Crane Travel Support Device

Abstract

To provide a crane travelling support device that can stop a crane which is travelling, with an appropriate separation distance, in accordance with an attachment / detachment state of an accessory component.SOLUTION: A crane travelling support device 1A, which supports travelling of a crane 1, is provided with: distance sensing means 40 which senses a distance to an object G in a travelling direction of the crane 1; attachment / detachment state sensing means 56 that senses attachment / detachment states of accessory components (a boom 30 and a counter weight 55) that are attachably and detachably mounted on the crane 1; a tip determining part 64 that determines a tip part T in the travelling direction of the crane 1, on the basis of sensed information by the attachment / detachment state sensing means 56; a separation distance calculating part 65 that calculates a separation distance between the object G and the tip part T, when stopping the crane 1 which is travelling, on the basis of the sensed information by the distance sensing means 40 and the rip part T determined by the tip determining part 64; and a stop control part 66 that stops travelling of the crane 1, on the basis of the separation distance E calculated by the separation distance calculating part 65.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a crane travel support device for supporting the travel of a crane.

Background Art

[0002] Conventionally, it has been known that automobiles are equipped with collision damage mitigation brakes (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses an automatic braking system that automatically activates the braking means of a vehicle to stop the vehicle before it collides with an obstacle.

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 crane is provided with detachable accessories such as a boom and a counterweight. When traveling with these accessories attached to the crane and when traveling with the accessories removed from the crane, the overall length of the crane changes. Therefore, there is a problem that the traveling crane cannot be stopped at an appropriate separation distance according to the attachment / detachment state of the accessories.

[0006] Therefore, an object of the present invention is to provide a crane travel support device that can stop a traveling crane at an appropriate separation distance according to the attachment / detachment state of accessories.

Means for Solving the Problems

[0007] In order to achieve the above object, the crane travel support device of the present invention is a crane travel support device for supporting the travel of a crane, and includes distance detection means for detecting the distance from an object in the travel direction of the crane, attachment / detachment state detection means for detecting the attachment / detachment state of an attachment / detachment part detachably attached to the crane, a tip determination part for determining a tip part in the travel direction of the crane based on the detection information of the attachment / detachment state detection means, a separation distance calculation part for calculating the separation distance between the object and the tip part when the traveling crane is stopped based on the detection information of the distance detection means and the tip part determined by the tip determination part, and a stop control part for stopping the travel of the crane based on the separation distance calculated by the separation distance calculation part.

Advantages of the Invention

[0008] The crane travel support device of the present invention configured as described above can stop a traveling crane at an appropriate separation distance according to the attachment / detachment state of the attachment / detachment part.

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

Embodiments for Carrying Out the Invention

[0010] Hereinafter, embodiments for realizing a crane traveling support device according to the present invention will be described based on Example 1 and Example 2 shown in the drawings.

Examples

[0011] The crane traveling support device 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. Note that 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 outriggers 11 and a traveling device or the like for self-propelling on roads and work sites.

[0015] The outriggers 11 project in the horizontal and vertical directions during work, lift the entire vehicle body 10, and stabilize the posture.

[0016] The slewing body 20 is provided above the vehicle body 10 and is rotatable about a vertical axis C1 with respect to the vehicle body 10. The slewing body 20 includes a cabin 21.

[0017] As shown in FIG. 2, 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 revolving 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 revolving body 20 faces forward.

[0018] The cabin 21 has an operation unit (for example, a steering wheel, a shift lever, an accelerator pedal, a brake pedal, etc.) for controlling the travel of the vehicle body 10. Further, the cabin 21 has an operation unit for operating the revolving body 20, the boom 30, the winch 24, etc. The driver M boarding the cabin 21 operates the operation unit to turn the revolving body 20, raise and lower and extend and contract the boom 30, and rotate the winch 24 to perform work.

[0019] As shown in FIGS. 1 and 2, a counterweight 55 as an accessory is detachably attached to the rear side of the revolving body 20. The counterweight 55 is attached to the revolving body 20 in a state of protruding rearward from the rear end of the vehicle body 10.

[0020] As shown in FIG. 1, the boom 30 as an accessory is detachably attached to the revolving 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 nested and sequentially stored inside the base boom 31.

[0021] The base boom 31 is supported by a hoisting cylinder 22 provided on the revolving body 20. When the hoisting cylinder 22 expands and contracts, the boom 30 rises and falls, and when a telescopic cylinder (not shown) expands and contracts, the boom 30 expands and contracts.

