Operation notification device for construction machine and construction machine

Abstract

To provide an operation informing device of a construction machine capable of properly grasping respective operation states of a plurality of operating operation parts, even in a state of operating the plurality of operation parts in parallel.SOLUTION: An operation notification device for a construction machine includes a sound source capable of emitting a sound, and a plurality of operation members each of which is provided for each of a plurality of operation units and to each of which an operation related to an operation of a corresponding one of the plurality of operation units is input. The operation notification device includes a vibration source capable of generating vibrations in a state of vibrating the plurality of operation members independently of each other, and a notification function selection section to which an operation of selecting, for each of the plurality of operation sections, one of a sound emitted by the sound source and a vibration of a corresponding one of the plurality of operation members by the vibration source as a notification function of notifying an operation state is input.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an operation notification device for a construction machine and a construction machine. [Background technology]

[0002] In the construction machine of Patent Document 1, a hook can be suspended from the front end of a boom that can be raised and lowered via a suspension rope. In the construction machine, a winch, which is one of the operating parts, is installed on a rotating body, and the suspension rope is wound around the winch. The end of the rope extending from the winch is then connected to the hook. In the construction machine, the winch is rotated by being driven by a winch motor, and the rope is paid out from or wound onto the winch.

[0003] The construction machine of Patent Document 1 detects the rotational speed of the winch using a detection switch or the like. Then, when a predetermined condition is met, a sound (alarm sound) is emitted at a number of transmissions (transmission frequency) corresponding to the detection result of the rotational speed of the winch. At this time, the faster the rotational speed of the winch, the more times the sound is emitted per unit time. In this way, the rotational speed of the winch, which is one of the operating parts, is notified by sound, and the operating status of the winch is notified by sound. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2000-177989 Summary of the Invention [Problem to be solved by the invention]

[0005] A construction machine is provided with a plurality of operating units, including a winch, a revolving body, a boom, and the like. In work using a construction machine, the plurality of operating units may be operated in parallel. For example, the revolving body may be rotated in parallel with the rotation of a winch to unwind or reel in a rope. In work using a construction machine, even when the plurality of operating units are operating in parallel, it is required that a worker, such as an operator of the construction machine, be able to properly grasp the operating status of each of the plurality of operating units.

[0006] The present invention has been made to solve the above-mentioned problems, and its purpose is to provide an operation notification device for a construction machine that makes it possible to properly grasp the operating status of each of multiple operating parts even when multiple operating parts are operating in parallel, and a construction machine equipped with such an operation notification device. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, one aspect of the present invention is an operation notification device mounted on a construction machine having a plurality of operating units, the operation notification device comprising: a sound source capable of emitting sound; a plurality of operating members, one for each of the plurality of operating units, into which an operation related to a corresponding operation of the plurality of operating units is input; a vibration source capable of generating vibrations to cause the plurality of operating members to vibrate independently of each other; and an alarm function selection unit into which an operation is input to select, for each of the plurality of operating units, either the sound emitted by the sound source or the vibration of a corresponding one of the plurality of operating members by the vibration source as an alarm function for notifying the operating state. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide an operation notification device for a construction machine that enables the operation status of each of multiple operating parts to be properly grasped even when multiple operating parts are operating in parallel, and a construction machine equipped with such an operation notification device. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic view showing a crane according to a first embodiment. [Figure 2] FIG. 2 is a block diagram that schematically shows the configuration of a control system that controls the operation of each of a plurality of operating units and an operation notification device that is mounted on the crane according to the first embodiment. [Figure 3] FIG. 3 is a schematic diagram showing an example of a notification function selection screen displayed on a touch panel of a user interface in the first embodiment. [Figure 4] FIG. 4 is a flowchart schematically illustrating an example of processing performed by the control unit when an operation to select a notification function for any one of a plurality of operation units is input in the notification function selection unit in the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be described with reference to the drawings.

[0011] First, a first embodiment will be described as an example of an embodiment. In the first embodiment, a crane is provided as a construction machine. FIG. 1 is a schematic diagram showing a crane 1 according to the first embodiment. As shown in FIG. 1, the crane 1 includes a traveling body 2 and a rotating body 3. The rotating body 3 is connected to the traveling body 2 from the vertically upper side (the side indicated by arrow Z1). The rotating body 3 can rotate relative to the traveling body 2 about a rotation axis P along the vertical direction (the direction indicated by arrows Z1 and Z2).

[0012] The traveling body 2 has a longitudinal direction (the direction indicated by arrows X1 and X2) that intersects (is perpendicular or substantially perpendicular to) the vertical direction, and a width direction (a direction perpendicular or substantially perpendicular to the plane of the paper in FIG. 1 ) that intersects (is perpendicular or substantially perpendicular to) both the vertical and longitudinal directions. The rotating body 3 also has a longitudinal direction that intersects (is perpendicular or substantially perpendicular to) the vertical direction, and a width direction that intersects (is perpendicular or substantially perpendicular to) both the vertical and longitudinal directions. FIG. 1 shows a state in which the longitudinal direction of the traveling body 2 coincides or substantially coincides with the longitudinal direction of the rotating body 3, and the width direction of the traveling body 2 coincides or substantially coincides with the width direction of the rotating body 3. FIG. 1 also shows the crane 1 with the front side (arrow X1 side) of the traveling body 2 coincides or substantially coincides with the front side of the rotating body 3. FIG. 1 also shows a side view of the traveling body 2 as viewed from one side in the width direction.

