Crane travel support device

Abstract

To provide a crane traveling support device capable of appropriately operating a crane in both cases that the crane is operated by an operation part in a cabin and that by a remote controller.SOLUTION: A crane traveling support device comprises: distance detection means 51 for detecting a distance from an object G in a traveling direction of a crane 1; an operation mode switching unit 61 for switching between a first operation mode 61a in which the crane 1 is operated by an operation unit (first operation unit 41) inside a cabin 21 of the crane 1 and a second operation mode 61b in which the crane 1 is operated by a remote controller 80; and a separation distance control unit 63 that controls the separation distance from the object G when the traveling crane 1 is stopped based on the switching information of the operation mode switching unit 61 and detection information of the distance detection means 51. The separation distance control unit 63 performs the control so that a separation distance L1 in the first operation mode 61a and a separation distance L2 in the second operation mode 61b are different from each other.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a crane travel support device. [Background technology]

[0002] 2. Description of the Related Art Conventionally, it is known that automobiles are equipped with collision damage mitigation brakes (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses an automatic braking system that automatically activates the braking means of the host vehicle so as to stop the host vehicle before the host vehicle collides with an obstacle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-083550 A Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, a crane may be operated either with an operation unit in the cabin or with a remote controller. Since the feel of operating a crane with an operation unit in the cabin differs from the feel of operating a crane with a remote controller, if the collision damage mitigation brake is activated in the same way in both cases, that is, when the crane is operated with the operation unit in the cabin and when the crane is operated with a remote controller, the crane cannot be operated appropriately.

[0006] Therefore, an object of the present invention is to provide a crane travel support device that can operate a crane appropriately whether the crane is operated using an operating unit inside the cabin or using a remote controller. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the crane traveling assistance device of the present invention comprises a distance detection means for detecting the distance between an object in the direction of travel of the crane, an operating mode switching unit for switching between a first operating mode in which the crane is operated by an operating unit in the cabin of the crane and a second operating mode in which the crane is operated by a remote controller, and a separation distance control unit for controlling the separation distance between the object and the crane when the crane is stopped while traveling based on switching information from the operating mode switching unit and detection information from the distance detection means, and is characterized in that the separation distance control unit controls the separation distance in the first operating mode to be different from the separation distance in the second operating mode. Effect of the Invention

[0008] The crane travel assistance device of the present invention configured in this manner can operate the crane appropriately whether the crane is operated using the operation unit inside the cabin or using a remote controller. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a side view showing a crane of a first embodiment. [Diagram 2] FIG. 1 is a plan view showing a crane according to a first embodiment. [Diagram 3] 1 is a block diagram showing a functional configuration of a crane travel support device according to a first embodiment. [Figure 4] FIG. 2 is a plan view showing a state in which the human detection means of the crane of the first embodiment detects a human. [Diagram 5] FIG. 2 is a plan view showing a state in which the crane of the first embodiment is stopped in a first operation mode. [Figure 6] FIG. 4 is a plan view showing a state in which the crane of the first embodiment is stopped in a second operation mode. [Figure 7] 4 is a flowchart showing a flow of processing by a control unit in the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment for realizing a crane travel support device according to the present invention will be described based on Example 1 shown in the drawings. EXAMPLES

[0011] The crane travel support device in the first embodiment is applied to a rough terrain crane (hereinafter simply referred to as a crane).

[0012] [Crane configuration] Fig. 1 is a side view showing the crane of Example 1. Fig. 2 is a plan view showing the crane of Example 1. The configuration of the crane of Example 1 will be described below. Note that the front-rear direction of the crane is defined as a front-rear direction D.

[0013] As shown in FIGS. 1 and 2, the crane 1 includes a vehicle body 10, a rotating body 20, and a boom 30.

[0014] The vehicle body 10 is equipped with outriggers 11 and a traveling device for self-propelling on roads and work sites.

[0015] During work, the outriggers 11 extend horizontally and vertically to lift the entire vehicle body 10 and stabilize its posture.

[0016] The rotating body 20 is provided above the vehicle body 10 and is rotatable about a vertical axis C1 with respect to the vehicle body 10. The rotating body 20 is provided with a cabin 21.

[0017] The cabin 21 is provided on the right side of the boom 30 when the revolving structure 20 is in a forward facing position. The cabin 21 may be provided on the left side of the boom 30 when the revolving structure 20 is in a forward facing position.

