Crane travel support device

Abstract

To provide a crane travel assistance device capable of appropriately braking traveling of a crane corresponding to a change of a crane advancing direction.SOLUTION: This crane travel assistance device comprises: a plurality of distance detection units 50 that detect a distance between a crane 1 and an object G ahead in an advancing direction; an advancing direction determination unit 61 that determines the advancing direction of the crane 1; a use determination unit 62 that determines use of detection information of at least one of the distance detection units 50 on the basis of the determination of the advancing direction determination unit 61; and a braking control unit 63 that brakes traveling of the crane 1 on the basis of the detection information of the distance detection unit 50 determined by the use determination unit 62.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] However, in a crane, the front and rear wheels are sometimes steered in the same direction, and sometimes the front and rear wheels are steered in different directions, causing the direction of travel of the crane to change in a variety of ways. This poses a problem in that it is not possible to appropriately brake the travel of the crane in response to changes in the direction of travel of the crane.

[0006] Therefore, an object of the present invention is to provide a crane travel support device that can appropriately brake the travel of a crane in response to changes in the direction of travel of the crane. [Means for solving the problem]

[0007] In order to achieve the above object, the crane travel support device of the present invention includes a plurality of distance detection units that detect the distance between the crane and an object ahead in the travel direction of the crane, a travel direction determination unit that determines the travel direction of the crane, a use determination unit that determines the use of detection information of at least one of the plurality of distance detection units based on the determination of the travel direction determination unit, and a braking control unit that brakes the travel of the crane based on the detection information of the distance detection unit determined by the use determination unit. the crane is equipped with a first operation unit which switches between forward and reverse movement of the crane, a second operation unit which steers the wheels of the crane, and a third operation unit which switches between a first steering mode in which the front wheels of the crane are steered, a second steering mode in which the front wheels and the rear wheels of the crane are steered in the same direction, a third steering mode in which the front wheels and the rear wheels of the crane are steered in different directions, and a fourth steering mode in which the rear wheels of the crane are steered, and the traveling direction determination unit determines the traveling direction of the crane based on an input to the first operation unit, an input to the second operation unit, and an input to the third operation unit. It is characterized by: Effect of the Invention

[0008] The crane travel support device of the present invention configured in this manner can appropriately brake the travel of the crane in response to changes in the direction of travel of the crane. [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 diagram showing a state in which the crane of the first embodiment travels forward. [Diagram 5] FIG. 2 is a diagram showing a state in which the crane of the first embodiment travels backward. [Figure 6] 4 is a flowchart showing a flow of processing by a control unit in the first embodiment. [Figure 7] FIG. 13 is a diagram showing a state in which the crane of the second embodiment is turning forward to the right. [Figure 8] FIG. 13 is a diagram showing a state in which the crane of the second embodiment is turning forward to the left. [Figure 9] 10 is a flowchart showing a flow of processing by a control unit according to a second embodiment. [Figure 10] FIG. 13 is a diagram showing a state in which the crane of the third embodiment travels diagonally forward to the right in the second steering mode. [Figure 11] FIG. 11 is a diagram showing a state in which the crane of the third embodiment travels diagonally forward and left in the second steering mode. [Figure 12] FIG. 13 is a diagram showing a state in which the crane of the third embodiment is turning forward to the right in the third steering mode. [Figure 13] FIG. 13 is a diagram showing a state in which the crane of the third embodiment is turning forward left in the third steering mode. [Figure 14] FIG. 13 is a diagram showing a state in which the crane of the third embodiment is turning backward to the left in the fourth steering mode. [Figure 15] FIG. 13 is a diagram showing a state in which the crane of the third embodiment is turning right backward in a fourth steering mode. [Figure 16] 11 is a flowchart showing a flow of processing by a control unit according to a third embodiment. [Figure 17] 11 is a flowchart showing a flow of processing by a control unit according to a third embodiment. [Figure 18] 11 is a flowchart showing a flow of processing by a control unit according to a third embodiment. [Figure 19] 11 is a flowchart showing a flow of processing by a control unit according to a third embodiment. [Figure 20] 11 is a flowchart showing a flow of processing by a control unit according to a third embodiment. [Figure 21] FIG. 11 is a diagram showing a state in which the crane of the fourth embodiment is towed by a towing vehicle in emergency steering mode. [Figure 22] 13 is a flowchart showing a flow of processing by a control unit according to a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments for realizing a crane travel support device according to the present invention will be described based on Examples 1 to 4 shown in the drawings. EXAMPLES

[0011] The crane 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, front wheels 12 as wheels, rear wheels 13 as wheels, a running device for self-propelling on roads and work sites, and the like.

[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. That is, the rotating body 20 is rotatable in the horizontal direction with respect to the vehicle body 10.

[0017] The rotating body 20 includes a cabin 21. The cabin 21 faces the front of the crane 1 and is provided on the right side of the boom 30. The cabin 21 may also face the front of the crane 1 and be provided on the left side of the boom 30.

[0018] The cabin 21 has an operation unit for operating the revolving body 20, the boom 30, the winch 24, etc. The driver M who is in the cabin 21 operates the operation unit to revolve the revolving body 20, raise and lower and extend the boom 30, and rotate the winch 24 to perform work.

[0019] 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.

[0020] 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).

[0021] 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.

[0022] A load is hung from 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.

[0023] A forward distance detection unit 51 is attached to the front side of the vehicle body 10 as a distance detection unit 50 that detects the distance to an object in front of the crane 1. The forward distance detection unit 51 can be, for example, a millimeter wave radar.

[0024] A rear distance detection unit 52 is attached to the rear side of the vehicle body 10 as a distance detection unit 50 that detects the distance to an object behind the crane 1. The rear distance detection unit 52 can be, for example, a millimeter wave radar.

[0025] A right side distance detection unit 53 is attached to the right side of the vehicle body 10 as a distance detection unit 50 that detects the distance to an object on the right side of the crane 1. The right side distance detection unit 53 can be, for example, a millimeter wave radar.

[0026] A left side distance detection unit 54 is attached to the left side surface of the vehicle body 10 as a distance detection unit 50 that detects the distance to an object on the left side of the crane 1. The left side distance detection unit 54 can be, for example, a millimeter wave radar.

[0027] The objects whose distances are detected by the distance detection unit 50 include automobiles, bicycles, people, buildings, construction materials placed at a construction site, etc. The objects may be stationary objects or moving objects.

[0028] The cabin 21 is provided with a first operating unit 55, a second operating unit 56, a third operating unit 57, and a fourth operating unit 58.

