Crane equipment and control program

Abstract

To provide a crane device capable of grasping a position of a hook in real time during operation and performing crane work safely and smoothly.SOLUTION: In a crane device, a control monitor for displaying control information such as the length of a boom, a raising / lowering angle, a turning angle, the weight of a suspended load, and a rated value, which are detected by a sensor, is provided in an operator cab. The crane device further includes a camera 44 mounted on a tip part of the boom. A monitoring image photographed by the camera 44 is displayed on a supervisory monitor 78 installed in the operator cab. A hook block, a height position of a sub hook (the hook moving amount), and a ground lift height (a hoisting limit position) calculated from a detection value of the sensor are displayed by the control program to be overlapped with the monitoring image. An operator operates a winch while confirming the hook moving amount and the like displayed on the monitoring image and monitoring the behavior of the suspended load in the monitoring image.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a crane apparatus equipped with a boom and a winch, and a control program implemented in the crane apparatus. [Background technology]

[0002] A crane apparatus is, for example, mounted on a vehicle and used as a crane truck, or is fixedly installed at a work site. Generally, a crane apparatus comprises a swivel, a boom, a wire rope with a hook, a winch, and a steering device. The boom is telescopic and hoistable and is mounted on the swivel. During crane operation, the wire rope is suspended around the end of the boom, and a load is attached to the hook at the end of the wire rope. Driving the winch reels in or unwinds the wire rope, raising or lowering the load. In actual operation, the winch, swivel, and boom are driven, and the load attached to the hook is moved (transported) along a predetermined transport route. The steering device comprises an input device and a control device that accepts operations (inputs) from an operator. The control device drives the swivel, boom, and winch according to input signals from the input device.

[0003] Conventional crane apparatuses are equipped with a control monitor on the operating device to assist the operator in operating the crane apparatus (see Patent Document 1). In the crane apparatus described in Patent Document 1, the control monitor displays numerical information such as the rotation position, boom hoisting angle, boom length, lifting load, rated weight, and hook travel distance as a control screen. The operator operates the rotation platform, boom, and winch by referring to the information displayed on the control monitor.

[0004] Incidentally, in order to perform crane operations safely and smoothly, it is important for the operator to grasp the position of the load and the hook in real time. This is especially true when the transport route is three-dimensional and the load is out of sight (for example, when transporting a load placed on the ground to the roof of an adjacent building). Therefore, in addition to displaying the above information on the control monitor, a camera that captures images of the load and the hook may be mounted at the tip of the boom, and the status of the load and the hook during operation may be displayed on a monitoring monitor. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2002-241082 Summary of the Invention [Problem to be solved by the invention]

[0006] However, because the image of the hook displayed on the monitoring monitor captures the hook and the load from the tip of the boom, it is difficult to grasp the depth, and as the hook moves away from the tip of the boom, it becomes difficult to determine the exact height position of the hook. Moreover, even if the monitoring monitor displays an image of the hook during operation, the operator must operate the winch while visually checking both the control monitor and the monitoring monitor during crane operation, which places a heavy burden on the operator. For these reasons, it has been difficult for the operator to grasp the position (height) of the load and hook during operation in real time.

[0007] The present invention has been made against this background, and its purpose is to provide a crane apparatus that can grasp the behavior and position of a hook during operation in real time, enabling safe and smooth crane operation, and to provide a control program to be implemented in this crane apparatus. [Means for solving the problem]

[0008] (1) The crane device according to the present invention is A swivel base and a telescopic platform mounted on the swivel base a boom, a first winch installed on the base end side of the boom, a first wire wound by the first winch, a first hook suspended from a suspending tip by the first wire along the boom, and a first sensor for detecting a first detection value capable of identifying a height position of the first hook 、 A camera provided at the tip of the suspension to capture images below a group of sensors including a rotation angle sensor that detects the rotation angle of the rotation base, a boom hoisting angle sensor that detects the boom hoisting angle, and a boom length sensor that detects the length of the boom; and, Control and Supervisory Monitors and a control device. The swing angle, the hoisting angle, and the boom length are A control screen generation process for generating a control screen including control information, and The above control monitor a first display object generation process for generating a first display object indicating the height position of the first hook indicated by the first detection value; and a first display object generation process for overlaying the first display object on a monitoring image captured by the camera. Above monitor and a second display process for displaying the image on the display screen.

[0009] When extending, retracting, or lowering the boom, the operator controls the boom while checking the control information displayed on the control screen. On the other hand, when raising or lowering a load suspended by the first hook, the operator controls the winch while visually checking (monitoring) the behavior of the load displayed on the monitoring image in real time. When the load separates from the end of the suspension, the operator checks the detailed height position of the load using the first display object superimposed on the monitoring image. In other words, the operator can check the detailed height position of the first hook while monitoring the behavior of the load in real time. As a result, safe and smooth crane operation is possible.

[0010] (2) The control device may further execute a base point acquisition process to acquire a base point position. The height position of the first hook is a numerical value indicating a height from the base point position, and the first display object is a vertical graph including the height position of the first hook and a first mark indicating the base point position.

[0011] For example, the operator inputs the base point position when the first hook is attached to the placed material (hanging load). The control device superimposes on the monitoring image a vertical graph including a numerical value indicating the height position of the first hook with the placement height position of the material as the base point position, and a first mark indicating the base point position. Surveillance Monitor Therefore, the operator can easily recognize which position is the base point of the displayed numerical value indicating the height position of the first hook.

[0012] (3) The base point acquisition process may include a process for accepting input of a first base point position that is the base point position for hoisting, and a process for accepting input of a second base point position that is the base point position for lowering. The height position of the first hook is a first height position that is a height from the first base point position, or a second height position that is a height from the second base point position. The second display process displays the first height position based on the first height position being specified or the first wire being hoisted by the first winch. Above monitor and the second height position is displayed based on the fact that the second height position has been designated or the first wire has been wound down by the first winch. Above monitor Display in.

[0013] When the operator specifies a first height position, the control device displays the first height position superimposed on the monitoring image, and when the operator specifies a second height position, the control device displays the second height position superimposed on the monitoring image. Alternatively, the control device displays the first height position superimposed on the monitoring image during hoisting, and displays the second height position superimposed on the monitoring image during lowering. As a result, the more appropriate height position of the first height position or the second height position is displayed superimposed on the monitoring image.

[0014] (4) The control device may further execute a tip height position acquisition process for acquiring a height position of the suspension tip, and a hoisting limit position identification process for identifying a hoisting limit position of the first hook based on the height position of the suspension tip. The first display object further includes the hoisting limit position.

[0015] The height position of the first hook and the winding limit position of the first hook are superimposed on the monitoring image. Surveillance Monitor This allows the operator to easily see how much more the first hook can be reeled in.

[0016] (5) The first display object may further include a second mark indicating a height position above the ground.

[0017] Since the second mark indicating the height position of the ground is displayed on the monitoring image, the operator can easily recognize the positional relationship between the position of the first hook and the ground.

[0018] (6) The crane apparatus according to the present invention may further include a second winch installed on a base end side of the boom, a second wire wound up by the second winch, a second hook suspended from the suspension tip by the second wire along the boom, and a second sensor that detects a second detection value that can identify a height position of the second hook. The control device executes the second display process based on the first hook being designated or the first winch being driven, and performs second display object generation process that generates a second display object including the height position of the second hook indicated by the second detection value based on the second hook being designated or the second winch being driven, and displays the second display object on the monitoring image by superimposing the second display object on the monitoring image. Above monitor and a third display process for displaying the image on the display unit 100.

[0019] For example, the first hook is a hook block (main hook) and the second hook is a sub-hook. Alternatively, the second hook is a sub-hook and the first hook is a hook block (main hook). The height position of the first hook and the height position of the second hook can be switched and displayed either automatically or at the operator's command. Therefore, compared to when both the height positions of the first hook and the second hook are displayed on the monitoring image, the operator can easily recognize the height position of the hook that the operator wants to know or that is currently being used.

