Crane

Abstract

To provide a crane that can sense a distance to an object, regardless of an attachment / detachment state of an attachable / detachable accessory component.SOLUTION: A crane 1, which can travel, is equipped with: first distance sensing means 41, mounted on an accessory component (a front-side outrigger unit 51) mounted attachagbly and detachably, which senses a distance to an object G; second distance sensing means 42, mounted on a portion which is exposed when the accessory component (the front-side outrigger unit 51) is detached, which senses the distance to the object G; attachment / detachment state sensing means 56 that senses an attachment / detachment state of the accessory component (the front-side outrigger unit 51); and a selecting part 64 that selects and activates either of the first distance sensing means 41 and the second distance sensing means 42, on the basis of sensed information by the attachment / detachment state sensing means 56.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a crane capable of traveling.

Background Art

[0002] Conventionally, a crane having detachable accessories attached to a vehicle body or a slewing body has been known (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a configuration in which accessories such as a counterweight and outriggers are detachably attached to a carrier frame of a truck crane. Thereby, when the truck crane is being transported, the accessories can be removed to reduce the vehicle weight of the truck crane.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, a traveling crane may be provided with distance detection means for detecting the distance to an object in the traveling direction. If such distance detection means is provided on a detachable accessory, there is a problem that when the crane travels with the accessory removed, the distance to the object cannot be detected.

[0006] Therefore, an object of the present invention is to provide a crane that can appropriately detect the distance to an object regardless of the attachment / detachment state of the detachable accessory.

Means for Solving the Problems

[0007] In order to achieve the above object, the crane of the present invention is a crane capable of traveling, and is attached to an attachable and detachable accessory, and includes a first distance detection means for detecting the distance from an object, and when the accessory is removed, a second distance detection means for detecting the distance from the object, which is attached to the exposed portion, an attachment / detachment state detection means for detecting the attachment / detachment state of the accessory, and a selection unit for selecting and operating either the first distance detection means or the second distance detection means based on the detection information of the attachment / detachment state detection means.

Effect of the Invention

[0008] The crane of the present invention configured as described above can appropriately detect the distance from an object regardless of the attachment / detachment state of the attachable and detachable accessory.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

[0010] Hereinafter, embodiments for realizing the crane according to the present invention will be described based on Examples 1 to 3 shown in the drawings. [Examples]

[0011] The crane in Example 1 is applied to a rough terrain crane (hereinafter simply referred to as a crane) as a travelable crane.

[0012] [Configuration of Crane] FIG. 1 is a side view showing the crane of Example 1. FIG. 2 is a plan view showing the crane of Example 1. Hereinafter, the configuration of the crane of Example 1 will be described. The front-rear direction of the crane is defined as the front-rear direction D.

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

[0014] The vehicle body 10 includes a front outrigger unit 51 as an accessory, a rear outrigger unit 52 as an accessory, and a traveling device for self-propelling on a road or a work site.

[0015] The front outrigger unit 51 is configured to be detachable from the front side of the vehicle body 10. The rear outrigger unit 52 is configured to be detachable from the rear side of the vehicle body 10.

[0016] The front outrigger 51a provided in the front outrigger unit 51 and the rear outrigger 52a provided in the rear outrigger unit 52 project in the horizontal and vertical directions during operation, lift the entire vehicle body 10, and stabilize the posture.

[0017] The slewing body 20 is provided above the vehicle body 10 and is rotatable about the vertical axis C1 with respect to the vehicle body 10. The slewing body 20 includes a cabin 21.

[0018] The cabin 21 is provided on the right side of the boom 30 facing the traveling direction of the crane 1. That is, the cabin 21 is provided on the right side of the boom 30 in the posture where the slewing body 20 faces forward. Note that the cabin 21 may be provided on the left side of the boom 30 in the posture where the slewing body 20 faces forward.

[0019] The cabin 21 has an operation unit (for example, a steering wheel, a shift lever, an accelerator pedal, and a brake pedal, etc.) for controlling the traveling of the vehicle body 10. Further, the cabin 21 has an operation unit for operating the slewing body 20, the boom 30, the winch 24, etc. The driver M boarding the cabin 21 operates the operation unit to slew the slewing body 20, raise and lower and extend and retract the boom 30, and rotate the winch 24 to perform work.