[0029] The first operating unit 55 is, for example, a shift lever, and enables switching between forward and reverse of the crane 1. The operator M operates the first operating unit 55 to switch between forward and reverse of the crane 1.

[0030] The second operation unit 56 is, for example, a steering wheel, and enables a steering operation for steering the wheels of the crane 1 to the right and left. The operator M operates the second operation unit 56 to steer the wheels of the crane 1.

[0031] The third operation unit 57 enables switching among a first steering mode, a second steering mode, a third steering mode, and a fourth steering mode. Note that instead of the steering of the second operation unit 56 and the steering mode switching of the third operation unit 57, a potentiometer that detects the front and rear steering angles can also be used.

[0032] The first steering mode is a mode in which only the front wheels 12 are steered. When the driver M operates the third operation unit 57 to select the first steering mode and operates the second operation unit 56 to the right, the front wheels 12 are steered to the right, and when the driver M operates the second operation unit 56 to the left, the front wheels 12 are steered to the left.

[0033] The second steering mode is a mode in which the front wheels 12 and the rear wheels 13 are steered in the same direction. When the driver M operates the third operation unit 57 to select the second steering mode and operates the second operation unit 56 to the right, the front wheels 12 and the rear wheels 13 are steered to the right, and when the driver M operates the second operation unit 56 to the left, the front wheels 12 and the rear wheels 13 are steered to the left.

[0034] The third steering mode is a mode in which the front wheels 12 and the rear wheels 13 are steered in different directions. When the driver M operates the third operation unit 57 to select the third steering mode and operates the second operation unit 56 to the right, the front wheels 12 are steered to the right and the rear wheels 13 are steered to the left, and when the driver M operates the second operation unit 56 to the left, the front wheels 12 are steered to the left and the rear wheels 13 are steered to the right.

[0035] The fourth steering mode is a mode in which only the rear wheels 13 are steered. When the driver M operates the third operation unit 57 to select the fourth steering mode and operates the second operation unit 56 to the right, the rear wheels 13 are steered to the left, and when the driver M operates the second operation unit 56 to the left, the rear wheels 13 are steered to the right.

[0036] The fourth operating unit 58 enables switching between a normal steering mode and an emergency steering mode. The fourth operating unit 58 may be a dedicated switch, or may automatically switch when it detects that oil is no longer being supplied from the pump.

[0037] The normal steering mode is a mode in which the main hydraulic circuit is not malfunctioning, i.e., the normal steering mode is a mode in which the main hydraulic circuit is used, whereas the emergency steering mode is a mode in which the auxiliary hydraulic circuit is used when an abnormality occurs in the main hydraulic circuit.

[0038] The cabin 21 is provided with a display unit 72. The display unit 72 may be a display monitor.

[0039] A braking device 71 controlled by a control unit 60 (described later) is mounted on the vehicle body 10. The braking device 71 brakes the traveling crane 1 based on information from the control unit 60.

[0040] The crane 1 configured in this manner moves the load suspended from the hook 36 to a predetermined position by using the winch 24 to pay out and reel in the wire rope 35, the boom 30 to rise and fall and retract, and the rotating body 20 to rotate.

[0041] [Functional configuration of the crane driving support device] Fig. 3 is a block diagram showing a functional configuration of the crane travel support device of the embodiment 1. Fig. 4 is a diagram showing a state in which the crane 1 of the embodiment 1 travels forward. Fig. 5 is a diagram showing a state in which the crane 1 of the embodiment 1 travels backward. The functional configuration of the crane travel support device of the embodiment 1 will be described below.

[0042] As shown in Figure 3, in the crane driving support device 1A, information detected by the distance detection unit 50, information input to the first operation unit 55, information input to the second operation unit 56, information input to the third operation unit 57, and information input to the fourth operation unit 58 are input to the control unit 60, and the information controlled by the control unit 60 is output to the braking device 71 and the display unit 72.

[0043] The distance detection unit 50 detects the distance to an object ahead in the traveling direction of the crane 1. The distance detection unit 50 includes a front distance detection unit 51, a rear distance detection unit 52, a right side distance detection unit 53, and a left side distance detection unit 54.

[0044] The forward distance detection unit 51 is used when the crane 1 is traveling or when it is stopped, including when it starts, and detects the distance to an object in front of the crane 1. Information detected by the forward distance detection unit 51 is input to the control unit 60.

[0045] The rear distance detection unit 52 is used when the crane 1 is traveling or when it is stopped, including when it starts, and detects the distance to an object behind the crane 1. Information detected by the rear distance detection unit 52 is input to the control unit 60.

[0046] The right side distance detection unit 53 is used when the crane 1 is traveling or when it is stopped, including when it starts, and detects the distance to an object on the right side of the crane 1. Information detected by the right side distance detection unit 53 is input to the control unit 60.

[0047] The left side distance detection unit 54 is used when the crane 1 is traveling or when it is stopped, including when it starts, and detects the distance to an object on the left side of the crane 1. Information detected by the left side distance detection unit 54 is input to the control unit 60.

[0048] The forward or reverse movement of the crane 1 is input by operating the first operating unit 55. The information input by operating the first operating unit 55 is input to the control unit 60.

[0049] Whether the second operation unit 56 has been operated to the right or to the left is input by operating the second operation unit 56. The information input by operating the second operation unit 56 is input to the control unit 60.

[0050] The first to fourth steering modes are input by operating the third operation unit 57. The information input by operating the third operation unit 57 is input to the control unit 60.

[0051] The normal steering mode or the emergency steering mode is input by operating the fourth operation unit 58. The information input by operating the fourth operation unit 58 is input to the control unit 60.

[0052] The control unit 60 includes a traveling direction determination unit 61 , a use determination unit 62 , and a braking control unit 63 .

[0053] The travel direction determination unit 61 determines, based on information input to the first operation unit 55, whether the travel direction of the crane 1 is forward or reverse.

[0054] The use decision unit 62 decides to use the detection information of at least one of the distance detection units 50 based on the decision of the traveling direction decision unit 61 .

[0055] 4, when the crane 1 moves forward, the use determination unit 62 determines to use the detection information of the forward distance detection unit 51. The forward distance detection unit 51 detects an object G (e.g., a truck) ahead of the crane 1 in the traveling direction.