[0022] A sheave 34 is arranged on a boom head 33a provided at the tip of a tip boom 33. A winch 24 provided on a 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.

[0023] The hook 36 can catch and suspend a load. The wire rope 35 is payed out by the winch 24 so that the hook 36 descends, and the wire rope 35 is wound up so that the hook 36 ascends.

[0024] As shown in FIGS. 1 and 2, the crane 1 is provided with 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. The distance detection means 40 can be, for example, a millimeter wave radar, an ultrasonic sensor, LiDAR (Light Detection and Ranging), or the like.

[0025] Examples of the object include an automobile, a bicycle, a person, a building, and construction materials placed at a construction site. The object may be a stationary object that is stationary or a moving object that is moving.

[0026] The distance detection means 40 has a first distance detection means 41 and a second distance detection means 42.

[0027] The first distance detection means 41 is attached in a posture facing forward on the front side (front end) of the vehicle body 10.

[0028] The second distance detection means 42 is attached in a posture facing backward on the rear side (rear end) of the vehicle body 10.

[0029] As shown in FIG. 2, the cabin 21 is provided with a display unit 71. The display unit 71 can be a monitor that displays an image.

[0030] 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.

[0031] 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, whether there is no mistake in the automatically detected working state is finally visually confirmed by an operator such as the driver M, 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 an operator manually inputs a confirmation intention and receives the input can also be applied.

[0032] The attachment / detachment state detection means 56 detects the attachment / detachment state of the boom 30 to the slewing body 20. Further, the attachment / detachment state detection means 56 detects the attachment / detachment state of the counterweight 55 to the slewing body 20.

[0033] The vehicle body 10 is provided with a braking device 80 controlled by a control unit 60 described later. The braking device 80 brakes the traveling crane 1 according to information from the control unit 60.

[0034] The crane 1 configured as described above can perform an operation of moving a load suspended from the hook 36 to a predetermined position by paying out and hoisting the wire rope 35 by the winch 24, raising and lowering and extending and retracting the boom 30, and slewing the slewing body 20.

[0035] The crane 1 can travel whether the boom 30 is attached to the slewing body 20 or detached from the slewing body 20. Note that when the boom 30 is attached to the slewing body 20, the crane 1 travels with the tip of the boom 30 in the stored and lowered posture protruding forward from the vehicle body 10.

[0036] In addition, 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. When the counterweight 55 is attached to the slewing body 20, the crane 1 travels with the rear end of the counterweight 55 protruding rearward from the vehicle body 10.

[0037] [Functional Configuration of Crane Travel Support Device] FIG. 3 is a block diagram showing the functional configuration of the crane travel support device of the first embodiment. FIG. 4 is a side view showing the traveling state of the crane 1 with the boom 30 of the first embodiment attached. FIG. 5 is a side view showing the traveling state of the crane 1 with the boom 30 of the first embodiment 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 travel support device of the first embodiment will be described.

[0038] As shown in FIG. 3, the crane travel support device 1A inputs 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 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.

[0039] The first distance detection means 41 is used when the crane 1 travels forward or is stationary 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.

[0040] The second distance detection means 42 is used when the crane 1 travels backward or is stationary 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.

[0041] The attachment / detachment state detection means 56 detects the attachment / detachment state of the boom 30 to the slewing body 20. In addition, the attachment / detachment state detection means 56 detects the attachment / detachment state of the counterweight 55 to the slewing body 20. The detection information of the attachment / detachment state detection means 56 is input to the control unit 60.

[0042] The control unit 60 includes a detachment information acquisition unit 61, a distance information acquisition unit 62, a detachment state determination unit 63, a tip determination unit 64, a separation distance calculation unit 65, and a stop control unit 66.

[0043] The detachment information acquisition unit 61 acquires the detection information of the 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. Specifically, when the crane 1 is traveling forward, the distance information acquisition unit 62 acquires the detection information of the first distance detection means 41, and when the crane 1 is traveling backward, the distance information acquisition unit 62 acquires the detection information of the second distance detection means 42.

[0044] The detachment state determination unit 63 determines whether the boom 30 and the counterweight 55 are attached to the slewing body 20 based on the detection information of the detachment state detection means 56 acquired by the detachment information acquisition unit 61.

[0045] The tip determination unit 64 determines the tip of the crane 1 in the traveling direction of the crane 1 based on the determination information of the detachment state determination unit 63.