[0020] (7) The program according to the present invention is A swivel base and a telescopic and extendable platform mounted on the swivel base. A boom, a winch installed on the base end side of the boom, a wire wound by the winch, a hook suspended from the tip of the suspension by the wire along the boom, and a detection value that can identify the height position of the hook are detected. No. 1 Sensor 、 A camera provided at the tip of the suspension to capture images below a group of sensors including a rotation angle sensor that detects the rotation angle of the rotation base, a boom hoisting angle sensor that detects the boom hoisting angle, and a boom length sensor that detects the length of the boom; and, Control and Supervisory Monitors The control program according to the present invention is implemented in a crane apparatus including a control device. The swing angle, the hoisting angle, and the boom length are A control screen generation process for generating a control screen including control information, and The above control monitor a first display object generation process for generating a first display object indicating the height position of the hook indicated by the detection value; and a first display object generation process for overlaying the first display object on a monitoring image captured by the camera. Above monitor and a second display process for displaying the image on the display screen.

[0021] The present invention can also be understood as a control program implemented in a crane device. [Effects of the Invention]

[0022] The crane apparatus according to the present invention or the control program implemented in the crane apparatus allows the operator to grasp the behavior and position of the hook during operation in real time, and enables safe and smooth crane operation. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a perspective view of a mobile crane 10. FIG. [Figure 2] FIG. 2 is a plan view of the mobile crane 10. [Figure 3] FIG. 3 is a side view of the mobile crane 10. [Figure 4] FIG. 4 is a functional block diagram of the crane apparatus 12. [Figure 5] FIG. 5 is a diagram showing the control device 29 installed in the driver's cab 13. [Figure 6] FIG. 6 is a diagram showing the control screen. [Figure 7] FIG. 7 is a diagram showing a monitoring image. [Figure 8] FIG. 8(A) is a diagram showing an object 35 according to the embodiment, and FIG. 8(B) is a diagram showing an object 45 according to a modified example. [Figure 9] FIG. 9 is a part of a flowchart of the display process. [Figure 10] FIG. 10 shows another part of the flowchart of the display process. [Figure 11] FIG. 11 is an explanatory diagram illustrating the hanging lengths L1 and L2. DETAILED DESCRIPTION OF THE INVENTION

[0024] An embodiment of the present invention will be described below. It should be noted that the embodiment described below is merely an example of the present invention and may be modified as appropriate without departing from the spirit of the present invention. For example, the execution order of the processes described below may be modified as appropriate without departing from the spirit of the present invention. Alternatively, some of the processes described below may be omitted as appropriate without departing from the spirit of the present invention.

[0025] Fig. 1 is a perspective view of the exterior of a mobile crane 10 according to one embodiment of the present invention. Fig. 2 and Fig. 3 are a schematic plan view and a side view of the mobile crane 10, respectively.

[0026] In this embodiment, the mobile crane 10 is a rough terrain crane. However, the mobile crane 10 may also be an all-terrain crane.

[0027] The crane vehicle 10 comprises a running body 11, an outrigger device 80 provided on the running body 11, and a crane device 12 and a cab 13 mounted on the running body 11.

[0028] The traveling vehicle 11 includes a body 17 and an axle (not shown) suspended from the body 17. The body 17 is equipped with an engine 15 as a prime mover and a battery 16 (FIG. 6) as a power source. The axle has wheels 18, which are driven by the engine 15. The engine 15 drives a hydraulic pump (not shown) to operate a hydraulic supply device 28 (FIG. 4) described below, and also charges the battery 16 via an alternator.

[0029] The outrigger device 80 includes a front outrigger 81 and a rear outrigger 82. The configuration of the front outrigger 81 is the same as that of the rear outrigger 82. In the following, the configuration of the front outrigger 81 will be described, and a description of the configuration of the rear outrigger 82 will be omitted.

[0030] As shown in FIG. 2, the front outrigger 81 includes an outer beam 83, a pair of left and right inner beams 84, 85, outrigger cylinders 86, 87, a pair of left and right jacks 88, 89, outrigger sensors 91, 92, 93, 94, and pressure sensors 95, 96 (see FIG. 4).

[0031] The outer beam 83 has a rectangular cylindrical shape and extends along the width direction (left-right direction) of the crane vehicle 10. The inner beam 84 is located on the right side of the outer beam 83, and the inner beam 85 is located on the left side of the outer beam 83. The inner beams 84 and 85 slide between a stored position (see Figure 1) where they are stored in the outer beam 83 and an extended position (see Figure 2) where they extend from the outer beam 83.

[0032] The outrigger cylinders 86, 87 (see FIG. 4) are, for example, hydraulic cylinders, and are extended and retracted by hydraulic oil supplied from the hydraulic supply device 28 (see FIG. 4). The outrigger cylinders 86, 87 extend to cause the inner beams 84, 85 to protrude from the outer beam 83, and retract to cause the inner beams 84, 85 to be stored in the outer beam 83.

[0033] The jacks 88, 89 are, for example, hydraulic cylinders, and are extended and retracted by hydraulic oil supplied from the hydraulic supply device 28 (see FIG. 4). The jack 88 is fixed to the tip of one of the inner beams 84. The jack 89 is fixed to the tip of the other inner beam 85. The jacks 88, 89 extend and retract in the vertical direction. When in the contracted state, the lower ends of the jacks 88, 89 are positioned above the lowest points of the wheels 18. The jacks 88, 89 stabilize the posture of the mobile crane 10 before crane operation. That is, a floor plate (not shown) is placed on the ground, and the jacks 88, 89 are extended so as to abut against the floor plate, thereby lifting the mobile crane 10.

[0034] The outrigger sensors 91, 92, 93, and 94 (see FIG. 4) are, for example, limit switches having pressing portions. The outrigger sensors 91 and 92 are arranged in the center of the outer beam 83. The outrigger sensors 93 and 94 are arranged at the tip of the outer beam 83. The pressing portions of the outrigger sensors 91 and 92 are pressed by the inner beams 84 and 85, which are in the stored position. That is, the outrigger sensors 91 and 92 output an ON detection signal when the inner beams 84 and 85 are in the stored position, and output an OFF detection signal when the inner beams 84 and 85 are not in the stored position. The control program 74 (see FIG. 4) uses the outrigger sensors 91 and 92 to detect whether the inner beams 84 and 85 are in the stored position.

[0035] The pressing portions of the outrigger sensors 93, 94 are pressed by the inner beams 84, 85 which are in the extended position. That is, the outrigger sensors 93, 94 output an ON detection signal when the inner beams 84, 85 are in the extended position, and output an OFF detection signal when the inner beams 84, 85 are in a position other than the extended position. The control program 74 (see FIG. 4) uses the outrigger sensors 93, 94 to detect whether the inner beams 84, 85 are in the extended position. Note that, as long as it is possible to detect whether the front outrigger 81 is in the retracted position and whether it is in the extended position, a type of outrigger sensor other than a limit switch, such as a magnetic sensor, may be used.

[0036] Pressure sensor 95 (see FIG. 4) is a sensor that outputs a pressure signal corresponding to the ground pressure of jack 88. The ground pressure of jack 88 is the pressure with which the lower end of extended jack 88 presses against the floor plate. Similarly, pressure sensor 96 is a sensor that outputs a pressure signal corresponding to the ground pressure of jack 89. Control program 74 (see FIG. 4) uses pressure sensors 95 and 96 to detect whether or not crane mobile 10 is in a stable position where crane operation can be performed.

[0037] FIG. 4 is a functional block diagram of the crane device 12 mounted on the crane vehicle 10.

[0038] As shown in Fig. 3, the crane apparatus 12 includes a swivel base 21, a boom 22, a main winch 23, a sub-winch 24, a hook block 30, and a sub-hook 33. As shown in Fig. 4, the crane apparatus 12 includes a sensor group 26, a hydraulic actuator group 27, a hydraulic pressure supply unit 28, a control unit 29, a control monitor 75, a surveillance monitor 78, and a control unit 70.