[0056] As shown in Fig. 5, when the crane 1 moves backward, the use determination unit 62 determines to use the detection information of the rear distance detection unit 52. The rear distance detection unit 52 detects an object G (e.g., a construction machine) ahead in the traveling direction of the crane 1. Note that the use determination unit 62 may operate at least one of the multiple distance detection units 50 based on the determination of the travel direction determination unit 61, and use the detection information of the operated distance detection unit 50. Also, the use determination unit 62 may use the detection information of at least one of the multiple distance detection units 50, and ignore the detection information of the other distance detection units 50, based on the determination of the travel direction determination unit 61.

[0057] The braking control unit 63 outputs an instruction to the braking device 71 to brake the travel of the crane 1 based on the detection information of the distance detection unit (front distance detection unit 51 or rear distance detection unit 52) ​​determined by the use determination unit 62.

[0058] The braking device 71 generates a braking force for the crane 1 based on an instruction output from the braking control unit 63. That is, the braking device 71 stops the traveling crane 1 based on an instruction output from the braking control unit 63.

[0059] The display unit 72 displays the traveling direction of the crane 1 based on the determination information of the traveling direction determination unit 61. The display unit 72 displays an arrow or the like indicating the traveling direction on a bird's-eye view of the crane 1 seen from above. Note that it is also possible not to provide the display unit 72.

[0060] [Processing by the control unit] 6 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.

[0061] First, the control unit 60 acquires information input to the first operation unit 55 (step S101).

[0062] Next, the travel direction determination unit 61 determines whether or not the travel direction of the crane 1 is forward based on the information input to the first operation unit 55 (step S102).

[0063] When it is determined that the traveling direction of the crane 1 is forward (YES in step S102), the use determining unit 62 determines to use the detection information of the forward distance detecting unit 51 (step S103).

[0064] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information of the forward distance detection unit 51 (step S104), and ends the process.

[0065] On the other hand, when it is determined that the traveling direction of the crane 1 is reverse (NO in step S102), the use determining unit 62 determines to use the detection information of the rear distance detecting unit 52 (step S105).

[0066] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information of the rear distance detection unit 52 (step S106), and ends the process.

[0067] [Function of the crane travel support device] The crane traveling support device 1A of Example 1 includes a plurality of distance detection units 50 that detect the distance to an object G ahead in the traveling direction of the crane 1, a traveling direction judgment unit 61 that judges the traveling direction of the crane 1, a usage decision unit 62 that decides to use the detection information of at least one of the plurality of distance detection units 50 based on the judgment of the traveling direction judgment unit 61, and a braking control unit 63 that brakes the traveling of the crane 1 based on the detection information of the distance detection unit 50 determined by the usage decision unit 62 (Figure 3).

[0068] This makes it possible to detect the distance to the object G ahead in the traveling direction by using an appropriate distance detection unit 50 in response to changes in the traveling direction of the crane 1. Also, it is possible to detect the distance to the object G approaching as the crane 1 travels by using an appropriate distance detection unit 50 in response to changes in the traveling direction of the crane 1. As a result, even if the traveling direction of the crane 1 changes, the traveling of the crane 1 can be appropriately braked.

[0069] In the crane driving support device 1A of Example 1, the distance detection unit 50 includes a forward distance detection unit 51 that detects the distance between an object G in front of the crane 1 and a rear distance detection unit 52 that detects the distance between an object G behind the crane 1, and a first operation unit 55 that switches the crane 1 between forward and reverse motion, a travel direction determination unit 61 determines the travel direction of the crane 1 based on input to the first operation unit 55, and a usage decision unit 62 decides to use the detection information of the forward distance detection unit 51 or the rear distance detection unit 52 based on the judgment of the travel direction determination unit 61 (Figure 3).

[0070] As a result, when the crane 1 moves forward, the front distance detection unit 51 can detect the distance to an object G ahead in the direction of travel, as shown in Fig. 4. When the crane 1 moves backward, the rear distance detection unit 52 can detect the distance to an object G ahead in the direction of travel, as shown in Fig. 5.

[0071] Therefore, in response to a change in the traveling direction of the crane 1, an appropriate distance detection unit 50 can be used to detect the distance to the object G ahead in the traveling direction. Also, in response to a change in the traveling direction of the crane 1, an appropriate distance detection unit 50 can be used to detect the distance to the object G approaching as the crane 1 travels. As a result, even if the traveling direction of the crane 1 changes, the travel of the crane 1 can be appropriately braked. EXAMPLES

[0072] The crane travel support device of the second embodiment differs from the crane travel support device of the first embodiment in that the processing by the control unit is different.

[0073] [Functional configuration of the crane driving support device] Fig. 7 is a diagram showing a state in which the crane 1 of the second embodiment is turning forward to the right. Fig. 8 is a diagram showing a state in which the crane 1 of the second embodiment is turning forward to the left. The functional configuration of the crane travel support device of the second embodiment will be described below. Note that the same terms or the same reference numerals will be used to describe the same or equivalent parts as those described in the above embodiments.

[0074] The travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward or backward based on the information input to the first operation unit 55. Also, the travel direction determination unit 61 determines whether the second operation unit 56 has been operated to the right or to the left based on the information input to the second operation unit 56. That is, the travel direction determination unit 61 determines whether the crane 1 will move forward and turn right, move forward and turn left, move backward and turn right, or move backward and turn left based on the information input to the first operation unit 55 and the second operation unit 56. In other words, the travel direction determination unit 61 determines the travel direction of the crane 1 based on the information input to the first operation unit 55 and the second operation unit 56.

[0075] Based on the judgment of the travel direction judgment unit 61, the usage decision unit 62 decides to use at least one of the detection information from the front distance detection unit 51, the rear distance detection unit 52, the right side distance detection unit 53, and the left side distance detection unit 54.

[0076] 7, when the crane 1 moves forward and turns right, the use determination unit 62 determines to use the detection information of the front distance detection unit 51 and the right side distance detection unit 53. The front distance detection unit 51 and the right side distance detection unit 53 detect an object G (e.g., a motorcycle) approaching as the crane 1 travels, and an object G ahead of the crane 1 in the direction of travel.

[0077] 8, when the crane 1 moves forward and turns left, the use decision unit 62 decides to use the detection information from the front distance detection unit 51 and the left side distance detection unit 54. The front distance detection unit 51 and the left side distance detection unit 54 detect an object G (e.g., a motorcycle) approaching as the crane 1 travels, and an object G ahead of the crane 1 in the direction of travel.

[0078] [Processing by the control unit] 9 is a flowchart showing the flow of processing by the control unit 60 of the embodiment 2. The flow of processing by the control unit 60 of the crane travel support device 1A of the embodiment 2 will be described below.

[0079] First, the control unit 60 acquires information input to the first operation unit 55 (step S201).

