Work machine

Abstract

To provide a work machine capable of preventing load swinging of a crane in an emergency.SOLUTION: In a work machine, a revolving body is arranged to be revolved with respect to a base body. The work machine includes a drive control unit for controlling revolving operation of the revolving body, and detection means for detecting an obstacle existing around the revolving body. The drive control unit does not start the revolving of the revolving body when the obstacle is detected by the detection means during stop of the revolving of the revolving body, and maintains the revolving of the revolving body for at least a predetermined period when the obstacle is detected by the detection means during the revolving of the revolving body.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a working machine such as a hydraulic crane capable of suspending a suspended load by a rope.

Background Art

[0002] In order to avoid contact with an obstacle during the slewing operation of a crane, the obstacle is detected by a sensor. As such a crane, a crane having an obstacle sensor that detects the approach of an obstacle to the front side of a traveling body during traveling and detects the approach of an obstacle to the rear side of a slewing body during work is disclosed in Patent Document 1 (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the crane of Patent Document 1, for example, when a person enters a range that becomes a blind spot of the cab during the slewing operation of the crane, the slewing operation of the crane is stopped.

[0005] When the slewing operation of the crane stops, the suspended load of the crane is shaken like a pendulum, so-called load swing occurs. When load swing occurs, there is a risk that an event that requires attention, such as the suspended load coming into contact with a building, may occur. This is an example of the problem.

[0006] The present invention has been made in view of the above conventional problems, and an object thereof is to provide a working machine capable of preventing load swing of a crane in an emergency or the like.

Means for Solving the Problems

[0007] In order to solve such problems, a working machine according to the present invention is a working machine in which a revolving body is rotatably arranged with respect to a base body, and includes a drive control unit that controls a turning operation of the revolving body, a detection means that detects an obstacle existing around the revolving body and can measure a distance to the obstacle, and a notification means that notifies that the obstacle has been detected by the detection means. When the detection means detects the obstacle during the stop of the turning of the revolving body, the drive control unit does not start the turning of the revolving body. When the detection means detects the obstacle during the turning of the revolving body, the drive control unit maintains the turning of the revolving body. The notification means Notification means for notifying by sound, performs the notification in different manners according to the distance from the revolving body to the obstacle i. When the obstacle is detected by the detection means, the notification means performs a notification with different sounds depending on whether the rotating body is in the process of stopping the rotation or in the process of rotating. which is characterized in that.

[0008] According to the working machine of the present invention, when the detection means detects an obstacle during the turning of the revolving body, the drive control unit maintains the turning of the revolving body. Therefore, it is possible to prevent the turning operation of the revolving body from suddenly stopping. Accordingly, for example, it is possible to prevent the load swing caused by the sudden stop of the turning of the crane in an emergency, and it is possible to prevent the occurrence of events that need attention, such as the suspended load contacting a building or the like. In addition, the operator can easily recognize the degree to which an event that should be noted, such as the suspended load coming into contact with a building or the like, may occur. Therefore, it becomes possible to prompt the operator to perform an appropriate operation according to the degree.

[0009] Further, when the detection means detects the obstacle during the turning of the revolving body, the drive control unit After the notification means performs the notification, may decelerate the turning of the revolving body at a deceleration equal to or lower than a predetermined deceleration.

[0010] According to such an aspect, for example, by decelerating the turning of the revolving body at a deceleration equal to or lower than a predetermined deceleration in an emergency, it is possible to prevent the turning speed of the revolving body from suddenly decreasing. Accordingly, it is possible to prevent the load swing of the suspended load due to a sudden stop in an emergency.

[0012] According to such an aspect, the operator can recognize the presence of an obstacle based on the notification means. Therefore, it is possible to prompt a turning operation according to the situation.

[0013] Also, it may have an operation reception unit that receives an operation for turning the turning body, and the notification means may perform the notification when the operation reception unit receives the operation while the turning of the turning body is stopped.

[0014] According to such an aspect, it is possible to prompt the operator not to perform a turning operation until a safe situation is reached. Therefore, for example, it is possible to prevent the load swing caused by an abrupt stop of the crane's turning during an emergency, and it is possible to prevent the occurrence of events that should be noted, such as the suspended load coming into contact with a building or the like.