[0018] 2, the cabin 21 is provided with a first operation unit 41 (e.g., a steering wheel, a shift lever, an accelerator pedal, a brake pedal, etc.) as an operation unit for controlling the traveling of the vehicle body 10. The cabin 21 is also provided with a second operation unit 42 for operating the revolving body 20, the boom 30, the winch 24, etc.

[0019] Further, the cabin 21 is provided with a display unit 43. The display unit 43 can be a display monitor.

[0020] 1, the boom 30 includes a base end boom 31 on the base end side, an intermediate boom 32, and a tip end boom 33 on the tip end side. The intermediate boom 32 and the tip end boom 33 are nested and stored inside the base end boom 31 in that order.

[0021] The base end boom 31 is supported by a hoisting cylinder (not shown) provided on the revolving body 20. The boom 30 is raised or lowered by the extension and retraction of the hoisting cylinder, and the boom 30 is extended or retracted by the extension and retraction of a telescopic cylinder (not shown).

[0022] A sheave 34 is disposed on a boom head 33a provided at the tip of the tip boom 33. A wire rope 35 for lifting a load is wound around a winch 24 provided on the rotating body 20. The wire rope 35 is disposed along the boom 30 from the winch 24 to the sheave 34. The wire rope 35 is wound around the sheave 34 and suspended vertically downward from the sheave 34. A hook 36 is provided at the bottom of the wire rope 35.

[0023] A load can be hooked and suspended on the hook 36. When the wire rope 35 is paid out by the winch 24, the hook 36 is lowered, and when the wire rope 35 is wound up, the hook 36 is raised.

[0024] 1 and 2, a distance detection means 51 for detecting the distance to an object in front of the crane 1 (an example of a traveling direction) is attached to the front side of the vehicle body 10. The distance detection means 51 may be, for example, a millimeter wave radar.

[0025] The objects whose distances are detected by the distance detection means 51 include automobiles, bicycles, people, buildings, construction materials placed at a construction site, etc. The objects may be stationary objects or moving objects.

[0026] A human detection means 52 for detecting people around the crane 1 is attached to the front side of the vehicle body 10. The human detection means 52 can be, for example, a camera or a millimeter wave radar.

[0027] 2, the vehicle body 10 is provided with a braking device 71 controlled by a control unit 60 described later. The braking device 71 brakes the traveling crane 1 based on information from the control unit 60.

[0028] 1, the crane 1 is configured so that an operator M outside the cabin 21 can remotely operate the crane 1 using a remote controller 80. The operator M can use the remote controller 80 to perform operations at the first operation unit 41 and operations at the second operation unit 42.

[0029] The remote controller 80 is provided with a display unit 81 as a warning unit. The display unit 81 can be a display monitor.

[0030] An operation mode changeover switch 44 is provided in the cabin 21. By operating the operation mode changeover switch 44, it is possible to switch between a first operation mode in which the crane 1 is operated by a first operation unit 41 inside the cabin 21, and a second operation mode in which the crane 1 is operated by a remote controller 80 outside the cabin 21.

[0031] In the crane 1 configured as above, in the first operation mode, the worker M in the cabin 21 operates the first operation unit 41 to cause the crane 1 to travel.

[0032] In addition, in the first operating mode 61a, the worker M in the cabin 21 operates the second operating unit 42 to move the cargo suspended from the hook 36 to a predetermined position by using the winch 24 to pay out and reel in the wire rope 35, by raising and lowering and extending the boom 30, and by rotating the rotating body 20.

[0033] In the second operation mode, the worker M outside the cabin 21 operates the remote controller 80 to make the crane 1 travel.

[0034] In the second operating mode, an operator M outside the cabin 21 operates the remote controller 80 to move the cargo suspended from the hook 36 to a designated position by using the winch 24 to pay out and reel in the wire rope 35, by raising and lowering and extending the boom 30, and by rotating the rotating body 20.

[0035] [Functional configuration of the crane driving support device] Fig. 3 is a block diagram showing the functional configuration of the crane travel support device of the first embodiment. Fig. 4 is a plan view showing a state in which the human detection means of the crane 1 of the first embodiment detects a human. Fig. 5 is a plan view showing a state in which the crane 1 of the first embodiment is stopped in the first operation mode. Fig. 6 is a plan view showing a state in which the crane 1 of the first embodiment is stopped in the second operation mode. The functional configuration of the crane travel support device of the first embodiment will be described below.