[0046] Specifically, when the crane 1 is traveling forward and the detachment state detection means 56 detects the attachment state of the boom 30 and the detachment state determination unit 63 determines that the boom 30 is attached to the slewing body 20, as shown in FIG. 4, the tip determination unit 64 determines the tip of the boom 30 as the tip T1 (T) of the crane 1.

[0047] When the crane 1 is traveling forward and the detachment state detection means 56 detects the removal state of the boom 30 and the detachment state determination unit 63 determines that the boom 30 is not attached to the slewing body 20, as shown in FIG. 5, the tip determination unit 64 determines the tip of the hoisting cylinder 22 that supported the boom 30 as the tip T2 (T) of the crane 1. In the state where the boom 30 is removed from the slewing body 20, the hoisting cylinder 22 protrudes forward of the vehicle body 10.

[0048] The separation distance calculation unit 65 calculates the separation distance between the object and the tip portion T when the traveling crane 1 is stopped, based on the detection information of the first distance detection means 41 and the tip portion T determined by the tip determination unit 64.

[0049] Specifically, as shown in FIG. 4, when the crane 1 with the boom 30 attached to the slewing body 20 travels forward and detects an object G in front of the traveling direction, the separation distance calculation unit 65 calculates the separation distance E1 (E) between the object G and the tip of the boom 30 as the tip portion T1 when the traveling crane 1 is stopped.

[0050] As shown in FIG. 5, when the crane 1 with the boom 30 removed from the slewing body 20 travels forward and detects an object G in front of the traveling direction, the separation distance calculation unit 65 calculates the separation distance E2 (E) between the object G and the tip of the hoisting cylinder 22 as the tip portion T2 when the traveling crane 1 is stopped.

[0051] Note that the separation distance E1 can be the same distance as the separation distance E2, but it can also be longer or shorter than the separation distance E2.

[0052] The stop control unit 66 gives an instruction to stop the traveling of the crane 1 to the braking device 80 based on the separation distance E calculated by the separation distance calculation unit 65. That is, the stop control unit 66 gives an instruction to stop the traveling of the crane 1 to the braking device 80 so as to stop at the separation distance E calculated by the separation distance calculation unit 65.

[0053] The braking device 80 generates the braking force of the crane 1 based on the instruction output from the stop control unit 66. That is, the braking device 80 functions as a collision damage reduction brake that stops the traveling crane 1 based on the instruction output from the stop control unit 66.

[0054] Note that the stop control unit 66 outputs an instruction to the braking device 80 to apply braking, or instead of outputting an instruction to the braking device 80 to apply braking, it may output an instruction to a sounding device such as a buzzer that emits an alarm sound to emit an alarm sound, or output an instruction to a lighting device or display device such as an indicator lamp that emits alarm light to emit alarm light.

[0055] Based on the processing information in the control unit 60, the control unit 60 outputs a display indicating the attachment / detachment state of the boom 30 to the display unit 71.

[0056] 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 parts. That is, the display unit 71 displays the attachment / detachment state of the accessory parts of the crane 1.

[0057] Specifically, when the attachment / detachment state determination unit 63 determines that the boom 30 is not attached to the slewing body 20, as shown in FIG. 6, the display unit 71 displays the crane 1 in a state where the boom 30 is not attached to the slewing body 20.

[0058] On the other hand, when the attachment / detachment state determination unit 63 determines that the boom 30 is attached to the slewing body 20, the display unit 71 displays the crane 1 in a state where the boom 30 is attached to the slewing body 20.

[0059] [Processing by the control unit] FIG. 7 is a flowchart showing the processing flow by the control unit 60 of the first embodiment. Hereinafter, the processing flow by the control unit 60 of the first embodiment will be described.

[0060] When the crane 1 is traveling forward, as shown in FIG. 7, the distance information acquisition unit 62 acquires the detection information of the first distance detection means 41 (step S101).

[0061] Next, the attachment / detachment information acquisition unit 61 acquires the detection information of the attachment / detachment state detection means 56 (step S102).

[0062] Next, 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 (step S103).

[0063] If it is determined that the boom 30 is attached to the slewing body 20 (YES in step S103), the tip determination unit 64 determines the tip of the boom 30 as the tip portion T1 (step S104).

[0064] Next, the separation distance calculation unit 65 calculates the separation distance E1 between the object G and the tip of the boom 30 as the tip portion T1 (step S105).