[0017] A working machine in which a turning body is rotatably arranged with respect to a base body, having a drive control unit that controls the turning operation of the turning body, detection means that detects an obstacle existing around the turning body and can measure the distance to the obstacle, and notification means that notifies that the obstacle has been detected by the detection means, wherein the drive control unit does not start the turning of the turning body when the obstacle is detected by the detection means while the turning of the turning body is stopped, and does not stop the turning of the turning body when the obstacle is detected by the detection means while the turning of the turning body is in progress, and the notification means Notification means for notifying by sound, performs the notification in different modes according to the distance from the turning body to the obstacle i. When the obstacle is detected by the detection means, the notification means performs a notification with different sounds depending on whether the rotating body is in the process of stopping the rotation or in the process of rotating. characterized by this.

[0018] According to the working machine of the present invention, the drive control unit does not stop the turning of the turning body when an obstacle is detected by the detection means during the turning of the turning body. Therefore, it is possible to prevent the turning operation of the turning body from suddenly stopping. Therefore, for example, it is possible to prevent the load swing caused by an abrupt stop of the crane's turning during an emergency, and it is possible to prevent the occurrence of events that should be noted, such as the suspended load coming into contact with a building or the like. In addition, the operator can easily recognize the degree to which an event that should be noted, such as the suspended load coming into contact with a building or the like, may occur. Therefore, it becomes possible to prompt the operator to perform an appropriate operation according to the degree.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0020] Hereinafter, embodiments of the present invention will be described in more detail with reference to the drawings. However, these may be appropriately modified and combined. In the following description and the accompanying drawings, substantially the same or equivalent parts will be described with the same reference numerals.

Examples

[0021] FIG. 1 is a side view of a crane device 10 as a working machine according to the first embodiment. The arrows in the figure indicate the vertical and front-rear directions of the crane device 10. As shown in FIG. 1, the crane device 10 has a traveling body 11 as a base. The traveling body 11 is of a crawler type and moves the crane device 10 forward or backward.

[0022] The slewing body 12 is provided on the traveling body 11 so as to be slewing - capable with respect to the traveling body 11. The slewing body 12 is provided so as to be rotatable about the slewing axis CZ with respect to the traveling body 11. The drive unit DV is provided on the slewing body 12. The drive unit DV includes a slewing motor (not shown) capable of slewing the slewing body 12 with respect to the traveling body 11. For example, the slewing motor is driven by hydraulic oil from a hydraulic generating device (not shown) including a hydraulic pump driven by the driving force of an engine (not shown), whereby the slewing body 12 can be slewed.

[0023] The driver's cab 13 is arranged in front of the slewing body 12 in the front - rear direction of the crane device 10 (the front - rear direction of the arrow in FIG. 1). Inside the driver's cab 13, a handle HD operable by an operator for the slewing operation of the slewing body 12 is provided. Also, inside the driver's cab 13, a display (not shown) for displaying the control state of the slewing operation of the slewing body 12 is provided.

[0024] The boom 14 is arranged in front of the slewing body 12 in the crane device 10. The boom 14 is a lattice boom having a truss structure. The boom 14 is connected to the front part of the slewing body 12 so as to be able to rise and fall with respect to the slewing body 12, for example. The boom 14 is pivotally supported (supported) on the slewing body 12 so as to be rotatable about a boom foot provided at its lower end as a fulcrum.

[0025] The gantry 15 is arranged behind the slewing body 12 in the crane device 10. The gantry 15 is composed of a compression member 15a and a tension member 15b.

[0026] The compression member 15a is a column that stands upright, inclined upward and rearward from the central part of the slewing body 12. The tension member 15b is a column that stands upright vertically upward from the rear end of the slewing body 12. The base end of the tension member 15b is fixed to the slewing body 12, and the tip end is connected to the tip end of the compression member 15a.

[0027] The boom hoisting winch 16 is arranged on the slewing body 12. A boom hoisting rope R1 is wound around the boom hoisting winch 16 so as to be payed out or wound up.

[0028] The upper spreader 17 and the lower spreader 18 are arranged between the gantry 15 and the boom 14. The upper spreader 17 and the lower spreader 18 each consist of a plurality of sheaves. Further, the upper spreader 17 is connected to the tip of the boom 14 by a boom guy line BG.