[0039] The swivel base 21 is supported by the traveling body 11 (see FIG. 3). The swivel base 21 rotates around a predetermined central axis of rotation (not shown) via a swivel motor 51 (see FIG. 4).

[0040] A locking member 14 is provided on the swivel base 21. The locking member 14 is a member to which the hook block 30 and the sub-hook 33 are hooked while the crane vehicle 10 is traveling. The crane vehicle 10 travels to the work site with the hook block 30 and the sub-hook 33 hooked to the locking member 14.

[0041] As shown in Figure 3, the boom 22 is supported on the swivel base 21 so that it can be raised and lowered. The boom 22 is made up of multiple cylindrical bodies arranged in a nested manner, forming a so-called telescopic structure that is extendable and retractable. In other words, the boom 22 can be raised and lowered, extended and retracted, and rotated. The boom 22 is raised and lowered by a hoisting cylinder 52 and extended and retracted by a telescoping cylinder 53 (see Figure 4).

[0042] The main winch 23 is attached to the base end of the boom 22 or the swivel base 21. The main winch 23 has a main drum 56 and a sheave 57. A main wire rope 41 (hereinafter referred to as the "main wire 41") is wound around the main drum 56, and the main wire 41 is reeled around the sheave 57. The main drum 56 is driven (rotated) by a hydraulic motor 54 (see FIG. 4). When the main drum 56 is driven, the main wire 41 is wound onto the main drum 56, or the main wire 41 is unwound from the main drum 56.

[0043] The sub-winch 24 is attached to the base end of the boom 22 or to the swivel base 21. The sub-winch 24 has a sub-drum 58 and a sheave 59. A sub-wire rope 42 (hereinafter referred to as the "sub-wire 42") is wound around the sub-drum 58, and the sub-wire 42 is reeled through the sheave 59. The sub-drum 58 is driven (rotated) by a hydraulic motor 55 (see FIG. 4). When the sub-drum 58 is driven, the sub-wire 42 is wound onto the sub-drum 58, or the sub-wire 42 is unwound from the sub-drum 58. Either the main winch 23 or the sub-winch 24 corresponds to the "first winch" set forth in the claims, and the other corresponds to the "second winch" set forth in the claims.

[0044] The main wire 41 is reeled around the sheave 57 and then pulled out along the boom 22 to the tip of the boom 22. A fixed pulley device (not shown) is provided at the tip of the boom 22. The fixed pulley device constitutes a pulley device together with the hook block 30. The fixed pulley device and the hook block 30 each have a plurality of sheaves. The main wire 41 is reeled around the sheave of the fixed pulley device and the sheave of the hook block 30. The hook block 30 is suspended from the tip of the boom 22 by the main wire 41. The tip of the boom 22 corresponds to the "suspension tip" set forth in the claims.

[0045] The number of times the main wire 41 is wound around is also referred to as the number of times the wire is wound. As the number of times the wire is wound increases, the weight of the load that the crane apparatus 12 can safely suspend (rated weight: maximum lifting load in this embodiment) increases. In other words, the pulley apparatus improves the performance of the crane apparatus 12.

[0046] The ratio of the length of the main wire 41 wound by the main drum 56 (hereinafter referred to as the "winding amount") or the length of the main wire 41 paid out by the main drum 56 (hereinafter referred to as the "winding amount") to the distance the hook block 30 rises (amount of rise) or falls (amount of fall) is determined by the number of wire loops. For example, when the number of wire loops is "1", the amount of winding or lowering of the wire 41 is the same as the amount of winding or lowering of the hook block 30. When the number of wire loops is "3", the amount of winding or lowering of the wire 41 is three times the amount of winding or lowering of the hook block 30.

[0047] In this embodiment, the number of wire turns is used to calculate the rated weight, etc. The number of wire turns is input to the control device 70 by an operator via, for example, a touch sensor 77 (see FIG. 4), and is stored in the memory 72. Alternatively, the number of wire turns is automatically determined by the control device 70 based on the detection values ​​output by the sensor group 26, and is stored in the memory 72.

[0048] The hook block 30 has a block body 31 that houses the sheave, and a hook 32 that is hooked onto a suspended load 43. The hook 32 protrudes downward from the lower surface of the block body 31.

[0049] The sub-wire 42 is looped around a sheave (not shown) provided at the tip of the boom 22, and a sub-hook 33 is provided at the tip of the sheave. As shown in FIG. 3, the sub-hook 33 is suspended from the tip of the boom 22 by the sub-wire 42. The sub-hook 33 is directly connected to the sub-wire 42 without a pulley device, and the number of wire loops on the sub-hook 33 is always "1." Either the main wire 41 or the sub-wire 42 corresponds to the "first wire" set forth in the claims, and the other corresponds to the "second wire" set forth in the claims. Either the hook block 30 or the sub-hook 33 corresponds to the "first hook" set forth in the claims, and the other corresponds to the "second hook" set forth in the claims.

[0050] As shown in FIG. 4, the hydraulic actuator group 27 includes a swing motor 51, a hoisting cylinder 52, a telescopic cylinder 53, hydraulic motors 54 and 55, the outrigger cylinders 86 and 87, and jacks 88 and 89.

[0051] The swing motor 51 is a hydraulic motor that rotates via hydraulic oil supplied from the hydraulic supply unit 28, and rotates the swing base 21. The hoisting cylinder 52 is a hydraulic cylinder that extends and retracts via hydraulic oil supplied from the hydraulic supply unit 28, and raises and lowers the boom 22. The telescopic cylinder 53 is a hydraulic cylinder that extends and retracts via hydraulic oil supplied from the hydraulic supply unit 28, and extends and lowers the boom 22. The hydraulic motor 54 rotates via hydraulic oil supplied from the hydraulic supply unit 28, and rotates the main drum 56 of the main winch 23. The hydraulic motor 55 rotates via hydraulic oil supplied from the hydraulic supply unit 28, and rotates the sub-drum 58 of the sub-winch 24.

[0052] The hydraulic supply device 28 includes a hydraulic pump driven by the engine 15, piping connecting the hydraulic pump to the swing motor 51 and other components of the hydraulic actuator group 27, and a hydraulic selector valve and other components provided in the piping. The hydraulic selector valve may be a so-called electromagnetic valve, and is operated by a drive signal input from the control device 70. Activation of the hydraulic selector valve drives the swing motor 51, the hoisting cylinder 52, the telescopic cylinder 53, the hydraulic motors 54 and 55, the outrigger cylinders 86 and 87, and the jacks 88 and 89. In other words, by outputting drive signals, the control device 70 can swing, hoist, and extend the boom 22, reel in or reel out the main wire 41 and the sub-wire 42, and drive the outriggers 81 and 82 and the jacks 88 and 89.

[0053] In the following, rotating the swivel base 21 via the swivel motor 51 will be referred to as "driving the swivel base 21" or "driving the swivel base 21." Furthermore, raising and extending the boom 22 via the hoisting cylinder 52 and the telescopic cylinder 53 will be referred to as "driving the boom 22" or "driving the boom 22." Furthermore, rotating the drums 56 and 58 via the hydraulic motors 54 and 55 will be referred to as "driving the winches 23 and 24" or "driving the winches 23 and 24." Furthermore, driving the outrigger cylinders 86 and 87 and the jacks 88 and 89 will be referred to as "driving the outrigger unit 80" or "driving the outrigger unit 80."

[0054] The sensor group 26 includes a swing angle sensor 61, a boom length sensor 62, a boom hoisting angle sensor 63, drum sensors 64, 65, lifting load sensors 66, 67, over-hoisting detection sensors 68, 69, the outrigger sensors 91, 92, 93, 94, the pressure sensors 95, 96, and a camera 44.