[0036] As shown in Figure 3, in the crane driving support device 1A, detection information detected by the distance detection means 51, detection information detected by the human detection means 52, and input information to the operation mode changeover switch 44 are input to the control unit 60, and the processing information processed by the control unit 60 is output to the braking device 71 and the display unit 81.

[0037] The distance detection means 51 is used when the crane 1 is traveling or stationary (for example, when starting), and detects the distance to an object ahead in the traveling direction of the crane 1. Detection information detected by the distance detection means 51 is input to the control unit 60.

[0038] 4, the human detection means 52 detects a person H in front of the crane 1. The human detection means 52 can be, for example, a camera or a millimeter wave radar. Detection information detected by the human detection means 52 is input to the control unit 60.

[0039] 3, an instruction to switch to the first operation mode or the second operation mode is inputted by inputting to the operation mode changeover switch 44. The input information inputted to the operation mode changeover switch 44 is inputted to the control unit 60.

[0040] The control unit 60 includes an operation mode switching unit 61 , a human presence determination unit 62 , and a separation distance control unit 63 .

[0041] The operation mode switching unit 61 switches between a first operation mode 61a in which the crane 1 is operated by a first operating unit 41 inside the cabin 21, and a second operation mode 61b in which the crane 1 is operated by a remote controller 80 outside the cabin 21, based on input information input to the operation mode switching switch 44.

[0042] The human determination unit 62 determines the presence or absence of a person around the crane 1 based on the detection information of the human detection means 52. The human determination unit 62 can determine the presence of a person by image recognition based on an image of a camera serving as the human detection means 52, for example.

[0043] The separation distance control unit 63 stops the traveling crane 1 at a position a predetermined distance from the object based on the switching information of the operation mode switching unit 61, the detection information of the distance detection means 51, information on the traveling speed of the crane 1, etc. In other words, the separation distance control unit 63 controls the separation distance from the object when the traveling crane 1 is stopped based on the switching information of the operation mode switching unit 61 and the detection information of the distance detection means 51. Note that the separation distance means the distance from the stopping position of the crane 1 to the object.

[0044] As shown in FIG. 5, when the switching information of the operation mode switching unit 61 is the first operation mode 61a, the separation distance control unit 63 controls the separation distance L1 to the object G to be a predetermined distance (for example, 50 cm).

[0045] As shown in FIG. 6, when the switching information of the operation mode switching unit 61 is the second operation mode 61b, the separation distance control unit 63 controls the separation distance L2 to the object G to be a predetermined distance (e.g., 100 cm) longer than the separation distance L1.

[0046] Moreover, when the human determination unit 62 determines that there is no human around the crane 1, the control by the separation distance control unit 63 is not executed.

[0047] The control unit 60 outputs an instruction to brake the traveling crane 1 to the braking device 71 based on the processing information in the control unit 60. The control unit 60 outputs an instruction to display a warning to the display unit 81 based on the processing information in the control unit 60.

[0048] The braking device 71 generates a braking force for the crane 1 based on an instruction output from the control unit 60. That is, the braking device 71 stops the traveling crane 1 based on an instruction output from the control unit 60. The braking device 71 functions as a collision damage mitigation brake.

[0049] The display unit 81 displays a warning when the separation distance control unit 63 issues an instruction to the braking device 71 to stop the traveling crane 1. Note that the warning can also be issued by emitting a sound.

[0050] [Processing by the control unit] 7 is a flowchart showing the flow of processing by the control unit 60 of the embodiment 1. The flow of processing by the control unit 60 of the crane travel support device 1A of the embodiment 1 will be described below.

[0051] First, the control unit 60 acquires the detection information of the distance detection means 51 (step S101). That is, the control unit 60 acquires the distance to the object G.

[0052] Next, the control unit 60 acquires detection information from the human detection means 52 (step S102).

[0053] Next, the control unit 60 acquires input information to the operation mode changeover switch 44 (step S103).

[0054] Next, the human judging unit 62 judges whether or not there is a human H around the crane 1 based on the detection information of the human detection means 52 (step S104).

