阅读说明：本技术 起重机及起重机的监视装置 (Crane and monitoring device for crane ) 是由 松下达也 本庄浩平 于 2021-03-26 设计创作，主要内容包括：本发明的目的在于对应于起重机的变化而利用适当的监视区域进行周围监视。本发明提供一种可组装拆卸的起重机(1),其构成为,能够根据起重机(1)的组装状态而变更周围监视的监视范围。例如,在未安装有配重(5)时,从基准监视范围(W1)变更为缩小监视范围(W2)。若根据这种组装状态的变化而变更监视范围,则能够利用恰当的范围进行周围监视,从而维持操作性并且实现良好的周围监视。(The purpose of the present invention is to perform periphery monitoring using an appropriate monitoring area in accordance with a change in a crane. The invention provides an assembling and disassembling crane (1), which is configured to change the monitoring range of the surrounding monitoring according to the assembling state of the crane (1). For example, when the counterweight (5) is not mounted, the reference monitoring range (W1) is changed to a reduced monitoring range (W2). When the monitoring range is changed in accordance with such a change in the assembly state, the surroundings can be monitored in an appropriate range, and good surroundings monitoring can be achieved while maintaining operability.)

1. A detachable crane is characterized in that,

the monitoring range of the surrounding monitoring can be changed according to the assembling state of the crane.

2. A crane according to claim 1,

the crane control device is provided with a detection device which detects the assembly state of the crane.

3. The crane according to claim 1 or 2, comprising:

a confirmation processing unit for making a driver confirm whether to change the monitoring range; and

and a change processing unit that changes the monitoring range upon receiving a change input of the monitoring range.

4. A crane according to any one of claims 1 to 3,

the monitoring range can be changed according to a change in the rear end radius of the upper slewing body, which is an assembled state of the crane.

5. A crane according to any one of claims 1 to 4,

the monitoring range can be changed according to the assembling state of the crane, namely the state of the existence of the balance weight.

6. A crane according to any one of claims 1 to 5,

the monitoring range can be changed according to the assembling state of the crane, namely the state of the crawler belt,

when the crawler is detached from the crane, attaching a placement portion of the detached crawler to the monitoring range.

7. A crane according to claim 6,

in case the crawler is detached from the crane,

the monitoring range is changed according to the rotation angle of the upper revolving structure.

8. A crane according to any one of claims 1 to 7,

when the object is suspended, the monitoring range is narrowed so as to narrow or remove a front portion of the upper slewing body.

9. A monitoring device for a crane, characterized in that,

the monitoring range of the surrounding monitoring can be changed according to the assembling state of the crane capable of being assembled and disassembled.

Technical Field

The present invention relates to a crane for monitoring surroundings and a monitoring device for the crane.

Background

In the conventional crane, a bird's-eye view image of the periphery of a suspended object is captured, and a worker around the suspended object is detected by displaying the bird's-eye view image on a monitor in a cab of the crane, and a helmet image of the worker is displayed in the bird's-eye view image.

Further, when a worker is detected around a hanging object and in a dangerous area, a helmet image is displayed in black to warn a driver (for example, refer to patent document 1).

Patent document 1: japanese laid-open patent publication No. 2010-241548

The shape of the crane may be changed by assembling or disassembling the parts, and the monitoring area may be changed, but in the above-described conventional technique, the monitoring area is fixed within a predetermined range, and therefore, the monitoring area cannot be changed, and it is difficult to appropriately determine when the shape is changed at the time of disassembling or assembling.

Disclosure of Invention

The purpose of the present invention is to perform periphery monitoring using an appropriate monitoring area in accordance with a change in the shape of a crane.

The invention provides an assembling and disassembling crane, which is composed of a crane body,

the monitoring range of the surrounding monitoring can be changed according to the assembling state of the crane.

The present invention also provides a monitoring device for a crane, which is configured to,

the monitoring range of the surrounding monitoring can be changed according to the assembling state of the crane capable of being assembled and disassembled.

According to the present invention, it is possible to perform the periphery monitoring using an appropriate monitoring area in accordance with the form change caused by the assembly and disassembly of the crane.