[0029] The boom hoisting rope R1 is looped around between the lower spreader 18 and the upper spreader 17 a plurality of times. Therefore, when the boom hoisting winch 16 winds up the boom hoisting rope R1, the boom 14 rises while rotating relative to the gantry 15. Also, when the boom hoisting winch 16 pays out the boom hoisting rope R1, the boom 14 lowers while rotating relative to the gantry 15.

[0030] The main hoisting winch 19 is provided on the slewing body 12. A main hoisting rope R2 is wound around the main hoisting winch 19 so as to be payed out or wound up. A hook HK is connected to the tip of the main hoisting rope R2. The main hoisting rope R2 is stretched between the sheave SH at the tip of the boom 14 and the sheave of a sheave block (not shown) provided on the hook HK.

[0031] When the main hoisting winch 19 winds up the main hoisting rope R2, the hook HK rises with respect to the boom 14. Also, when the main hoisting winch 19 pays out the main hoisting rope R2, the hook HK lowers with respect to the boom 14.

[0032] The sensors SS are provided at six locations around the slewing body 12. Specifically, the sensors SS are provided at the front, rear, two locations on the right side, and two locations on the left side of the slewing body 12. The sensors SS can detect obstacles existing in a predetermined range, for example, within the working radius, around the slewing body 12. That is, the sensors SS function as detection means.

[0033] The sensor SS can use, for example, an infrared camera, an infrared sensor, a millimeter-wave radar, ultrasonic waves, etc. Note that the obstacles include moving objects such as people, bicycles, automobiles, etc. and buildings. Also, the buildings are not limited to existing buildings, but also include buildings under construction and buildings being demolished.

[0034] Note that the sensor SS is installed on the surface side in the revolving body 12. By installing the sensor SS in this way, it becomes possible to detect obstacles in the range from the side of the revolving body 12 to the ground surface. Also, the sensor SS is preferably configured to detect obstacles that may come into contact with the revolving body 12 during the turning operation of the revolving body 12. For example, when the height of the obstacle is lower than the height from the ground surface to the end of the revolving body 12 on the ground surface side, there is no risk of contact between the obstacle and the revolving body 12. Therefore, the sensor SS is preferably configured to detect, for example, obstacles higher than the height of the traveling body 11. to do so.

[0035] The speaker SP is provided in the cab 13 of the revolving body 12. The speaker SP emits a warning sound based on the detection of an obstacle by the sensor SS. The warning sound may be, for example, an alarm such as a buzzer or a siren, or it may be a voice guidance that notifies the presence of an obstacle. In this way, the speaker SP functions as a notification means for notifying that there is an obstacle around the revolving body 12.

[0036] Figure 2 is a plan view of the crane device 10. The dashed line in the figure indicates the working radius AR of the crane device 10. Note that the working radius AR is calculated by the horizontal distance between the turning center CR of the revolving body 12 and the vertical line lowered from the center of the hook HK. Therefore, the working radius AR can change depending on the inclination of the boom 14.

[0037] The dashed line shown inside the working radius AR in the figure indicates an example of the sensing area SA within which the sensor SS can detect obstacles. The two-dot chain line in the figure indicates an example of the danger area DA, which is a range where contact is likely to occur if there are obstacles during the turning of the swivel body 12. The danger area DA may be set in a predetermined range on the rear side of the swivel body 12, for example, because the rear side of the swivel body 12 is a blind spot for the operator boarding the cab 13.

[0038] In this case, the danger area DA can vary depending on the turning position of the swivel body 12. In this figure, the danger area DA is set within the range of the working radius AR where the angle formed at the turning center CR as viewed from the boom 14 side is 160 degrees. Note that the danger area DA can be arbitrarily determined according to the embodiment.

[0039] As shown in Figure 2, the swivel body 12 can turn around the turning center CR. The control unit 20 controls the turning operation of the swivel body 12. The control unit 20 is provided on the swivel body 12. The control unit 20 is connected so as to be able to receive obstacle detection information from the sensor SS. The control unit 20 can control the turning operation of the crane device based on the obstacle detection information from the sensor SS.