[0055] If it is determined that there is a person H around the crane 1 (YES in step S104), the operation mode switching unit 61 determines whether the operation mode is the first operation mode 61a or the second operation mode 61b based on the input information input to the operation mode switching switch 44 (step S105).

[0056] When switching to the first operating mode 61a (YES in step S105), the separation distance control unit 63 sets the separation distance to separation distance L1 (step S106), gives an instruction to the braking device 71 to stop the traveling of the crane 1 (step S107), and terminates the processing.

[0057] When switching to the second operating mode 61b (NO in step S105), the separation distance control unit 63 sets the separation distance to separation distance L2 longer than separation distance L1 (step S108), gives an instruction to the braking device 71 to stop the traveling of the crane 1 (step S109), and terminates the processing.

[0058] On the other hand, when it is determined that there is no person H around the crane 1 (NO in step S104), the control by the separation distance control unit 63 is not executed (step S110), and the process ends.

[0059] [Function of the crane travel support device] The crane traveling support device 1A of the first embodiment includes a distance detection means 51 that detects the distance between the crane 1 and an object G in the traveling direction of the crane 1, an operation mode switching unit 61 that switches between a first operation mode 61a in which the crane 1 is operated by an operation unit (first operation unit 41) in the cabin 21 of the crane 1 and a second operation mode 61b in which the crane 1 is operated by a remote controller 80, and a separation distance control unit 63 that controls the separation distance between the object G and the crane 1 when the traveling crane 1 is stopped based on switching information of the operation mode switching unit 61 and detection information of the distance detection means 51, and the separation distance control unit 63 controls the separation distance L1 in the first operation mode 61a to be different from the separation distance L2 in the second operation mode 61b (Figure 3).

[0060] This makes it possible to make the distance L1 to the object G when the crane 1 is stopped in the first operation mode 61a in which the crane 1 is operated inside the cabin 21 different from the distance L2 to the object G when the crane 1 is stopped in the second operation mode 61b in which the crane 1 is operated outside the cabin 21. Therefore, the distances L1, L2 to the object G when the traveling crane 1 is stopped can be made different in accordance with each of the first operation mode 61a and the second operation mode 61b. As a result, the crane 1 can be appropriately operated whether the crane 1 is operated by the operation unit (first operation unit 41) inside the cabin 21 or by the remote controller 80.

[0061] In the crane travel support device 1A of the first embodiment, the separation distance control unit 63 controls the separation distance L2 in the second operation mode 61b to be longer than the separation distance L1 in the first operation mode 61a (FIGS. 5 and 6).

[0062] As a result, the separation distance L2 to the object G when the crane 1 is stopped in the second operation mode 61b in which the crane 1 is operated outside the cabin 21 can be made longer than the separation distance L1 to the object G when the crane 1 is stopped in the first operation mode 61a in which the crane 1 is operated inside the cabin 21. Therefore, when the traveling crane 1 is stopped by the separation distance control unit 63 in the second operation mode 61b in which the crane 1 is operated outside the cabin 21, it is possible to prevent the crane 1 from getting closer to the object G than expected due to a communication delay of the remote controller 80, etc.

[0063] The crane driving support device 1A of Example 1 is provided with a person determination unit 62 which determines whether or not there is a person H around the crane 1 based on detection information from a person detection means 52 which detects a person H, and if the person determination unit 62 determines that there is no person H around the crane 1, control is not executed by the distance control unit 63 (Figure 7).

[0064] As a result, when a person H is present around the crane 1, the travel of the crane 1 is automatically stopped, and when there is no person H around the crane 1, the travel of the crane 1 is not automatically stopped. Therefore, when there is no person H around the crane 1, the travel of the crane 1 is ensured, and when there is a person H around the crane 1, safety is ensured.

[0065] In the crane travel support device 1A of the first embodiment, the remote controller 80 includes a warning unit (display unit 81) that issues a warning when the separation distance control unit 63 stops the traveling crane 1 (FIG. 1).

[0066] This allows a warning to be issued from the remote controller 80 when the traveling crane 1 is stopped by the separation distance control unit 63. Therefore, the worker M operating the crane 1 with the remote controller 80 can know that the separation distance control unit 63 will stop the traveling of the crane 1. As a result, the worker M operating the crane 1 with the remote controller 80 can recognize that the movement of the crane 1 that is different from the operation is control of the traveling of the crane 1 by the separation distance control unit 63. Therefore, the worker M can operate the crane 1 appropriately.