[0055] The swivel angle sensor 61 is, for example, a rotary encoder. The swivel angle sensor 61 outputs a pulse signal, which is a detection value, according to the swivel angle of the swivel base 21. The number of pulses per unit time indicates the swivel speed (angular velocity) of the swivel base 21. The total number of pulses indicates the swivel angle of the swivel base 21. Note that, as long as the swivel angle of the swivel base 21 can be identified, another sensor such as a resolver may be used as the swivel angle sensor 61 instead of a rotary encoder.

[0056] The boom length sensor 62 is a sensor that outputs a detection value corresponding to the length of the boom 22. The boom length sensor 62 may be a sensor that directly detects the length of each cylinder, or a sensor that detects the extension / retraction length and extension time of the telescopic cylinder 53. In short, the boom length sensor 62 may be any sensor that detects a value corresponding to the length of the boom 22.

[0057] In this embodiment, the hoisting angle sensor 63 directly detects the hoisting angle of the boom 22. The hoisting angle sensor 63 is an inclination sensor or a horizontal sensor that outputs the angle with respect to the horizontal plane, and is attached to the boom 22. The hoisting angle sensor 63 outputs a detection value corresponding to the hoisting angle of the boom 22. However, the hoisting angle sensor 63 may also be a sensor that detects the extension length of the hoisting cylinder 52. In short, the hoisting angle sensor 63 may be any sensor that detects a physical quantity corresponding to the hoisting angle of the boom 22.

[0058] The main drum sensor 64 is, for example, a rotary encoder attached to the shaft of the main drum 56 of the main winch 23. The main drum sensor 64 outputs a pulse signal, which is a detection value, in response to the rotation of the main drum 56. The number of pulses per unit time indicates the rotation speed (angular velocity) of the main drum 56. The total number of pulses indicates the number of rotations or rotation angle of the main drum 56. For example, the total number of pulses is multiplied by a "value corresponding to the drum radius of the main drum 56" to calculate the amount of winding up and the amount of winding down of the main wire 41. That is, in this embodiment, the main drum sensor 64 functions as a sensor that detects the amount of winding up and the amount of winding down of the main wire 41.

[0059] The sub-drum sensor 65 is, for example, a rotary encoder attached to the shaft of the sub-drum 58 of the sub-winch 24. The sub-drum sensor 65 outputs a pulse signal, which is a detection value, in accordance with the rotation of the sub-drum 58. The number of pulses per unit time indicates the rotation speed (angular velocity) of the sub-drum 58. The total number of pulses indicates the number of rotations or rotation angle of the sub-drum 58. For example, the total number of pulses is multiplied by a "value corresponding to the drum radius of the sub-drum 58" to calculate the amount of winding up and the amount of winding down of the sub-wire 42. That is, in this embodiment, the sub-drum sensor 65 functions as a sensor that detects the amount of winding up and the amount of winding down of the sub-wire 42.

[0060] Either the main drum sensor 64 or the sub-drum sensor 65 corresponds to the "first sensor" in the claims, and the other corresponds to the "second sensor" in the claims. Either the pulse signal output by the main drum sensor 64 or the pulse signal output by the sub-drum sensor 65 corresponds to the "first detection value" in the claims, and the other corresponds to the "second detection value" in the claims.

[0061] The main lifting load sensor 66 may be, for example, a tension sensor that detects the tension applied to the main wire 41, or a pressure sensor that detects the hydraulic pressure of the hydraulic motor 54 that drives the main drum 56 of the main winch 23. The tension sensor is attached to the tip of the boom 22 or to the main winch 23. The weight of the load 43 (see Figure 3) suspended by the hook block 30 is calculated based on the tension or pressure detected by the tension sensor or pressure sensor and the number of lines of wire. In short, the main lifting load sensor 66 detects a value that allows the weight of the load 43 suspended by the main wire 41 to be calculated.

[0062] The sub-lifting load sensor 67 may be, for example, a tension sensor that detects the tension applied to the sub-wire 42, or a pressure sensor that detects the hydraulic pressure of the hydraulic motor 55 that drives the sub-drum 58 of the sub-winch 24. The tension sensor is attached to the tip of the boom 22 or the sub-winch 24. The weight of the load suspended by the sub-hook 33 is calculated based on the tension or pressure detected by the tension sensor or pressure sensor and the number of wire loops. In short, the sub-lifting load sensor 67 detects a value that allows the weight of the load suspended by the sub-wire 42 to be calculated.

[0063] The main over-winding detection sensor 68 is a sensor that detects over-winding of the main wire 41. In other words, the main over-winding detection sensor 68 is a sensor that prevents contact between the hook block 30 and the tip of the boom 22 due to over-winding of the main wire 41 and damage caused thereby.

[0064] The main over-hoisting detection sensor 68 is attached to the tip of the boom 22. The main over-hoisting detection sensor 68 is turned on or off by the hook block 30 that is raised by reeling in the main wire 41. The on / off state of the main over-hoisting detection sensor 68 detects that the main wire 41 has been reeled in just before the hook block 30 comes into contact with the tip of the boom 22.

[0065] The sub over-winding detection sensor 69 is a sensor that detects over-winding of the sub-wire 42. In other words, the sub over-winding detection sensor 69 is a sensor that prevents contact between the sub-hook 33 and the tip of the boom 22 due to over-winding of the sub-wire 42 and damage caused by this.

[0066] The sub-over-hoisting detection sensor 69 is attached to the tip of the boom 22. The sub-over-hoisting detection sensor 69 is turned on or off by the sub-hook 33 that is raised by winding up the sub-wire 42. The on / off state of the sub-over-hoisting detection sensor 69 detects that the sub-wire 42 has been wound up to a point immediately before the sub-hook 33 comes into contact with the tip of the boom 22.

[0067] The camera 44 is attached to the tip of the boom 22 with its imaging range directed downward (see FIG. 3). That is, the camera 44 is a camera that captures images of the hook block 30, the sub-hook 33, and the load suspended therefrom. The camera 44 is also referred to as a load monitoring camera. Images captured by the camera 44 are displayed on a monitoring monitor 78 (see FIG. 7). Note that, as long as the hook block 30 and the sub-hook 33 are included in the imaging range, the imaging range of the camera 44 may be diagonally downward. That is, "downward" as defined in the claims also includes "diagonally downward."

[0068] The camera 44 captures an image of the hook block 30 and the load 43 or the sub-hook 33 from above, generates image data, and outputs the generated image data. Hereinafter, the image data generated by the camera 44 through imaging will be referred to as "monitoring image data," and the image shown by the monitoring image data will be referred to as "monitoring image."

[0069] The sensor group 26 (see FIG. 4), i.e., the swing angle sensor 61, boom length sensor 62, hoisting angle sensor 63, drum sensors 64, 65, lifting load sensors 66, 67, over-hoisting detection sensors 68, 69, outrigger sensors 91, 92, 93, 94, pressure sensors 95, 96, and camera 44, are connected to the control device 70 by signal lines (not shown). The detection values ​​output by the sensor group 26 and the monitoring image data output by the camera 44 are input to the control device 70.

[0070] FIG. 5 shows the control device 29 installed in the driver's cab 13.

[0071] As shown in the figure, the control device 29 includes an operating lever, foot pedal, switch, etc. that are operated by an operator. The control device 29 is connected to the control device 70 by a signal line (not shown). The operator operates the control device 29 to control the crane apparatus 12.

[0072] FIG. 6 shows a control screen displayed on the control monitor 75 installed in the operator's cab 13.

[0073] The control monitor 75 is a touch panel known as an MFD (Multi Function Display), and includes a display 76 and a transparent, plate-like touch sensor 77 superimposed on the display 76. The control monitor 75 displays a control screen indicated by the control screen data input by the control program 74.

[0074] FIG. 7 shows a monitoring image displayed on the monitoring monitor 78 installed in the driver's cab 13.