[0013] The traveling body 2 is equipped with two pairs of outriggers 5A, 5B. The traveling body 2 has a pair of outriggers 5A provided at the front portion, and a pair of outriggers 5B provided at the rear portion. When the crane 1 is operating, each of the outriggers 5A, 5B is grounded on the ground. The rear end of a boom 6 is attached to the rotating body 3. The boom 6 extends in the longitudinal direction from the rear end to the front end. The boom 6 can be raised and lowered relative to the rotating body 3. The boom 6 can also rotate together with the rotating body 3 relative to the traveling body 2. The rotating body 3 is also equipped with a cab (operation room) 7. The cab 7 is arranged next to the boom 6 on one side in the width direction of the rotating body 3.

[0014] The rotating body 3 is equipped with one or more winches, namely a main winch 11 and a sub-winch 12. A main hoisting rope 13 is wound around the main winch 11 as a hoisting rope, and an auxiliary hoisting rope 15 is wound around the sub-winch 12 as a hoisting rope. The crane 1 is also provided with a main hook 16 and a sub-hook 17 as hooks. The end of the main hoisting rope 13 extending from the main winch 11 is connected to the main hook 16. The end of the auxiliary hoisting rope 15 extending from the sub-winch 12 is connected to the sub-hook 17.

[0015] In the crane 1, as the main winch 11 rotates, the main hoisting rope 13 is let out from the main winch 11 or the main hoisting rope 13 is wound onto the main winch 11. When working using the crane 1, the main hook 16 is suspended from the front end of the boom 6 via the main hoisting rope 13. When the main hook 16 is suspended from the front end of the boom 6, the main hoisting rope 13 is let out from the main winch 11, causing the main hook 16 to which the main hoisting rope 13 is connected to move downward vertically. On the other hand, when the main hook 16 is suspended from the front end of the boom 6, the main hoisting rope 13 is wound onto the main winch 11, causing the main hook 16 to move upward vertically.

[0016] Furthermore, in the crane 1, as the sub winch 12 rotates, the auxiliary hoisting rope 15 is let out from the sub winch 12, or the auxiliary hoisting rope 15 is wound onto the sub winch 12. In the example of FIG. 1 , during work using the crane 1, the sub hook 17 is suspended from the front end of the boom 6 via the auxiliary hoisting rope 15. When the sub hook 17 is suspended from the front end of the boom 6, the auxiliary hoisting rope 15 is let out from the sub winch 12, causing the sub hook 17 to which the auxiliary hoisting rope 15 is connected to move downward vertically. On the other hand, when the sub hook 17 is suspended from the front end of the boom 6, the auxiliary hoisting rope 15 is wound onto the sub winch 12, causing the sub hook 17 to move upward vertically.

[0017] In another example, during work using the crane 1, a jib (not shown) is attached to the front end of the boom 6. Then, when the jib is raised relative to the boom 6, the sub-hook 17 is hung from the front end of the jib via the hoisting rope 15. In this case as well, when the sub-hook 17 is hung from the front end of the jib, the hoisting rope 15 is let out from the sub-winch 12, causing the sub-hook 17 to which the hoisting rope 15 is connected to move downward vertically. On the other hand, when the sub-hook 17 is hung from the front end of the jib, the hoisting rope 15 is taken up by the sub-winch 12, causing the sub-hook 17 to move upward vertically.

[0018] Due to the configuration described above, the crane 1, which is a construction machine, is provided with a plurality of operating parts, including the rotating body 3, boom 6, main winch 11, and sub winch 12. The rotating body 3 performs a rotating operation relative to the traveling body 2, and the boom 6 performs a raising and lowering operation. Each of the one or more winches, including the main winch 11 and sub winch 12, performs a rotating operation to pay out or take up a lifting rope. In other words, the main winch 11 can pay out and take up the main hoisting rope 13 by rotating, and the sub winch 12 can pay out and take up the auxiliary hoisting rope 15 by rotating.

[0019] In the crane 1, operations related to work performed by the crane 1 are input in the cab 7 of the rotating body 3, and operations related to the operation of each of the multiple operating parts are input. Therefore, operations related to the rotation operation of the rotating body 3, operations related to the raising and lowering operation of the boom 6, and operations related to the rotation operation of each of the winches (main winch 11 and sub winch 12) are input in the cab 7. In this embodiment, the crane 1, which is a construction machine, is equipped with an operation notification device that notifies the operating status of each of the multiple operating parts. In the crane 1, the operation notification device notifies the operating status of each of the rotating body 3, boom 6, and winches (main winch 11 and sub winch 12).

[0020] Fig. 2 is a block diagram that schematically shows the configuration of a control system that controls the operation of each of the multiple operating parts of the crane 1 according to the first embodiment, and an operation notification device 20 that is installed therein. As shown in Fig. 2, the operation notification device 20 includes an operating member 21 such as an operating lever, and in the example shown in Fig. 2, four operating members 21A to 21D are provided on the operation notification device 20. Each of the operating members 21 is disposed inside the cab 7. In the example shown in Fig. 2, one operating member 21 is provided for each of the rotating body 3, the boom 6, the main winch 11, and the sub winch 12, which are the operating parts of the crane 1 described above.

[0021] An operation related to the operation of a corresponding one of the multiple operating units is input to each of the multiple operating members 21. An operation related to the rotation operation of the revolving body 3 is input to the operating member 21A, and an operation related to the raising and lowering operation of the boom 6 is input to the operating member 21B. An operation related to the rotation operation of the main winch 11 is input to the operating member 21C, and an operation related to the rotation operation of the sub winch 12 is input to the operating member 21D.

[0022] The crane 1 is also provided with a swing motor 22, a boom hoist cylinder 23, and winch motors 25 and 26 as actuators for operating the rotating structure 3, the boom 6, the main winch 11, and the sub-winch 12, respectively. The swing motor 22 is driven to rotate, causing the rotating structure 3 to perform a swing operation. When the rotating structure 3 is swinging to one side around the swing axis P, the direction of rotation of the swing motor 22 is opposite to that when the rotating structure 3 is swinging to the other side around the swing axis P. The boom hoist cylinder 23 is driven to extend and retract, causing the boom 6 to perform a hoisting operation. For example, the boom hoist cylinder 23 extends to raise the boom 6, and the boom hoist cylinder 23 retracts to lower the boom 6. As shown in FIG. 1 and other figures, one end of the boom hoist cylinder 23 is connected to the rotating structure 3, and the other end is connected to the boom 6.

