Mobile crane boom working range determination system

Abstract

To provide a mobile crane boom working range determination system that can be applied to existing mobile cranes and can inform an operator of the suitability of the boom working range. [Solution] The device is characterized by comprising a mobile terminal 18 having a first measuring means 12, a second measuring means 14, and a third measuring means 16, a memory means 20 in which at least a rated load diagram of a work vehicle 50 is stored, an input means 22 for selecting the type of work vehicle 50 and inputting the hanging load, and a calculation means for calculating the working radius of the telescopic boom 54 based on the measurement values ​​measured by the second measuring means 14 and the third measuring means 16, comparing the working radius with an allowable working radius obtained by applying the hanging load input via the input means and the outrigger extension amount measured via the first measuring means to the rated load diagram, and determining whether the working radius is equal to or less than the allowable working radius.

Description

[Technical field]

[0001] The present invention relates to a device for determining whether the boom working range of a mobile crane is acceptable or not, and more particularly to a system that makes it possible to retrofit the system to determine whether the working range is acceptable or not. [Background technology]

[0002] The boom working range of a mobile crane is determined by the extension of the outriggers and the vehicle characteristics (e.g., weight) of the mobile crane, and is determined as a range where safety can be ensured. For this reason, in the past, measures such as placing traffic cones (registered trademark) along the predetermined working range were taken, and the crane was operated so that the boom would not exceed this working range. However, in reality, it is difficult to accurately grasp the positional relationship between the tip of the boom and traffic cones (registered trademark) placed on the ground, and there have been cases where work is carried out with the tip of the boom exceeding the set working range.

[0003] In light of these circumstances, a safety device for a mobile crane is disclosed in Patent Document 1. The safety device for a mobile crane disclosed in Patent Document 1 is configured to set a working range that enables crane operation with the maximum rated total load (suspended load) based on the extension amount and extension angle of the outriggers. If an instruction to operate the crane is given that exceeds the preset working range, an overload prevention function is activated to forcibly stop the crane operation.

[0004] A mobile crane safety device configured in this manner makes it impossible to carry out work that falls outside the working range in which safety is taken into consideration, thereby achieving a high level of safety.

[0005] However, the above-mentioned mobile crane safety devices are configured to be attached to new mobile cranes, and are difficult to retrofit onto existing mobile cranes, meaning that the reality is that they do not effectively promote improved safety when working with mobile cranes. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] WO2018 / 147388 publication Summary of the Invention [Problem to be solved by the invention]

[0007] In view of the above-described circumstances, the present invention has an object to provide a boom working range determination system for a mobile crane that can be applied to existing mobile cranes and informs an operator of the suitability of the boom working range. [Means for solving the problem]

[0008] In order to achieve the above object, the present invention provides a boom working range determination system for a mobile crane, which is a boom working range determination system for a work vehicle equipped with a telescopic boom, and includes a first measurement means which can be attached to the outside of the work vehicle and measures the extension amount of an outrigger attached to the work vehicle, a second measurement means which can be attached to the outside of the work vehicle and measures the inclination angle of the telescopic boom, a third measurement means which can be attached to the outside of the work vehicle and measures the length of the telescopic boom, a memory means which stores at least a rated load diagram which shows the relationship between the rated lifting load and the working radius determined for each type of work vehicle, and a measurement means for measuring the extension amount of an outrigger attached to the work vehicle. the portable terminal having an input means for selecting the type of work vehicle and inputting the hanging load, a calculation means for calculating the working radius of the telescopic boom based on the measurement values ​​taken by the second measuring means and the third measuring means, comparing the working radius with an allowable working radius obtained by applying the hanging load input via the input means and the extension amount of the outrigger measured via the first measuring means to the rated load diagram, and determining whether the working radius is equal to or less than the allowable working radius, and a display means for visibly outputting the options for the work vehicle selected by the input means, the input value of the hanging load, and the result of the determination.

[0009] In addition, in the mobile crane boom working range determination system having the above features, it is preferable that the extension amount of the outriggers is determined by adding together a fixed value from the vehicle center to the vehicle width range and the displacement amount measured by the first measuring means. With such features, it is possible to calculate the extension amount of the outriggers from the vehicle center.