[0020] A counterweight 55 as an accessory is detachably attached to the rear side of the slewing body 20.

[0021] As shown in FIG. 1, the boom 30 as an accessory is detachably attached to the slewing body 20. The boom 30 includes a base boom 31 on the base end side, an intermediate boom 32, and a tip boom 33 on the tip end side. The intermediate boom 32 and the tip boom 33 are in a nested form sequentially stored inside the base boom 31.

[0022] The base boom 31 is supported by a hoisting cylinder (not shown) provided on the revolving body 20. As the hoisting cylinder expands and contracts, the boom 30 rises and falls, and as the telescopic cylinder (not shown) expands and contracts, the boom 30 expands and contracts.

[0023] A sheave 34 is arranged on a boom head 33a provided at the tip of the tip boom 33. A winch 24 provided on the revolving body 20 has a wire rope 35 for a suspended load wound thereon. The wire rope 35 is arranged along the boom 30 from the winch 24 to the sheave 34. The wire rope 35 wound around the sheave 34 is suspended vertically downward from the sheave 34. A hook 36 is provided at the lowermost part of the wire rope 35.

[0024] The hook 36 can hook and suspend a load. As the wire rope 35 is paid out by the winch 24, the hook 36 descends, and as the wire rope 35 is wound up, the hook 36 ascends.

[0025] As shown in FIGS. 1 and 2, the crane 1 is provided with a plurality of distance detection means 40. The distance detection means 40 detects the distance to an object in the traveling direction when the crane 1 is traveling or at rest such as before starting. The distance detection means 40 can be, for example, a millimeter-wave radar, an ultrasonic sensor, a LiDAR (Light Detection and Ranging), or the like.

[0026] The distance detection means 40 detects the distance to an object in front of the crane 1 in the traveling direction when the crane 1 is traveling or at rest such as before starting. Examples of the object include automobiles, bicycles, people, buildings, construction materials placed at a construction site, etc. The object may be a stationary body that is stationary or a moving body that is moving.

[0027] The distance detection means 40 includes first distance detection means 41, 43, 45, 47 and second distance detection means 42, 44, 46.

[0028] The first distance detection means 41 is attached to the front outrigger unit 51 in a forward-facing posture.

[0029] The second distance detection means 42 is attached to the front side of the vehicle body 10 in a forward-facing posture. When the front outrigger unit 51 is removed from the vehicle body 10, the second distance detection means 42 is attached in a forward-facing posture to a part of the vehicle body 10 that is exposed (in a state of being exposed to the outside).

[0030] The first distance detection means 43 is attached to the rear outrigger unit 52 in a rearward-facing posture.

[0031] The second distance detection means 44 is attached to the rear side of the vehicle body 10 in a rearward-facing posture. When the rear outrigger unit 52 is removed from the vehicle body 10, the second distance detection means 44 is attached in a rearward-facing posture to a part of the vehicle body 10 that is exposed.

[0032] The first distance detection means 45 is attached to the rear side of the counterweight 55 in a rearward-facing posture.

[0033] The second distance detection means 46 is located at the rear side of the revolving body 20, at a position covered by the counterweight 55. When the counterweight 55 is removed from the revolving body 20, the second distance detection means 46 is attached in a rearward-facing posture to a part of the revolving body 20 that is exposed.

[0034] The first distance detection means 47 is attached to the side surface of the boom head 33a of the tip boom 33 in a forward-facing posture.

[0035] That is, the first distance detection means 41, 43, 45, 47 are attached to the accessory parts. The second distance detection means 42, 44, 46 are attached to the exposed parts when the accessory parts are removed.

[0036] As shown in FIG. 2, a display unit 71 is provided in the cabin 21. The display unit 71 can be a monitor that displays images.

[0037] The vehicle body 10 is provided with attachment / detachment state detection means 56. The attachment / detachment state detection means 56 can be, for example, a photoelectric sensor. The attachment / detachment state detection means 56 detects the attachment / detachment state of the accessory.

[0038] Note that the attachment / detachment state detection means 56 is not limited to a photoelectric sensor that automatically inputs. That is, in actual crane work, even when a sensor or the like automatically detects the working state of the crane, the operator such as the driver M finally visually confirms whether there is no mistake in the automatically detected working state, and when it is confirmed that there is no mistake, a confirmation button or the like is manually operated. Therefore, as the attachment / detachment state detection means 56, a confirmation button or the like that the operator manually inputs a confirmation intention and receives the input can also be applied.