[0023] In addition, in the crane 1, the winch motor 25 is rotationally driven, causing the main winch 11 to rotate and thereby pay out or reel in the main hoisting rope 13. When paying out the main hoisting rope 13, the rotation direction of the winch motor 25 is opposite to that when reeling in the main hoisting rope 13. In addition, in the crane 1, the winch motor 26 is rotationally driven, causing the sub winch 12 to rotate and thereby pay out or reel in the auxiliary hoisting rope 15. When paying out the auxiliary hoisting rope 15, the rotation direction of the winch motor 26 is opposite to that when reeling in the auxiliary hoisting rope 15. With this configuration, each of the multiple operating parts is operated by power from a corresponding one of the actuators.

[0024] As shown in FIG. 2 and other figures, the operation notification device 20 includes a control unit 27. The control unit 27 is composed of a processing device such as a computer mounted on the crane 1, and includes a processor and a storage medium. The processor of the control unit 27 is an integrated circuit or circuitry including a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like. The control unit 27 may be provided with only one processor or multiple processors. In the control unit 27, processing by the processor is performed in accordance with a program stored in the processor or a storage medium. In addition, in the control unit 27, a processing program used by the processor, and parameters, functions, tables, and the like used in the calculations by the processor are stored in a storage medium.

[0025] Based at least on the operation input using the operating member 21A, the control unit 27 controls the rotational drive of the swing motor 22, thereby controlling the swing operation of the swing unit 3. The swing direction, swing speed, etc. of the swing unit 3 are controlled by the control unit 27 controlling the swing operation. Furthermore, based at least on the operation input using the operating member 21B, the control unit 27 controls the extension and retraction drive of the boom hoisting cylinder 23, thereby controlling the hoisting operation of the boom 6. The control of the hoisting operation by the control unit 27 controls whether the boom 6 will perform a raising operation or a lowering operation, and the operating speed of the boom 6 during the hoisting operation, etc.

[0026] The control unit 27 controls the rotational drive of the winch motor 25 and controls the rotational operation of the main winch 11 based at least on the operation input with the operating member 21C. The control of the rotational operation by the control unit 27 controls the rotation direction, rotation speed, etc. of the main winch 11. Therefore, the control of the rotational operation of the main winch 11 by the control unit 27 controls whether the main hoisting rope 13 is to be let out or taken up, and the operating speed, etc. of each of the let-out and take-up operations of the main hoisting rope 13. Furthermore, the control unit 27 controls the rotational drive of the winch motor 26 and controls the rotational operation of the sub winch 12 based at least on the operation input with the operating member 21D. The control unit 27 controls the rotational operation of the sub winch 12 in the same way as it controls the rotational operation of the main winch 11.

[0027] The crane 1 is provided with rotation speed detection units 31A and 31B. The rotation speed detection unit 31A detects the rotation speed of the main winch 11 when the main winch 11 is performing a rotation operation. The rotation speed detection unit 31B detects the rotation speed of the sub winch 12 when the sub winch 12 is performing a rotation operation.

[0028] In one example, the rotational speed detection unit 31A includes a proximity sensor, and a convexo-concave structure portion, in which convex portions and concave portions are alternately arranged in the circumferential direction (rotation direction) of the main winch 11, is formed on the outer peripheral surface of the main winch 11 over the entire circumference. The proximity sensor is disposed on the outer peripheral side of the main winch 11 with respect to the convexo-concave structure portion. The proximity sensor outputs a pulse signal that turns on when a convex portion of the convexo-concave structure portion approaches the proximity sensor from the inner peripheral side of the main winch 11. With this configuration, the rotational speed detection unit 31A generates a pulse signal as a detection signal, in which one pulse is generated each time a convex portion passes the inner peripheral side of the proximity sensor while the main winch 11 is rotating. The rotational speed detection unit 31A calculates the rotational speed of the main winch 11 based on the number of pulses per unit time in the pulse signal, etc. In this case, the greater the number of pulses per unit time in the pulse signal, the faster the calculated rotational speed of the main winch 11.

[0029] The rotational speed of the sub-winch 12 can also be detected, for example, by providing a proximity sensor in the rotational speed detection unit 31B and forming a convexo-concave structure in which convex portions and concave portions are alternately arranged in the circumferential direction (rotational direction) of the sub-winch 12 on the outer circumferential surface thereof all around. In this case, similar to the above-described example in which the rotational speed of the main winch 11 is calculated, the rotational speed detection unit 31B generates a pulse signal as a detection signal, in which one pulse is generated each time one convex portion passes the inner circumferential side of the proximity sensor while the sub-winch 12 is rotating. The rotational speed detection unit 31B then calculates the rotational speed of the sub-winch 12 based on the number of pulses per unit time in the pulse signal, etc.

[0030] The crane 1 is also provided with a rotation speed detection unit 32. The rotation speed detection unit 32 detects the rotation speed of the rotating unit 3 while the rotating unit 3 is performing a rotation operation. In one example, the rotation speed detection unit 32 includes a rotary encoder and detects the rotation speed using the rotary encoder. In this case, for example, a slit row in which a plurality of first slits (holes) are arranged along the axial direction of the rotation axis P is formed in the rotating unit 3 over the entire circumference in the axial direction. The rotary encoder of the rotation speed detection unit 32 includes a light-emitting element and a first light-receiving element and generates a first pulse signal that is turned on when the first light-receiving element receives light from the light-emitting element. Furthermore, light from the light-emitting element passes through one of the plurality of first slits that make up the slit row and is incident on the first light-receiving element.