[0010] In addition, in the mobile crane boom working range determination system having the above-mentioned features, it is preferable that the length of the telescopic boom is calculated by adding together a fixed value from the movable base point of the telescopic boom to the tip of the base part that does not telescope and a measurement value measured by the third measuring means. With such features, it becomes possible to calculate the working radius based on the actual length of the boom.

[0011] In addition, in the mobile crane boom working range determination system having the above-mentioned features, it is preferable that the mobile terminal has a communication function and is configured to be able to transfer the determination results to an external system. With such a feature, it becomes possible to use the determination results in other systems.

[0012] Furthermore, in the mobile crane boom working range determination system having the above-mentioned features, if a determination result is given that the working radius exceeds the allowable working radius and this condition continues for a predetermined time, a warning may be sent to a work supervisor. With such features, it becomes possible to inform the work supervisor of the working condition, and measures can be taken to improve the safety of the actual work. Effect of the Invention

[0013] The mobile crane boom working range determination system having the above features can be applied to existing mobile cranes, and can inform the operator whether the boom working range is appropriate. [Brief description of the drawings]

[0014] [Figure 1] 1 is a block diagram showing a configuration of a boom working range determination system for a mobile crane according to an embodiment. FIG. [Diagram 2] FIG. 2 is a side view for explaining an example of a case where a boom working range determination system for a mobile crane according to an embodiment is attached to a mobile crane (work vehicle). [Diagram 3] FIG. 2 is a plan view for illustrating an example in which a boom working range determination system for a mobile crane according to an embodiment is attached to a mobile crane (work vehicle). [Figure 4] FIG. 4 is a diagram showing an example of a screen displayed on a display unit. [Diagram 5]4 is a flow chart for explaining a process flow of the mobile crane boom working range determination system according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, an embodiment of the mobile crane boom working range determination system of the present invention will be described in detail with reference to the drawings. Note that the embodiment shown below is a part of the embodiment for carrying out the present invention, and even if a part of the configuration is changed, it can be considered as a part of the present invention as long as the effect of the embodiment is achieved.

[0016] [composition] First, referring to FIG. 1, the configuration of a mobile crane boom working range determination system (hereinafter, simply referred to as a determination system 10) according to this embodiment will be described. The determination system 10 according to this embodiment is basically configured with a first measurement means 12, a second measurement means 14, a third measurement means 16, and a mobile terminal 18. The first measurement means 12 is an element for measuring the extension amount of an outrigger 52 provided on a work vehicle 50 (see FIG. 2 and FIG. 3), which is a mobile crane. Specifically, it may be a distance measuring sensor such as a TOF (Time of flight) sensor. The extension amount of an outrigger 52 in a work vehicle 50 generally refers to the distance from the center of the vehicle to a support part located at the tip of the outrigger 52. For this reason, the distance from the center of the vehicle to half the vehicle width is set as a fixed value Y, and the changes D, E, F, and G of each outrigger 52 are set as measured values, and the sum of the fixed value Y and the changes (measured values) D, E, F, and G is set as the extension amount M of each outrigger 52 (see FIG. 3).

[0017] The details of the position of the first measuring means 12 are not important as long as it is possible to measure the degree of projection of the outrigger. In this embodiment, as shown in FIG. 3, the main body of a TOF sensor as the first measuring means 12 is arranged on the side of the work vehicle 50, and the tip of the outrigger 52 is used as a target 12a to perform measurement. In addition, the first measuring means 12 must be arranged in the same number as the number of outriggers 52. Since the work vehicle 50 shown in FIG. 3 has four outriggers 52, the four first measuring means 12 can measure the projection amount of the outriggers 52 at four locations, the right side of the front wheel, the left side of the front wheel, the right side of the rear wheel, and the left side of the rear wheel. Regarding the measurement value, it is preferable that the thickness of the first measuring means 12 and the target 12a can be ignored or added to the measurement value in advance.