[0075] The monitoring monitor 78 displays the object 35 generated by the control program 74 superimposed on the monitoring image captured by the camera 44. The control monitor 75 and the monitoring monitor 78 may be configured as a single monitor. 。

[0076] The control device 70 includes a CPU 71, which is a central processing unit, a memory 72, a power supply circuit 73, and a communication bus (not shown). The control device 70 is realized by a printed circuit board and ICs, a microcomputer, resistors, diodes, capacitors, and the like mounted on the printed circuit board. In other words, the control device 70 is a control board. The control device 70 is disposed, for example, in a control box disposed in the driver's cab 13.

[0077] The CPU 71, memory 72, hydraulic supply device 28, sensor group 26 (swing angle sensor 61, etc.), control device 29, control monitor 75, and surveillance monitor 78 are connected to the communication bus. A control program 74 executed by the CPU 71 reads data and information from memory 72, stores the data and information in memory 72, controls the driving of the swing motor 51 of the hydraulic actuator group 27, acquires detection values ​​output by the sensor group 26 (swing angle sensor 61, etc.) and surveillance image data output by the camera 44, acquires signals corresponding to operations performed by the operator on the control device 29, and displays a control screen on the control monitor 75 and a surveillance image on the surveillance monitor 78.

[0078] The memory 72 stores in advance a control program 74 executed by the CPU 71, a performance table, a control screen format, an object format, etc. The memory 72 also has a storage area for storing the number of wire hooks, the hoisting reset position, and the lowering reset position input by the operator.

[0079] The performance table is a table that associates, for example, the rotation angle of the swivel base 21, the length of the boom 22, the boom hoist angle, the number of wire sections, and the rated weight. The control program 74 determines the rated weight associated with the current rotation angle of the swivel base 21, the length of the boom 22, the boom hoist angle, and the number of wire sections based on the table, and limits the weight of the load 43 that can be hoisted to less than the determined rated weight. Alternatively, the control program 74 limits the rotation angle of the swivel base 21, the length of the boom 22, and the hoist angle based on the current weight of the load 43 and the number of wire sections. Note that, as long as the limiting hoist angle, limiting length, and rated weight of the boom 22 can be determined, an arithmetic formula or the like may be stored in the memory 72 instead of the performance table.

[0080] The control screen format is format data for generating control screen data that displays the control screen shown in Fig. 6. The control screen format has multiple input fields into which the length of the boom 22, the hoisting angle, etc. are input. The control program 74 generates the control screen data by inputting the length of the boom 22 detected by the boom length sensor 62 and the hoisting angle of the boom 22 detected by the hoisting angle sensor 63 into the control screen format. The control program 74 inputs the generated control screen data into the display 76 of the control monitor 75, thereby displaying the control screen on the control monitor 75.

[0081] The control screen has a plurality of icons 36. For example, one icon 36 is used to input a reset, which will be described later. Another icon 36 is used to input the number of wire threads. In addition, various setting values ​​and the like are input to the control device 70 by selecting an icon 36.

[0082] The control screen displays a crane vehicle object 37 representing the crane vehicle 10, a numerical value indicating the length of the boom 22, a numerical value indicating the hoisting angle of the boom 22, and a numerical value indicating the rotation angle of the swivel base 21. In the example shown in Fig. 6, the numerical value indicating the length of the boom 22 is "9.4", the numerical value indicating the hoisting angle of the boom 22 is "21.0°", and the numerical value indicating the rotation angle of the swivel base 21 is "0°".

[0083] The control screen displays a hook object 38 representing the hook block 30 or sub-hook 33, a numerical value indicating the current lifting load, and a numerical value indicating the rated weight. In the example shown in the figure, the numerical value indicating the lifting load is "7.2", and the numerical value indicating the rated weight is "14.4".

[0084] The control screen displays a hook object 39 indicating the hook block 30 or the sub-hook 33, and a numerical value indicating the movement distance of the hook block 30 or the sub-hook 33 (hereinafter referred to as the "hook movement amount"). The hook movement amount is the movement distance in the height direction of the hook block 30 or the sub-hook 33 from a reference height position. The reference height position is set by a reset input using the icon 36, and is stored in the memory 72 as the hoisting reset position or the hoisting reset position.

[0085] Specifically, the operator uses icon 36 to input a hoisting reset or a hoisting reset when the hook block 30 or the sub-hook 33 is in contact with the ground, or immediately after the load suspended from the hook block 30 or the sub-hook 33 is detached from the ground (so-called after the "ground detachment operation").

[0086] The control program 74 identifies the height position of the hook block 30 or the sub-hook 33 when a reset input is made based on the detection values ​​of the boom length sensor 62, the hoisting angle sensor 63, the drum sensors 64, 65, etc., the number of wire hooks, etc., and stores the identified height position as the reference position (hoisting reset position / lowering reset position) in the memory 72. The hoisting reset position and the lowering reset position may be set individually for the hook block 30 and the sub-hook 33.

[0087] The numerical value indicating the length of the boom 22, the numerical value indicating the angle of raising and lowering of the boom 22, the numerical value indicating the rotation angle of the swivel base 21, the numerical value indicating the current lifting load, the numerical value indicating the rated weight, and the amount of hook movement correspond to the "control information" described in the claims.

[0088] FIG. 8A shows an object 35 that is generated by the control program 74 and superimposed on a monitoring image.

[0089] The object format (see FIG. 4) stored in the memory 72 is basic format data that the control program 74 uses to generate the object 35.

[0090] The object 35 has a vertical graph (vertical line, etc.). The object 35 also has a boom tip object 48, which is a picture (figure) indicating the tip of the boom 22, and a hook object 49, which is a picture (figure) indicating the hook block 30 or the sub-hook 33. The object 35 also has a numerical value indicating the hoisting limit position, a numerical value indicating the hook movement amount, and the numerical value "0" indicating the height position above the ground. In the example shown in FIG. 8(A), the numerical value indicating the hoisting limit position is "24.28", and the numerical value indicating the hook movement amount is "14.38". The numerical value indicating the hoisting limit position and the numerical value indicating the hook movement amount are displayed in positions in the vertical graph according to the magnitude of the numerical value.

[0091] The object 35 indicating the hook movement amount of the hook block 30 corresponds to the "first display object" or "second display object" described in the claims. The object 35 indicating the hook movement amount of the sub-hook 33 corresponds to the "second display object" or "first display object" described in the claims.

[0092] The object format (see FIG. 4) stored in the memory 72 has shape data of a vertical graph, a boom tip object 48, and a hook object 49. The object format also has input fields into which the hook movement amount, the hoisting limit position, etc. are input.

[0093] The hoisting limit position is, for example, the position at which the hook block 30 or the sub-hook 33 turns the over-hoisting detection sensors 68, 69 on or off, and is also referred to as the "ground lifting height." The control program 74 identifies the height position of the tip of the boom 22 from the length and hoisting angle of the boom 22 detected by, for example, the boom length sensor 62 and the hoisting angle sensor 63. The control program 74 sets the hoisting limit position to a position that is a predetermined distance lower than the identified height position. The predetermined distance is a distance depending on the type of crane vehicle 10 and is stored in advance in the memory 72.

[0094] The control program 74 calculates the current height position (hook movement amount) of the hook block 30 or the sub-hook 33 relative to the reset position based on the boom length, boom derrick angle, hoisting amount (or hoisting amount), number of wire hooks, etc. detected by the sensors 26. The control program 74 generates object data by inputting the calculated hook movement amount and the hoisting limit position into the input fields of the object format. The control program 74 inputs the generated object data together with surveillance image data to the surveillance monitor 78, and causes the surveillance monitor 78 to display a surveillance image (see FIG. 7) with the object 35 superimposed on it.

