Crane operation support device and crane

Abstract

To support a crane operation supporting device capable of intuitively achieving crane operations while suppressing a working speed.SOLUTION: A crane 1 is configured to switch a driving operation mode in a switchable manner to a normal mode and a fine adjustment mode: each operation of raising / lowering a hook 14 hanging from the end of a boom 13, turning of and derricking of the boom 13 is independently operated in the normal mode; and the movement of the hook 14 is operated in the fine adjustment mode combining the turning of the boom 13 and at least one motion of the rising / lowering and the derricking of the hook 14 using a single operation. Therefore, an intuitive crane operation can be achieved while suppressing work speed.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a crane operation support device and a crane. [Background Art]

[0002] Generally, the main driving operation of a crane is performed by directly controlling movable part parameters such as boom luffing angle, boom slewing angle, and length of the hoisting wire. In contrast, in the technology described in Patent Document 1, the above movable part parameters are controlled such that the suspended load moves linearly in the moving direction based on the moving direction of the suspended load (hook) input by an operating means. This achieves intuitive crane operation. [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2000-169080 [Summary of the Invention] [Problem to be Solved by the Invention]

[0004] However, the technology described in Patent Document 1 performs control that combines a plurality of movable part parameters with different driving speeds from each other, so there is a concern that the working speed may decrease. The present invention has been made in view of the above circumstances, and an object of the present invention is to realize intuitive crane operation while suppressing a decrease in working speed. [Means for Solving the Problem]

[0005] The present invention One aspect is a crane operation support device that supports driving operation of a crane having a boom, wherein a first operation mode that independently controls each of the lifting and lowering of a hook suspended from the tip of the boom, and the slewing and luffing of the boom, a second operation mode in which movement of the hook is operated by combining the slewing of the boom and at least one of the lifting / lowering and luffing of the hook through a single operation, and configured to be switchable to a driving operation mode 、 The second operating mode is an operating mode that restricts operation compared to the first operating mode. In the second operating mode, at least one of the following is limited: the maximum rotational speed of the winch that winds up and unwinds the rope suspending the hook, and the maximum slewing angular speed of the boom. . Furthermore, one aspect of the present invention is a crane operation support device that assists in the operation of a crane having a boom, A first operating mode allows for independent control of the raising and lowering of the hook suspended from the tip of the boom, the rotation of the boom, and the luffing of the boom. A second operating mode controls the movement of the hook by combining the slewing of the boom with at least one of the raising / lowering and luffing of the hook through a single operation. It is configured to allow switching between operating modes. The second operating mode is a mode in which a single operation controls a combination of movements, including raising and lowering the hook, rotating the boom, and luffing. Furthermore, one aspect of the present invention is a crane operation support device that assists in the operation of a crane having a boom, A first operating mode allows for independent control of the raising and lowering of the hook suspended from the tip of the boom, the rotation of the boom, and the luffing of the boom. A second operating mode controls the movement of the hook by combining the slewing of the boom with at least one of the raising / lowering and luffing of the hook through a single operation. It is configured to allow switching between operating modes. In the second operation mode, in addition to the operation performed by the single operation, it is possible to add a lifting operation that corresponds to the operation of a lifting operation unit different from the operation unit that performs the single operation. Furthermore, one aspect of the present invention is a crane operation support device that assists in the operation of a crane having a boom, A first operating mode allows for independent control of the raising and lowering of the hook suspended from the tip of the boom, the rotation of the boom, and the luffing of the boom. A second operating mode controls the movement of the hook by combining the slewing of the boom with at least one of the raising / lowering and luffing of the hook through a single operation. It is configured to allow switching between operating modes. The system includes a detection means for detecting when lifting or unlifting operations are performed on the hook, and a mode selection means for selecting an operating mode. The mode selection means is Normally, select the first operating mode, When the detection means detects that a lifting or lifting operation is being performed on the hook, it prompts the operator to switch from the first operation mode to the second operation mode, or performs the switch.