[0080] Next, the control unit 60 acquires the information input to the second operation unit 56 (step S202).

[0081] Next, the traveling direction determination unit 61 determines whether or not the information input to the second operation unit 56 is to the right (step S203).

[0082] If it is determined that the information input to the second operation unit 56 is to the right (YES in step S203), the travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward based on the information input to the first operation unit 55 (step S204).

[0083] When it is determined that the traveling direction of the crane 1 is forward (YES in step S204), the use determination unit 62 determines to use the detection information of the front distance detection unit 51 and the right side distance detection unit 53 (step S205).

[0084] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information from the front distance detection unit 51 and the right side distance detection unit 53 (step S206), and ends the process.

[0085] On the other hand, if it is determined that the traveling direction of the crane 1 is reverse (NO in step S204), the use determination unit 62 determines to use the detection information of the rear distance detection unit 52 and the left side distance detection unit 54 (step S207).

[0086] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information from the rear distance detection unit 52 and the left side distance detection unit 54 (step S208), and ends the process.

[0087] If it is determined that the information input to the second operation unit 56 is left (NO in step S203), the travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward based on the information input to the first operation unit 55 (step S209).

[0088] When it is determined that the traveling direction of the crane 1 is forward (YES in step S209), the use determination unit 62 determines to use the detection information of the front distance detection unit 51 and the left side distance detection unit 54 (step S210).

[0089] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information from the front distance detection unit 51 and the left side distance detection unit 54 (step S211), and ends the process.

[0090] On the other hand, if it is determined that the traveling direction of the crane 1 is reverse (NO in step S209), the use determination unit 62 determines to use the detection information of the rear distance detection unit 52 and the right side distance detection unit 53 (step S212).

[0091] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information from the rear distance detection unit 52 and the right side distance detection unit 53 (step S213), and ends the process.

[0092] [Function of the crane travel support device] In the crane driving support device 1A of Example 2, the distance detection unit 50 includes a right side distance detection unit 53 that detects the distance between an object G on the right side of the crane 1, and a left side distance detection unit 54 that detects the distance between an object G on the left side of the crane 1, and a second operation unit 56 that steers the wheels of the crane 1, and the travel direction determination unit 61 determines the travel direction of the crane 1 based on the input to the second operation unit 56, and the usage decision unit 62 decides to use at least one of the detection information of the front distance detection unit 51, the rear distance detection unit 52, the right side distance detection unit 53, and the left side distance detection unit 54 based on the judgment of the travel direction determination unit 61 (Figures 7 and 8).

[0093] As a result, when the crane 1 moves forward and the front wheel 12 is steered to the right, as shown in Figure 7, the front distance detection unit 51 and the right side distance detection unit 53 can detect the distance to an object G (e.g., a motorcycle) approaching as the crane 1 moves, and to an object G ahead in the direction of travel.

[0094] When the crane 1 moves forward and the front wheel 12 is steered to the left, as shown in Figure 8, the front distance detection unit 51 and the left side distance detection unit 54 can detect the distance to an object G (e.g., a motorcycle) approaching as the crane 1 moves, and to an object G ahead in the direction of travel.

[0095] When the crane 1 moves backwards and the front wheels 12 are steered to the right, the rear distance detection unit 52 and the left side distance detection unit 54 can detect the distance to an object G approaching as the crane 1 moves, and to an object G ahead in the direction of travel.

[0096] When the crane 1 moves backwards and the front wheels 12 are steered to the left, the rear distance detection unit 52 and the right side distance detection unit 53 can detect the distance to an object G approaching as the crane 1 moves, and to an object G ahead in the direction of travel.

[0097] Therefore, in response to a change in the traveling direction of the crane 1, an appropriate distance detection unit 50 can be used to detect the distance to the object G ahead in the traveling direction. Also, in response to a change in the traveling direction of the crane 1, an appropriate distance detection unit 50 can be used to detect the distance to the object G approaching as the crane 1 travels. As a result, even if the traveling direction of the crane 1 changes, the travel of the crane 1 can be appropriately braked.

[0098] Other configurations and functions and effects are substantially the same as those of the above embodiment, so description thereof will be omitted. EXAMPLES

[0099] The crane travel support device of the third embodiment differs from the crane travel support devices of the above embodiments in that the processing by the control unit is different.

[0100] [Functional configuration of the crane driving support device] FIG. 10 is a diagram showing a state in which the crane 1 of the third embodiment travels diagonally forward to the right in the second steering mode. FIG. 11 is a diagram showing a state in which the crane 1 of the third embodiment travels diagonally forward to the left in the second steering mode. FIG. 12 is a diagram showing a state in which the crane 1 of the third embodiment turns forward to the right in the third steering mode. FIG. 13 is a diagram showing a state in which the crane 1 of the third embodiment turns forward to the left in the third steering mode. FIG. 14 is a diagram showing a state in which the crane 1 of the third embodiment turns backward to the left in the fourth steering mode. FIG. 15 is a diagram showing a state in which the crane 1 of the third embodiment turns backward to the right in the fourth steering mode. The functional configuration of the crane travel support device of the third embodiment will be described below. Note that the same or equivalent parts as those described in the above embodiments will be described using the same terms or the same symbols.

[0101] The travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward or backward based on information input to the first operation unit 55. Also, the travel direction determination unit 61 determines whether the second operation unit 56 has been operated to the right or to the left based on information input to the third operation unit 57. Furthermore, the travel direction determination unit 61 determines which of the first to fourth steering modes has been selected based on information input to the third operation unit 57.

[0102] That is, based on the information input to the first operation unit 55, the second operation unit 56, and the third operation unit 57, the travel direction determination unit 61 determines whether to move forward and turn right in the first steering mode, move forward and turn left in the first steering mode, move backward and turn right in the first steering mode, or move backward and turn left in the first steering mode.

[0103] The travel direction determination unit 61 determines, based on information input to the first operation unit 55, the second operation unit 56, and the third operation unit 57, whether to move forward and turn right in the second steering mode, move forward and turn left in the second steering mode, move backward and turn right in the second steering mode, or move backward and turn left in the second steering mode.

[0104] The travel direction determination unit 61 determines, based on information input to the first operation unit 55, the second operation unit 56, and the third operation unit 57, whether to move forward and turn right in the third steering mode, move forward and turn left in the third steering mode, move backward and turn right in the third steering mode, or move backward and turn left in the third steering mode.

[0105] The travel direction determination unit 61 determines, based on information input to the first operation unit 55, the second operation unit 56, and the third operation unit 57, whether to move forward and turn right in the fourth steering mode, move forward and turn left in the fourth steering mode, move backward and turn right in the fourth steering mode, or move backward and turn left in the fourth steering mode.