[0039] The attachment / detachment state detection means 56 detects the attachment / detachment state of the front outrigger unit 51 to the vehicle body 10. Further, the attachment / detachment state detection means 56 detects the attachment / detachment state of the rear outrigger unit 52 to the vehicle body 10. Further, the attachment / detachment state detection means 56 detects the attachment / detachment state of the counterweight 55 to the revolving body 20. Further, the attachment / detachment state detection means 56 detects the attachment / detachment state of the boom 30 to the revolving body 20.

[0040] The vehicle body 10 is provided with a braking device 80 that is controlled by a control unit 60 described later. The braking device 80 brakes the traveling crane 1 based on information from the control unit 60.

[0041] The crane 1 configured as described above can perform an operation of moving the load suspended from the hook 36 to a predetermined position by paying out and winding up the wire rope 35 by the winch 24, raising and lowering and extending and retracting the boom 30, and revolving the revolving body 20.

[0042] The crane 1 is capable of traveling whether the front outrigger unit 51 is attached to the vehicle body 10 or removed from the vehicle body 10. Also, the crane 1 is capable of traveling whether the rear outrigger unit 52 is attached to the vehicle body 10 or removed from the vehicle body 10. Further, the crane 1 is capable of traveling whether the counterweight 55 is attached to the slewing body 20 or removed from the slewing body 20. Moreover, the crane 1 is capable of traveling whether the boom 30 is attached to the slewing body 20 or removed from the slewing body 20.

[0043] [Functional Configuration of Crane] FIG. 3 is a block diagram showing the functional configuration of the crane 1 of the first embodiment. FIG. 4 is a side view showing the traveling state of the crane 1 to which the front outrigger unit 51 of the first embodiment is attached. FIG. 5 is a side view showing the traveling state of the crane 1 from which the front outrigger unit 51 of the first embodiment is removed. FIG. 6 is a diagram showing an example of an image displayed on the display unit 71 of the first embodiment. Hereinafter, the functional configuration of the crane 1 of the first embodiment will be described.

[0044] As shown in FIG. 3, the detection information detected by the first distance detection means 41 or the detection information detected by the second distance detection means 42, and the detection information detected by the attachment / detachment state detection means 56 are input to the control unit 60, and the processing information processed by the control unit 60 is output to the braking device 80 and the display unit 71.

[0045] The first distance detection means 41 is used when the crane 1 is traveling or at rest such as before starting, and detects the distance to an object in the traveling direction of the crane 1. The detection information detected by the first distance detection means 41 is input to the control unit 60.

[0046] The second distance detection means 42 is used when the crane 1 is traveling or at rest such as before starting, and detects the distance to an object in the traveling direction of the crane 1. The detection information detected by the second distance detection means 42 is input to the control unit 60.

[0047] The attachment / detachment state detection means 56 detects the attachment / detachment state of the front outrigger unit 51 to the vehicle body 10. The detection information of the attachment / detachment state detection means 56 is input to the control unit 60.

[0048] The control unit 60 includes an attachment / detachment information acquisition unit 61, a distance information acquisition unit 62, an attachment / detachment state determination unit 63, and a selection unit 64.

[0049] The attachment / detachment information acquisition unit 61 acquires the detection information of the attachment / detachment state detection means 56. The distance information acquisition unit 62 acquires the detection information of the first distance detection means 41 or the detection information of the second distance detection means 42.

[0050] The attachment / detachment state determination unit 63 determines whether the front outrigger unit 51 is attached to the vehicle body 10 based on the detection information of the attachment / detachment state detection means 56 acquired by the attachment / detachment information acquisition unit 61.

[0051] The selection unit 64 selects either the first distance detection means 41 or the second distance detection means 42 based on the determination information of the attachment / detachment state determination unit 63. The selection information selected by the selection unit 64 is input to the first distance detection means 41 and the second distance detection means 42, and either the first distance detection means 41 or the second distance detection means 42 is operated.

[0052] In other words, the selection unit 64 selects either the first distance detection means 41 or the second distance detection means 42 based on the detection information of the attachment / detachment state detection means 56, and operates either the first distance detection means 41 or the second distance detection means 42.