[0040] Figure 3 shows the functional blocks of the control unit 20. As shown in Figure 3, the input unit 21 is an interface unit connected to the handle HD and the sensor SS. The control unit 20 can acquire the operation information performed on the handle HD via the input unit 21. The control unit 20 can acquire the obstacle detection information detected by the sensor SS via the input unit 21. Note that the input unit 21 is connected to an operation unit (not shown) for the operator to perform operations related to the operation of the engine of the drive unit DV. Therefore, the control unit 20 can acquire the operation information related to the operation of the engine via the input unit 21.

[0041] The output unit 22 is an interface unit connected to the speaker SP, the drive unit DV, and the display DS. The control unit 20 can output voice to the speaker SP via the output unit 22. The control unit 20 can control the drive unit DV via the output unit 22. The control unit 20 can cause the display DS to display control information on the turning operation of the revolving body 12 via the output unit 22.

[0042] The control unit 23 is realized by a computer having a CPU (Central Processing Unit) as an arithmetic processing device, a ROM (Read Only Memory) as a main storage device, and a RAM (Random Access Memory). The CPU reads a program corresponding to the processing content from the ROM and expands it in the RAM, and realizes various functions in cooperation with the expanded program.

[0043] The operation reception unit 23a can acquire via the input unit 21 whether an operation to turn on or off the engine of the drive unit DV of the crane device 10 has been performed. Therefore, the operation reception unit 23a can determine whether the engine of the drive unit DV of the crane device 10 has been turned on or off.

[0044] The operation reception unit 23a can receive via the input unit 21 the operation information performed on the handle HD. That is, the operation reception unit 23a can detect whether the handle HD has been operated by the operator.

[0045] The detection control unit 23b can acquire via the input unit 21 the obstacle detection information from the sensor SS. Further, the detection control unit 23b can calculate the distance between the tip of the revolving body 12 and the obstacle and the distance between the tip of the revolving body 12 and the building based on the acquired detection information.

[0046] The drive control unit 23c can control the operation of the drive unit DV. The drive control unit 23c can turn the revolving body 12 by driving the drive unit DV based on the operation of the handle HD received by the operation reception unit 23a.

[0047] The drive control unit 23c can drive the drive unit DV in a plurality of modes based on the detection information detected by the detection control unit 23b. For example, the drive control unit 23c can maintain or stop the turning operation of the revolving body 12 based on the detection information.

[0048] The notification control unit 23d can output sound from the speaker SP. The notification control unit 23d can output a warning sound from the speaker SP based on, for example, the detection information acquired by the detection control unit 23b.

[0049] FIG. 4 shows a turning operation intervention processing routine R1 performed by the control unit 20. As shown in FIG. 4, the control unit 23 determines whether the engine of the crane device 10 has been turned on (step S101). Note that the determination in step S101 is not limited to determining whether the engine has been turned on, and may be, for example, a determination of whether the boarding / shutting lever of the crane device 10 is in the working position, for example, whether the boarding / shutting lever is lowered.

[0050] If the control unit 23 determines in the determination of step S101 that the engine of the crane device 10 has not been turned on (step S101: N), the turning operation intervention processing routine R1 is terminated.

[0051] If the control unit 23 determines in the determination of step S101 that the engine of the crane device 10 has been turned on (step S101: Y), it determines whether an obstacle (moving body) has been detected within a predetermined area around the revolving body 12, that is, within the danger area DA (step S102). Note that the control unit 23 makes the determination in step S102 based on the detection information acquired by the detection control unit 23b from the sensor SS.

[0052] When the control unit 23 determines in step S102 that a moving body has been detected within the danger area DA (step S102: Y), it performs intervention control to prompt avoidance of a matter that should be noted, such as the suspended load coming into contact with a building or the like, which may occur when the crane device 10 performs a turning operation (step S103).

[0053] When the intervention control in step S103 ends or when the control unit 23 determines in step S102 that a moving body has not been detected within the danger area DA (step S102: N), it determines whether the engine of the crane device 10 has been turned off (step S104).

[0054] When the control unit 23 determines in the determination of step S104 that the engine of the crane device 10 has not been turned off (step S104: N), it performs the processing and determination of steps S102 to S104 again.

[0055] When the control unit 23 determines in the determination of step S104 that the engine of the crane device 10 has been turned off (step S104: Y), it ends the turning operation intervention processing routine R1.