[0106] In other words, the travel direction determination unit 61 determines the travel direction of the crane 1 based on the information input to the first operation unit 55, the second operation unit 56, and the third operation unit 57.

[0107] Based on the judgment of the travel direction judgment unit 61, the usage decision unit 62 decides to use at least one of the detection information from the front distance detection unit 51, the rear distance detection unit 52, the right side distance detection unit 53, and the left side distance detection unit 54.

[0108] 7, when the crane 1 moves forward and turns right in the first steering mode, the use determination unit 62 determines to use the detection information of the front distance detection unit 51 and the right side distance detection unit 53. The front distance detection unit 51 and the right side distance detection unit 53 detect an object G (e.g., a motorcycle) approaching as the crane 1 travels, and an object G ahead of the crane 1 in the direction of travel.

[0109] 8, when the crane 1 moves forward and turns left in the first steering mode, the use decision unit 62 decides to use the detection information from the front distance detection unit 51 and the left side distance detection unit 54. The front distance detection unit 51 and the left side distance detection unit 54 detect an object G (e.g., a motorcycle) approaching as the crane 1 travels, and an object G ahead of the crane 1 in the direction of travel.

[0110] 10, when the crane 1 travels diagonally forward to the right in the second steering mode, the use determination unit 62 determines to use the detection information of the front distance detection unit 51 and the right side distance detection unit 53. The front distance detection unit 51 and the right side distance detection unit 53 detect an object G (e.g., construction machinery) approaching as the crane 1 travels, and an object G ahead of the crane 1 in the traveling direction.

[0111] 11, when the crane 1 travels diagonally forward and to the left in the second steering mode, the use determination unit 62 determines to use the detection information of the front distance detection unit 51 and the left side distance detection unit 54. The front distance detection unit 51 and the left side distance detection unit 54 detect an object G (e.g., construction machinery) approaching as the crane 1 travels, and an object G ahead of the crane 1 in the direction of travel.

[0112] 12, when the crane 1 moves forward and turns right in the third steering mode, the use decision unit 62 decides to use the detection information of the front distance detection unit 51 and the right side distance detection unit 53. The front distance detection unit 51 and the right side distance detection unit 53 detect an object G approaching as the crane 1 travels, and an object G (e.g., construction machinery) ahead in the traveling direction of the crane 1.

[0113] 13, when the crane 1 moves forward and turns left in the third steering mode, the use decision unit 62 decides to use the detection information of the front distance detection unit 51 and the left side distance detection unit 54. The front distance detection unit 51 and the left side distance detection unit 54 detect an object G (e.g., construction machinery) approaching as the crane 1 travels, and an object G ahead of the crane 1 in the direction of travel.

[0114] 14, when the crane 1 moves backward and turns left in the fourth steering mode, the use decision unit 62 decides to use the detection information of the rear distance detection unit 52 and the left side distance detection unit 54. The rear distance detection unit 52 and the left side distance detection unit 54 detect an object G approaching as the crane 1 travels, and an object G (e.g., construction machinery) ahead in the traveling direction of the crane 1.

[0115] 15, when the crane 1 moves backward and turns right in the fourth steering mode, the use decision unit 62 decides to use the detection information of the rear distance detection unit 52 and the right side distance detection unit 53. The rear distance detection unit 52 and the right side distance detection unit 53 detect an object G approaching as the crane 1 travels, and an object G (e.g., construction machinery) ahead in the traveling direction of the crane 1.

[0116] [Processing by the control unit] 16 to 20 are flowcharts showing the flow of processing by the control unit 60 of the embodiment 3. The flow of processing by the control unit 60 of the crane travel support device 1A of the embodiment 3 will be described below.

[0117] First, the control unit 60 acquires information input to the first operation unit 55 (step S301).

[0118] Next, the control unit 60 acquires the information input to the second operation unit 56 (step S302).

[0119] Next, the control unit 60 acquires the information input to the third operation unit 57 (step S302).

[0120] Next, the travel direction determination unit 61 determines whether the information input to the third operation unit 57 is the first steering mode (step S304). If it is determined that the information input to the third operation unit 57 is the first steering mode (YES in step S304), the process proceeds to A.

[0121] On the other hand, if it is determined that the information input to the third operation unit 57 is not the first steering mode (NO in step S304), the traveling direction determination unit 61 determines whether the information input to the third operation unit 57 is the second steering mode (step S305). If it is determined that the information input to the third operation unit 57 is the second steering mode (YES in step S305), the process proceeds to B.

[0122] On the other hand, if it is determined that the information input to the third operation unit 57 is not the second steering mode (NO in step S305), the traveling direction determination unit 61 determines whether the information input to the third operation unit 57 is the third steering mode (step S306). If it is determined that the information input to the third operation unit 57 is the third steering mode (YES in step S306), the process proceeds to C.

[0123] When it is determined that the information input to the third operation unit 57 is not the third steering mode (NO in step S306), the process proceeds to D.

[0124] (A) When proceeding to A, the traveling direction determination unit 61 determines whether or not the information input to the second operation unit 56 is to the right (step S311).

[0125] If it is determined that the information input to the second operation unit 56 is to the right (YES in step S311), the travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward based on the information input to the first operation unit 55 (step S312).

[0126] When it is determined that the traveling direction of the crane 1 is forward (YES in step S312), the use determination unit 62 determines to use the detection information of the front distance detection unit 51 and the right side distance detection unit 53 (step S313).

[0127] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information from the front distance detection unit 51 and the right side distance detection unit 53 (step S314), and ends the process.

[0128] On the other hand, if it is determined that the traveling direction of the crane 1 is reverse (NO in step S312), the use determination unit 62 determines to use the detection information of the rear distance detection unit 52 and the left side distance detection unit 54 (step S315).

[0129] Next, the braking control unit 63 outputs an instruction to the braking device 71 to brake the traveling of the crane 1 based on the detection information from the rear distance detection unit 52 and the left side distance detection unit 54 (step S316), and ends the process.

[0130] If it is determined that the information input to the second operation unit 56 is left (NO in step S311), the travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward based on the information input to the first operation unit 55 (step S317).

[0131] If it is determined that the traveling direction of the crane 1 is forward (YES in step S317), the use determination unit 62 determines to use the detection information from the front distance detection unit 51 and the left side distance detection unit 54 (step S318).