[0065] Next, the control unit 60 gives an instruction to display the crane 1 with the boom 30 attached to the slewing body 20 on the display unit 71 (step S106).

[0066] Next, the stop control unit 66 gives an instruction to stop the travel of the crane 1 to the braking device 80 based on the separation distance E1 calculated by the separation distance calculation unit 65 (step S107), and ends the process.

[0067] On the other hand, if it is determined that the boom 30 is not attached to the slewing body 20 (NO in step S103), the tip determination unit 64 determines the tip of the hoisting cylinder 22 that supported the boom 30 as the tip portion T2 (step S108).

[0068] Next, the separation distance calculation unit 65 calculates the separation distance E2 between the object G and the tip of the hoisting cylinder 22 as the tip portion T2 (step S109).

[0069] Next, the control unit 60 gives an instruction to display the crane 1 with the boom 30 not attached to the slewing body 20 on the display unit 71 (step S110).

[0070] Next, the stop control unit 66 gives an instruction to the braking device 80 to stop the travel of the crane 1 based on the separation distance E2 calculated by the separation distance calculation unit 65 (step S111), and ends the process.

[0071] [Operation of Crane Travel Support Device] Hereinafter, the operation of the crane travel support device 1A of the first embodiment will be described.

[0072] The crane travel support device 1A of the first embodiment is a crane travel support device 1A that supports the travel of the crane 1, and includes a distance detection means 40 that detects the distance from an object G in the travel direction of the crane 1, and an attachment / detachment state detection means 56 that detects the attachment / detachment state of attachment / detachable accessories (boom 30, counterweight 55) to / from the crane 1. Based on the detection information of the attachment / detachment state detection means 56, a tip determination unit 64 that determines the tip portion T in the travel direction of the crane 1, based on the detection information of the distance detection means 40 and the tip portion T determined by the tip determination unit 64, a separation distance calculation unit 65 that calculates the separation distance E between the object G and the tip portion T when the traveling crane 1 is stopped, and a stop control unit 66 that stops the travel of the crane 1 based on the separation distance E calculated by the separation distance calculation unit 65 (FIG. 3).

[0073] Thereby, according to the attachment / detachment state of the attachment / detachable accessories (boom 30, counterweight 55), the tip portion T in the traveling direction of the crane 1 can be specified. And the traveling crane 1 can be stopped at a position where the specified tip portion T and the object G are separated by the separation distance E. Therefore, according to the attachment / detachment state of the attachment / detachable accessories (boom 30, counterweight 55), the traveling crane 1 can be stopped at an appropriate separation distance E.

[0074] In the crane travel support device 1A of the first embodiment, the accessory is the boom 30 that is detachably attached to the slewing body 20. When the attachment / detachment state detection means 56 detects the attachment state of the boom 30, the tip determination unit 64 determines the tip of the boom 30 as the tip portion T. When the attachment / detachment state detection means 56 detects the detached state of the boom 30, the tip determination unit 64 determines the tip of the hoisting cylinder 22 that supported the boom 30 as the tip portion T (FIGS. 4 and 5).

[0075] Accordingly, when the boom 30 is attached to the slewing body 20, the tip portion T in the traveling direction (front) of the crane 1 can be set as the tip of the boom 30. On the other hand, when the boom 30 is not attached to the slewing body 20, the tip portion T in the traveling direction of the crane 1 can be set as the tip of the hoisting cylinder 22. Therefore, according to the attachment / detachment state of the boom 30, the crane 1 traveling forward can be stopped at an appropriate separation distance E.

Embodiment

[0076] The crane travel support device of the second embodiment is different from the crane of the first embodiment in that the traveling direction of the crane is different.

[0077] [Functional Configuration of Crane Travel Support Device] FIG. 8 is a side view showing the traveling state of the crane to which the counterweight 55 of the second embodiment is attached. FIG. 9 is a side view showing the traveling state of the crane from which the counterweight 55 of the second embodiment is removed. Hereinafter, the functional configuration of the crane travel support device of the second embodiment will be described. Note that, for 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.

[0078] As shown in FIG. 3, the tip determination unit 64 determines the tip portion T of the crane 1 in the traveling direction of the crane 1 based on the determination information of the attachment / detachment state determination unit 63.

[0079] Specifically, when the crane 1 is traveling backward and the attachment / detachment state detection means 56 detects the attachment state of the counterweight 55, and when the attachment / detachment state determination unit 63 determines that the counterweight 55 is attached to the slewing body 20, as shown in FIG. 8, the tip determination unit 64 determines the rear end of the counterweight 55 as the tip portion T3 (T) of the crane 1. Note that in the state where the counterweight 55 is attached to the slewing body 20, the counterweight 55 protrudes rearward of the vehicle body 10.