Drawings

Fig. 1 is a side view of a crane according to an embodiment of the present invention.

Fig. 2 is a side view of the crane with the counterweight removed.

Fig. 3 is a side view of the crane with the boom removed.

Fig. 4 is a block diagram showing a control device of the crane and its peripheral structure.

Fig. 5 is a plan view showing a detection range of the periphery monitoring device.

Fig. 6 is a plan view showing a reference monitoring range for monitoring the surroundings of the crane.

Fig. 7 is a plan view showing a reduced monitoring range of the periphery monitoring in the crane.

Fig. 8 is a plan view showing a change monitoring range of the periphery monitoring in the crane.

Fig. 9 is a plan view showing a change monitoring range of the periphery monitoring in the crane.

Fig. 10 is a plan view showing a modification mode of a modification monitoring range of the periphery monitoring in the crane.

Fig. 11 is a plan view showing a modification mode of a modification monitoring range of the periphery monitoring in the crane.

Fig. 12 is a plan view showing a modification mode of a modification monitoring range of the periphery monitoring in the crane.

Fig. 13 is a display example of a confirmation screen of permission of change of the monitoring range.

Fig. 14 is a display example of a notification screen for receiving an input of a change in the monitoring range.

Fig. 15 is a flowchart showing a process of determining whether the crane has a counterweight.

Fig. 16 is a flowchart showing a crane periphery monitoring process.

Fig. 17 is a plan view showing a modification of the reference monitoring range in the crane.

Fig. 18 is a block diagram showing the structure of a monitoring device for a crane.

In the figure: 1-crane, 2-lower traveling body, 3-upper revolving body, 4-boom, 5-counterweight, 21-main body, 22-crawler, 33-cab, 34-hook, 60-control device, 61-controller, 611-monitoring control unit, 612-change processing unit, 613-confirmation processing unit, 621-input unit, 622-display device, 623-alarm, 625-memory, 633-turning amount sensor, 634-surrounding monitoring device, C1, C2-rear end radius circle, G1-confirmation screen, G2-notification screen, W1-reference monitoring range, W2-reduction monitoring range, W3-W7-change monitoring range.

Detailed Description

[ general Structure of Crane ]

Fig. 1 is a side view of a crane 1. The crane 1 is a so-called mobile crawler crane. The front-rear left-right direction of the crane 1 as viewed by a rider of the upper revolving structure 3 will be described as the front-rear left-right direction of the crane 1. In principle, the front, rear, left, and right of the lower traveling structure 2 will be described with reference to the state (reference posture) in which the front-rear direction of the lower traveling structure 2 coincides with the front-rear direction of the upper revolving structure 3.

As shown in fig. 1, the crane 1 includes a crawler-type lower traveling structure 2 capable of traveling by itself, an upper revolving structure 3 mounted on the lower traveling structure 2 so as to be rotatable, and a boom 4 attached to the front side of the upper revolving structure 3 so as to be tiltable.

The lower traveling unit 2 includes a main body 21 and crawler belts 22 provided on both left and right sides of the main body 21. The left and right crawler belts 22 are driven to rotate by respective traveling hydraulic motors, not shown.

A lower end portion of the boom 4 is supported on the front side of the upper revolving structure 3. The lower end portion of the mast 31 is supported at a position on the upper slewing body 3 on the rear side of the boom support position.

The upper revolving structure 3 is driven by a not-shown hydraulic motor for revolving and revolves around an axis in the vertical up-down direction with respect to the lower traveling structure 2.

A counterweight 5 for keeping a weight balance with the boom 4 and the suspended object is attached to the rear portion of the upper slewing body 3. The number of the counterweights 5 can be increased or decreased as necessary.

A pitching winch (not shown) for pitching the boom 4 is disposed on the front side of the counterweight 5, and a hoisting winch (not shown) for winding or releasing the hoisting rope 32 is disposed on the front side thereof. The hoisting winch is driven by a hoisting hydraulic motor (not shown) to reel in or reel out the hoisting rope 32, thereby raising and lowering the hook 34 and the suspended object.

Further, a cab 33 is disposed on the right front side of the upper revolving structure 3.