[0053] Specifically, when the attachment / detachment state determination unit 63 determines that the front outrigger unit 51 is attached to the vehicle body 10, the selection unit 64 gives an instruction to set the first distance detection means 41 to the operating state and an instruction to set the second distance detection means 42 to the non-operating state. As a result, as shown in FIG. 4, the first distance detection means 41 detects the distance to the object G in the traveling direction of the crane 1 (in the front in the first embodiment).

[0054] When the attachment / detachment state determination unit 63 determines that the front outrigger unit 51 is not attached to the vehicle body 10, the selection unit 64 gives an instruction to set the non-operating state to the first distance detection means 41 and an instruction to set the operating state to the second distance detection means 42. As a result, as shown in FIG. 5, the second distance detection means 42 is configured to detect the distance to an object G in the traveling direction of the crane 1 (in the front direction in the first embodiment).

[0055] Based on the processing information in the control unit 60, the control unit 60 outputs an instruction to brake the traveling crane 1 to the braking device 80. Based on the processing information in the control unit 60, the control unit 60 outputs a display indicating the attachment / detachment state of the front outrigger unit 51 to the display unit 71.

[0056] Based on the instruction output from the control unit 60, the braking device 80 generates a braking force for the crane 1. That is, based on the instruction output from the control unit 60, the braking device 80 functions as a collision damage reduction brake that stops the traveling crane 1.

[0057] Note that the control unit 60 may output an instruction to brake to the braking device 80, or instead of outputting an instruction to brake to the braking device 80, the control unit 60 may output an instruction to emit an alarm sound to a sounding device such as a buzzer that emits an alarm sound, or an instruction to emit an alarm light to a lighting device or a display device such as an indicator lamp that emits an alarm light.

[0058] Based on the determination information of the attachment / detachment state determination unit 63, the display unit 71 displays the attachment / detachment state of the accessory. That is, the display unit 71 displays the attachment / detachment state of the accessories of the crane 1.

[0059] Specifically, when the attachment / detachment state determination unit 63 determines that the front outrigger unit 51 is not attached to the vehicle body 10, as shown in FIG. 6, the display unit 71 displays the crane 1 in a state where the front outrigger unit 51 is not attached to the vehicle body 10.

[0060] On the other hand, when the attachment / detachment state determination unit 63 determines that the front outrigger unit 51 is attached to the vehicle body 10, the display unit 71 displays the crane 1 in a state where the front outrigger unit 51 is attached to the vehicle body 10.

[0061] [Processing by the control unit] FIG. 7 is a flowchart showing the flow of processing by the control unit 60 of the first embodiment. Hereinafter, the flow of processing by the control unit 60 of the first embodiment will be described.

[0062] As shown in FIG. 7, the attachment / detachment information acquisition unit 61 acquires the detection information of the attachment / detachment state detection means 56 (step S101).

[0063] Next, the attachment / detachment state determination unit 63 determines whether or not the front outrigger unit 51 is attached to the vehicle body 10 (step S102).

[0064] If it is determined that the front outrigger unit 51 is attached to the vehicle body 10 (YES in step S102), the process proceeds to step S103. If it is determined that the front outrigger unit 51 is not attached to the vehicle body 10 (NO in step S102), the process proceeds to step S107.

[0065] When the process proceeds to step S103, the selection unit 64 selects the first distance detection means 41 and activates the first distance detection means 41 (step S103).

[0066] Next, the distance information acquisition unit 62 acquires the detection information of the first distance detection means 41 (step S104).

[0067] Next, the control unit 60 gives an instruction to display the crane 1 in a state where the front outrigger unit 51 is attached to the vehicle body 10 on the display unit 71 (step S105).

[0068] Next, the control unit 60 gives an instruction to stop the travel of the crane 1 to the braking device 80 based on the acquired detection information of the first distance detection means 41 (step S106), and ends the process.

[0069] When proceeding to step S107, the selection unit 64 selects the second distance detection means 42 and activates the second distance detection means 42 (step S107).

[0070] Next, the distance information acquisition unit 62 acquires the detection information of the second distance detection means 42 (step S108).

[0071] Next, the control unit 60 gives an instruction to display the crane 1 with the front outrigger unit 51 removed from the vehicle body 10 on the display unit 71 (step S109).