[0056] FIG. 5 shows a subroutine R2 of the intervention control in step S103 of FIG. 4. As shown in FIG. 5, the control unit 23 determines whether the turning operation of the turning body 12 has stopped (step S201). Note that the control unit 23 makes the determination in step S201 based on the operation information acquired by the operation reception unit 23a from the handle HD.

[0057] When the control unit 23 determines in step S201 that the turning operation of the turning body 12 has stopped (step S201: Y), it causes the first alarm to be output from the speaker SP (step S202).

[0058] The control unit 23 determines whether or not there has been an operation input of the steering wheel HD by the operator (step S203). Note that the control unit 23 makes the determination in step S203 based on the operation information acquired by the operation reception unit 23a from the steering wheel HD.

[0059] If, in the determination in step S203, the control unit 23 determines that there has been no operation input of the steering wheel HD by the operator (step S203: N), it ends the intervention control. That is, when an obstacle is detected by the sensor SS while the turning of the revolving body 12 is stopped, the control unit 23 does not start the turning of the revolving body 12.

[0060] If, in the determination in step S203, the control unit 23 determines that there has been an operation input of the steering wheel HD by the operator (step S203: Y), it maintains the stopped state of the turning operation (step S204) and ends the intervention control. That is, the control unit 23 proceeds to the determination in step S104 of FIG. 4.

[0061] This maintenance of the stopped state may be performed, for example, by canceling the operation input from the steering wheel HD. Also, this maintenance of the stopped state may be performed, for example, by cutting the signal input from the steering wheel HD, that is, by cutting the so-called pilot line. That is, when an obstacle is detected by the sensor SS while the turning of the revolving body 12 is stopped, the control unit 23 does not start the turning of the revolving body 12.

[0062] If, in step S201, the control unit 23 determines that the turning operation of the revolving body 12 is not stopped, that is, it is in the turning operation based on the input from the operation reception unit 23a (step S201: N), it causes the second alarm to be output from the speaker SP (step S205).

[0063] After step S205, the control unit 23 causes the turning operation to be maintained for at least a predetermined period (step S206). That is, for example, when an operation to continue the turning operation is being performed on the operation reception unit 23a, the control unit 23 maintains the turning operation without intervening in the operation from the operation reception unit 23a. Also, when the operator performs an operation to stop the turning operation in response to the second warning, the control unit 23 intervenes in the operation and maintains the turning operation for a predetermined period so that the turning operation does not stop suddenly, and stops the turning operation at a predetermined deceleration. Note that the predetermined deceleration is preferably set to a deceleration such that the suspended load does not cause load swing.

[0064] Note that the second warning in step S205 is preferably set so that the operator can be informed that the degree of caution, such as the suspended load contacting a building or the like, is higher than that of the first warning. For example, the second warning may output a warning sound with a different pattern from the first warning. Also, the second warning may be output with a louder volume than the first warning.

[0065] As described above, according to the crane device 10 of the present embodiment, when an obstacle is detected by the sensor SS during the turning operation of the slewing body 12, the control unit 23 maintains the turning operation of the slewing body 12 without automatically stopping the turning operation suddenly. Therefore, for example, it is possible to prevent an event in which the turning operation of the slewing body 12 suddenly stops in an emergency. Accordingly, for example, it is possible to prevent load swing in the crane device 10 due to sudden stop in an emergency, and to prevent an event that requires attention, such as the suspended load contacting a building or the like, from occurring.

[0066] The speaker SP performs different notifications according to the mode of detection of the obstacle by the sensor SS and the mode of the turning operation of the slewing body 12, so that the operator can recognize the presence of the obstacle based on the notification means. Therefore, it is possible to prompt the operator to perform a turning operation according to the situation.

[0067] In addition, in the present embodiment, the speaker SP has been described as the notification means. However, the notification means only needs to be able to notify the operator in some way. For example, the operator may be notified by a light-emitting device such as a rotating lamp. Further, the notification by the notification means may be performed by displaying the corresponding situation on the display DS in the driver's cab 13, vibrating a vibrator (not shown) provided on the steering wheel HD in the driver's cab 13, or the like.

[0068] In addition, in step S102 of FIG. 4, the control unit 23 has been described as determining whether or not the obstacle is within the danger area DA. However, the range of the danger area DA for detecting the obstacle is not limited to within the working radius AR, and can be changed according to the embodiment.