The boom 4 is attached to the upper slewing body 3 so as to be tiltable. The boom 4 includes a lower boom 41 and an upper boom 42.

A sheave 43 for guiding the hoisting rope 32 is rotatably attached to an upper end portion of the upper boom 42.

The mast 31 includes an upper hanger 35 at an upper end portion thereof, and the upper hanger 35 is connected to the other end portion of the boom guy 44 having one end portion connected to the upper end portion of the boom 4. When the pitch winch winds or unwinds the pitch guy rope 37 wound multiple times between the upper spreader 35 and the lower spreader 36, the interval between the upper spreader 35 and the lower spreader 36 changes, and the boom 4 is tilted. The pitch winch is driven by a hydraulic motor for pitch (not shown).

The crane 1 having the above-described structure is configured to be detachable for the purpose of easy transportation and the like. In addition, the term "detachable" as used herein means: at least reversibly mountable and dismountable.

For example, the counterweight 5 is detachable from the rear end portion of the upper slewing body 3, and the counterweight 5 may be removed as shown in fig. 2. The crane 1 reaches the state of fig. 2 during the assembling or disassembling process, or carries out the transporting work of the hoisted object in the state of fig. 2.

The counterweight 5 can be attached and detached using the lower boom 41.

The boom 4 is detachable from the upper revolving structure 3, and the boom 4 may be eliminated as shown in fig. 3. The crane 1 reaches the state of fig. 3 during assembly or disassembly.

The crawler belt 22 is attachable to and detachable from the lower traveling structure 2 (see fig. 9). The crane 1 reaches the state of fig. 9 during assembly or disassembly.

The left and right crawler belts 22 can be attached and detached using the lower boom 41 without detaching the boom 4 from the upper revolving structure 3.

[ control System of Crane ]

A crane control device 60 is also provided in the cab 33 of the upper slewing body 3. Fig. 4 is a block diagram showing the control device 60 and its peripheral configuration. The control device 60 is a control terminal mounted on the crane 1, and mainly controls various operations such as traveling, turning, and lifting of the crane 1.

The control device 60 has a controller 61, and the controller 61 includes an arithmetic processing device having a CPU, a storage device (i.e., ROM and RAM), and other peripheral circuits and the like.

The controller 61 includes software modules of a monitoring control unit 611, a change processing unit 612, and a confirmation processing unit 613. The monitoring control unit 611, the change processing unit 612, and the confirmation processing unit 613 may be configured by hardware.

The controller 61 is connected to an input unit 621, a display device 622, an alarm 623, an operation lever 624, and a memory 625, thereby constituting the control device 60.

Further, the controller 61 is connected to a load cell 631, a boom angle sensor 632, a rotation amount sensor 633, a periphery monitoring device 634, and a control valve 635.

The input unit 621 is, for example, a touch panel, and outputs a control signal corresponding to an operation by an operator to the controller 61. The operator can operate the input unit 621 to perform various settings such as the length of the boom 4, the weight of the suspended object, and others.

The display device 622 includes, for example, a touch panel display serving also as the input unit 621, and displays information such as the weight of the suspended object, the boom angle, and the pivot angle of the upper revolving structure 3 on the display screen in accordance with the control signal output from the controller 61.

The alarm 623 issues an alarm in accordance with the control signal output from the controller 61.

The operation lever 624 manually inputs, for example, an operation for causing the crane 1 to perform various operations, and inputs a control signal corresponding to an operation amount of the operation lever 624 to the controller 61.

For example, operation lever 624 can perform operation inputs of the traveling operation of lower traveling unit 2, the turning operation of upper revolving unit 3, the pitching operation of boom 4, and the raising and lowering operation of the suspended load.

The load cell 631 is attached to the upper hoist 35, detects tension acting on the boom guy wire 44 that pitches the boom 4, and outputs a control signal corresponding to the detected tension to the controller 61.

The boom angle sensor 632 is attached to the base end side of the boom 4, detects the pitch angle of the boom 4 (hereinafter, also referred to as a boom angle), and outputs a control signal corresponding to the detected boom angle to the controller 61. The boom angle sensor 632 detects, for example, an angle (i.e., an included angle with respect to the ground) with respect to a horizontal plane as a boom angle.