[0031] With this configuration, the rotation speed detection unit 32 generates a first pulse signal as a detection signal, in which one pulse is generated each time any one of the multiple first slits constituting the slit row passes between the light-emitting element and the first light-receiving element while the rotating unit 3 is rotating. The rotation speed detection unit 32 calculates the rotation speed of the rotating unit 3 based on the number of pulses per unit time in the first pulse signal, etc. In this case, the greater the number of pulses per unit time in the first pulse signal, the faster the calculated rotation speed of the rotating unit 3.

[0032] In another example, the rotation speed detection unit 32 calculates the rotation speed of the rotating unit 3 based on the first pulse signal, similar to the example described above. However, in this example, the rotating unit 3 has one second slit formed in addition to the multiple first slits that make up the slit row. Furthermore, the rotary encoder of the rotation speed detection unit 32 includes a second light-receiving element in addition to the first light-receiving element, and generates, in addition to the first pulse signal described above, a second pulse signal that turns on when the second light-receiving element receives light from the light-emitting element. The light from the light-emitting element passes through the second slit and enters the second light-receiving element.

[0033] With this configuration, in the rotation speed detection unit 32 of this example, a second pulse signal is generated as a detection signal, in which one pulse is generated each time the second slit passes between the light-emitting element and the second light-receiving element while the rotating unit 3 is rotating. That is, the second pulse signal is generated as a detection signal, in which one pulse is generated each time the rotating unit 3 rotates by one revolution, in addition to the first pulse signal. The rotation speed detection unit 32 calculates the rotation angle of the rotating unit 3 (angular position around the rotation axis P) based on the first pulse signal and the second pulse signal. Therefore, in this example, the rotation angle is detected by the rotation speed detection unit 32 in addition to the rotation speed of the rotating unit 3.

[0034] As shown in FIG. 2 and other figures, motion notification device 20 includes sound source 33, which includes sound emitting unit 35 including a buzzer, a speaker, or the like. Sound source 33 is capable of emitting sound from sound emitting unit 35. Control unit 27 controls the operation of sound source 33 to control the emission of sound from sound emitting unit 35. Control unit 27 then controls the sound emission operation from sound emitting unit 35 to adjust the number of times sound is emitted from sound emitting unit 35 per unit time, i.e., the frequency of sound emission from sound emitting unit 35.

[0035] The operation notification device 20 also includes a vibration source 36, which includes a plurality of vibration generating units 37. Each of the plurality of vibration generating units 37 is composed of, for example, one or more vibrators, and generates vibrations by converting supplied power into vibrations, for example. One vibration generating unit 37 is provided for each of the plurality of operation members 21, and in the example of FIG. 2, four vibration generating units 37A to 37D are provided in the vibration source 36. Therefore, one vibration generating unit 37 is provided for each of the plurality of operation units, namely the revolving body 3, the boom 6, the main winch 11, and the sub winch 12.

[0036] Vibrations generated by each of the plurality of vibration generating units 37 cause a corresponding one of the plurality of operating members 21 to vibrate. The vibrations generated by vibration generating unit 37A cause operating member 21A to vibrate, and the vibrations generated by vibration generating unit 37B cause operating member 21B to vibrate. The vibrations generated by vibration generating unit 37C cause operating member 21C to vibrate, and the vibrations generated by vibration generating unit 37D cause operating member 21D to vibrate. With this configuration, vibration source 36 can generate vibrations such that the plurality of operating members 21 (21A to 21D) vibrate independently of each other.

[0037] The control unit 27 controls the operation of the vibration source 36 to control the generation of vibrations by each of the vibration generating units 37A to 37D. In this way, the vibration state of each of the operation members 21A to 21D is controlled by the control unit 27. The control unit 27 then controls the vibration generation operation of each of the vibration generating units 37A to 37D to adjust the number of vibrations generated per unit time by each of the vibration generating units 37A to 37D, i.e., the vibration generation frequency of each of the vibration generating units 37A to 37D. In this way, the vibration frequency (number of vibrations per unit time) when vibrations are generated by the corresponding one of the vibration generating units 37A to 37D is adjusted in each of the operation members 21A to 21D.

[0038] Furthermore, the operation notification device 20 includes a user interface 40, which includes a touch panel 41. In the crane 1, the touch panel 41 is disposed inside the cab 7. The touch panel 41 allows the operator of the crane 1 or the like to input appropriate operations. Furthermore, the touch panel 41 can notify workers, including the operator of the crane 1, of appropriate information by displaying it on a screen.

[0039] In the operation notification device 20, the control unit 27 notifies the operation status of each of the multiple operating units, namely the revolving body 3, the boom 6, the main winch 11, and the sub winch 12, using one of the sound source 33 and the vibration source 36. At this time, the control unit 27 notifies the operation status of each of the boom 6, the main winch 11, and the sub winch 12 by using one of the sound emitted from the sound emission unit 35 and the corresponding vibration of the operating member 21, whichever is selected as the notification function.

[0040] Therefore, the operating state of the revolving unit 3 is notified by a selected one of sound from the sound generating unit 35 and vibration of the operating member 21A by the vibration generating unit 37A, and the operating state of the boom 6 is notified by a selected one of sound from the sound generating unit 35 and vibration of the operating member 21B by the vibration generating unit 37B. The operating state of the main winch 11 is notified by a selected one of sound from the sound generating unit 35 and vibration of the operating member 21C by the vibration generating unit 37C, and the operating state of the sub winch 12 is notified by a selected one of sound from the sound generating unit 35 and vibration of the operating member 21D by the vibration generating unit 37D.