[0006] Further, the present invention relates to a crane, which is equipped with the above crane operation support device.

Effects of the Invention

[0007] According to the present invention, intuitive crane operation can be realized while suppressing a decrease in working speed.

Brief Description of Drawings

[0008] [Figure 1] FIG. 1 is a side view showing the crane according to the embodiment. [Figure 2]It is a block diagram showing a schematic functional configuration of a crane according to an embodiment. [Figure 3] It is a diagram showing an arrangement example of an operation operation unit and a display operation unit in a cabin. [Figure 4] It is a flowchart showing a flow of operation support processing according to an embodiment. Mode for Carrying Out the Invention

[0009] Hereinafter, each embodiment of the present invention will be described in detail with reference to the drawings.

[0010] [Configuration of Crane] Figure 1 is a side view showing a crane 1 according to the present embodiment. As shown in this figure, the crane 1 is a so-called mobile crawler crane. Specifically, the crane 1 includes a self-propelled crawler-type lower traveling body 11, and an upper rotating body 12 rotatably mounted on the lower traveling body 11. In the following description, the front, rear, left, right, up and down directions as viewed from the passenger (operator) of the crane 1 are defined as the corresponding directions of the crane 1. That is, the direction from the rotation axis of the crane 1 toward the position where the counterweight 125 is disposed is defined as rear, and the opposite side is defined as front (the direction where the boom 13 is disposed).

[0011] A boom 13 is attached to the front portion of the upper rotating body 12 so as to be capable of rising and falling. A cabin 121 where an operator sits and operates the crane 1 is disposed at the front right portion of the upper rotating body 12.

[0012] The luffing motion of the boom 13 is performed by winding or unwinding a wire rope (luffing rope) 131 by a luffing winch 123. A hook 14 is suspended from the tip (upper end) of the boom 13 via a hoisting rope 132. The end of the hoisting rope 132 opposite to the tip connected to the hook 14 is wound around a lifting winch 124 on the upper slewing body 12. The lifting and lowering of the hook 14 is performed by winding in or unwinding the hoisting rope 132 using the lifting winch 124.

[0013] With the above configuration, Crane 1 can attach the load H to the hook 14, reel in the wire rope 132 to lift the load H, then rotate the upper slewing body 12 and, if necessary, change the elevation angle of the boom 13 to move the load H above the destination. After that, Crane 1 can lower the load H to the destination by paying out the wire rope 132.

[0014] Figure 2 is a block diagram showing the general functional configuration of crane 1, and Figure 3 is a diagram showing an example of the arrangement of the operation unit 30 and display operation unit 40 described later inside the cabin 121, and is a view from the operator's perspective, seated inside the cabin 121 and looking forward. As shown in Figure 2, in addition to the above configuration, the crane 1 includes a drive unit 20, an operation unit 30, a display operation unit 40, a communication unit 50, an operation / attitude state sensor 55, a camera 60, a memory unit 70, and a control unit 80. Of these, the operation unit 30 and the display operation unit 40 may be located, for example, inside the cabin 121. The crane 1 also includes a crane operation support device 10. The crane operation support device 10 includes an operation unit 30, a camera 60, and a control unit 80.