[0080] When the crane 1 is traveling backward and the attachment / detachment state detection means 56 detects the detached state of the counterweight 55, and when the attachment / detachment state determination unit 63 determines that the counterweight 55 is not attached to the slewing body 20, as shown in FIG. 9, the tip determination unit 64 determines the rear end of the vehicle body 10 as the tip portion T4 (T) of the crane 1. Note that in the state where the counterweight 55 is removed from the slewing body 20, the vehicle body 10 protrudes rearward of the slewing body 20.

[0081] Based on the detection information of the second distance detection means 42 and the tip portion T determined by the tip determination unit 64, the separation distance calculation unit 65 calculates the separation distance between the object G and the tip portion T when the traveling crane 1 is stopped.

[0082] Specifically, as shown in FIG. 8, when the crane 1 with the counterweight 55 attached to the slewing body 20 travels backward and detects the object G in front of the traveling direction, the separation distance calculation unit 65 calculates the separation distance E3 (E) between the object G and the rear end of the counterweight 55 as the tip portion T3 when the traveling crane 1 is stopped.

[0083] As shown in FIG. 9, when the crane 1 with the counterweight 55 removed from the slewing body 20 travels backward and detects the object G in front of the traveling direction, the separation distance calculation unit 65 calculates the separation distance E4 (E) between the object G and the rear end of the vehicle body 10 as the tip portion T4 when the traveling crane 1 is stopped.

[0084] Note that the separation distance E3 can be the same as the separation distance E4, but it can also be longer or shorter than the separation distance E4.

[0085] [Processing by the control unit] FIG. 10 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.

[0086] When the crane 1 is traveling backward, as shown in FIG. 10, the distance information acquisition unit 62 acquires the detection information of the second distance detection means 42 (step S201).

[0087] Next, the attachment / detachment information acquisition unit 61 acquires the detection information of the attachment / detachment state detection means 56 (step S202).

[0088] Next, the attachment / detachment state determination unit 63 determines whether or not the counterweight 55 is attached to the revolving body 20 based on the detection information of the attachment / detachment state detection means 56 acquired by the attachment / detachment information acquisition unit 61 (step S203).

[0089] If it is determined that the counterweight 55 is attached to the revolving body 20 (YES in step S203), the tip determination unit 64 determines the rear end of the counterweight 55 as the tip portion T3 (step S204).

[0090] Next, the separation distance calculation unit 65 calculates the separation distance E3 between the object G and the rear end of the counterweight 55 as the tip portion T3 (step S205).

[0091] 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 S206).

[0092] Next, the stop control unit 66 gives an instruction to the brake device 80 to stop the traveling of the crane 1 based on the separation distance E3 calculated by the separation distance calculation unit 65 (step S207), and ends the process.

[0093] On the other hand, when it is determined that the counterweight 55 is not attached to the revolving body 20 (NO in step S203), the tip determination unit 64 determines the rear end of the vehicle body 10 as the tip portion T4 (step S208).

[0094] Next, the separation distance calculation unit 65 calculates the separation distance E4 between the object G and the rear end of the vehicle body 10 as the tip portion T4 (step S209).

[0095] Next, the control unit 60 gives an instruction to display the crane 1 in a state where the counterweight 55 is not attached to the revolving body 20 on the display unit 71 (step S210).

[0096] Next, the stop control unit 66 gives an instruction to the braking device 80 to stop the travel of the crane 1 based on the separation distance E4 calculated by the separation distance calculation unit 65 (step S211), and ends the process. [Operation of Crane Travel Support Device] Hereinafter, the operation of the crane travel support device 1A of the second embodiment will be described.

[0097] In the crane travel support device 1A of the second embodiment, the accessory is a counterweight 55 that is detachably attached to the revolving body 20 in a state of protruding rearward from the vehicle body 10. When the attachment / detachment state detection means 56 detects the attachment state of the counterweight 55, the tip determination unit 64 determines the rear end of the counterweight 55 as the tip portion T. When the attachment / detachment state detection means 56 detects the removal state of the counterweight 55, the tip determination unit 64 determines the rear end of the vehicle body 10 as the tip portion T (FIGS. 8 and 9).