[0041] When notifying the operating state of the main winch 11, the control unit 27 causes the sound transmitter 35 to emit a sound or the vibration generator 37C to vibrate the operating member 21C based on the detection result of the rotation speed of the main winch 11 by the rotation speed detector 31A. Also, when notifying the operating state of the sub winch 12, the control unit 27 causes the sound transmitter 35 to emit a sound or the vibration generator 37D to vibrate the operating member 21D based on the detection result of the rotation speed of the sub winch 12 by the rotation speed detector 31B.

[0042] In one example, when notifying the operating state of the main winch 11, the control unit 27 counts pulses generated in the pulse signal, which is the detection signal from the rotational speed detection unit 31A. Then, each time the control unit 27 counts one pulse in the pulse signal, it causes the sound generator 35 to intermittently emit sound or causes the vibration generator 37C to intermittently vibrate the operating member 21C. Therefore, when sound is selected as the function for notifying the operating state of the main winch 11, the greater the number of pulses per unit time in the pulse signal, i.e., the faster the rotational speed of the main winch 11, the higher the frequency of sound emission from the sound generator 35. When vibration is selected as the function for notifying the operating state of the main winch 11, the greater the number of pulses per unit time in the pulse signal, i.e., the faster the rotational speed of the main winch 11, the higher the frequency of vibration generated by the vibration generator 37C and the higher the vibration frequency of the operating member 21C.

[0043] The notification of the operating state of the sub winch 12 can also be performed in the same manner as the notification of the operating state of the main winch 11, for example, based on the aforementioned pulse signal, which is a detection signal from the rotation speed detection unit 31B. In this case, the greater the number of pulses per unit time in the pulse signal, that is, the faster the rotation speed of the sub winch 12, the higher the frequency of sound emission from the sound emission unit 35, or the higher the frequency of vibration generation in the vibration generation unit 37D (the higher the vibration frequency of the operating member 21D).

[0044] Furthermore, when reporting the operating state of the revolving unit 3, the control unit 27 controls the emission of sound from the sound generator 35 and the vibration of the operating member 21A by the vibration generator 37A, based on the detection result of the revolving speed of the revolving unit 3 by the revolving speed detector 32. In one example, when the magnitude of the revolving speed Va is equal to or greater than the reference speed Varef, the control unit 27 does not cause the sound generator 35 to emit sound and does not vibrate the operating member 21A. Therefore, when the magnitude of the revolving speed Va is equal to or greater than the reference speed Varef, the operating state of the revolving unit 3 is not reported. When the magnitude of the revolving speed Va is smaller than the reference speed Varef, the control unit 27 reports the operating state of the revolving unit 3 as follows.

[0045] When the swing speed Va is lower than the reference speed Varef, the control unit 27 counts, for example, the pulses generated in the first pulse signal, which is the detection signal from the swing speed detection unit 32. Then, every time the control unit 27 counts a reference number Nref (Nref is a natural number) of pulses in the first pulse signal, the control unit 27 causes the sound generator 35 to intermittently emit sound or causes the vibration generator 37A to intermittently vibrate the operating member 21A. The reference number Nref may be 1 or may be 2 or greater. Therefore, when sound is selected as the notification function for the operating state of the swing unit 3, the greater the number of pulses per unit time in the first pulse signal, i.e., the faster the swing speed Va of the swing unit 3, the more frequently the sound is emitted from the sound generator 35. When vibration is selected as the notification function for the operating state of the rotating body 3, the greater the number of pulses per unit time in the first pulse signal, i.e., the faster the rotation speed Va of the rotating body 3, the higher the frequency of vibration generation in the vibration generating unit 37A and the higher the vibration frequency of the operating member 21A.

[0046] Furthermore, when reporting the operating status of the boom 6, the control unit 27 controls the emission of sound from the sound generator 35 and the vibration of the operating member 21B by the vibration generator 37B based on the command value for the operation input using the operating member 21B. Here, an example of the command value is a pressure command value for the hydraulic pressure of the hydraulic oil that drives the boom hoist cylinder 23 to extend and retract. Furthermore, in a configuration in which the boom hoist cylinder 23 is driven to extend and retract by the supply of electric power, the command value is a current command value for the drive current of the boom hoist cylinder 23. During the hoisting operation of the boom 6, the greater the magnitude (absolute value) of the command value for the operation input using the operating member 21B, the faster the drive speed of the boom hoist cylinder 23 and the faster the operating speed of the boom 6.

[0047] In one example, when the magnitude of the command value Cb for operation of the operating member 21B is equal to or greater than the reference command value Cbref, the control unit 27 does not cause the sound generator 35 to emit a sound and does not vibrate the operating member 21B. Therefore, when the magnitude of the command value Cb is equal to or greater than the reference command value Cbref, that is, when the operating speed for the hoisting operation of the boom 6 is equal to or greater than the speed corresponding to the reference command value Cbref, the control unit 27 does not notify the operating state of the boom 6 as follows when the magnitude of the command value Cb is smaller than the reference command value Cbref.

[0048] When the command value Cb is smaller than the reference command value Cbref, the control unit 27, for example, causes the sound generator 35 to intermittently emit sound at a transmission frequency corresponding to the magnitude of the command value Cb, or causes the vibration generator 37B to intermittently vibrate the operation member 21B at a vibration frequency corresponding to the magnitude of the command value Cb. Therefore, when sound is selected as the function for notifying the operating state of the boom 6, the greater the command value Cb, i.e., the faster the operating speed of the boom 6 during the hoisting operation, the higher the frequency of sound emission from the sound generator 35. When vibration is selected as the function for notifying the operating state of the boom 6, the greater the command value Cb, i.e., the faster the operating speed of the boom 6 during the hoisting operation, the higher the frequency of vibration generated by the vibration generator 37B and the higher the vibration frequency of the operation member 21B.