[0132] Next, the braking control unit 63 outputs an instruction to the braking device 71 to brake the traveling of the crane 1 based on the detection information from the front distance detection unit 51 and the left side distance detection unit 54 (step S319), and ends the process.

[0133] On the other hand, if it is determined that the traveling direction of the crane 1 is reverse (NO in step S317), the use determining unit 62 determines to use the detection information of the rear distance detecting unit 52 and the right side distance detecting unit 53 (step S320).

[0134] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information from the rear distance detection unit 52 and the right side distance detection unit 53 (step S321), and ends the process.

[0135] (B) When proceeding to B, the traveling direction determination unit 61 determines whether or not the information input to the second operation unit 56 is to the right (step S331).

[0136] If it is determined that the information input to the second operation unit 56 is to the right (YES in step S331), the travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward based on the information input to the first operation unit 55 (step S332).

[0137] When it is determined that the traveling direction of the crane 1 is forward (YES in step S332), the use determination unit 62 determines to use the detection information of the front distance detection unit 51 and the right side distance detection unit 53 (step S333).

[0138] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information from the front distance detection unit 51 and the right side distance detection unit 53 (step S334), and ends the process.

[0139] On the other hand, if it is determined that the traveling direction of the crane 1 is reverse (NO in step S332), the use determination unit 62 determines to use the detection information of the rear distance detection unit 52 and the left side distance detection unit 54 (step S335).

[0140] Next, the braking control unit 63 outputs an instruction to the braking device 71 to brake the traveling of the crane 1 based on the detection information from the rear distance detection unit 52 and the left side distance detection unit 54 (step S336), and ends the process.

[0141] If it is determined that the information input to the second operation unit 56 is left (NO in step S331), the travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward based on the information input to the first operation unit 55 (step S337).

[0142] If it is determined that the traveling direction of the crane 1 is forward (YES in step S337), the use determination unit 62 determines to use the detection information of the front distance detection unit 51 and the left side distance detection unit 54 (step S338).

[0143] Next, the braking control unit 63 outputs an instruction to the braking device 71 to brake the traveling of the crane 1 based on the detection information from the front distance detection unit 51 and the left side distance detection unit 54 (step S339), and ends the process.

[0144] On the other hand, if it is determined that the traveling direction of the crane 1 is reverse (NO in step S337), the use determination unit 62 determines to use the detection information of the rear distance detection unit 52 and the right side distance detection unit 53 (step S340).

[0145] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information from the rear distance detection unit 52 and the right side distance detection unit 53 (step S341), and ends the process.

[0146] (C) When proceeding to C, the traveling direction determination unit 61 determines whether or not the information input to the second operation unit 56 is to the right (step S351).

[0147] If it is determined that the information input to the second operation unit 56 is to the right (YES in step S351), the travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward based on the information input to the first operation unit 55 (step S352).

[0148] When it is determined that the traveling direction of the crane 1 is forward (YES in step S352), the use determination unit 62 determines to use the detection information of the front distance detection unit 51 and the right side distance detection unit 53 (step S353).

[0149] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information from the front distance detection unit 51 and the right side distance detection unit 53 (step S354), and ends the process.

[0150] On the other hand, if it is determined that the traveling direction of the crane 1 is reverse (NO in step S352), the use determination unit 62 determines to use the detection information of the rear distance detection unit 52 and the left side distance detection unit 54 (step S355).

[0151] Next, the braking control unit 63 outputs an instruction to the braking device 71 to brake the traveling of the crane 1 based on the detection information from the rear distance detection unit 52 and the left side distance detection unit 54 (step S356), and ends the process.

[0152] If it is determined that the information input to the second operation unit 56 is left (NO in step S351), the travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward based on the information input to the first operation unit 55 (step S357).

[0153] If it is determined that the traveling direction of the crane 1 is forward (YES in step S357), the use determination unit 62 determines to use the detection information from the front distance detection unit 51 and the left side distance detection unit 54 (step S358).

[0154] Next, the braking control unit 63 outputs an instruction to the braking device 71 to brake the traveling of the crane 1 based on the detection information from the front distance detection unit 51 and the left side distance detection unit 54 (step S359), and ends the process.

[0155] On the other hand, if it is determined that the traveling direction of the crane 1 is reverse (NO in step S357), the use determination unit 62 determines to use the detection information of the rear distance detection unit 52 and the right side distance detection unit 53 (step S360).

[0156] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information from the rear distance detection unit 52 and the right side distance detection unit 53 (step S361), and ends the process.

[0157] (D) When the process proceeds to D, the traveling direction determination unit 61 determines whether or not the information input to the second operation unit 56 is to the right (step S371).

[0158] If it is determined that the information input to the second operation unit 56 is to the right (YES in step S371), the travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward based on the information input to the first operation unit 55 (step S372).

[0159] If it is determined that the traveling direction of the crane 1 is forward (YES in step S372), the use determination unit 62 determines to use the detection information from the front distance detection unit 51 and the left side distance detection unit 54 (step S373).

[0160] Next, the braking control unit 63 outputs an instruction to the braking device 71 to brake the traveling of the crane 1 based on the detection information from the front distance detection unit 51 and the left side distance detection unit 54 (step S374), and ends the process.

[0161] On the other hand, if it is determined that the traveling direction of the crane 1 is reverse (NO in step S372), the use determination unit 62 determines to use the detection information of the rear distance detection unit 52 and the left side distance detection unit 54 (step S375).

[0162] Next, the braking control unit 63 outputs an instruction to the braking device 71 to brake the traveling of the crane 1 based on the detection information from the rear distance detection unit 52 and the left side distance detection unit 54 (step S376), and ends the process.

[0163] If it is determined that the information input to the second operation unit 56 is left (NO in step S371), the travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward based on the information input to the first operation unit 55 (step S377).

[0164] If it is determined that the traveling direction of the crane 1 is forward (YES in step S377), the use determination unit 62 determines to use the detection information of the front distance detection unit 51 and the right side distance detection unit 53 (step S378).

[0165] Next, the braking control unit 63 outputs an instruction to the braking device 71 to brake the traveling of the crane 1 based on the detection information from the front distance detection unit 51 and the right side distance detection unit 53 (step S379), and ends the process.

[0166] On the other hand, if it is determined that the traveling direction of the crane 1 is reverse (NO in step S377), the use determination unit 62 determines to use the detection information of the rear distance detection unit 52 and the right side distance detection unit 53 (step S380).

[0167] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information from the rear distance detection unit 52 and the right side distance detection unit 53 (step S381), and ends the process.