[0015] The drive unit 20 is a drive circuit that operates each part of the crane 1, and includes a slewing drive circuit 21, a luffing drive circuit 22, and a lifting drive circuit 23. The slewing drive circuit 21 drives the slewing device 122 of the upper slewing body 12. The slewing device 122 rotates the upper slewing body 12 by receiving power from a hydraulic motor, for example, which is powered by pressurized oil supplied from a hydraulic pump. Based on a slewing request signal output from the control unit 80, the slewing drive circuit 21 drives a control valve located between the hydraulic pump and the hydraulic motor, thereby operating the hydraulic motor to drive or brake the slewing device 122. The luffing drive circuit 22 drives the luffing winch 123. The luffing winch 123 receives power from a hydraulic motor, which is rotated by pressurized oil supplied from a hydraulic pump, to rotate a drum, and by winding a wire rope (luffing rope) 131 around the drum or unwinding the wire rope 131 from the drum, the boom 13 is raised and lowered. Based on the luffing request signal output from the control unit 80, the luffing drive circuit 22 drives the hydraulic motor by operating a control valve located between the hydraulic pump and the hydraulic motor, thereby driving the luffing winch 123. The lifting drive circuit 23 drives the lifting winch 124. The lifting winch 124 receives power from a hydraulic motor, which is rotated by pressurized oil supplied from a hydraulic pump, to rotate a drum, thereby winding the hoisting rope 132 around the drum or unwinding the hoisting rope 132 from the drum, thereby raising and lowering the hook 14. Based on the lifting request signal output from the control unit 80, the lifting drive circuit 23 operates the hydraulic motor by driving a control valve located between the hydraulic pump and the hydraulic motor, thereby driving the lifting winch 124.

[0016] As shown in Figure 3, the operation unit 30 is an operating means that receives operating commands for the crane 1 from the operator. The operation unit 30 includes a slewing lever 31 for performing slewing operations, a luffing lever 32 for performing luffing operations, and a lifting lever 33 for performing lifting operations. The slewing lever 31, luffing lever 32, and lifting lever 33 are examples of the first operation unit according to the present invention and are operating means that receive operation input in the normal mode described later. The operation unit 30 outputs an operation signal to the control unit 80 according to the operation content of each of these levers. The control unit 80 determines the type of operation based on the input operation signal and outputs a slewing command to the slewing drive circuit 21 if it is a slewing operation, outputs a luffing command to the luffing drive circuit 22 if it is a luffing operation, and outputs a lifting command to the lifting drive circuit 23 if it is a lifting operation.

[0017] Furthermore, the operation unit 30 includes a fine adjustment lever 34 for fine-tuning the position of the hook 14 and a mode switching button 35 for switching between operation modes. The fine adjustment lever 34 is an example of the second operating unit according to the present invention, and is an operating means for fine-tuning the position of the hook 14 in the horizontal plane in the fine adjustment mode described later. The fine adjustment lever 34 can be operated in four directions: front, back, left, and right of the crane 1, and in any direction diagonally to those four directions. The fine adjustment lever 34 is a joystick with a neutral position at the center when it is standing upright along approximately the vertical axis, and the tilting direction (operating direction) corresponds to the movement direction of the hook 14. In fine adjustment mode, when the fine adjustment lever 34 is operated, the operation unit 30 outputs an operation signal to the control unit 80 corresponding to the direction of operation of the fine adjustment lever 34. Based on the input operation signal, the control unit 80 determines the direction of operation of the fine adjustment lever 34 and operates at least one of the slewing drive circuit 21, luffing drive circuit 22, and lifting drive circuit 23 according to that direction. More specifically, the control unit 80 performs at least one of the slewing and luffing of the boom 13 and the lifting and lowering of the hook 14 so that the position (projected position) of the hook 14 on the horizontal plane moves in accordance with the direction of operation of the fine adjustment lever 34. For example, if the fine adjustment lever 34 is tilted forward, the control unit 80 operates the luffing drive circuit 22 to lower the hook 14, moving the position of the hook 14 on the horizontal plane linearly forward. Furthermore, if the fine adjustment lever 34 is tilted to the right, the control unit 80 operates the swivel drive circuit 21 and the luffing drive circuit 22 to rotate the hook 14 to the right and tilt it down, moving the position of the hook 14 linearly to the right on the horizontal plane.