[0098] Thus, when the counterweight 55 is attached to the revolving body 20, the tip T in the traveling direction (rearward) of the crane 1 can be set as the rear end of the counterweight 55. On the other hand, when the counterweight 55 is not attached to the revolving body 20, the tip T in the traveling direction of the crane 1 can be set as the rear end of the vehicle body 10. Therefore, according to the attached / detached state of the boom 30, the crane 1 traveling rearward can be stopped at an appropriate separation distance E.

[0099] Note that, regarding other configurations and operational effects, since they are substantially the same as those in the above embodiments, the description thereof is omitted.

[0100] As described above, the crane traveling support device of the present invention has been described based on Example 1 and Example 2. However, the specific configuration is not limited to these examples, and design changes, combinations of each example, etc. are allowed as long as they do not deviate from the gist of the invention according to each claim in the claims.

[0101] In Example 1 and Example 2, examples in which the accessory is the boom 30 or the counterweight 55 are shown. However, the accessory is not limited to this aspect, and any detachable part that forms at least a part of the outer edge of the crane 1, such as an outrigger unit including the outriggers 11, may be used.

[0102] In Example 1, an example in which the tip T of the crane 1 with the boom 30 removed from the revolving body 20 is set as the tip of the hoisting cylinder 22 is shown. In Example 2, an example in which the tip T of the crane 1 with the counterweight 55 removed from the revolving body 20 is set as the rear end of the vehicle body 10 is shown. However, the tip can be appropriately changed according to the specifications of the crane.

[0103] In Example 1 and Example 2, an example in which the distance detection means 40 includes the first distance detection means 41 and the second distance detection means 42 is shown. However, the distance detection means may be one, or three or more may be provided.

[0104] In Example 1, an example of applying the present invention to a rough terrain crane was shown. However, the present invention can be applied to a crane capable of traveling.

Explanation of Signs

[0105] 1 Crane 1A Crane Travel Support Device 20 Slewing Body 22 Luffing Cylinder 30 Boom (an example of an accessory) 40 Distance Detection Means 55 Counterweight (an example of an accessory) 56 Attachment / Detachment State Detection Means 64 Tip Judgment Unit 65 Separation Distance Calculation Unit 66 Stop Control Unit E Separation Distance G Object T Tip

Claims

1. A crane travel assistance device for assisting the travel of a crane, comprising: distance detection means for detecting the distance to an object in the travel direction of the crane; attachment / detachment state detection means for detecting the attachment / detachment state of an accessory that protrudes forward or backward from the vehicle body of the crane and is detachably attached; a tip determination unit for determining the tip portion in the travel direction of the crane based on the detection information of the attachment / detachment state detection means; a separation distance calculation unit for calculating the separation distance between the object and the tip portion when the traveling crane is stopped, based on the detection information of the distance detection means and the tip portion determined by the tip determination unit; a stop control unit for stopping the travel of the crane based on the separation distance calculated by the separation distance calculation unit, wherein the accessory is a boom that protrudes forward from the vehicle body and is detachably attached to the slewing body; when the vehicle body travels forward and the attachment / detachment state detection means detects the attachment state of the boom, the tip determination unit determines the tip of the boom as the tip portion, and when the attachment / detachment state detection means detects the detached state of the boom, the tip determination unit determines the tip of the hoist cylinder that supported the boom as the tip portion. A crane travel assistance device characterized by this.

2. A crane travel assistance device for assisting the travel of a crane, comprising: distance detection means for detecting the distance to an object in the travel direction of the crane; attachment / detachment state detection means for detecting the attachment / detachment state of an accessory that protrudes forward or backward from the vehicle body of the crane and is detachably attached; a tip determination unit for determining the tip portion in the travel direction of the crane based on the detection information of the attachment / detachment state detection means; a separation distance calculation unit for calculating the separation distance between the object and the tip portion when the traveling crane is stopped, based on the detection information of the distance detection means and the tip portion determined by the tip determination unit; a stop control unit for stopping the travel of the crane based on the separation distance calculated by the separation distance calculation unit, wherein the accessory is a counterweight that protrudes backward from the vehicle body and is detachably attached to the slewing body. When the vehicle body travels backward, when the attachment / detachment state detection means detects the attachment state of the counterweight, the tip determination unit determines the rear end of the counterweight as the tip portion, and when the attachment / detachment state detection means detects the removal state of the counterweight, the tip determination unit determines the rear end of the vehicle body as the tip portion. A crane traveling support device characterized by this.

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