[0069] In addition, in the description of FIG. 5, after outputting the second alarm in step S205, the process of maintaining the turning operation is performed in step S206. However, the process of step S206 does not necessarily have to be performed.

[0070] FIG. 6 shows a subroutine R3 of the intervention control in step S103 of FIG. 4, which is an example different from the subroutine R2. Steps S301 to S305 of the subroutine R3 in FIG. 6 are the same as steps S201 to S205 in FIG. 5. The subroutine R3 of the intervention control in FIG. 6 is different in that it does not perform the turning operation maintenance process, which is the process corresponding to step S206 of the subroutine R2 of the intervention control in FIG. 5.

[0071] That is, in the intervention control subroutine R3, when an obstacle is detected within the danger area DA during the turning operation of the swivel body 12, no intervention occurs for the operation from the operation reception unit 23a, and the turning operation is performed as per the operation to the operation reception unit 23a. Thus, even when the subroutine R3 of the intervention control is executed, the same effect as that of the subroutine R2 of the intervention control in FIG. 5 can be obtained.

Example

[0072] The crane device 10 according to Example 2 will be described. The crane device 10 according to Example 2 differs from the crane device 10 according to Example 1 in the subroutine of the intervention control. Since the remaining points are the same as those of the crane device 10 in Example 1, the description thereof will be omitted.

[0073] FIG. 7 shows the subroutine R4 of the intervention control in step S103 of FIG. 4. As shown in FIG. 7, the control unit 23 determines whether or not the turning operation of the revolving body 12 has stopped (step S401). Note that the control unit 23 makes the determination in step S401 based on the operation information acquired by the operation reception unit 23a from the handle HD.

[0074] If the control unit 23 determines in step S401 that the turning operation of the revolving body 12 has stopped (step S401: Y), the control unit 23 causes the first alarm to be output from the speaker SP (step S402).

[0075] The control unit 23 determines whether or not there has been an operation input to the handle HD by the operator (step S403). Note that the control unit 23 makes the determination in step S403 based on the operation information acquired by the operation reception unit 23a from the handle HD.

[0076] If the control unit 23 determines in the determination of step S403 that there has been no operation input to the handle HD by the operator (step S403: N), the intervention control is terminated. That is, when an obstacle is detected by the sensor SS while the turning of the revolving body 12 has stopped, the control unit 23 does not start the turning of the revolving body 12.

[0077] If the control unit 23 determines in the determination of step S403 that there has been an operation input to the handle HD by the operator (step S403: Y), the control unit 23 maintains the stopped state of the turning operation (step S404) and terminates the intervention control. That is, the control unit 23 proceeds to the determination in step S104 of FIG. 4.

[0078] This maintenance of the stopped state may be performed, for example, by canceling the operation input from the handle HD. That is, when an obstacle is detected by the sensor SS during the stop of the turning of the revolving body 12, the control unit 23 does not start the turning of the revolving body 12.

[0079] In step S401, when the control unit 23 determines that the turning operation of the revolving body 12 is not stopped, that is, the turning operation is in progress (step S401: N), the control unit 23 causes the second alarm to be output from the speaker SP (step S405).

[0080] After the second alarm is output from the speaker SP in step S405, the control unit 23 decelerates the turning operation of the revolving body 12 at a deceleration equal to or lower than a predetermined deceleration and ends the intervention control. That is, the control unit 23 proceeds to the determination in step S104 of FIG. 4 (step S406). Note that the predetermined deceleration in step S406 is preferably set to a deceleration such that the swing of the suspended load is within a predetermined range. Here, the deceleration in step S406 is performed at a deceleration equal to or lower than a predetermined deceleration determined in advance to reduce the width of the swing. This makes it possible to avoid the suspended load from colliding with the obstacle.

[0081] Note that when the turning speed of the revolving body 12 is lower than a predetermined speed, the revolving body 12 may be made to stop suddenly. In this case, the predetermined speed is a speed at which the swing of the suspended load is within a predetermined range when the revolving body 12 stops suddenly.

[0082] Also, for example, when an operation to continue the turning operation is performed on the operation reception unit 23a, the control unit 23 may maintain the turning operation without intervening in the operation from the operation reception unit 23a.