[0072] Next, the control unit 60 gives an instruction to the braking device 80 to stop the travel of the crane 1 based on the acquired detection information of the second distance detection means 42 (step S110), and ends the process.

[0073] [Operation of Crane] Hereinafter, the operation of the crane 1 of the first embodiment will be described.

[0074] The crane 1 of the first embodiment is a crane 1 capable of traveling, and includes a first distance detection means 41 for detecting the distance to an object G, which is attached to an attachable / detachable accessory (front outrigger unit 51), and a second distance detection means 42 for detecting the distance to the object G, which is attached to the exposed portion when the accessory (front outrigger unit 51) is removed, and an attachment / detachment state detection means 56 for detecting the attachment / detachment state of the accessory (front outrigger unit 51), and a selection unit 64 for selecting and operating either the first distance detection means 41 or the second distance detection means 42 based on the detection information of the attachment / detachment state detection means 56 (FIG. 3).

[0075] Thus, when the accessory part (front outrigger unit 51) is attached, the first distance detection means 41 can detect the distance to the object G, and when the accessory part (front outrigger unit 51) is removed, the second distance detection means 42 can detect the distance to the object G. Therefore, the distance to the object G can be appropriately detected whether the accessory part (front outrigger unit 51) is attached or removed.

[0076] In the crane 1 of the first embodiment, the accessory part is the front outrigger unit 51 attached to the front side of the vehicle body 10, and the second distance detection means 42 is attached to the exposed part of the vehicle body 10 when the front outrigger unit 51 is removed (FIGS. 4 and 5).

[0077] Accordingly, when the crane 1 moves forward with the front outrigger unit 51 attached to the vehicle body 10, the first distance detection means 41 can detect the distance to the object G, and when the crane 1 moves forward with the front outrigger unit 51 removed from the vehicle body 10, the second distance detection means 42 can detect the distance to the object G. Therefore, the distance to the object G can be appropriately detected whether the crane 1 moves forward with the front outrigger unit 51 attached to the vehicle body 10 or with the front outrigger unit 51 removed from the vehicle body 10.

Embodiment

[0078] The crane of the second embodiment is different from the crane of the first embodiment in that the configurations of the first distance detection means and the second distance detection means are different.

[0079] [Functional Configuration of Crane] FIG. 8 is a block diagram showing the functional configuration of the crane according to the second embodiment. FIG. 9 is a side view showing the traveling state of the crane with the counterweight 55 attached according to the second embodiment. FIG. 10 is a side view showing the traveling state of the crane with the counterweight 55 removed according to the second embodiment. Hereinafter, the functional configuration of the crane according to the second embodiment will be described. Note that the same terms or the same reference numerals will be used for the description of the same or equivalent parts as those described in the above embodiments.

[0080] As shown in FIG. 8, for the crane 1, the detection information detected by the first distance detection means 45 or the detection information detected by the second distance detection means 46 and the detection information detected by the attachment / detachment state detection means 56 are input to the control unit 60, and the processing information processed by the control unit 60 is output to the braking device 80 and the display unit 71.

[0081] The attachment / detachment information acquisition unit 61 acquires the detection information of the attachment / detachment state detection means 56. The distance information acquisition unit 62 acquires the detection information of the first distance detection means 45 or the detection information of the second distance detection means 46.

[0082] The attachment / detachment state determination unit 63 determines whether the counterweight 55 is attached to the slewing body 20 based on the detection information of the attachment / detachment state detection means 56 acquired by the attachment / detachment information acquisition unit 61.

[0083] The selection unit 64 selects either the first distance detection means 45 or the second distance detection means 46 based on the detection information of the attachment / detachment state detection means 56 and activates either the first distance detection means 45 or the second distance detection means 46.

[0084] Specifically, when the attachment / detachment state determination unit 63 determines that the counterweight 55 is attached to the slewing body 20, the selection unit 64 gives an instruction to activate the first distance detection means 45 and an instruction to deactivate the second distance detection means 46. As a result, as shown in FIG. 9, the first distance detection means 45 is configured to detect the distance to an object G in the traveling direction of the crane 1 (in the second embodiment, the rear).