[0018] Furthermore, the fine adjustment lever 34 (i.e., operation in fine adjustment mode) only needs to control the movement of the hook 14 along either of two orthogonal axes in a plane intersecting the vertical direction (direction of gravity) by combining the rotation of the boom 13 with at least one of the raising / lowering and luffing of the hook 14. In other words, the fine adjustment mode only needs to be a mode in which a single operation of the fine adjustment lever 34 controls the combined rotation of the boom 13 with at least one of the raising / lowering and luffing of the hook 14. That is, the movement of the hook 14 by the fine adjustment lever 34 may include raising and lowering, not just movement in the horizontal plane. Also, the orientation of the two orthogonal axes (in this embodiment, the front-rear direction and the left-right direction of the crane 1) is not particularly limited.

[0019] The mode switching button 35 is a switching operation unit that switches the operating mode between normal mode (first operating mode) and fine adjustment mode (second operating mode). When the mode switching button 35 is not pressed (OFF state), the operating mode is normal mode, the slewing lever 31, luffing lever 32, and lifting lever 33 function, and the fine adjustment lever 34 does not function. When the mode switching button 35 is pressed from the OFF state to the ON state, the operating mode switches from normal mode to fine adjustment mode, the fine adjustment lever 34 functions, and the slewing lever 31, luffing lever 32, and lifting lever 33 become inoperable. When the mode switching button 35 is pressed from the ON state, it returns to the OFF state.

[0020] The fine-tuning mode is an operating mode more suitable for minute movements of the hook 14 than the normal mode, in which at least one of the movement speed and movement amount of the hook 14 is smaller than in the normal mode. In other words, the fine-tuning mode is an operating mode in which the operation is more restricted compared to the normal mode. Specifically, in fine-tuning mode, for example, a lower maximum value (upper limit) is set for the movement speed of the hook 14 than in normal mode. This maximum value may be the minimum value within the controllable numerical range, or it may be set by the operator. Such a limitation on the movement speed of the hook 14 can be achieved, for example, by setting a flow rate limit on the amount of oil supplied to the hydraulic motor of the corresponding drive circuit. More specifically, it can be achieved, for example, by limiting at least one of the following: the maximum rotational speed of the lifting winch 124 (i.e., the maximum winding or unwinding speed of the hoisting rope 132) and the maximum slewing angular velocity of the boom 13. In particular, the speed at which the hook moves usually differs for each operation relative to its amount of manipulation. For example, the speed of luffing is slower than that of slewing. In this case, for example, reducing the maximum slewing angular velocity improves operability in the second operating mode. In addition, in fine adjustment mode, an upper limit may be set on the amount of movement of the hook 14 for each operation input (tilt) of the fine adjustment lever 34 (the hook 14 will stop once it has moved to the upper limit of its movement). Furthermore, in fine-tuning mode, the movement speed of the hook 14 may be constant regardless of the input amount (tilt angle) of the fine-tuning lever 34, or the movement speed of the hook 14 may gradually increase as the fine-tuning lever 34 is continuously tilted.

[0021] The display and operation unit 40 includes a display unit 41 that displays various information by outputting images, sounds, etc., and an operation panel 42 that allows an operator to input information, etc. The display unit 41 displays various information based on display signals input from the control unit 80. The operation panel 42 outputs operation signals to the control unit 80 according to the operator's operations. The display unit 41 may also be a touch panel that also serves as at least a part of the operation panel 42.

[0022] As shown in Figure 2, the communication unit 50 is a communication device capable of sending and receiving various types of information directly (or indirectly via a communication network, etc.) to, for example, an information terminal (not shown). Camera 60 is mounted facing forward on the top of the cabin 121 and photographs a predetermined area in front of the crane 1. The image information obtained from the photography is recorded in the storage unit 70.