[0168] [Function of the crane travel support device] The crane travel support device 1A of the second embodiment includes a third operation unit 57 that switches between a first steering mode in which the front wheels 12 of the crane 1 are steered, a second steering mode in which the front wheels 12 and the rear wheels 13 of the crane 1 are steered in the same direction, a third steering mode in which the front wheels 12 and the rear wheels 13 of the crane 1 are steered in different directions, and a fourth steering mode in which the rear wheels 13 of the crane 1 are steered, and a traveling direction determination unit 61 determines the traveling direction of the crane 1 based on an input to the third operation unit 57 (FIGS. 10 to 15).

[0169] As a result, when the crane 1 moves forward in the first steering mode and the front wheels 12 are steered to the right, as shown in Figure 7, the forward distance detection unit 51 and the right side distance detection unit 53 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0170] When the crane 1 moves forward in the first steering mode and the front wheels 12 are steered to the left, as shown in Figure 8, the forward distance detection unit 51 and the left side distance detection unit 54 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0171] When the crane 1 is reversing in the first steering mode and the front wheels 12 are steered to the right, the rear distance detection unit 52 and the left side distance detection unit 54 can detect the distance to an object G ahead in the direction of travel, or to an object G approaching as the crane 1 moves.

[0172] When the crane 1 is reversing in the first steering mode and the front wheels 12 are steered to the left, the rear distance detection unit 52 and the right side distance detection unit 53 can detect the distance to an object G ahead in the direction of travel, or to an object G approaching as the crane 1 moves.

[0173] When the crane 1 moves forward in the second steering mode and the front wheels 12 and rear wheels 13 are steered to the right, as shown in Figure 10, the forward distance detection unit 51 and the right side distance detection unit 53 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0174] When the crane 1 moves forward in the second steering mode and the front wheels 12 and rear wheels 13 are steered to the left, the forward distance detection unit 51 and the left side distance detection unit 54 can detect the distance to an object G ahead in the direction of travel and an object G approaching as the crane 1 moves.

[0175] When the crane 1 is reversing in the second steering mode and the front wheels 12 and rear wheels 13 are steered to the right, the rear distance detection unit 52 and the left side distance detection unit 54 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0176] When the crane 1 moves backward in the second steering mode and the front wheels 12 and rear wheels 13 are steered to the left, the rear distance detection unit 52 and the right side distance detection unit 53 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0177] When the crane 1 moves forward in the third steering mode, with the front wheels 12 steered to the right and the rear wheels 13 steered to the left, as shown in Figure 12, the forward distance detection unit 51 and the right side distance detection unit 53 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0178] When the crane 1 moves forward in the third steering mode, with the front wheels 12 steered to the left and the rear wheels 13 steered to the right, as shown in Figure 13, the forward distance detection unit 51 and the left side distance detection unit 54 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0179] When the crane 1 is reversing in the third steering mode, with the front wheels 12 steered to the right and the rear wheels 13 steered to the left, the rear distance detection unit 52 and the left side distance detection unit 54 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0180] When the crane 1 moves backward in the third steering mode, with the front wheels 12 steered to the left and the rear wheels 13 steered to the right, the rear distance detection unit 52 and the right side distance detection unit 53 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0181] When the crane 1 is reversing in the fourth steering mode and the rear wheels 13 are steered to the right, as shown in Figure 14, the rear distance detection unit 52 and the left side distance detection unit 54 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0182] When the crane 1 is reversing in the fourth steering mode and the rear wheels 13 are steered to the left, as shown in Figure 15, the rear distance detection unit 52 and the right side distance detection unit 53 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0183] When the crane 1 moves forward in the fourth steering mode and the rear wheels 13 are steered to the right, the forward distance detection unit 51 and the left side distance detection unit 54 can detect the distance to an object G ahead in the direction of travel and to an object G approaching as the crane 1 moves.

[0184] When the crane 1 moves forward in the fourth steering mode and the rear wheels 13 are steered to the left, the front distance detection unit 51 and the right side distance detection unit 53 can detect the distance to an object G ahead in the direction of travel and an object G approaching as the crane 1 moves.

[0185] Therefore, in response to a change in the traveling direction of the crane 1, an appropriate distance detection unit 50 can be used to detect the distance to the object G ahead in the traveling direction. Also, in response to a change in the traveling direction of the crane 1, an appropriate distance detection unit 50 can be used to detect the distance to the object G approaching as the crane 1 travels. As a result, even if the traveling direction of the crane 1 changes, the travel of the crane 1 can be appropriately braked.

[0186] Other configurations and functions and effects are substantially the same as those of the above embodiment, so description thereof will be omitted. EXAMPLES

[0187] The crane travel support device of the fourth embodiment differs from the crane travel support devices of the above embodiments in that the processing by the control unit is different.

[0188] [Functional configuration of the crane driving support device] Fig. 21 is a diagram showing a state in which the crane 1 of the fourth embodiment is towed by a towing vehicle in emergency steering mode. The functional configuration of the crane travel support device of the fourth embodiment will be described below. Note that the same terms or the same reference numerals will be used to describe the same or equivalent parts as those described in the above embodiments.

[0189] The control unit 60 determines whether the input to the fourth operation unit 58 is the emergency steering mode or the normal steering mode.

[0190] Specifically, as shown in FIG. 21, when the crane 1 is being towed by the towing vehicle K in the emergency steering mode, the braking control section 63 does not output an instruction to the braking device 71 to brake the travel of the crane 1.

[0191] [Processing by the control unit] 22 is a flowchart showing the flow of processing by the control unit 60 of the embodiment 4. The flow of processing by the control unit 60 of the crane travel support device 1A of the embodiment 4 will be described below.

[0192] First, the control unit 60 acquires information input to the fourth operation unit 58 (step S401).

[0193] Next, the control unit 60 determines whether or not the information input to the fourth operation unit 58 is the normal steering mode (step S402).

[0194] When it is determined that the information input to the fourth operation unit 58 indicates the normal steering mode (YES in step S402), the control unit 60 acquires the information input to the first operation unit 55 (step S403).

[0195] Next, the travel direction determination unit 61 determines whether the travel direction of the crane 1 is forward or not based on the information input to the first operation unit 55 (step S404).

[0196] When it is determined that the traveling direction of the crane 1 is forward (YES in step S404), the use determining unit 62 determines to use the detection information of the forward distance detecting unit 51 (step S405).

[0197] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information of the forward distance detection unit 51 (step S406), and ends the process.

[0198] On the other hand, when it is determined that the traveling direction of the crane 1 is reverse (NO in step S404), the use determining unit 62 determines to use the detection information of the rear distance detecting unit 52 (step S407).