[0085] When the attachment / detachment state determination unit 63 determines that the counterweight 55 is not attached to the revolving body 20, the selection unit 64 gives an instruction to the first distance detection means 45 to be in a non-operating state and gives an instruction to the second distance detection means 46 to be in an operating state. As a result, as shown in FIG. 10, the second distance detection means 46 is configured to detect the distance to an object G in the traveling direction of the crane 1 (rearward in the second embodiment).

[0086] [Processing by the control unit] FIG. 11 is a flowchart showing the flow of processing by the control unit 60 of the second embodiment. Hereinafter, the flow of processing by the control unit 60 of the second embodiment will be described.

[0087] As shown in FIG. 11, the attachment / detachment information acquisition unit 61 acquires the detection information of the attachment / detachment state detection means 56 (step S201).

[0088] Next, the attachment / detachment state determination unit 63 determines whether the counterweight 55 is attached to the revolving body 20 (step S202).

[0089] If it is determined that the counterweight 55 is attached to the revolving body 20 (YES in step S202), the process proceeds to step S203. If it is determined that the counterweight 55 is not attached to the revolving body 20 (NO in step S202), the process proceeds to step S207.

[0090] When the process proceeds to step S203, the selection unit 64 selects the first distance detection means 45 and activates the first distance detection means 45 (step S203).

[0091] Next, the distance information acquisition unit 62 acquires the detection information of the first distance detection means 45 (step S204).

[0092] Next, the control unit 60 gives an instruction to display the crane 1 with the counterweight 55 attached to the revolving body 20 on the display unit 71 (step S205).

[0093] Next, the control unit 60 gives an instruction to the braking device 80 to stop the travel of the crane 1 based on the acquired detection information of the first distance detection means 45 (step S206), and ends the process.

[0094] When proceeding to step S207, the selection unit 64 selects the second distance detection means 46 and activates the second distance detection means 46 (step S207).

[0095] Next, the distance information acquisition unit 62 acquires the detection information of the second distance detection means 46 (step S208).

[0096] Next, the control unit 60 gives an instruction to display on the display unit 71 the crane 1 in a state where the counterweight 55 has been removed from the slewing body 20 (step S209).

[0097] Next, the control unit 60 gives an instruction to the braking device 80 to stop the travel of the crane 1 based on the acquired detection information of the second distance detection means 46 (step S110), and ends the process.

[0098] [Operation of the Crane] Hereinafter, the operation of the crane 1 of the second embodiment will be described.

[0099] In the crane 1 of the second embodiment, the accessory is the counterweight 55 attached to the rear side of the slewing body 20, and the second distance detection means 46 is attached to the exposed portion of the slewing body 20 when the counterweight 55 is removed (Figs. 9, 10).

[0100] Accordingly, when the crane 1 moves backward with the counterweight 55 attached to the slewing body 20, the first distance detection means 45 detects the distance from the object G, and when the crane 1 moves backward with the counterweight 55 removed from the slewing body 20, the second distance detection means 46 can detect the distance from the object G. Therefore, whether the crane 1 moves backward with the counterweight 55 attached to the slewing body 20 or the crane 1 moves backward with the counterweight 55 removed from the slewing body 20, the distance from the object G can be appropriately detected.

[0101] Regarding other configurations and effects, since they are substantially the same as those in the above-described embodiment, the description thereof is omitted.

Embodiment

[0102] The crane of the third embodiment is different from the crane of the first embodiment in that the configurations of the first distance detection means and the second distance detection means are different.

[0103] [Functional Configuration of Crane] FIG. 12 is a block diagram showing the functional configuration of the crane of the third embodiment. FIG. 13 is a side view showing the traveling state of the crane with the boom 30 and the front outrigger unit 51 of the third embodiment attached. FIG. 14 is a side view showing the traveling state of the crane with the boom 30 and the front outrigger unit 51 of the third embodiment removed. Hereinafter, the functional configuration of the crane of the third embodiment will be described. Regarding the description of the same or equivalent parts as those described in the above embodiment, the same terms or the same reference numerals will be used for the description.

[0104] As shown in FIG. 12, for the crane 1, the detection information detected by the first distance detection means 41 and the detection information detected by the first distance detection means 47, or the detection information detected by the second distance detection means 42 and the detection information detected by the attachment / detachment state detection means 56 are input to the control unit 60, and the processing information processed by the control unit 60 is output to the braking device 80 and the display unit 71.

