WO2019208282A1 - Chariot-grue - Google Patents

Chariot-grue Download PDF

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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
Application number
PCT/JP2019/016056
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English (en)
Japanese (ja)
Inventor
洋幸 林
Original Assignee
株式会社タダノ
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Filing date
Publication date
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Publication of WO2019208282A1 publication Critical patent/WO2019208282A1/fr

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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
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Abstract

Le problème décrit par la présente invention est de produire un chariot-grue pouvant détecter de manière fiable un obstacle dans une zone d'angle mort à partir d'un siège du conducteur, plus spécifiquement, sur le côté opposé du siège du conducteur de l'autre côté d'une flèche, de façon à garantir un déplacement sûr. La solution selon l'invention porte sur un chariot-grue 10 qui est pourvu de capteurs d'obstacle 50A, 50B et 50C, qui correspondent à des antennes d'émission-réception, pour émettre des ondes de détection et recevoir une onde de détection réfléchie depuis un obstacle. Le capteur d'obstacle 50A est disposé sur une surface inférieure d'une partie d'extrémité distale d'une flèche 32 et transmet des ondes de détection à une zone devant le chariot-grue 10 et une zone sur le côté gauche du chariot-grue 10. Le capteur d'obstacle 50B est disposé sur une surface supérieure d'une partie d'extrémité gauche de la carrosserie 20 de véhicule et transmet une onde de détection à une zone située sur le côté gauche du chariot-grue 10. Le capteur d'obstacle 50C est disposé sur une surface supérieure d'une partie d'extrémité arrière de la carrosserie 20 de véhicule et transmet des ondes de détection à une zone derrière le chariot-grue 10 et une zone sur le côté gauche du chariot-grue 10. Un signal correspondant à l'onde réfléchie reçue par les capteurs d'obstacle 50A, 50B et 50C est amplifié et entré dans un dispositif de commande.
PCT/JP2019/016056 2018-04-27 2019-04-12 Chariot-grue WO2019208282A1 (fr)

Applications Claiming Priority (2)

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JP2018-086126 2018-04-27
JP2018086126A JP7247473B2 (ja) 2018-04-27 2018-04-27 クレーン車

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WO2019208282A1 true WO2019208282A1 (fr) 2019-10-31

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05162976A (ja) * 1990-09-21 1993-06-29 Ppm Sa コンテナ荷役作業用車両等の作業用車両
JP2000344465A (ja) * 1999-05-31 2000-12-12 Kobelco Contstruction Machinery Ltd ホイール式作業機械並びにその走行操作方法
JP2003238077A (ja) * 2002-02-14 2003-08-27 Kobelco Contstruction Machinery Ltd 移動式クレーンの安全装置
JP2006144349A (ja) * 2004-11-18 2006-06-08 Hitachi Constr Mach Co Ltd 建設機械の安全装置
JP2017212181A (ja) * 2016-05-27 2017-11-30 パナソニックＩｐマネジメント株式会社 照明器具
JP2017220316A (ja) * 2016-06-03 2017-12-14 パナソニックＩｐマネジメント株式会社 照明器具
JP2018042205A (ja) * 2016-09-09 2018-03-15 株式会社タダノ 画像表示システム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05162976A (ja) * 1990-09-21 1993-06-29 Ppm Sa コンテナ荷役作業用車両等の作業用車両
JP2000344465A (ja) * 1999-05-31 2000-12-12 Kobelco Contstruction Machinery Ltd ホイール式作業機械並びにその走行操作方法
JP2003238077A (ja) * 2002-02-14 2003-08-27 Kobelco Contstruction Machinery Ltd 移動式クレーンの安全装置
JP2006144349A (ja) * 2004-11-18 2006-06-08 Hitachi Constr Mach Co Ltd 建設機械の安全装置
JP2017212181A (ja) * 2016-05-27 2017-11-30 パナソニックＩｐマネジメント株式会社 照明器具
JP2017220316A (ja) * 2016-06-03 2017-12-14 パナソニックＩｐマネジメント株式会社 照明器具
JP2018042205A (ja) * 2016-09-09 2018-03-15 株式会社タダノ 画像表示システム

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