[0095] The power supply circuit 73 is a circuit that converts the DC voltage supplied from the battery 16 into a DC voltage of a predetermined voltage value, such as 5 V or 12 V, and outputs the converted DC voltage. The power supply circuit 73 is realized by, for example, a power supply IC that is a DC / DC converter, a capacitor, a resistor, a diode, a coil, etc. The DC voltage output by the power supply circuit 73 is supplied to the CPU 71, the control device 29, the sensor group 26, the control monitor 75, the monitoring monitor 78, etc. In FIG. 4, the power supply lines from the power supply circuit 73 to the sensor group 26, etc. are omitted from the illustration.

[0096] 9 and 10 are flowcharts of the display process executed by the control program 74. The display process will be described below with reference to FIGS.

[0097] After the mobile crane 10 arrives at the work site, the operator operates the control device 29 (see FIG. 5) to extend the outriggers 81, 82 and extend the jacks 88, 89 to stabilize the posture of the mobile crane 10. The operator also operates the control device 29 to perform boom deployment work, which involves removing the hook block 30 and the sub-hook 33 from the locking member 14 (see FIG. 3). More specifically, the operator raises the boom 22 until the tip of the boom 22 is directly above the locking member 14, while driving the winches 23, 24 to pay out the wires 41, 42. The operator or worker then removes the hook block 30 and the sub-hook 33 from the locking member 14.

[0098] The control program 74 starts the display process, for example, when power is applied to the control device 29. First, the control program 74 acquires the detection values ​​output by each sensor of the sensor group 26 at predetermined time intervals, such as several tens or several hundreds of milliseconds (S11). The control program 74 also reads and acquires the number of wire hooks stored in the memory 72 (S11).

[0099] Although not shown in the flowchart, the control program 74 releases the restriction on driving the boom 22 and the winches 23 and 24 when it determines, for example, based on the acquired detection values, that the outriggers 81, 82 and the jacks 88, 89 have been driven. The control program 74 also releases the restriction on the rotation of the swivel base 21 when it determines, for example, based on the acquired detection values, that the boom 22 has been raised to a position where the tip of the boom 22 is directly above the locking member 14 and the deployment operation has ended.

[0100] The control program 74 calculates the rated weight and the like to be displayed on the control screen based on the detection values ​​acquired in step S11 (S12 to S15). First, the control program 74 calculates and acquires the suspension length L1, which is the length of the wire 41 from the tip of the boom 22 to the hook block 30, and the suspension length L2, which is the length of the wire 42 from the tip of the boom 22 to the sub-hook 33, based on the detection values ​​acquired in step S11 (S12).

[0101] FIG. 11 is a diagram showing the hanging length L1 and the hanging length L2.

[0102] The suspension length L1 is, for example, the distance from the tip of the boom 22 to the bottom end of the hook 32. The suspension length L2 is, for example, the distance from the tip of the boom 22 to the bottom end of the sub-hook 33. However, the suspension lengths L1 and L2 may also be the distance from the tip of the boom 22 to the top end or middle of the hook 32 or sub-hook 33.

[0103] The control program 74 calculates the payout length (lowering amount) of the wires 41, 42 from the stored state in which the boom 22 is contracted and lowered, based on the total number of pulses output by the drum sensors 64, 65 from the stored state to the present time. Then, the control program 74 calculates the suspension length L1 and the suspension length L2 based on the boom length detected by the boom length sensor 62 and the hoisting angle of the boom 22 detected by the hoisting angle sensor 63.

[0104] Next, the control program 74 identifies and acquires the rated weight based on the detection values ​​acquired in step S11 (S12), as shown in Figure 9. Specifically, the control program 74 identifies and acquires the rated weight using the swing angle, boom length, and hoisting angle detected by the swing angle sensor 61, boom length sensor 62, and hoisting angle sensor 63, the number of wire hooks acquired in step S11, and the performance table stored in memory 72.

[0105] Next, the control program 74 reads out the hoisting reset position and the lowering reset position from the memory 72 (S13). The hoisting reset position and the lowering reset position are used to calculate the hook movement amount in step S19, etc. The hoisting reset position and the lowering reset position are also stored in the memory 72 in step S34 (see FIG. 10) described later. Note that, for example, a height position indicating the ground is stored in advance in the memory 72 as the initial value of the hoisting reset position and the lowering reset position.

[0106] Next, the control program 74 calculates the height position of the tip of the boom 22 based on the detection value acquired in step S11 (S14). For example, when the base end of the boom 22 (the upper surface of the swivel base 21) is used as the reference height position, the control program 74 calculates the height position of the tip of the boom 22 by multiplying the boom length detected by the boom length sensor 62 by sin θ, where "θ" is the hoisting angle of the boom 22 detected by the hoisting angle sensor 63. Alternatively, when the contact positions of the jacks 88, 89 (the ground) are used as the reference height position, the control program 74 calculates the height position of the tip of the boom 22 by adding a predetermined value to the value obtained by multiplying the boom length detected by the boom length sensor 62 by sin θ. The predetermined value corresponds to the height from the bottom ends of the jacks 88, 89 to the base end of the boom 22 and is stored in advance in the memory 72 as a unique value corresponding to the type of mobile crane 10. The process of step S14 corresponds to the "position acquisition process" described in the claims of the present invention.

[0107] The control program 74 calculates the hoisting limit position (lifting height above ground) based on the calculated height position of the tip of the boom 22 (S14). The processing of step S14 corresponds to the "hoisting limit position identification processing" set forth in the claims of the present invention.

[0108] Next, the control program 74 reads and acquires the display settings from the memory 72 (S15). The display settings include, for example, a setting that designates the display of the hook movement amount of the hook block 30, a setting that designates the display of the hook movement amount of the sub-hook 33, a setting that designates the display of the hook movement amount based on the hoisting reset position, and a setting that designates the display of the hook movement amount based on the lowering reset position.

[0109] The control program 74 determines whether the hook block 30 or the sub-hook 33 is specified in the acquired display settings (S16). If the control program 74 determines that the hook block 30 is specified (S16: hook block), it determines whether "hoisting" or "lowering" is specified in the display settings acquired in step S16 (S17).

[0110] When the control program 74 determines that "hoisting" has been specified (S17: Hoisting), it calculates the current height position (hook movement amount) of the hook block 30 based on the hoisting reset position that has been read out, based on the suspension lengths L1, L2 (see FIG. 11) calculated in step S12, and the height position of the tip of the boom 22 calculated in step S14 (S18).

[0111] The control program 74 generates control screen data (S19) by inputting the rotation angle of the swivel base 21, the length of the boom 22, the boom hoisting angle, and the lifting load amount obtained in step S11, the rated weight obtained in step S12, and the hook movement amount calculated in step S18 into a control screen format (see Figure 4).

[0112] Furthermore, the control program 74 inputs the winding reset position read from the memory 72 in step S13 and the winding limit position calculated in step S14 into the object format (see FIG. 4) to generate object data (S20).

[0113] When the control program 74 determines that "lowering" is specified in step S17 (S17: lowering), it calculates the current height position (hook movement amount) of the hook block 30 based on the lowering reset position based on the read-out lowering reset position, the hanging lengths L1, L2 (see Figure 11) calculated in step S12, and the height position of the tip of the boom 22 calculated in step S14 (S21).

[0114] The control program 74 generates control screen data in the same manner as in step S19 (S22). Furthermore, the control program 74 inputs the lowering reset position read from the memory 72 in step S13 and the upper winding limit position calculated in step S14 into an object format (see FIG. 4) to generate object data (S23). The processing of steps S20 and S23 corresponds to the "first display object generation processing" or "second display object generation processing" set forth in the claims of the present invention.

[0115] When the control program 74 determines in step S16 that the sub-hook 33 is specified (S16: sub-hook), it determines whether "hoisting up" or "lowering down" is specified in the display settings acquired in step S16 (S24).

[0116] When the control program 74 determines that "hoisting" has been specified (S24: Hoisting), it calculates the current height position (hook movement amount) of the sub-hook 33 based on the hoisting reset position based on the read-out hoisting reset position, the hanging lengths L1 and L2 calculated in step S12, and the height position of the tip of the boom 22 calculated in step S14 (S25).