[0199] Next, the braking control unit 63 outputs an instruction to brake the traveling of the crane 1 to the braking device 71 based on the detection information of the rear distance detection unit 52 (step S408), and ends the process.

[0200] When it is determined that the information input to the fourth operation unit 58 is the emergency steering mode (NO in step S402), the process ends.

[0201] [Function of the crane travel support device] The crane driving support device 1A of the second embodiment is equipped with a fourth operation unit 58 that switches between an emergency steering mode in the event of an abnormality and a normal steering mode in normal operation, and when the input to the fourth operation unit 58 is the emergency steering mode, the braking control unit 63 does not brake the driving of the crane 1 (Figure 21).

[0202] Incidentally, when the braking device 71 of the crane 1 or the like breaks down and the crane 1 is unable to move on its own, the crane 1 may be towed by a towing vehicle. In this case, the normal steering mode is switched to an emergency steering mode. In the emergency steering mode, the second operation unit 56 may be steered while the crane 1 is being towed by the towing vehicle. In such a case, there is a problem that the towing vehicle is mistakenly detected as an object G, and the braking control unit 63 brakes the travel of the crane 1.

[0203] In the first embodiment, in the emergency steering mode, the braking control unit 63 does not brake the travel of the crane 1, so that it is possible to prevent the travel of the crane 1 from being braked while being towed by the towing vehicle K, for example, as shown in FIG. 21.

[0204] Other configurations and functions and effects are substantially the same as those of the above embodiment, so description thereof will be omitted.

[0205] The crane travel support device of the present invention has been described above based on Examples 1 to 4. However, the specific configuration is not limited to these Examples, and combinations of the Examples, design changes, additions, etc. are permitted as long as they do not deviate from the gist of the invention according to each claim in the claims.

[0206] In the first to fourth embodiments, an example has been shown in which four distance detection units 50 are provided, namely, a front distance detection unit 51, a rear distance detection unit 52, a right side distance detection unit 53, and a left side distance detection unit 54. However, the number of distance detection units may be two, three, five or more.

[0207] In the first to fourth embodiments, an example has been shown in which the use determination unit 62 determines to use detection information from at least one of the multiple distance detection units 50 based on the determination of the traveling direction determination unit 61. However, the use determination unit 62 is not limited to the above embodiment, and may determine to use detection information from a distance detection unit 50 different from that in the above embodiments based on the determination of the traveling direction determination unit 61 among the multiple distance detection units 50.

[0208] In the first to fourth embodiments, the distance detection unit 50 is provided on the side of the vehicle body 10 where the cabin 21 is provided. However, the distance detection unit does not have to be provided on the side of the vehicle body 10 where the cabin 21 is provided.

[0209] In the first to fourth embodiments, an example is shown in which there are four steering modes: a first steering mode, a second steering mode, a third steering mode, and a fourth steering mode. However, the number of steering modes is not limited to this.

[0210] In the first to fourth embodiments, the distance detection unit 50 is a millimeter wave radar. However, the distance detection unit 50 is not limited to this, and may be an ultrasonic sensor, a LiDAR (Light Detection and Ranging) sensor, or another distance sensor. The distance detection unit 50 may also be a combination of an ultrasonic sensor, a LiDAR (Light Detection and Ranging) sensor, and the like.

[0211] In the first to fourth embodiments, an example has been shown in which an instruction to brake the travel of the crane 1 is output to the braking device 71 based on the detection information of the distance detection unit (forward distance detection unit 51 or rearward distance detection unit 52) ​​determined by the use determination unit 62. However, it is also possible to output an instruction to brake the travel of the crane 1 to the braking device 71 based on the detection information of the distance detection unit (forward distance detection unit 51 or rearward distance detection unit 52) ​​determined by the use determination unit 62, and also to output the instruction to an alarm device to issue a warning before braking, or to only issue a warning.

[0212] In the first to fourth embodiments, an example has been shown in which the crane travel assistance device of the present invention is applied to a rough terrain crane having one front axle wheel 12 and one rear axle wheel 13. However, the crane travel assistance device of the present invention is not limited to rough terrain cranes, and can be applied to all-terrain cranes having multiple front axles and multiple rear axles, etc. [Explanation of symbols]

[0213] 1. Crane 1A Crane driving support device 50 Distance detection unit 51 Front distance detection unit 52 Rear distance detection unit 53 Right side distance detection unit 54 Left side distance detection unit 55 1st operation section 56 2nd operation section 57 Third operation section 58 4th operation section 61 Heading direction judgment unit 62 Usage decision section 63 Braking control unit G object

Claims

1. A plurality of distance detection units that detect a distance to an object ahead in a traveling direction of the crane; A direction of travel determination unit that determines a direction of travel of the crane; a use determination unit that determines use of detection information of at least one of the distance detection units based on a determination by the traveling direction determination unit; A braking control unit that brakes the travel of the crane based on the detection information of the distance detection unit determined by the use determination unit, A first operation unit that switches the crane between forward and reverse motion; A second operating unit that steers the wheels of the crane; a third operation unit that switches between a first steering mode in which the front wheels of the crane are steered, a second steering mode in which the front wheels and the rear wheels of the crane are steered in the same direction, a third steering mode in which the front wheels and the rear wheels of the crane are steered in different directions, and a fourth steering mode in which the rear wheels of the crane are steered, The travel direction determination unit determines a travel direction of the crane based on an input to the first operation unit, an input to the second operation unit, and an input to the third operation unit. A crane travel support device characterized by the above.

2. The distance detection unit is A forward distance detection unit that detects a distance to the object in front of the crane; a rear distance detection unit that detects a distance to the object behind the crane, The use determination unit determines whether to use the detection information of the forward distance detection unit or the rearward distance detection unit based on a determination by the traveling direction determination unit. The crane travel support device according to claim 1 .

3. The distance detection unit is A right side distance detection unit that detects a distance between the object on the right side of the crane; a left side distance detection unit that detects a distance to the object on the left side of the crane, The use determination unit determines the use of at least one of the detection information of the front distance detection unit, the rear distance detection unit, the right side distance detection unit, and the left side distance detection unit based on the determination of the traveling direction determination unit. The crane travel support device according to claim 2 .

4. A fourth operation unit is provided for switching between an emergency steering mode when an abnormality occurs and a normal steering mode when a normal operation occurs, When the input to the fourth operation unit is the emergency steering mode, the braking control unit does not brake the traveling of the crane. A crane travel support device according to any one of claims 1 to 3.

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