[0049] In the operation notification device 20, a notification function selection unit 42 is provided in the user interface 40, and in the example of Fig. 2, the notification function selection unit 42 is provided in a touch panel 41. An operation to select a notification function for notifying the operation status of each of a plurality of operation units is input in the notification function selection unit 42 by an operator of the crane 1, etc. That is, an operation to select either a sound emitted by the sound source 33 (sound emission unit 35) or a corresponding vibration of one of the operation members 21A to 21D by the vibration source 36 is input in the notification function selection unit 42 as a notification function for notifying the operation status of each of the rotating body 3, the boom 6, and one or more winches (the main winch 11 and the sub winch 12).

[0050] In one example, touch panel 41 can display a plurality of types of screens including a home screen and an alarm function selection screen, and a switching operation for switching between the plurality of types of screens can be input. Then, control unit 27 switches the screen displayed on touch panel 41 between the plurality of types of screens in response to the switching operation on touch panel 41. For example, when the alarm function selection screen is displayed on touch panel 41, an alarm function selection unit 42 is displayed as a display element on the alarm function selection screen.

[0051] 3 is a schematic diagram showing an example of an alert function selection screen I1 displayed on the touch panel 41 of the user interface 40 in the first embodiment. In the example shown in FIG. 3, when the alert function selection screen I1 is displayed on the touch panel 41, buttons 43A to 43D and 45A to 45D are displayed as display elements on the alert function selection screen I1, and the buttons 43A to 43D and 45A to 45D constitute an alert function selection unit 42. An operation to select sound emission as the alert function for the operating state for a corresponding one of the plurality of operating units is input through each of the buttons 43A to 43D. Furthermore, an operation to select vibration of a corresponding one of the operating members 21 as the alert function for the operating state for a corresponding one of the plurality of operating units is input through each of the buttons 45A to 45D.

[0052] Therefore, with regard to the rotating bed 3, an operation to select sound emission as the notification function is input using button 43A, and an operation to select vibration of operating member 21A as the notification function is input using button 45A. With regard to the boom 6, an operation to select sound emission as the notification function is input using button 43B, and an operation to select vibration of operating member 21B as the notification function is input using button 45B. With regard to the main winch 11, an operation to select sound emission as the notification function is input using button 43C, and an operation to select vibration of operating member 21C as the notification function is input using button 45C. With regard to the sub winch 12, an operation to select sound emission as the notification function is input using button 43D, and an operation to select vibration of operating member 21D as the notification function is input using button 45D.

[0053] 3, the notification function selection screen I1 displayed on the touch panel 41 indicates which of the sound from the sound transmitter 35 and the vibration of one of the corresponding operating members 21A-21D has been selected as the notification function for each of the multiple operating units. That is, the control unit 27 displays on the notification function selection screen I1 whether the sound or the vibration has been selected as the notification function for the operating state for each of the revolving structure 3, the boom 6, the main winch 11, and the sub winch 12.

[0054] 3, each of the buttons 43A-43D is composed of a sound emitting unit image (buzzer image) and a background image, and each of the buttons 45A-45D is composed of an operation member image (lever image) and a background image. When sound is selected as the notification function for each of the multiple operation units, the sound emitting unit image is displayed in white and the background image is displayed in black for the corresponding one of the buttons 43A-43D. When sound is selected as the notification function for each of the multiple operation units, the operation member image is displayed in black and the background image is displayed in white for the corresponding one of the buttons 45A-45D.

[0055] Furthermore, when vibration is selected as the notification function for each of the multiple operating units, the sound emitting unit image is displayed in black and the background image is displayed in white for the corresponding one of the buttons 43A to 43D. When vibration is selected as the notification function for each of the multiple operating units, the operating member image is displayed in white and the background image is displayed in black for the corresponding one of the buttons 45A to 45D. Therefore, the example notification function selection screen I1 in FIG. 3 indicates that the emitted sound has been selected as the notification function for the operating status for the main winch 11. The example notification function selection screen I1 in FIG. 3 indicates that the vibration of the corresponding one of the operating members 21 has been selected as the notification function for the operating status for each of the revolving bed 3, the boom 6, and the subwinch 12.

[0056] In one example, when a screen other than the notification function selection screen I1 is displayed on the touch panel 41, an operation to select a notification function for each of the plurality of operation units can be input using a button or the like indicated on the displayed screen. In this case, for example, on the home screen displayed on the touch panel 41, an operation to select a notification function for each of the plurality of operation units can be input.

[0057] In another example, an operation to select a notification function for each of the plurality of operation units can be input using an operation member other than the touch panel 41 provided on the user interface 40. In this case, examples of the operation member that can input an operation to select a notification function for each of the plurality of operation units include a remote control, a lever, a button, and a switch. As shown in these examples, in this embodiment, in addition to the display elements on the notification function selection screen I1, display elements on a screen other than the notification function selection screen I1 and an operation member other than the touch panel 41 can also function as the notification function selection unit 42.

[0058] 4 is a flowchart schematically illustrating an example of processing performed by the control unit 27 when an operation to select an alarm function for any one of the plurality of operation units is input to the alarm function selection unit 42 in the first embodiment. The example processing of FIG. 4 is performed each time an operation to select an alarm function for any one of the revolving structure 3, the boom 6, the main winch 11, and the sub winch 12 is input. When the example processing of FIG. 4 starts, the control unit 27 determines whether an operation to select sound as the alarm function has been input (S101). That is, it is determined whether the operation input for the alarm function of any one of the plurality of operation units is an operation to select sound as the alarm function or an operation to select vibration as the alarm function.