[0117] The control program 74 generates control screen data (S26) in the same manner as in step S19. The control program 74 also inputs the winding reset position read from the memory 72 in step S13 and the winding limit position calculated in step S14 into an object format (see FIG. 4) to generate object data (S27).

[0118] When the control program 74 determines that "lowering" is specified in step S24 (S24: lowering), it calculates the current height position (hook movement amount) of the sub-hook 33 based on the lowering reset position based on the read-out lowering reset position, the hanging lengths L1 and L2 calculated in step S12, and the height position of the tip of the boom 22 calculated in step S14 (S28).

[0119] The control program 74 generates control screen data (S29) in the same manner as in step S19. The processes of steps S19, S22, S26, and S29 correspond to the "control screen generation process" set forth in the claims of the present invention.

[0120] Furthermore, the control program 74 inputs the lowering reset position read from the memory 72 in step S13 and the upper winding limit position calculated in step S14 into an object format (see FIG. 4) to generate object data (S30). The processing of steps S27 and S30 corresponds to the "second display object generation processing" or the "first display object generation processing" set forth in the claims of the present invention.

[0121] After executing steps S20, S23, S27, and S30, the control program 74 inputs the control screen data generated in step S19, S22, S26, or S29 into the display 76 of the control monitor 75, as shown in Fig. 10, and causes the control screen to be displayed on the control monitor 75 (S31). The processing of step S31 corresponds to the "first display processing" set forth in the claims of the present invention.

[0122] Furthermore, the control program 74 inputs the object data generated in step S20, S23, S27, or S30 to the monitoring monitor 78 together with the monitoring image data input from the camera 44 (S32). That is, the control program 74 causes the monitoring monitor 78 to display a monitoring image with the object 35 superimposed thereon. When the object 35 indicates the hook movement distance for the hook block 30, the processing of step S32 corresponds to the "second display processing" or "third display processing" set forth in the claims of the present invention. When the object 35 indicates the hook movement distance for the sub-hook 33, the processing of step S32 corresponds to the "third display processing" or "second display processing" set forth in the claims of the present invention.

[0123] On the other hand, when setting the hoisting reset position or the lowering reset position, the operator operates the winch 23 or the winch 24 to place the hook block 30 or the sub-hook 33 in the specified position, and then inputs a reset via the touch sensor 77 of the control monitor 75.

[0124] The control program 74 determines whether a reset input has been made (S33). If the control program 74 determines that a reset input has been made (S33: Yes), it calculates a hoisting reset position or a lowering reset position and stores the calculated hoisting reset position or lowering reset position in the memory 72 (S34). Specifically, the control program 74 calculates the height position of the hook block 30 or the sub-hook 33 based on the hanging lengths L1, L2 acquired in step S12 and the height position of the tip of the boom 22 calculated in step S14, and sets the calculated height position as the hoisting reset position or the lowering reset position based on the operator's designation of "hoisting" or "lowering." Note that when the winches 23, 24 are driven with the boom 22 fixed without being extended, retracted, or hoisted, the height position of the tip of the boom 22 remains unchanged. In this case, the number of pulses counted by the main drum sensor 64 or the sub-drum sensor 65 up until the time the reset input was made may be stored as the reset position (reset count value) in the memory 72, rather than the height position of the hook block 30 or the sub-hook 33. The control program 74 calculates the amount of change in the height position of the hook block 30 or the sub-hook 33 (hook movement amount) based on the difference between the total number of pulses counted up to the present time and the reset count value.

[0125] The processing of step S34 corresponds to the "base point acquisition processing" recited in the claims of the present invention. The height position of the hook block 30 or the sub-hook 33 when the reset input is performed corresponds to the "base point position" recited in the claims of the present invention. The height position of the hook block 30 or the sub-hook 33 when the operator specifies "hoisting" corresponds to the "first base point position" or "second base point position" recited in the claims of the present invention. The height position of the hook block 30 or the sub-hook 33 when the operator specifies "lowering" corresponds to the "second base point position" or "first base point position" recited in the claims of the present invention. The height position (hook movement amount) of the hook block 30 or the sub-hook 33 based on the hoisting reset position corresponds to the "first height position" recited in the claims of the present invention. The height position (hook movement amount) of the hook block 30 or the sub-hook 33 based on the lowering reset position corresponds to the "second height position" recited in the claims of the present invention.

[0126] If the control program 74 determines in step S33 that a reset input has not been made (S33: No), it skips the process of step S34.

[0127] When the operator switches the display from the amount of hook movement during hoisting to the amount of hook movement during lowering, or when switching the hook to be used from the hook block 30 to the sub-hook 33, the operator sets a new display setting via the touch sensor 77 of the control monitor 75.

[0128] The control program 74 determines whether new display settings have been set (S35). If the control program 74 determines that new display settings have been set (S35: Yes), it stores the new display settings in the memory 72 (S36). On the other hand, if the control program 74 determines that new display settings have not been set (S35: No), it skips the processing of step S36.

[0129] The control program 74 determines whether to end the display on the control monitor 75 or the monitoring monitor 78 (S37). The control program 74 determines to end the display based on, for example, the engine 15 being stopped or the control device 29 being powered off. If the control program 74 determines not to end the display (S37: No), it executes the processing from step S11 (see FIG. 9) onwards again. That is, the processing from step S11 onwards is repeatedly executed until the display is ended. For example, the processing from step S11 onwards is repeatedly executed at predetermined time intervals, such as tens to hundreds of milliseconds. If the control program 74 determines to end the display (S37: Yes), it ends the display processing (END).

[0130] [Effects of the embodiment]

[0131] The operator drives the swivel base 21 and the boom 22 while checking control information such as the lifting load, rated weight, current length of the boom 22, the elevation angle, and the rotation angle displayed on the control screen. Meanwhile, when driving the winches 23 and 24, the operator operates the control device 29 while visually checking (monitoring) the behavior of the load 43 in real time using the monitoring image displayed on the monitoring monitor 78. If the load moves significantly away from the tip of the boom 22, the operator checks the detailed height position of the load (hook movement amount) using the vertical graph, which is the object 35 displayed on the monitoring image. In other words, the operator can numerically check the detailed height positions (hook movement amount) of the hook block 30 and the sub-hook 33 while monitoring the behavior of the load in real time. This enables safe and smooth crane operation.

[0132] When the display setting is "hoisting up," the control program 74 displays on the monitoring image the height position (hook movement amount) of the hook block 30 or sub-hook 33 relative to the hoisting reset position, and when the display setting is "lowering," the control program 74 displays on the monitoring image the height position (hook movement amount) of the hook block 30 or sub-hook 33 relative to the lowering reset position. Therefore, it is possible to display on the monitoring image the hook movement amount that the operator desires, either the hook movement amount relative to the hoisting reset position or the hook movement amount relative to the lowering reset position.

[0133] The height position (hook movement amount) of the hook block 30 or sub-hook 33 and the hoisting limit position are displayed on the monitoring image, so the operator can easily recognize how much more of the wires 41, 42 can be hoisted up.

[0134] Since the number "0" indicating the height position of the ground is displayed on the monitoring image, the operator can easily recognize the positional relationship between the height position of the hook block 30 or sub-hook 33 and the ground.

[0135] When the display setting is "hook block," the control program 74 displays on the monitoring image the height position (hook movement amount) of the hook block 30 relative to the reset position, and when the display setting is "sub hook," the control program 74 displays on the monitoring image the height position (hook movement amount) of the sub hook 33 relative to the reset position. Therefore, it is possible to display on the monitoring image the hook movement amount of the hook block 30 or the hook movement amount of the sub hook 33, whichever is desired by the operator.

