crane

Abstract

To provide a crane capable of improving the detection accuracy of an object with a simple structure.SOLUTION: A crane 1 capable of traveling in a state where the tip of a boom 30 protrudes forward from a vehicle body 10 comprises: first object detection means 51 disposed at the tip of the boom 30 to detect an object G in a side area S1 on the lateral side of the boom 30; second object detection means 52 for detecting the object G in a front area S2 including at least a part of the side area S1 ahead of the vehicle body 10; and object presence determination means 62 for determining presence of the object G on the basis of the detection information of the first object detection means 51 and the detection information of the second object detection means 52.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a crane that can travel with the tip of a boom protruding forward from a vehicle body. [Background technology]

[0002] It is conventionally known to provide an object detection means for detecting an object at the tip of a boom (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a configuration in which a millimeter wave radar unit of a millimeter wave radar device is disposed via brackets on both the left and right sides of the boom in the thickness direction at the front end of the boom, thereby detecting objects on the road to the sides of the boom. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-17115 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the configuration of Patent Document 1 detects objects only using the millimeter wave radar unit installed on the side of the boom, which has the problem of reduced detection accuracy.

[0006] Therefore, an object of the present invention is to provide a crane that can improve the object detection accuracy with a simple configuration. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the crane of the present invention is a crane capable of traveling with the tip of a boom protruding forward from a vehicle body, and is characterized in comprising a first object detection means arranged at the tip of the boom for detecting objects in a lateral area to the side of the boom, a second object detection means for detecting objects in a forward area in front of the vehicle body including at least a part of the lateral area, and an object presence / absence determination unit for determining the presence or absence of an object based on detection information from the first object detection means and detection information from the second object detection means. Effect of the Invention

[0008] The crane of the present invention thus configured can improve the object detection accuracy with a simple configuration. [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] FIG. 2 is a block diagram showing a functional configuration of the crane according to the first embodiment. [Figure 4] FIG. 4 is a flowchart showing a process flow by a control unit of the crane in the first embodiment. [Diagram 5] 4A to 4C are diagrams for explaining the operation of the crane of the first embodiment. [Figure 6] FIG. 11 is a flowchart showing a process flow by a control unit of the crane in the second embodiment. [Figure 7] FIG. 11 is a plan view showing a crane according to another embodiment. [Figure 8] FIG. 11 is a plan view showing a crane according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments for realizing a crane according to the present invention will be described based on Example 1 and Example 2 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) equipped with a slant boom with a lowered boom tip.

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

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

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

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

[0016] The rotating body 20 is provided above the vehicle body 10 and is rotatable around a vertical axis C1 relative to the vehicle body 10. The rotating body 20 is equipped with a cabin 21. The cabin 21 is provided on the right side of the boom 30, facing the traveling direction of the crane 1. The cabin 21 may also be provided on the left side of the boom 30, facing the traveling direction of the crane 1.

[0017] The cabin 21 has operation units (e.g., a steering wheel, a shift lever, an accelerator pedal, and a brake pedal) for controlling the traveling of the vehicle body 10. The cabin 21 also has operation units for operating the revolving body 20, the boom 30, the winch 24, etc. The driver M who is in the cabin 21 can operate the operation units to revolve the revolving body 20, raise and lower and extend the boom 30, and rotate the winch 24 to perform work.

[0018] 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.

[0019] 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 extending or contracting the hoisting cylinder, and the boom 30 is extended or contracted by extending or contracting a telescopic cylinder (not shown).

[0020] 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.

[0021] 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.

[0022] The side surface of the boom head 33a is provided with a first object detection means 51 as the object detection means 50. The first object detection means 51 is attached to the side surface of the boom head 33a on the side on which the cabin 21 is not provided, in a substantially horizontal position facing the side on which the cabin 21 is not provided. In other words, the first object detection means 51 is attached to the side surface of the boom head 33a opposite the side on which the cabin 21 is provided, in a substantially horizontal position facing the side on which the cabin 21 is provided.