[0023] The motion and attitude sensor 55 is a sensor that detects the motion and attitude of the crane 1 and outputs the detection results to the control unit 80. The motion and attitude sensor 55 includes, for example, a boom angle sensor, a three-axis inertial measurement unit (IMU), a slewing angle sensor, and an acceleration sensor. The boom angle sensor detects the luffing angle of the boom 13. The IMU is attached to the boom 13 and detects the acceleration and angular acceleration of the boom 13 with respect to predetermined three axes. The slewing angle sensor detects the slewing angle with respect to a predetermined angular direction of the upper slewing body 12. The acceleration sensor detects the acceleration of the upper slewing body 12. Furthermore, the motion / attitude sensor 55 can detect the vertical direction using an acceleration sensor. Note that the motion / attitude sensor 55 is not limited to the above configuration; other sensors may be used. For example, a GNSS (Global Navigation Satellite System) may be provided to calculate the elevation angle of the boom 13 based on its position information.

[0024] The memory unit 70 is a memory composed of, for example, RAM (Random Access Memory) or ROM (Read Only Memory), and stores various programs and data, as well as functioning as a workspace for the control unit 80. The memory unit 70 in this embodiment pre-stores an operation support program 71 for executing the operation support processing described later (see Figure 4). The control unit 80 is composed of, for example, a CPU (Central Processing Unit) and provides integrated control of the operation of each part of the crane 1. The control unit 80 includes the functions of an ECU (Electronic Control Unit) and is located on the upper slewing body 12. Specifically, the control unit 80 operates the drive unit 20 based on operator input, loads programs pre-stored in the memory unit 70, and performs various processes in cooperation with the loaded programs.

[0025] [Operation support processing] Next, we will explain the operation support process that assists the operator in driving operations. Figure 4 is a flowchart showing the flow of the operation support process. The operation support process assists the operator's operations during crane work, and in this embodiment, it enables intuitive operation of the movement of the hook 14 during rigging work. Rigging work is the operation in which a rigger attaches (or detaches) a load H to the hook 14 directly or by a wire rope. The operation support process is executed, for example, when the control unit 80 reads and loads the operation support program 71 in response to an operation performed by the operator.

[0026] As shown in Figure 4, when the operation support process is executed, the control unit 80 first operates the crane 1 based on the operator's input and performs crane work (step S1). At this time, the mode switching button 35 is in the OFF state, and the operating mode is the normal mode. In normal mode, the operator operates the crane 1 by operating the slewing lever 31, the luffing lever 32, and the lifting lever 33 to independently control the slewing and luffing of the boom 13, and the lifting and lowering of the hook 14. "Operating independently" includes moving the levers (joysticks) in any direction to slewing according to the angle in the left-right direction and luffing and lowering independently according to the angle in the front-back direction. In this case, since the slewing and luffing are only performed according to the angle of each lever, for example, if the lever is tilted to the left or right at a 90-degree angle to the front-back direction, only slewing will occur and no luffing will occur. Such operation does not combine the two actions of slewing and luffing with a single operation to move the hook, but rather moves the hook by independently operating slewing and luffing using two operating parts.

[0027] Next, the control unit 80 determines whether the mode switching button 35 is in the ON state, that is, whether the mode switching button 35 has been pressed by the operator (step S2). If it determines that the mode switching button 35 remains in the OFF state (step S2; No), the control unit 80 repeats the process of step S2.

[0028] On the other hand, if step S2 determines that the mode switching button 35 is in the ON state (step S2; Yes), the control unit 80 switches the operation mode from normal mode to fine adjustment mode (step S3). Switching to this fine-tuning mode enables the fine-tuning lever 34 to be used (functioning), while the swivel lever 31, elevation lever 32, and lifting lever 33 become unusable (non-functioning).

[0029] Next, the control unit 80 fine-tunes the position of the hook 14 based on the operator's input to the fine-tuning lever 34 (step S4). In this embodiment, the position of the hook 14 during lifting operations is finely adjusted using the fine adjustment lever 34. When the fine adjustment lever 34 is operated, the hook 14 moves linearly along the front-to-back, left-to-right, or diagonal directions of the crane 1, allowing the operator to intuitively operate the hook 14. Furthermore, since the hook 14 moves in a direction corresponding to the tilting direction of the fine adjustment lever 34 (for example, if the fine adjustment lever 34 is tilted forward, the hook 14 also moves forward), the operator can operate the hook 14 even more intuitively. Furthermore, in this mode, at least one of the movement speed and movement amount of the hook 14 becomes smaller than in normal mode, allowing the operator to make fine adjustments to the position of the hook 14.