[0136] [Variations]

[0137] In this modified example, instead of the object 35 shown in Fig. 8(A), an object 45 shown in Fig. 8(B) is displayed on the monitoring image. The object 45 has a numerical value indicating the hoisting limit position, a numerical value indicating the height position (hook movement amount) of the hook block 30 or the sub-hook 33, a first mark 46 indicating the reset position, a second mark 47 indicating the height position above the ground, and letters and numerical values ​​indicating the height position of the reset position relative to the ground.

[0138] In the example shown in FIG. 8(B), the first mark 46 indicating the reset position is a triangular shape, and the letters and numbers indicating the height position of the reset position are "Reset position: -20.00 m".

[0139] The operator inputs a reset when the hook block 30 or the sub-hook 33 is attached to a load placed, for example, 20 m below the ground. The control program 74 displays on the monitoring image a numerical value indicating the height position (hook movement amount) of the hook block 30 or the sub-hook 33 relative to the placement position of the load, and a first mark 46 indicating the placement position of the load. Therefore, the operator can easily recognize that the displayed height position (hook movement amount) of the hook block 30 or the sub-hook 33 is a numerical value relative to the reference position. The operator can also easily recognize the height position of the reset position relative to the ground.

[0140] [Other variations]

[0141] In the embodiment, an example has been described in which the operator sets the display to display on the control screen and the monitoring image whether the height position (hook movement amount) of the hook block 30 or the sub-hook 33 relative to the hoisting reset position is to be displayed on the control screen and the monitoring image, or the height position (hook movement amount) of the hook block 30 or the sub-hook 33 relative to the lowering reset position is to be displayed on the control screen and the monitoring image. However, the control program 74 may automatically determine whether the height position (hook movement amount) is to be displayed relative to the hoisting reset position or the lowering reset position. For example, the control program 74 displays on the control screen and the monitoring image the hook movement amount relative to the hoisting reset position in response to the winches 23, 24 winding up the wires 41, 42, and displays on the control screen and the monitoring image the hook movement amount relative to the lowering reset position in response to the winches 23, 24 winding down the wires 41, 42.

[0142] In the embodiment, an example has been described in which the drum sensors 64, 65 are used to detect and calculate the winding-up and winding-down amounts of the wires 41, 42, the height positions of the hook block 30 and the sub-hook, etc. However, other detection devices such as a camera, a 3D laser sensor, or a Doppler sensor may be used instead of the drum sensors 64, 65. The other detection devices are attached to, for example, the swivel base 21 or the operator's cab 13, and output detection values ​​that can be used to calculate the height positions of the hook block 30 and the sub-hook, such as the distance and elevation angle from the attachment position to the hook block 30 or the sub-hook 33.

[0143] The crane vehicle 10 may further include a jib 19 (see FIG. 1). The jib 19 is detachable from the side and tip of the boom 22. The jib 19 is removed from the side of the boom 22 and attached to the tip of the boom 22 as needed. The camera 44 is detachable from the tip of the boom 22 and the tip of the jib 19. When the jib 19 is attached to the tip of the boom 22, the hook block 30 and the sub-hook 33 are suspended from the tip of the jib 19, and the camera 44 is attached to the tip of the jib 19. In this case, the tip of the jib 19 corresponds to the "suspension tip" recited in the claims of the present invention.

[0144] In the embodiment, an example has been described in which the mobile crane 10 is provided with two winches, the main winch 23 and the sub winch 24. However, the mobile crane 10 may be provided with only one winch.

[0145] In the embodiment, an example has been described in which the crane apparatus 12 is mounted on the traveling body 11 and used as a crane vehicle. However, the crane apparatus 12 may also be fixedly installed at a work site. [Explanation of symbols]

[0146] 10. Crane truck 11. Running body 12. Crane equipment 13. Driver's cab 19. Jib 21. Swivel table 22. Boom 23 Main winch 24 Sub-winch 29. Controls 30 Hook Block 33 Sub-hook 35, 45... objects 41 Main wire rope 42 Sub-wire rope 43...hanging load 44. Camera 46 First Mark 47 Second Mark 61.. Turning angle sensor 62 Boom length sensor 63···Down angle sensor 64 Main drum sensor 65 Sub-drum sensor 66 Main lifting load sensor 67 Sub-hanging load sensor 68 Main overwinding detection sensor 69 Sub overwinding detection sensor 70...Control device 71 CPU 72...Memory 74 Control Program 75 Control monitor 78. Monitoring

Claims

1. A swivel base, a boom mounted on the swivel base and capable of raising and lowering and extending; a first winch installed on the base end side of the boom; a first wire wound by the first winch; a first hook suspended from a suspension tip by the first wire along the boom; a sensor group including a first sensor that detects a first detection value that can identify the height position of the first hook, a camera that is provided at the suspension tip and captures images of the downward direction, a rotation angle sensor that detects the rotation angle of the swivel base, a boom hoisting angle sensor that detects the boom hoisting angle, and a boom length sensor that detects the length of the boom; a control monitor and a supervisory monitor; a control device; The control device includes: a control screen generation process for generating a control screen including control information having the swing angle, the hoisting angle, and the boom length; a first display process for displaying the control screen on the control monitor; a first display object generation process of generating a first display object indicating a height position of the first hook indicated by the first detection value; and second display processing for displaying the first display object on the monitoring monitor in a manner superimposed on a monitoring image captured by the camera.

2. The control device includes: A base point acquisition process for acquiring a base point position is further executed; The height position of the first hook is a numerical value indicating the height from the base point position, The crane apparatus according to claim 1 , wherein the first display object is a vertical graph including a height position of the first hook and a first mark indicating a base point position.

3. The base point acquisition process includes a process of accepting input of a first base point position that is the base point position for hoisting, and a process of accepting input of a second base point position that is the base point position for unhoisting, a height position of the first hook is a first height position that is a height from the first base point position, or a second height position that is a height from the second base point position, The second display process is 3. The crane apparatus according to claim 2, wherein the first height position is displayed on the monitoring monitor based on the first height position being specified or the first wire being wound up by the first winch, and the second height position is displayed on the monitoring monitor based on the second height position being specified or the first wire being wound down by the first winch.

4. The control device includes: a tip height position acquisition process for acquiring a height position of the hanging tip; and further executing a hoisting limit position identification process for identifying a hoisting limit position of the first hook based on the height position of the suspension tip portion, The crane apparatus according to claim 1 or 2, wherein the first display object further includes the hoisting limit position.

5. The crane apparatus according to claim 1 , wherein the first display object further includes a second mark indicating a height position above the ground.

6. A second winch installed on the base end side of the boom; a second wire wound by the second winch; a second hook suspended from the suspension tip by the second wire along the boom; a second sensor that detects a second detection value that can identify the height position of the second hook, The control device includes: The second display process is executed based on the fact that the first hook is designated or the first winch is driven, 6. The crane apparatus according to claim 1, further comprising: a second display object generation process of generating a second display object including a height position of the second hook indicated by the second detection value, based on the second hook being designated or the second winch being driven; and a third display process of displaying the second display object on the surveillance monitor by superimposing it on the surveillance image.

7. A control program implemented in a crane apparatus comprising a swivel base, a boom mounted on the swivel base and capable of raising and lowering, a winch installed at the base end of the boom, a wire wound by the winch, a hook suspended from the suspension tip by the wire along the boom, a first sensor for detecting a detection value capable of identifying the height position of the hook, a camera installed at the suspension tip for capturing images below, a group of sensors including a rotation angle sensor for detecting the rotation angle of the swivel base, a tilt angle sensor for detecting the tilt angle of the boom, and a boom length sensor for detecting the length of the boom, a control monitor, a monitoring monitor, and a control device, a control screen generation process for generating a control screen including control information having the swing angle, the hoisting angle, and the boom length; a first display process for displaying the control screen on the control monitor; a first display object generation process of generating a first display object indicating a height position of the hook indicated by the detection value; a second display process for displaying the first display object on the surveillance monitor in a manner superimposed on the surveillance image captured by the camera;

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