[0023] The first object detection means 51 detects objects in a side area S1 on the opposite side of the tip of the boom 30 to the side where the cabin 21 is provided. The first object detection means 51 detects objects in the side area S1 in a direction substantially perpendicular to the longitudinal direction of the boom 30. The objects may be, for example, objects on a public road such as a motorcycle, a bicycle, a person, or a telephone pole. The first object detection means 51 may be, for example, an ultrasonic sensor.

[0024] The first object detection means 51 may be attached in a posture inclined in the up-down direction, or in a posture inclined in the front-rear direction.

[0025] The front part of the vehicle body 10 is provided with second object detection means 52 as the object detection means 50. The second object detection means 52 is attached in a substantially horizontal position facing forward at a position on the vehicle body 10 on the side where the cabin 21 is not provided with respect to the boom 30. In other words, the second object detection means 52 is attached in a substantially horizontal position facing forward at a position on the vehicle body 10 on the opposite side of the boom 30 from the side where the cabin 21 is provided.

[0026] The second object detection means 52 detects objects in a forward area S2 on the opposite side of the boom 30 from the side on which the cabin 21 is provided. The second object detection means 52 detects objects in the forward area S2 including the lateral area S1. The second object detection means 52 detects objects in the forward area S2 in a substantially horizontal direction. The second object detection means 52 can be, for example, an ultrasonic sensor.

[0027] The second object detection means 52 may be attached in a posture inclined in the up-down direction or in a posture inclined in the left-right direction.

[0028] The vehicle body 10 is equipped with a braking device 80 that brakes the vehicle body 10.

[0029] 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.

[0030] In addition, the crane 1 can travel with the tip of the boom 30 in a lowered position in the stored state protruding forward from the vehicle body 10.

[0031] [Functional configuration of the crane] 3 is a block diagram showing a functional configuration of the crane 1 of the embodiment 1. The functional configuration of the crane 1 of the embodiment 1 will be described below.

[0032] As shown in Figure 3, in the crane 1, detection information from the first object detection means 51 and detection information from the second object detection means 52 are input to the control unit 60, and processing information processed by the control unit 60 is output to the braking device 80.

[0033] The first object detection means 51 detects an object in a lateral area S1 on the opposite side to the side where the cabin 21 is provided at the tip of the boom 30. Detection information detected by the first object detection means 51 is input to the control unit 60.

[0034] The second object detection means 52 detects an object in a forward area S2 including at least a part of a lateral area S1 on the opposite side of the boom 30 from the side on which the cabin 21 is provided. The forward area S2 may include a part of the lateral area S1 or may include the entire lateral area S1. Detection information detected by the second object detection means 52 is input to the control unit 60.

[0035] The control unit 60 includes a detection information acquisition unit 61 , an object presence / absence determination unit 62 , and a braking control unit 63 .

[0036] The detection information acquisition unit 61 receives detection information detected by the first object detection means 51 and detection information detected by the second object detection means 52. When the first object detection means 51 detects an object, the detection information acquisition unit 61 acquires the detection information. When the second object detection means 52 detects an object, the detection information acquisition unit 61 acquires the detection information.

[0037] The object presence / absence determination unit 62 determines the presence or absence of an object based on the detection information of the first object detection means 51 and the detection information of the second object detection means 52. When the first object detection means 51 detects an object and the second object detection means 52 detects an object, the object presence / absence determination unit 62 determines that an object is present.

[0038] In other words, the object presence / absence judgment unit 62 judges that an object is not present if the first object detection means 51 detects an object but the second object detection means 52 does not detect an object, or if the second object detection means 52 detects an object but the first object detection means 51 does not detect the object.

[0039] The braking control unit 63 controls the braking device 80 based on the determination information of the object presence / absence determination unit 62 .

[0040] The braking device 80 functions as a collision mitigation brake that brakes the vehicle body 10.

[0041] [Processing flow by the control unit] 4 is a flow diagram showing the flow of processing by the control unit 60 of the crane 1 of Example 1. The flow of processing by the control unit 60 of the crane 1 of Example 1 will be described below.

[0042] 4, the detection information acquisition unit 61 receives detection information from the first object detection means 51 (step S101). If the first object detection means 51 detects an object, the detection information acquisition unit 61 acquires the detection information from the first object detection means 51. If the first object detection means 51 does not detect an object, the detection information acquisition unit 61 does not acquire the detection information from the first object detection means 51.