[0018] 2, the second measuring means 14 is an element for measuring the tilt angle of the telescopic boom 54 of the work vehicle 50. Specifically, it may be an inclination sensor, an acceleration sensor, a gyro sensor, or the like. The tilt angle of the telescopic boom 54 may be the tilt angle θ from the horizontal plane on which the base point O for raising and lowering the telescopic boom 54 is located. Note that the mounting position of the second measuring means 14 is not limited to a specific arrangement, so long as it is on the telescopic boom 54.

[0019] The third measuring means 16 is an element for measuring the extension of the telescopic boom 54 of the work vehicle 50. Specifically, in addition to a TOF sensor similar to the first measuring means 12, it may be a wire-type displacement meter or the like. This is because by configuring the wire of the wire-type displacement meter to be pulled out as the telescopic boom 54 extends, it becomes possible to detect the amount of displacement of the telescopic boom 54.

[0020] In this embodiment, it is necessary to obtain the working radius of the telescopic boom 54. For this reason, it is necessary to know the length of the telescopic boom 54, not just the amount of displacement accompanying the extension. Therefore, the length of the boom is set to a fixed value X, which is the distance from the base point of the undulation (base point O) to the tip of the base part of the telescopic mechanism (part that does not extend), and the extending part is set to a measured value A, and the sum of these is set to the length L of the telescopic boom 54. Note that the arrangement of the third measuring means 16 is not limited to a specific arrangement form, as long as it is possible to measure the change in the extension of the telescopic boom 54. In the example shown in FIG. 2, the third measuring means 16 is a TOF sensor, and a target 16a is arranged at the tip of the telescopic boom 54. Note that the thickness of the target may be ignored or may be added to the measured value in advance.

[0021] In this way, the measuring means of this embodiment (first measuring means 12, second measuring means 14, third measuring means 16) can all be retrofitted to the outside of an existing work vehicle 50.

[0022] The mobile terminal 18 is an element for calculating the working radius of the telescopic boom 54 based on the values ​​measured via the above-mentioned first measuring means 12 to third measuring means 16, and for determining whether the weight of the load (suspended load) planned for work at this working radius is within the allowable range. The mobile terminal 18 according to this embodiment, which performs such functions, has at least a storage means 20, an input means 22, a calculation means 24, and a display means 26.

[0023] The storage means 20 is an element for storing at least specification information for each type of work vehicle 50 and information regarding a rated load diagram showing the relationship between the rated lifting load and the working radius. The storage means also plays a role in temporarily storing input values ​​via the input means 22 and values ​​calculated via the calculation means. Specific examples of the storage means 20 include an HDD, an SSD, and a memory.

[0024] The input means 22 is an element for inputting the selection of the type of vehicle for the work vehicle 50 and the weight of the suspended load, i.e., the suspended load. A specific example of the input means 22 can be a touch panel that utilizes the display means 26. By making the display means 26 and the input means 22 a common element, there is no need to provide a separate input means 22, and the mobile terminal 18 can be made smaller.

[0025] The calculation means 24 is an element for calculating the working radius R1 of the telescopic boom 54 based on the inclination angle θ and the length L of the telescopic boom 54 obtained through the second measurement means 14 and the third measurement means 16, and for judging whether the calculated working radius R1 is within the range of the allowable working radius R0 in the rated load diagram. Specifically, the calculation means 24 calculates the allowable working radius R0 by applying the extension amount M of the outrigger 52 obtained through the first measurement means 12 and the hanging load input through the input means 22 to the rated load diagram corresponding to the type of work vehicle selected through the input means 22. Then, the calculation means 24 compares the working radius R1 with the allowable working radius R0, and judges whether to issue a work permit if the working radius R1 is equal to or smaller than the allowable working radius R0, and judges whether to issue a warning to stop the work if the working radius R1 exceeds the allowable working radius R0.

[0026] The display means 26 is an element for visually displaying measurement values, judgment results, etc. Specifically, it is sufficient if it can visually display the contents input via the input means 22, the contents measured or calculated via the first measuring means 12 to the third measuring means 16, and the results of judgment via the computing means 24. An example of a display screen by the display means 26 is shown in FIG.