[0030] Next, the control unit 80 determines whether the mode switching button 35 is in the OFF state, that is, whether the mode switching button 35 has been released by the operator's operation (step S5). If it determines that the mode switching button 35 remains in the ON state (step S5; No), the control unit 80 repeats the process of step S5.

[0031] On the other hand, if step S5 determines that the mode switching button 35 is in the OFF state (step S5; Yes), the control unit 80 returns the operation mode from fine adjustment mode to normal mode (step S6). This makes the swivel lever 31, the elevation lever 32, and the lifting lever 33 usable, while the fine adjustment lever 34 becomes unusable.

[0032] Next, the control unit 80 determines whether or not to terminate the operation support process (step S7). If it determines not to terminate the process (step S7; No), it proceeds to step S1 described above and continues the crane operation. Then, if it is determined that the operation support process should be terminated, for example, when the movement of the suspended load H to a predetermined position is completed (step S7; Yes), the control unit 80 terminates the operation support process.

[0033] [Technical effects of this embodiment] As described above, according to this embodiment, the operating mode can be switched between a normal mode (first operating mode) in which at least one of the raising and lowering of the hook 14, the slewing and luffing of the boom 13 is operated, and a fine adjustment mode (second operating mode) in which the movement of the hook 14 is operated by combining the slewing of the boom 13 and the raising and lowering and luffing of the hook 14 with a single operation. This allows the system to operate in normal mode during tasks other than rigging, while switching to fine-tuning mode as needed during rigging operations, enabling intuitive control of the hook 14 position along two orthogonal axes. Therefore, in fine-tuning mode, the working speed may decrease because the parameter control of multiple movable parts with different drive speeds is combined. However, unlike conventional operation where such operation was performed constantly, this mode enables intuitive crane operation while suppressing the decrease in working speed.

[0034] Furthermore, according to this embodiment, the fine-tuning mode is an operating mode that restricts operation compared to the normal mode. This allows for precise adjustment of the position of the hook 14 by, for example, minimizing at least one of its movement speed and movement amount.

[0035] Furthermore, according to this embodiment, the fine adjustment lever 34 that receives operation input in the fine adjustment mode is different from the operating unit (swivel lever 31, elevation lever 32, and lifting lever 33) that receives operation input in the normal mode. This allows the crane 1 to be operated by clearly distinguishing between the two operating modes, without confusing them or making operational errors.

[0036] Furthermore, according to this embodiment, the fine adjustment lever 34 is configured to be input diagonally in the front-to-back and left-to-right directions. This allows for more intuitive and easier adjustment of the diagonal position of the hook 14, unlike in normal mode.

[0037] Furthermore, according to this embodiment, a mode switching button 35 is provided to accept a switching operation to switch between normal mode and fine adjustment mode. Therefore, simply by operating the mode switching button 35, you can easily switch between fine-tuning mode and return to normal mode.

[0038] [others] Embodiments of the present invention have been described above. However, the present invention is not limited to the embodiments described above. For example, in the above embodiment, in fine adjustment mode, the swivel lever 31, luffing lever 32, and lifting lever 33 used in normal mode are all disabled. However, in fine adjustment mode, the lifting lever 33 may be usable. That is, in fine adjustment mode, it may be possible to operate the movement of the hook 14 independently of the movement of the hook 14 along the two orthogonal axes (front, back, left, and right), and further, the movement of the hook 14 that does not affect that movement (i.e., along the direction perpendicular to the plane containing the two orthogonal axes). In this case, the lifting and lowering operations of the suspended load H can be performed as usual.