[0043] Next, the detection information acquisition unit 61 receives the detection information of the second object detection means 52 (step S102). If the second object detection means 52 detects an object, the detection information acquisition unit 61 acquires the detection information of the second object detection means 52. If the second object detection means 52 does not detect an object, the detection information acquisition unit 61 does not acquire the detection information of the second object detection means 52.

[0044] The object presence / absence determination unit 62 determines whether or not the detection information of the first object detection means 51 has been acquired (step S103). If it is determined that the detection information of the first object detection means 51 has been acquired (YES in step S103), the process proceeds to step S104. On the other hand, if it is determined that the detection information of the first object detection means 51 has not been acquired (NO in step S103), the process proceeds to step S107.

[0045] When the process proceeds to step S104, the object presence / absence determination unit 62 determines whether or not detection information from the second object detection means 52 has been acquired (step S104). If it is determined that detection information from the second object detection means 52 has been acquired (YES in step S104), the process proceeds to step S105. On the other hand, if it is determined that detection information from the second object detection means 52 has not been acquired (NO in step S104), the process proceeds to step S107.

[0046] When the process proceeds to step S105, the object presence / absence determination unit 62 determines that an object is present (step S105). Next, the braking control unit 63 outputs an instruction to brake the crane 1 to the braking device 80 based on the detection information of the first object detection means 51 and the detection information of the second object detection means 52 (step S106), and ends the process.

[0047] On the other hand, when the process proceeds to step S107, the object presence / absence determination unit 62 determines that there is no object (step S107). Next, the braking control unit 63 ends the process without outputting an instruction to brake the crane 1 to the braking device 80 (step S108).

[0048] [Crane action] 5 is a diagram for explaining the operation of the crane 1 of the embodiment 1. The operation of the crane 1 of the embodiment 1 will be explained below.

[0049] The crane 1 of Example 1 is a crane 1 that can travel with the tip of the boom 30 protruding forward from the vehicle body 10, and is equipped with a first object detection means 51 arranged at the tip of the boom 30 for detecting an object G in a lateral area S1 to the side of the boom 30, a second object detection means 52 for detecting an object G in a front area S2 in front of the vehicle body 10 including at least a part of the lateral area S1, and an object presence / absence judgment unit 62 that judges the presence or absence of an object G based on the detection information of the first object detection means 51 and the detection information of the second object detection means 52 (Figure 3).

[0050] This makes it possible to detect an object G from two directions, a side area S1 and a front area S2, as shown in Fig. 5, and to determine the presence or absence of an object G. As a result, it is possible to improve the detection accuracy of an object G with a simple configuration. In addition, it is possible to calculate coordinate information that cannot be obtained from a single object detection means using the detection information from the two object detection means, and to realize control that does not issue a warning or brake outside the vehicle width of the crane 1 based on this coordinate information.

[0051] In the crane 1 of the first embodiment, the object presence / absence determination unit 62 determines the presence of an object G when the first object detection means 51 detects an object G and the second object detection means 52 detects an object G (FIG. 4).

[0052] This allows the object G to be detected by the first object detection means 51 that detects the side area S1 and the second object detection means 52 that detects the front area S2. This makes it possible to prevent erroneous detection of the object G. As a result, it is possible to improve the detection accuracy of the object G with a simple configuration.

[0053] In the crane 1 of Example 1, the first object detection means 51 is attached to the side of the boom 30 on which the cabin 21 is not provided, and the second object detection means 52 is attached to the vehicle body 10 on the side of the boom 30 on which the cabin 21 is not provided (Figure 2).

[0054] This makes it possible to improve the detection accuracy of the front of the vehicle body 10 on the side where the cabin 21 is not provided with respect to the boom 30. Therefore, it is possible to improve the detection accuracy of an object G (for example, a person, a motorcycle, or an automobile) that is located in a position that is difficult for the driver M in the cabin 21 to directly confirm with the naked eye.

[0055] The crane 1 of the first embodiment is provided with a braking control unit 63 that controls the braking device 80 of the vehicle body 10 based on the detection results of the first object detection means 51 and the second object detection means 52 (FIG. 3).