[0067] The crane travel support device of the present invention has been described above based on Example 1. However, the specific configuration is not limited to this Example, and design changes and additions are permitted as long as they do not deviate from the gist of the invention according to each claim in the claims.

[0068] In the first embodiment, the separation distance control unit 63 controls the crane 1 so that the separation distance is L1 in the first operation mode 61a, and controls the crane 1 so that the separation distance is L2, which is longer than the separation distance L1, in the second operation mode 61b. However, the separation distance control unit 63 may control the crane 1 so that the separation distance is L1 in the first operation mode 61a, and controls the crane 1 so that the separation distance is L2, which is shorter than the separation distance L1, in the second operation mode 61b. In addition, the separation distance control unit 63 may control the crane 1 so that the crane 1 does not stop in either the first operation mode 61a or the second operation mode 61b. In addition, a separation distance change unit may be provided so that the separation distance set by the separation distance control unit 63 can be changed by the operator M.

[0069] In the first embodiment, an example has been shown in which the distance detection means 51 is attached to the front side of the vehicle body 10. However, the distance detection means may be attached to the rear side of the vehicle body 10 to detect the distance to an object G behind the crane 1 (an example of the traveling direction), or may be attached to the side of the vehicle body 10 to detect the distance to an object G to the side of the crane 1 (an example of the traveling direction).

[0070] In the first embodiment, an example is shown in which the distance detection means 51 is a millimeter wave radar. However, the distance detection means 51 is not limited to this embodiment, and may be a distance sensor such as an ultrasonic sensor or a LiDAR (Light Detection and Ranging).

[0071] In the first embodiment, an example has been shown in which the warning unit is the display unit 81. However, the warning unit may also be the display unit 43 inside the cabin 21. In addition, the warning unit may be a device that issues a voice or a warning sound.

[0072] In the first embodiment, an example has been shown in which the human detection means 52 is attached to the front side of the vehicle body 10. However, the human detection means may be attached to the rear side of the vehicle body 10 or to the side of the vehicle body 10.

[0073] In the first embodiment, an example has been shown in which the human detection means 52 detects the person H in front of the crane 1. However, the human detection means may not be provided.

[0074] In the first embodiment, an example has been shown in which the operation mode changeover switch 44 is provided in the cabin 21. However, the operation mode changeover switch may be provided in a remote controller.

[0075] In the first embodiment, an example is shown in which the crane travel support device 1A of the present invention is applied to a rough terrain crane. However, the crane travel support device of the present invention can be applied to other cranes such as an all-terrain crane. [Explanation of symbols]

[0076] 1. Crane 1A Crane driving support device 21 Cabin 41 First operation unit (an example of an operation unit) 51 Distance detection means 52 Human Detection Methods 61 Operation mode switching section 61a First operating mode 61b Second operating mode 62 Person Judgment Department 63 Distance control section 80 Remote Controller 81 Display unit (example of warning unit) G object H people

Claims

1. A distance detection means for detecting a distance between the crane and an object in a traveling direction of the crane; an operation mode switching unit that switches between a first operation mode in which the crane is operated by an operation unit in a cabin of the crane and a second operation mode in which the crane is operated by a remote controller; a separation distance control unit that controls a separation distance between the object and the crane when the traveling crane is stopped by a collision damage mitigation brake that automatically activates a braking means to avoid a collision with an object in the traveling direction, based on switching information from the operation mode switching unit and detection information from the distance detection means, A crane travel support device characterized in that the separation distance control unit controls the separation distance in the first operation mode to be different from the separation distance in the second operation mode.

2. The crane travel support device according to claim 1 , wherein the separation distance control unit controls the separation distance in the second operation mode to be longer than the separation distance in the first operation mode.

3. a human determination unit that determines whether or not there is a human around the crane based on detection information from a human detection means that detects a human, 3. The crane travel support device according to claim 1, wherein when the human determination unit determines that there is no human around the crane, the control by the separation distance control unit is not executed.

4. The crane travel assistance device according to any one of claims 1 to 3, characterized in that the remote controller is provided with a warning unit that issues a warning when the separation distance control unit stops the traveling crane by the collision damage mitigation brake.

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