[0083] As described above, according to the crane device 10 of the present embodiment, the control unit 23 can prevent the turning speed from decreasing rapidly by decelerating the turning of the revolving body 12 at a deceleration equal to or lower than a predetermined deceleration, for example, in an emergency. Therefore, for example, it is possible to prevent the swing of the suspended load due to a sudden stop in an emergency.

Example

[0084] In the subroutine R4 for intervention control described in FIG. 7 of Example 2, when there is an obstacle in the area and the turning operation of the revolving body 12 is stopped, the control unit 23 causes the first alarm to be output from the speaker SP. The crane device 10 according to Example 3 is different from the crane device 10 according to Example 2 in that the first alarm is issued when other conditions are satisfied in addition to the above conditions.

[0085] FIG. 8 shows the subroutine R5 for intervention control in step S103 of FIG. 4. As shown in FIG. 8, the control unit 23 determines whether or not the turning operation of the revolving body 12 is stopped (step S501). Note that the control unit 23 makes the determination in step S501 based on the operation information acquired by the operation reception unit 23a from the handle HD.

[0086] In step S501, when the control unit 23 determines that the turning operation of the revolving body 12 is stopped (step S501: Y), it determines whether or not there is an operation input of the handle HD by the operator (step S502). Note that the control unit 23 makes the determination in step S502 based on the operation information acquired by the operation reception unit 23a from the handle HD.

[0087] In the determination in step S502, when the control unit 23 determines that there is no operation input of the handle HD by the operator by the operation reception unit 23a (step S502: N), it ends the intervention control. That is, when an obstacle is detected by the sensor SS while the revolving body 12 is stopped from turning, the control unit 23 does not start the turning of the revolving body 12. The control unit 23 proceeds to the determination in step S104 of FIG. 4. The control unit 23 proceeds to the determination in step S104 of FIG. 4.

[0088] When the control unit 23 determines in step S502 that there has been an operation input of the handle HD by the operator by the reception control unit 23a (step S502: Y), the control unit 23 causes the first warning to be output from the speaker SP (step S503). The control unit 23 maintains the stopped state of the turning operation (step S504) and ends the intervention control. That is, when an obstacle is detected by the sensor SS while the turning body 12 is stopped from turning, the control unit 23 does not start the turning of the turning body 12. The control unit 23 proceeds to the determination in step S104 of FIG. 4. In such a situation, by causing the first warning to be output from the speaker SP, it becomes possible to prompt the operator not to perform a turning operation until a safe situation is reached.

[0089] When the control unit 23 determines in step S501 that the turning operation of the turning body 12 is not stopped, that is, the turning operation is in progress, by the drive control unit 23c (step S501: N), the control unit 23 causes the second warning to be output from the speaker SP (step S505). After the second warning is output from the speaker SP in step S505, the control unit 23 decelerates the turning operation of the turning body 12 at a deceleration equal to or lower than a predetermined deceleration and ends the intervention control (step S506). The control unit 23 proceeds to the determination in step S104 of FIG. 4.

[0090] In this way, when the turning operation of the turning body 12 is stopped and a turning operation is performed, the control unit 23 causes the first warning to be output from the speaker SP. Therefore, the crane device 10 can prevent a warning sound from always being emitted when an obstacle enters the danger area DA. Therefore, it becomes possible to reduce the annoyance and stress felt by the operator.

Example

[0091] The crane device 10 according to Example 4 will be described. The crane device 10 according to Example 4 differs from the crane device 10 according to Example 1 in the subroutine of the intervention control. The remaining points are the same as those of the crane device 10 in Example 1, so the description will be omitted.

[0092] Figure 9 shows the subroutine R6 for the intervention control of the crane device 10 according to the fourth embodiment. As shown in Figure 9, the control unit 23 determines whether or not the turning operation of the slewing body 12 has stopped (step S601). Note that the control unit 23 makes the determination in step S601 based on the operation information acquired by the operation reception unit 23a from the handle HD.

[0093] In step S601, if the control unit 23 determines that the turning operation of the slewing body 12 has stopped (step S601: Y), it determines whether or not there has been an operation input to the handle HD by the operator (step S602). Note that the control unit 23 makes the determination in step S602 based on the operation information acquired by the operation reception unit 23a from the handle HD.