[0059] Here, among the multiple operating units, operating units other than the operating unit for which an operation to select the notification function has been input are referred to as "other operating units." If an operation to select sound as the notification function has been input (S101-Yes), the control unit 27 determines whether or not sound has been selected as the notification function for one or more of the other operating units (S102). For example, if an operation to select sound as the notification function for the revolving unit 3 has been input, the process of S102 determines whether or not sound has been selected as the notification function for one or more of the boom 6, the main winch 11, and the sub winch 12.

[0060] If sound is selected as the notification function for one or more of the other operating units (S102-Yes), the control unit 27 invalidates the input operation to select the notification function (S103). Then, the control unit 27 selects and sets one vibration of the operating member 21 as the notification function for the operating state for the operating unit for which the operation to select the notification function was input (S104). When the processing of S104 is performed, for example, even if an operation to select sound as the notification function for the revolving unit 3 is input, the vibration of the operating member 21A is selected and set as the notification function for the revolving unit 3.

[0061] Furthermore, in S102, if vibration is selected as the notification function for all of the other operating units (S102-No), the control unit 27 selects and sets sound as the notification function for the operating unit for which an operation to select the notification function has been input (S105). Then, the control unit 27 prohibits the selection of sound as the notification function for the other operating units (S106). For example, if an operation to select sound as the notification function for the revolving unit 3 has been input, the processing of S106 prohibits the selection of sound as the notification function for each of the boom 6, the main winch 11, and the sub winch 12. Furthermore, in S101, if an operation to select vibration as the notification function has been input (S101-No), the control unit 27 selects and sets one vibration of the operating member 21 corresponding to the operating unit for which an operation to select the notification function has been input (S107).

[0062] 4, the control unit 27 makes it possible to select sound from the sound generator 35 as the notification function for only one of the plurality of operating units. Then, the control unit 27 makes it possible to select only one corresponding vibration of the operating member 21 as the notification function for the operating units other than the one for which sound has been selected as the notification function. By performing such processing, when sound has been selected as the notification function for the main winch 11 as in the example of FIG. 3, the selection of sound as the notification function for each of the rotating bed 3, the boom 6, and the sub winch 12 is prohibited, and only one corresponding vibration of the operating member 21 can be selected.

[0063] In one example, sound may be selected as the notification function for the operating status of two or more of the multiple operating units. However, when the operating status of each of the multiple operating units, namely the rotating body 3, the boom 6, and one or more winches (for example, one or more of the main winch 11 and the sub winch 12), is to be notified, it is preferable to perform the processing shown in the following example in selecting and setting the notification function for each of the operating units.

[0064] That is, in a preferred example, when sound is selected as the notification function for one or more of the winches, the control unit 27 prohibits the selection of sound as the notification function for each of the revolving unit 3 and the boom 6, and allows selection of only the corresponding vibration of the operating member 21. When sound is selected as the notification function for at least one of the revolving unit 3 and the boom 6, the control unit 27 prohibits the selection of sound as the notification function for each of one or more winches, and allows selection of only the corresponding vibration of the operating member 21. By performing such processing, the period when sound is selected as the notification function for at least one of the revolving unit 3 and the boom 6 is shifted in time and does not overlap in time.

[0065] Here, in work using the crane 1, a plurality of operating units may be operated in parallel in time. For example, one of the rotating operation of the rotating body 3 and the raising and lowering operation of the boom 6 may be performed in parallel with the rotational operation of one of the winches (main winch 11 and sub winch 12) to pay out or reel in the rope. In this embodiment, as described above, for each of the plurality of operating units, an operation is input in the notification function selection unit 42 to select one of the sound emitted by the sound source 33 and the vibration of one corresponding one of the plurality of operating members 21 by the vibration source 36 as the notification function for notifying the operating state.

[0066] With this configuration, it is possible to select and set the alarm function for one of the multiple operating units to sound and for each of the other operating units to vibration. By selecting the alarm function for each of the multiple operating units as described above, it is possible to effectively prevent the operating states of two or more operating units from being notified by sound, even when the multiple operating units are operating in parallel. Therefore, in this embodiment, even when the multiple operating units are operating in parallel, a worker such as an operator of the construction machine can properly understand the operating state of each of the multiple operating units that are operating.

[0067] For example, suppose that the rotating operation of the rotating structure 3 is being performed in parallel with the rotation operation of the main winch 11. In this case, by selecting sound as the notification function for the main winch 11 and selecting vibration of the operating member 21 as the notification function for the rotating structure 3, it is possible to effectively prevent the operating states of both the main winch 11 and the rotating structure 3 from being notified by sound. This allows workers and the like to properly grasp the operating states of both the main winch 11 and the rotating structure 3.

[0068] In a preferred example of this embodiment, the control unit 27 allows sound from the sound generator 35 to be selected as the notification function for only one of the multiple operation units. Then, the control unit 27 allows only one corresponding vibration of the operating member 21 to be selected as the notification function for each operation unit other than the one for which sound has been selected as the notification function. This effectively prevents sound from being selected as the notification function for two or more of the multiple operation units. Therefore, it is even more effective to prevent the operational states of two or more operation units from being notified by sound while the multiple operation units are operating in parallel.

[0069] In another preferred example of this embodiment, the period during which sound is selected as the notification function for at least one of the rotating body 3 and the boom 6 does not overlap in time with the period during which sound is selected as the notification function for one or more of the winches. By setting the period during which sound is selected as the notification function for each of the multiple operating units as in this example, it is possible to effectively prevent the operating states of two or more operating units from being notified by sound during most of the time periods during which the multiple operating units are operating in parallel.

[0070] Furthermore, in this embodiment, the notification function selection screen or the like displays whether a sound from the sound transmitter 35 or a vibration of a corresponding one of the plurality of operating members 21 has been selected as the notification function for each of the plurality of operating units. This allows a worker such as an operator of the crane 1 to properly understand whether a sound or a vibration has been selected as the notification function for each of the plurality of operating units.

