, a driver seat disposed on one side in the width direction of the traveling body, and a first sensor,
The said 1st sensor is a crane vehicle which has the irradiation part which irradiates a detection wave toward the other of the said width direction, and the receiving part which receives the said detection wave reflected by the detection target object. - 上記クレーン装置は、走行時における上記走行体の前端よりも前方に向かって突出するブームを有しており、
複数の上記第1センサが上記走行体の前後方向に沿って互いに離間する位置に配置され、且つ少なくとも1つの第1センサは、上記ブームの先端部に設けられている請求項1に記載のクレーン車。 The crane device has a boom that projects forward from the front end of the traveling body during traveling,
2. The crane according to claim 1, wherein the plurality of first sensors are arranged at positions spaced apart from each other along the front-rear direction of the traveling body, and at least one first sensor is provided at a tip portion of the boom. car. - 上記走行体の後部並びに当該後部と上記ブームの先端部との間に上記第1センサが配置されている請求項2に記載のクレーン車。 The crane vehicle according to claim 2, wherein the first sensor is disposed between a rear portion of the traveling body and the rear portion and a tip portion of the boom.
- 上記ブームの先端部に設けられた上記第1センサは、上記走行体の前方へ向かって上記検出波をさらに照射する請求項2または3に記載のクレーン車。 The crane according to claim 2 or 3, wherein the first sensor provided at the tip of the boom further irradiates the detection wave toward the front of the traveling body.
- 上記走行体の後部に配置された上記第1センサは、上記走行体の後方へ向かって上記検出波をさらに照射する請求項2から4のいずれかに記載のクレーン車。 The crane according to any one of claims 2 to 4, wherein the first sensor disposed at a rear portion of the traveling body further irradiates the detection wave toward the rear of the traveling body.
- 赤外線を検出する第2センサが、上記走行体の幅方向における他方側又は上記ブームの先端部の少なくとも一方に配置されている請求項2から5のいずれかに記載のクレーン車。 The crane according to any one of claims 2 to 5, wherein a second sensor that detects infrared rays is disposed on at least one of the other side in the width direction of the traveling body or the tip of the boom.
- 上記ブームは、上記走行体に設けられた旋回台に起伏可能に支持されており、
上記第1センサは、上記ブームが起伏された状態において、上記ブームの先端部の下方の領域へ向かって前記検出波を照射する請求項2に記載のクレーン車。 The boom is supported by a swivel provided on the traveling body so as to be raised and lowered.
The crane according to claim 2, wherein the first sensor irradiates the detection wave toward a region below the tip of the boom in a state where the boom is raised and lowered. - クレーン装置を搭載する走行体と、当該走行体の幅方向の一方に配置された運転席と、センサと、を備えており、
上記クレーン装置は、上記走行体に設けられた旋回台及び当該旋回台に起伏可能に支持された伸縮可能なブームを有しており、
上記センサは、上記幅方向の他方へ向かって電波を照射する送信アンテナと、当該送信アンテナから送信され、検知対象物によって反射された反射波を受信する複数の受信アンテナと、を有しており、
当該複数の受信アンテナは、上記幅方向の他方側に、上記走行体の前後方向において互いに離間して設けられているクレーン車。
A traveling body on which the crane device is mounted, a driver seat arranged on one side in the width direction of the traveling body, and a sensor,
The crane device has a swivel provided on the traveling body and a telescopic boom supported on the swivel so as to be raised and lowered.
The sensor includes a transmitting antenna that radiates radio waves toward the other side in the width direction, and a plurality of receiving antennas that receive reflected waves transmitted from the transmitting antenna and reflected by a detection target. ,
The plurality of receiving antennas are crane vehicles provided on the other side in the width direction so as to be separated from each other in the front-rear direction of the traveling body.
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