[0027] The example of the display screen shown in Fig. 4 is provided with a display section that displays the boom length, which indicates the length of the telescopic boom, and the measured values ​​(calculated values) for the right front (front wheel right) side, left front (front wheel left) side, right rear (rear wheel right) side, and left rear (rear wheel left) side. The example of the display screen also shows the value input via the input means or input as a measured value by a sensor or the like as the suspended load. Furthermore, the display means 26 has a display item for the calculated working radius (shown as 3.5 m in Fig. 4) and an allowable work judgment, which shows whether the working radius is within the range of the allowable working radius ("OK" or "NG").

[0028] [Actions and Effects] Next, a flow of determining the allowable work range by the determination system 10 configured as described above will be described with reference to Fig. 5. It is assumed that the first measuring means 12, the second measuring means 14, and the third measuring means 16 are attached to the work vehicle 50 in advance.

[0029] First, the work vehicle 50 is parked at the work position, and the outriggers 52 are extended for work. At this time, measurement of the displacement amount by the first measuring means 12 is started. The measured values ​​(measured values ​​D, E, F, G) are transmitted to the mobile terminal 18 by short-range wireless communication. In the mobile terminal 18 that receives the measured values ​​from the first measuring means 12, the calculation means 24 reads out a specification table of the corresponding vehicle type recorded in the storage means 20 based on the vehicle type of the work vehicle 50 selected in advance, and extracts a fixed value Y from the vehicle center. The extracted fixed value Y is added to each of the measured values ​​(D, E, F, G) measured via the first measuring means 12, and is calculated as the extension amount M of the outrigger 52. Here, the calculation of the extension amount of the outrigger 52 is repeated the number of times equal to the number of outriggers 52 (the number of first measuring means 12) provided on the work vehicle 50 (S10).

[0030] Next, the calculation means 24 reads out the rated load diagram corresponding to the work vehicle 50, and calculates the allowable working radius R0 from the suspended load and the extension amount M of the outriggers 52 input via the input means 22 (S20). The calculated allowable working radius R0 is temporarily stored in the memory means 20, and the length L of the telescopic boom 54 is calculated by adding the measurement value A obtained via the third measurement means 16 and a fixed value X according to the specifications (S30).

[0031] Based on the angle θ of the telescopic boom 54 measured via the second measuring means 14 and the length L of the telescopic boom 54, a working radius R1 is calculated using a trigonometric function (Formula 1) (S40).

number

[0032] After the working radius R1 is calculated in S40, the allowable working radius R0 temporarily stored in the storage means 20 is read out and compared with the working radius R1. If the comparison result satisfies the relationship in Equation 2, the tip of the telescopic boom 54 is within the range of the allowable working radius R0, which means that work can be performed safely (S50).

number

[0033] Therefore, if the comparison shows that the working radius R1 is equal to or smaller than the allowable working radius R0, a determination is made that the working radius is normal, and the item for outputting the determination result in the display means 26 (allowable work determination) is displayed as "OK" or "normal" (S60). On the other hand, if the working radius R1 is greater than the allowable working radius R0, a determination is made that the working radius is abnormal, and the item for outputting the determination result in the display means 26 is displayed as "NG" or "abnormal". Note that, when "NG" is output as the determination result, in addition to displaying it on the display means 26, a warning may be issued by sound or light via warning means (not shown) (S70).

[0034] If the display means 26 shows a judgment result indicating "NG," the worker holding the mobile terminal 18 will perform processing to narrow the range of the working radius R1 by, for example, increasing the inclination angle θ of the telescopic boom 54 or shortening the length L of the telescopic boom 54.

[0035] The above-described judgment system 10 can be applied to existing mobile cranes (work vehicles 50), and can inform the worker of the suitability of the working range (working radius R1) of the telescopic boom 54.

[0036] [Application form] In the judgment system 10 configured as described above, by equipping the mobile terminal 18 with a communication function, it becomes possible to transmit the appropriateness of the work state to an external organization, etc. For this reason, for example, when the display means 26 continues to show "NG" in the allowable work judgment item during work for a certain period of time, it becomes possible to send a warning to the work instructor such as the construction manager or the construction manager that the work is being performed in a dangerous condition.