[0039] Furthermore, although the fine adjustment lever 34 is a joystick in the above embodiment, the specific configuration of the operating unit (direction input means) used in fine adjustment mode is not limited to a joystick shape, and may be, for example, a cross-shaped button or a touch panel. Also, the fine adjustment lever 34 may be capable of operation input in eight directions: the four directions of forward, backward, left, and right of the crane 1, and the four directions at a 45° angle to them. Furthermore, the control unit used in fine-tuning mode may be configured as a portable controller independent of crane 1, capable of short-range wireless communication with crane 1, so that it can be operated by a rigging worker. However, in this case, it is preferable that the switching control unit for switching the operating mode remains located on crane 1. In addition, at least a part of the claim operation support device, including the control unit, may be provided outside the cabin 121 (including remote operation). Furthermore, the operating parts used in fine-tuning mode do not necessarily have to be different from those used in normal mode. In the above embodiment, the position of the hook 14 may also be operated by the slewing lever 31, the luffing lever 32, and the lifting lever 33 in fine-tuning mode. In other words, in fine-tuning mode, in addition to the operation by operating the fine-tuning lever 34, it may be possible to perform additional operations corresponding to at least one operation of the slewing lever 31, the luffing lever 32, and the lifting lever 33. However, in this case, when switching to fine-tuning mode, at least one of the movement speed and movement amount of the slewing and luffing operations of the boom 13 will be smaller than in normal mode. Specifically, with the same load, the movement speed will be lower relative to the amount of operation input.

[0040] Furthermore, in the above embodiment, the operating mode is switched between normal mode and fine adjustment mode by the operator's operation of the mode switching button 35. However, the system may also be switched from normal mode to fine adjustment mode when a situation requiring fine adjustment of the hook position 14 is detected. Specifically, in normal conditions where fine adjustment of the hook 14 position is not required, the control unit 80 selects normal mode. When the camera 60 detects a rigging worker around the crane 1 (for example, within a predetermined range) while in normal mode, the control unit 80 may switch from normal mode to fine adjustment mode. At this time, when the camera 60 detects a rigging worker in the vicinity directly below the hook 14 (i.e., detects that a rigging or detaching operation is to be performed on the hook 14), the control unit 80 may prompt the operator to switch from normal mode to fine adjustment mode (allowing them to choose whether or not to switch) by displaying a message such as "Do you want to switch to fine adjustment mode?" on the display unit 41. The control unit 80 may then perform this switch when the operator inputs a command to switch the operating mode. This makes it easier to switch the operating mode at the timing of rigging and detaching, thus reducing the effort required for switching and making operation easier. Furthermore, the conditions for switching from normal mode to fine-tuning mode are not limited to the detection of the rigging worker by camera (image processing). For example, the system may switch from normal mode to fine-tuning mode (or prompt for such a switch) when the relative distance between the rigging worker and the hook 14 approaches within a predetermined range. The rigging worker can be detected, for example, by a beacon. Alternatively, the system may simply switch when the unloading position (target position) is determined and the hook 14 moves to its vicinity. In addition, the system may return from fine-tuning mode to normal mode when the relative distance between the rigging worker and the hook 14 moves outside the predetermined range, or when an operator inputs a switching operation.

[0041] Furthermore, in the above embodiment, the position of the hook 14 was operated by rotating and luffing the boom 13 and raising and lowering the hook 14, but this may also include extending and retracting the boom 13. In other words, in the fine adjustment mode, when the fine adjustment lever 34 is operated, at least one of the following may be performed: rotating, luffing and retracting the boom 13, and raising and lowering the hook 14. Furthermore, the use of the fine-tuning mode is not limited to rigging operations, as long as it is necessary to fine-tune the position of the hook 14.