[0071] When the rotating unit 3 is rotated at a relatively slow speed without being able to see the suspended load, the operator of the crane 1 needs to understand the operating state of the rotating unit 3 through sound, vibration, or the like. When the rotating unit 3 is rotated at a relatively fast rotation speed, the operator of the crane 1 can visually confirm the operating state of the rotating unit 3, and therefore it is not necessary to understand the operating state of the rotating unit 3 through sound, vibration, or the like. In one example of the embodiment, when the magnitude of the rotation speed Va is equal to or greater than the reference speed Varef, the operating state of the rotating unit 3 is not notified. However, even in this case, in a situation where it is necessary to understand the operating state of the rotating unit 3 by a method other than visual confirmation, such as when the rotating unit 3 is rotated at a relatively slow speed, the operating state of the rotating unit 3 is notified by sound or vibration. Therefore, in a situation where it is necessary to understand the operating state of the rotating unit 3 by a method other than visual confirmation, the operator can appropriately understand the operating state of the rotating unit 3.

[0072] Furthermore, when the boom 6 is being hoisted at a relatively slow speed in a situation where the suspended load or the like cannot be visually confirmed, the operator of the crane 1 needs to ascertain the operating status of the boom 6 through sound, vibration, or the like. When the boom 6 is being hoisted at a relatively fast operating speed, the operator of the crane 1 can visually confirm the operating status of the boom 6, and therefore there is no need to ascertain the operating status of the boom 6 through sound, vibration, or the like. In one example of the embodiment, when the magnitude of the command value Cb in the operation of the operating member 21B is equal to or greater than the reference command value Cbref, the operating status of the boom 6 is not notified. However, even in this case, in a situation where it is necessary to ascertain the operating status of the boom 6 by a method other than visual confirmation, such as a situation where the boom 6 is being hoisted at a relatively slow speed, the operating status of the boom 6 is notified by sound or vibration. Therefore, in a situation where it is necessary to ascertain the operating status of the boom 6 by a method other than visual confirmation, the operator can appropriately ascertain the operating status of the boom 6.

[0073] In addition, in the above-described embodiment, only one sound emitting unit 35 is provided in the sound source 33, but in one example, one sound emitting unit 35 is provided for each of the plurality of operating units. In this case, for an operating unit for which sound is selected as the notification function among the plurality of operating units, the operating state is notified by a sound emitted from the corresponding one of the sound emitting units 35.

[0074] Furthermore, in the above-described embodiments, the case where the operating states of the rotating structure 3, the boom 6, the main winch 11, and the sub winch 12 are reported as multiple operating units has been described, but the configurations and processes described in the above-described embodiments can be applied to a configuration in which the operating states of two or more operating units are reported. For example, the configurations and processes described in the above-described embodiments can be applied to a configuration in which the operating states of the rotating structure 3, the boom 6, and one winch are reported, a configuration in which the operating states of the rotating structure 3 and one or more winches are reported, and a configuration in which the operating states of the boom 6 and one or more winches are reported. In other words, the configurations and processes described in the above-described embodiments can be applied to a configuration in which the operating states of the multiple operating units in which the operating states are reported include two or more of the rotating structure 3, the boom 6, and one or more winches.

[0075] Furthermore, in the above-mentioned embodiments, the construction machine has mainly been described as a crane 1, but the processing and configuration for notifying the operating status of each of the multiple operating parts shown in the above-mentioned embodiments may also be applied to construction machines other than the crane 1.

[0076] The present invention is not limited to the above-described embodiments, and various modifications can be made in the implementation stage without departing from the spirit of the invention. Furthermore, the embodiments may be implemented in combination as appropriate as possible, and in such cases, the combined effects can be obtained. Furthermore, the above-described embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining the disclosed multiple constituent elements. [Explanation of symbols]

[0077] 1...crane, 2...traveling body, 3...swivel body, 6...boom, 11...main winch, 12...sub winch, 13...main hoisting rope, 15...auxiliary hoisting rope, 16...main hook, 17...sub hook, 20...operation notification device, 21 (21A to 21D)...operating member, 27...control unit, 33...sound source, 36...vibration source, 40...user interface, 42...notification function selection unit.

Claims

1. An operation notification device mounted on a construction machine having a plurality of operating units, a sound source capable of emitting sound; a plurality of operation members, each of which is provided for each of the plurality of operation units, and through which an operation related to a corresponding one of the operation units is input; a vibration source capable of generating vibrations so that the plurality of operating members vibrate independently of one another; a notification function selection unit to which an operation is input to select, for each of the plurality of operation units, one of the sound emitted by the sound source and the vibration of one corresponding one of the plurality of operation members by the vibration source as a notification function for notifying the operation state; A motion notification device comprising:

2. 2. The motion notification device of claim 1, further comprising a control unit that makes it possible to select the sound from the sound source as the notification function only for any one of the plurality of motion units, and that makes it possible to select only the vibration of one corresponding one of the plurality of operating members as the notification function for any other motion unit among the plurality of motion units than the one for which the sound is selected as the notification function.

3. The motion notification device of claim 1, further comprising a control unit that displays, for each of the plurality of motion units, which of the sound from the sound source and the vibration of a corresponding one of the plurality of operating members is selected as the notification function.

4. The motion notification device according to any one of claims 1 to 3; a plurality of operation units, each of which receives an operation related to a movement by a corresponding one of the plurality of operation members; Construction machinery equipped with:

5. Further comprising a traveling vehicle body, The plurality of operating units include two or more of a rotating body that can rotate relative to the traveling vehicle body, a boom that can be raised and lowered relative to the rotating body, and one or more winches that can pay out and take up ropes connected to hooks. The construction machine of claim 4.

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