[0094] In the determination in step S602, if the control unit 23 determines that there has been no operation input to the handle HD by the operator (step S602: N), it causes the first warning to be output from the speaker SP (step S603) and ends the intervention control. That is, when an obstacle is detected by the sensor SS while the slewing of the slewing body 12 has stopped, the control unit 23c does not start the slewing of the slewing body 12. The control unit 23 proceeds to the determination in step S104 of FIG. 4.

[0095] In the determination in step S602, if the control unit 23 determines that there has been an operation input to the handle HD by the operator (step S602: Y), it causes the second warning to be output from the speaker SP (step S604). The control unit 23 maintains the stopped state of the turning operation (step S605) and ends the intervention control. That is, when an obstacle is detected by the sensor SS while the slewing of the slewing body 12 has stopped, the control unit 23 does not start the slewing of the slewing body 12. The control unit 23 proceeds to the determination in step S104 of FIG. 4.

[0096] In step S601, if the control unit 23 determines that the turning operation of the slewing body 12 is not stopped, that is, the turning operation is in progress (step S601: N), it causes the second warning to be output from the speaker SP (step S605).

[0097] After the second alarm is output from the speaker SP in step S605, the control unit 23 decelerates the turning operation of the revolving body 12 at a deceleration equal to or lower than a predetermined deceleration (step S606). The control unit 23 causes the speaker SP to output a third alarm (step S607) and ends the intervention control. The control unit 23 proceeds to the determination in step S104 of FIG. 4.

[0098] Note that the first to third alarms may each be warning sounds in different modes.

[0099] In this embodiment, for example, warning sounds that are easy for the operator to recognize may be used in the order of the third alarm, the second alarm, and the first alarm. Also, in this embodiment, for example, the volume of the warning sounds may be increased in the order of the third alarm, the second alarm, and the first alarm.

[0100] As described above, according to the crane device 10 according to this embodiment, by performing notification in different modes, the operator can easily recognize that an event that should be noted, such as the suspended load coming into contact with a building or the like, may occur. Therefore, according to the crane device 10 according to this embodiment, it is possible to prompt the operator to perform appropriate operations.

Explanation of Reference Numerals

[0101] 10 Crane device 23a Reception operation unit 23b Detection control unit 23c Drive control unit 23d Notification control unit DV Drive unit SS Sensor SP Speaker

Claims

1. A working machine in which a revolving body is rotatably arranged with respect to a base body, a drive control unit that controls the turning operation of the revolving body, detection means for detecting an obstacle existing around the revolving body and capable of measuring the distance to the obstacle, notification means for notifying that the obstacle has been detected by the detection means, and having, when the drive control unit detects the obstacle by the detection means while the turning of the revolving body is stopped, the drive control unit does not start the turning of the revolving body, and when the obstacle is detected by the detection means while the revolving body is turning, the drive control unit maintains the turning of the revolving body for at least a predetermined period, the notification means is a notification means that notifies by sound, and performs the notification in different manners according to the distance from the revolving body to the obstacle, the working machine is characterized in that the notification means, when the obstacle is detected by the detection means, performs notification with different sounds depending on whether the revolving body is in the process of stopping the turning or in the process of turning.

2. The working machine according to claim 1, wherein when the drive control unit detects the obstacle by the detection means while the revolving body is turning, after the notification means performs notification, the drive control unit decelerates the turning of the revolving body at a deceleration equal to or lower than a predetermined deceleration.

3. having an operation reception unit that receives an operation for turning the revolving body, the working machine according to claim 1, wherein the notification means performs the notification when the operation reception unit receives the operation while the turning of the revolving body is stopped.

4. A working machine in which a revolving body is rotatably arranged with respect to a base body, a drive control unit that controls the turning operation of the revolving body, detection means for detecting an obstacle existing around the revolving body and capable of measuring the distance to the obstacle, notification means for notifying that the obstacle has been detected by the detection means, and having, when the drive control unit detects the obstacle by the detection means while the turning of the revolving body is stopped, the drive control unit does not start the turning of the revolving body, and when the obstacle is detected by the detection means while the revolving body is turning, the drive control unit does not stop the turning of the revolving body, the notification means is a notification means that notifies by sound, and performs the notification in different manners according to the distance from the revolving body to the obstacle, The warning means is a working machine characterized by performing different warnings of output sounds depending on whether the revolving body is in the process of stopping the rotation or in the process of rotating when the obstacle is detected by the detection means.

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