[0042] Furthermore, the crane according to the present invention broadly includes those having a swivelable boom from which a hook hangs down from the tip, and may be any type of crane, such as a wheel crane, truck crane, jib crane, or tower crane. In addition, the crane according to the present invention includes a shovel from which a hook hangs down from the bucket. Furthermore, details shown in the embodiments can be modified as appropriate without departing from the spirit of the invention. [Explanation of Symbols]

[0043] 1 Crane 10. Crane operation support device 11 Lower running body 12 Upper rotating body 13 Boom 14 hooks 21 Swivel drive circuit 22. Elevation drive circuit 23 Lifting and Lowering Drive Circuit 30. Operation Unit 31. Swivel lever (first operating part) 32. Lifting lever (first operating part) 33. Lifting lever (first operating section, lifting operation section) 34 Fine adjustment lever (second operating section) 35 Mode switching button (switching operation section) 41 Display section 60 Camera (Detection means) 80 Control Unit 121 Cabin 122 Swivel device 123 Luffing Winch 124 Lifting winch 131 Wire Rope 132 Hoisting rope H Hanging load

Claims

1. A crane operation support device that assists in the operation of a crane having a boom, A first operating mode allows for independent control of the raising and lowering of the hook suspended from the tip of the boom, the rotation of the boom, and the luffing of the boom. A second operating mode controls the movement of the hook by combining the slewing of the boom with at least one of the raising / lowering and luffing of the hook through a single operation. It is configured to allow switching between operating modes. The second operating mode is an operating mode that restricts operation compared to the first operating mode. In the second operating mode, at least one of the maximum rotational speed of the winch that winds up and unwinds the rope suspending the hook and the maximum slewing angular speed of the boom is limited. Crane operation support device.

2. A crane operation support device for assisting the operation of a crane having a boom, A first operating mode allows for independent control of the raising and lowering of the hook suspended from the tip of the boom, the rotation of the boom, and the luffing of the boom. A second operating mode controls the movement of the hook by combining the slewing of the boom with at least one of the raising / lowering and luffing of the hook through a single operation. It is configured to allow switching between operating modes. The second operating mode is a mode in which a single operation controls a combination of movements, including raising and lowering the hook, rotating the boom, and luffing. Crane operation support device.

3. A crane operation support device for assisting the operation of a crane having a boom, A first operating mode allows for independent control of the raising and lowering of the hook suspended from the tip of the boom, the rotation of the boom, and the luffing of the boom. A second operating mode controls the movement of the hook by combining the slewing of the boom with at least one of the raising / lowering and luffing of the hook through a single operation. It is configured to allow switching between operating modes. In the second operation mode, in addition to the operation performed by the single operation, it is possible to add a lifting operation that corresponds to the operation of a lifting operation unit different from the operation unit that performs the single operation. Crane operation support device.

4. A crane operation support device for assisting the operation of a crane having a boom, A first operating mode allows for independent control of the raising and lowering of the hook suspended from the tip of the boom, the rotation of the boom, and the luffing of the boom. A second operating mode controls the movement of the hook by combining the slewing of the boom with at least one of the raising / lowering and luffing of the hook through a single operation. It is configured to allow switching between operating modes. The system includes a detection means for detecting when lifting or unlifting operations are performed on the hook, and a mode selection means for selecting an operating mode. The mode selection means is Normally, select the first operating mode, When the detection means detects that a lifting or lifting operation is being performed on the hook, it prompts the operator to switch from the first operation mode to the second operation mode, or performs the switch. Crane operation support device.

5. The detection means detects workers who are in the vicinity directly below the hook, When the detection means detects a worker in the vicinity directly below the hook, it prompts the operator to switch from the first operating mode to the second operating mode, or performs the switch. The crane operation support device according to claim 4.

6. In the first operating mode, a first operating unit that receives operation input, The system includes a second operation unit that receives operation input in the second operation mode and is different from the first operation unit, A crane operation support device according to any one of claims 1 to 5.

7. The system includes a switching operation unit that accepts a switching operation to switch between the first operation mode and the second operation mode. A crane operation support device according to any one of claims 1 to 5.

8. A crane operation support device according to any one of claims 1 to 5 is installed. crane.

Images