[0105] The attachment / detachment information acquisition unit 61 acquires the detection information of the attachment / detachment state detection means 56. The distance information acquisition unit 62 acquires the detection information of the first distance detection means 41 and the detection information of the first distance detection means 47, or the detection information of the second distance detection means 42.

[0106] The attachment / detachment state determination unit 63 determines whether the boom 30 is attached to the slewing body 20 based on the detection information of the attachment / detachment state detection means 56 acquired by the attachment / detachment information acquisition unit 61. Further, the attachment / detachment state determination unit 63 determines whether the front outrigger unit 51 is attached to the vehicle body 10 based on the detection information of the attachment / detachment state detection means 56 acquired by the attachment / detachment information acquisition unit 61.

[0107] The selection unit 64 selects either the first distance detection means 41 and the first distance detection means 47 or the second distance detection means 42 based on the detection information of the attachment / detachment state detection means 56, and activates either the first distance detection means 41 and the first distance detection means 47 or the second distance detection means 42.

[0108] Specifically, when the attachment / detachment state determination unit 63 determines that the boom 30 is attached to the slewing body 20 and the front outrigger unit 51 is attached to the vehicle body 10, the selection unit 64 gives an instruction to activate to the first distance detection means 41 and the first distance detection means 47, and gives an instruction to deactivate to the second distance detection means 42. Thereby, as shown in FIG. 13, the first distance detection means 41 and the first distance detection means 47 detect the distance to an object G in the traveling direction of the crane 1 (in the front in the third embodiment).

[0109] When the attachment / detachment state determination unit 63 determines that the boom 30 is not attached to the slewing body 20 and the front outrigger unit 51 is not attached to the vehicle body 10, the selection unit 64 gives an instruction to deactivate to the first distance detection means 41 and the first distance detection means 47, and gives an instruction to activate to the second distance detection means 42. Thereby, as shown in FIG. 14, the second distance detection means 42 detects the distance to an object G in the traveling direction of the crane 1 (in the front in the third embodiment).

[0110] [Processing by the Control Unit] FIG. 15 is a flowchart showing the flow of processing by the control unit 60 of the third embodiment. Hereinafter, the flow of processing by the control unit 60 of the second embodiment will be described.

[0111] As shown in FIG. 15, the attachment / detachment information acquisition unit 61 acquires the detection information of the attachment / detachment state detection means 56 (step S301).

[0112] Next, the attachment / detachment state determination unit 63 determines whether the boom 30 is attached to the slewing body 20 and whether the front outrigger unit 51 is attached to the vehicle body 10 (step S302).

[0113] If it is determined that the boom 30 is attached to the slewing body 20 and the front outrigger unit 51 is attached to the vehicle body 10 (YES in step S302), the process proceeds to step S303. If it is determined that the boom 30 is not attached to the slewing body 20 and the front outrigger unit 51 is not attached to the vehicle body 10 (NO in step S302), the process proceeds to step S307.

[0114] When the process proceeds to step S303, the selection unit 64 selects the first distance detection means 41 and the first distance detection means 47 and activates the first distance detection means 41 and the first distance detection means 47 (step S303).

[0115] Next, the distance information acquisition unit 62 acquires the detection information of the first distance detection means 41 and the detection information of the first distance detection means 47 (step S304).

[0116] Next, the control unit 60 gives an instruction to display the crane 1 in a state where the boom 30 is attached to the slewing body 20 and the front outrigger unit 51 is attached to the vehicle body 10 on the display unit 71 (step S305).

[0117] Next, the control unit 60 gives an instruction to the braking device 80 to stop the travel of the crane 1 based on the acquired detection information of the first distance detection means 41 and the detection information of the first distance detection means 47 (step S306), and ends the process.

[0118] When proceeding to step S307, the selection unit 64 selects the second distance detection means 42 and activates the second distance detection means 42 (step S307).

[0119] Next, the distance information acquisition unit 62 acquires the detection information of the second distance detection means 42 (step S308).

[0120] Next, the control unit 60 gives an instruction to the display unit 71 to display the crane 1 in a state where the boom 30 is removed from the slewing body 20 and the front outrigger unit 51 is removed from the vehicle body 10 (step S309).