[0056] This improves the detection accuracy of the object G, enabling the crane 1 to be braked safely. EXAMPLES

[0057] The crane of the second embodiment differs from the crane of the first embodiment in that the configuration of the object presence / absence determining unit is different.

[0058] [Crane configuration] Hereinafter, a configuration of the distance detection means of the embodiment 2 will be described. 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 embodiment.

[0059] The object presence / absence determining unit 62 of the second embodiment determines the presence or absence of an object based on the detection information of the first object detection means 51 and the detection information of the second object detection means 52.

[0060] The object presence / absence determination unit 62 determines that an object is present when the first object detection means 51 detects an object, when the second object detection means 52 detects an object, or when the first object detection means 51 detects an object and the second object detection means 52 detects an object.

[0061] That is, the object presence / absence determination unit 62 determines that there is no object when the first object detection means 51 does not detect an object and when the second object detection means 52 does not detect an object. In other words, when at least one of the first object detection means 51 and the second object detection means 52 detects the object G, it determines that the object G is present.

[0062] [Processing flow by the control unit] 6 is a flow diagram showing the flow of processing by the control unit 60 of the crane 1 of the embodiment 2. The flow of processing by the control unit 60 of the crane 1 of the embodiment 2 will be described below.

[0063] 6, the detection information acquisition unit 61 receives detection information from the first object detection means 51 (step S201). If the first object detection means 51 detects an object, the detection information acquisition unit 61 acquires the detection information from the first object detection means 51. If the first object detection means 51 does not detect an object, the detection information acquisition unit 61 does not acquire the detection information from the first object detection means 51.

[0064] Next, the detection information acquisition unit 61 receives the detection information of the second object detection means 52 (step S202). If the second object detection means 52 detects an object, the detection information acquisition unit 61 acquires the detection information of the second object detection means 52. If the second object detection means 52 does not detect an object, the detection information acquisition unit 61 does not acquire the detection information of the second object detection means 52.

[0065] Next, the object presence / absence determination unit 62 determines whether or not the detection information of the first object detection means 51 has been acquired (step S203). If it is determined that the detection information of the first object detection means 51 has been acquired (YES in step S203), the process proceeds to step S204. On the other hand, if it is determined that the detection information of the first object detection means 51 has not been acquired (NO in step S203), the process proceeds to step S209.

[0066] When the process proceeds to step S204, the object presence / absence determination unit 62 determines whether or not detection information from the second object detection means 52 has been acquired (step S204). If it is determined that detection information from the second object detection means 52 has been acquired (YES in step S204), the object presence / absence determination unit 62 proceeds to step S205. On the other hand, if it is determined that detection information from the second object detection means 52 has not been acquired (NO in step S204), the object presence / absence determination unit 62 proceeds to step S207.

[0067] When the process proceeds to step S205, the object presence / absence determination unit 62 determines that an object is present (step S205). Next, the braking control unit 63 outputs an instruction to brake the crane 1 to the braking device 80 based on the detection information of the first object detection means 51 and the detection information of the second object detection means 52 (step S206), and ends the process.

[0068] When the process proceeds to step S207, the object presence / absence determination unit 62 determines that an object is present (step S207). Next, the braking control unit 63 outputs an instruction to brake the crane 1 to the braking device 80 based on the detection information of the first object detection means 51 (step S208), and ends the process.

[0069] When the process proceeds to step S209, the object presence / absence determination unit 62 determines whether or not detection information from the second object detection means 52 has been acquired (step S209). If it is determined that detection information from the second object detection means 52 has been acquired (YES in step S209), the process proceeds to step S210. On the other hand, if it is determined that detection information from the second object detection means 52 has not been acquired (NO in step S209), the process proceeds to step S212.

[0070] When the process proceeds to step S210, the object presence / absence determination unit 62 determines that an object is present (step S210). Next, the braking control unit 63 outputs an instruction to brake the crane 1 to the braking device 80 based on the detection information of the second object detection means 52 (step S211), and ends the process.

[0071] When the process proceeds to step S212, the object presence / absence determination unit 62 determines that there is no object (step S212). Next, the braking control unit 63 ends the process without outputting an instruction to brake the crane 1 to the braking device 80 (step S213).