[0037] In addition, the results of the determination by the determination system 10 can be stored as a work record (evidence) in the cloud or in an external organization. Also, in the above embodiment, the extension amount M of each outrigger 52 is the sum of the fixed value Y and the variations D, E, F, and G. However, when the extension amount of the outrigger 52 shown in the rated load diagram is shown as a converted value (for example, one that shows a stepwise change such as full extension and 1 / 2 extension), the measurement value by the first measuring means 12 may be converted into the converted value and used.

[0038] For example, in the case where a relationship curve between "full extension" and "half extension" is shown as the extension of the outriggers 52 shown in the load rating diagram showing the relationship between the lifting load rating and the working radius, the ratio of the measured values ​​can be found when the length of the outriggers 52 at full extension (the state where the amount of change is maximum) for each work vehicle 50 is set to 1. Then, if the converted value of the measured value is less than 1 / 2 as the extension of the outriggers 52, the extension is determined to be 0, and if the converted value is between 1 / 2 and less than 1, the extension is set to 1 / 2. Furthermore, if the converted value is 1, the extension is set to 1 (full extension) and the working radius for the rated load (hanging load) can be found. Note that by setting the converted value to be rounded down when it is less than the specified value, it is possible to increase the safety factor of the working radius for the rated load. [Industrial Applicability]

[0039] The above description has been given only of the judgment system 10 issuing a warning or the like in response to the judgment result and storing it. However, the judgment result obtained by the judgment system 10 according to the embodiment may be used for processing by another system. For example, when linked to a work record creation system, it is possible to include a record of the judgment result in the work record. In addition, when linked to the starter system of the work vehicle 50, it is also possible to take measures to stop the engine of the work vehicle 50 and prevent the continuation of work when an NG display appears in the allowable work judgment item on the display means 26, or when the NG display continues for a certain period of time. [Explanation of symbols]

[0040] Reference Signs List 10....Judgment system, 12....First measurement means, 12a....Target, 14....Second measurement means, 16....Third measurement means, 16a....Target, 18....Mobile terminal, 20....Memory means, 22....Input means, 24....Calculation means, 26....Display means, 50....Work vehicle, 52....Outrigger, 54....Telescopic boom.

Claims

1. A boom working range determination system for a work vehicle equipped with a telescopic boom, a first measuring means for measuring the extension amount of an outrigger provided on the work vehicle by being attached to the outside of the work vehicle; a second measuring means attached to the outside of the work vehicle and configured to measure the tilt angle of the telescopic boom; a third measuring means attached to the outside of the work vehicle and configured to measure the length of the telescopic boom; a mobile crane boom working range determination system comprising at least a mobile terminal having a memory means for storing a rated load diagram showing the relationship between the lifting rated load and working radius determined for each type of work vehicle; an input means for selecting the type of work vehicle and inputting the hanging load; a calculation means for calculating the working radius of the telescopic boom based on the measurement values ​​measured by the second measurement means and the third measurement means, comparing the working radius with an allowable working radius obtained by applying the hanging load input via the input means and the extension amount of the outrigger measured via the first measurement means to the rated load diagram, and determining whether the working radius is equal to or smaller than the allowable working radius; and a display means for visibly outputting the options for the work vehicle selected by the input means, the input value of the hanging load, and the result of the determination.

2. The mobile crane boom working range determination system as described in claim 1, characterized in that the extension amount of the outrigger is calculated by adding together a fixed value from the center of the vehicle to the vehicle width range and the displacement amount measured by the first measuring means.

3. 3. The mobile crane boom working range determination system according to claim 2, wherein the length of the telescopic boom is determined by adding together a fixed value from the movable base point of the telescopic boom to the tip of a base portion that does not telescope and a measurement value measured by the third measuring means.

4. 4. A mobile crane boom working range determination system as claimed in any one of claims 1 to 3, characterized in that the mobile terminal is provided with a communication function and is configured to be able to transfer the results of the determination to an external system.

5. The mobile crane boom working range determination system as described in claim 4, characterized in that when a determination result is given that the working radius exceeds the allowable working radius, and this condition continues for a predetermined time, a warning is sent to a work supervisor.

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