[0121] Next, the control unit 60 gives an instruction to the braking device 80 to stop the travel of the crane 1 based on the acquired detection information of the second distance detection means 42 (step S310), and ends the process.

[0122] [Operation of the Crane] Hereinafter, the operation of the crane 1 of the third embodiment will be described.

[0123] In the crane 1 of the third embodiment, the accessory parts are the boom 30 attached to the slewing body 20 and the front outrigger unit 51 attached to the front side of the vehicle body 10, and the second distance detection means 42 is attached to the exposed portion of the vehicle body 10 when the front outrigger unit 51 is removed (FIG. 12).

[0124] Accordingly, when the crane 1 moves forward with the boom 30 attached to the slewing body 20 and the front outrigger unit 51 attached to the vehicle body 10, the distance to the object G can be detected by the first distance detection means 47 attached to the boom 30 and the first distance detection means 41 attached to the front outrigger unit 51. On the other hand, when the crane 1 moves forward with the boom 30 removed from the slewing body 20 and the front outrigger unit 51 removed from the vehicle body 10, when the front outrigger unit 51 is removed, the distance to the object G can be detected by the second distance detection means 42 attached to the exposed portion of the vehicle body 10.

[0125] Therefore, the distance to the object G can be appropriately detected whether the crane 1 moves forward with the boom 30 attached to the slewing body 20 and the front outrigger unit 51 attached to the vehicle body 10, or whether the crane 1 moves forward with the boom 30 removed from the slewing body 20 and the front outrigger unit 51 removed from the vehicle body 10.

[0126] Note that since other configurations and operational effects are substantially the same as those of the above-described embodiments, the description thereof is omitted.

[0127] As described above, the crane of the present invention has been described based on Examples 1 to 3. However, the specific configuration is not limited to these examples, and design changes, combinations of the examples, etc. are allowed as long as they do not depart from the gist of the invention according to each claim of the claims.

[0128] In the first embodiment, an example was shown in which the detection information detected by the first distance detection means 41 or the detection information detected by the second distance detection means 42 and the detection information detected by the attachment / detachment state detection means 56 are input to the control unit 60, and the processing information processed by the control unit 60 is output to the braking device 80 and the display unit 71. However, the detection information detected by the first distance detection means 43 or the detection information detected by the second distance detection means 44 and the detection information detected by the attachment / detachment state detection means 56 may be input to the control unit 60, and the processing information processed by the control unit 60 may be output to the braking device 80 and the display unit 71.

[0129] In the first to third embodiments, an example was shown in which the accessory parts are the front outrigger unit 51, the rear outrigger unit 52, the counterweight 55, and the boom 30. However, the accessory parts are not limited to this mode and can be attachable to and detachable from the crane 1.

[0130] In the first to third embodiments, an example was shown in which the crane 1 of the present invention is applied when any one of the front outrigger unit 51, the counterweight 55, and the boom 30 is attached or detached. However, the crane of the present invention can also be applied when at least one of the front outrigger unit 51, the counterweight 55, and the boom 30 is attached or detached.

[0131] In the first embodiment, an example was shown in which the present invention is applied to a rough terrain crane. However, the present invention can be applied to a crane that can travel.

Explanation of Reference Numerals

[0132] 1 Crane 10 Vehicle body 20 Slewing body 30 Boom (an example of an accessory part) 41, 43, 45, 47 First distance detection means 42, 44, 46 Second distance detection means 51 Front outrigger unit (an example of an accessory part) 55 Counterweight (an example of an accessory part) 56 Attachment / detachment state detection means 64 selection unit G object

Claims

1. A crane capable of traveling, comprising first distance detection means for detecting the distance to an object, which is attached to an attachment that is detachably attached; second distance detection means for detecting the distance to the object, which is attached to the exposed portion when the attachment is removed; attachment / detachment state detection means for detecting the attachment / detachment state of the attachment; and a selection unit that selects and operates either the first distance detection means or the second distance detection means based on the detection information of the attachment / detachment state detection means.

2. The attachment is a front outrigger unit attached to the front side of the vehicle body, and the second distance detection means is attached to the exposed portion of the vehicle body when the front outrigger unit is removed. The crane according to claim 1.

3. The attachment is a counterweight attached to the rear side of the slewing body, and the second distance detection means is attached to the exposed portion of the slewing body when the counterweight is removed. The crane according to claim 1.

Images