[0072] [Crane action] The operation of the crane 1 of the second embodiment will be described below.

[0073] In the crane 1 of the second embodiment, the object presence / absence determining unit 62 determines the presence of the object G when at least one of the first object detection means 51 and the second object detection means 52 detects the object G (FIG. 6).

[0074] This allows the object G to be detected over a wide range by the first object detection means 51 that detects the side area S1 and the second object detection means 52 that detects the front area S2. This makes it possible to prevent the object G from being overlooked. As a result, it is possible to improve the detection accuracy of the object G with a simple configuration.

[0075] Other configurations and functions and effects are substantially the same as those of the above embodiment, so description thereof will be omitted.

[0076] The crane of the present invention has been described above based on Example 1 and Example 2. However, the specific configuration is not limited to these examples, and design changes, additions, combinations of the examples, etc. are permitted as long as they do not deviate from the gist of the invention according to each claim in the scope of claims.

[0077] In the first and second embodiments, an example is shown in which one first object detection means 51 is provided on the side of the boom head 33a, and one second object detection means 52 is provided in the front of the vehicle body 10. However, the number of the first object detection means 51 and the second object detection means 52 is not limited to this embodiment. For example, as shown in FIG. 7, two first object detection means 51 and two second object detection means 52 may be provided. Also, as shown in FIG. 8, the first object detection means 51 may be attached to the front of the boom head 33a in a position facing forward, and the second object detection means 52 may be attached to the side of the base boom 31 in a position facing diagonally forward. Furthermore, in this case, two first object detection means 51 may be provided.

[0078] In the first and second embodiments, an example has been shown in which the first object detection means 51 is provided on the side surface of the boom head 33a opposite to the side on which the cabin 21 is provided. However, the first object detection means can also be provided on the side surface of the boom head 33a on the side on which the cabin 21 is provided.

[0079] In the first and second embodiments, the second object detection means 52 is provided at a position on the vehicle body 10 opposite the side of the boom 30 on which the cabin 21 is provided. However, the second object detection means can also be provided at a position on the vehicle body 10 on the side of the boom 30 on which the cabin 21 is provided.

[0080] In the first and second embodiments, an example has been shown in which the detection information acquiring unit 61 accepts the detection information of the first object detection means 51 and then accepts the detection information of the second object detection means 52. However, the detection information acquiring unit 61 may accept the detection information of the first object detection means 51 after accepting the detection information of the second object detection means 52, or may accept the detection information of the first object detection means 51 and the detection information of the second object detection means 52 simultaneously.

[0081] In the first and second embodiments, an example has been described in which the first object detection means 51 and the second object detection means 52 are ultrasonic sensors. However, the first object detection means and the second object detection means may be distance sensors such as millimeter wave radar or LiDAR (Light Detection and Ranging).

[0082] In the first and second embodiments, the present invention is applied to a rough terrain crane equipped with a slant boom with the boom tip lowered. However, the present invention can be applied to a crane that can travel with the boom tip protruding forward from the vehicle body. [Explanation of symbols]

[0083] 1. Crane 10. Body 21 Cabin 30 Boom 51 First object detection means 52 Second object detection means 62 Object presence / absence determination unit 63 Braking control unit G object S1 Lateral Area S2 Front Area

Claims

1. A crane capable of traveling with the tip of the boom protruding forward from the vehicle body, a first object detection means disposed at a tip of the boom for detecting an object in a side area on a side of the boom; a second object detection means for detecting an object in a forward area including at least a part of the lateral area in front of the vehicle body; an object presence / absence determination unit that determines the presence or absence of an object based on detection information from the first object detection means and detection information from the second object detection means, The object presence / absence determination unit determines the presence of an object when the first object detection means detects an object and the second object detection means detects an object.

2. The first object detection means is attached to a side surface of the boom on which a cabin is not provided, 2. The crane according to claim 1, wherein the second object detection means is attached to the vehicle body on a side of the boom where the cabin is not provided.

3. 3. The crane according to claim 1, further comprising a braking control unit that controls a braking device of the vehicle body based on detection results of the first object detection means and the second object detection means.

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