Rotation amount sensor 633 is attached between lower traveling structure 2 and upper revolving structure 3, detects a rotation angle of upper revolving structure 3, and outputs a control signal corresponding to the detected rotation angle to controller 61. The rotation amount sensor 633 detects, for example, an angle around a vertical axis as a rotation angle.

The control valve 635 is configured by a plurality of valves that can be switched in accordance with a control signal from the controller 61.

For example, the control valve 635 includes: a valve for switching the direction of supply, interruption, and rotation of hydraulic pressure from a hydraulic pump provided in the crane 1 to a hydraulic motor for traveling that drives the left and right crawler belts 22 of the lower traveling structure 2 to rotate, a valve for switching the direction of supply, interruption, and rotation of hydraulic pressure from the hydraulic pump to a hydraulic motor for revolving that causes the upper revolving structure 3 to revolve, a valve for switching the direction of supply, interruption, and rotation of hydraulic pressure from the hydraulic pump to a hydraulic motor for pitching that drives the pitching winch to revolve, a valve for switching the direction of supply, interruption, and rotation of hydraulic pressure from the hydraulic pump to a hydraulic motor for hoisting that drives the hoisting winch to revolve, and the like.

The surroundings monitoring device 634 is a sensor (for example, a range finder using a laser scanner such as a lidar (Light Detection and Ranging)) for detecting a distance between the surroundings monitoring device and an object existing around the crane 1.

Fig. 5 is a plan view showing a detection range of the surroundings monitoring apparatus 634. Fig. 5 shows an example of arrangement in which periphery monitoring device 634 is provided at four positions in total, that is, the front end bottom surface, the rear end bottom surface, the left end bottom surface, and the right end bottom surface of upper revolving unit 3.

As shown in fig. 5, periphery monitoring device 634 provided on the bottom surface of the rear end portion uses, as one of the distance detection planes, a fan-shaped and horizontal two-dimensional plane rotated by 135 ° (270 ° in total) from straight line LB directed horizontally rearward around periphery monitoring device 634 in a state where upper revolving unit 3 is directed directly forward (reference posture) to both the left and right.

As shown in fig. 1, the rear periphery monitoring device 634 sets, as detection planes, four two-dimensional planes in total, in which the fan-shaped detection plane is inclined obliquely rearward and upward by an angle θ 1 and obliquely rearward and downward by angles θ 2 and θ 3, respectively, about a horizontal axis passing through the periphery monitoring device 634 and extending in the left-right direction (θ 1 < 90 °, θ 2 < 90 °, θ 3 < 90 °, θ 2 < θ 3).

As shown in fig. 5, periphery monitoring device 634 provided on the bottom surface of the front end portion of upper slewing body 3 sets, as one of the distance detection planes, a fan-shaped and horizontal two-dimensional plane rotated in a range of 135 ° (270 ° in total) from straight line LF directed horizontally forward in upper slewing body 3 in the reference posture around periphery monitoring device 634.

As shown in fig. 5, periphery monitoring devices 634 provided on the left end bottom surface and the right end bottom surface of upper revolving unit 3 use, as one of the distance detection planes, fan-shaped and horizontal two-dimensional planes that are rotated in the range of 135 ° (total 270 °) from straight lines LL and LR directed horizontally to the left and right around periphery monitoring devices 634 in upper revolving unit 3 in the reference posture, respectively.

Although not shown, the front and right and left periphery monitoring devices 634 also use, as detection planes, four two-dimensional planes in total, which are inclined obliquely upward by an angle θ 1 and obliquely downward by angles θ 2 and θ 3, from the fan-shaped detection plane, about a horizontal axis extending in the right-left direction or the front-rear direction through the periphery monitoring devices 634.

As shown in fig. 5, the crane 1 can detect an obstacle (person or object) present around the crane in the range of 360 ° around the center axis in the vertical up-down direction by the four-directional surroundings monitoring device 634. Also, the surroundings monitoring apparatus 634 has sufficient resolution for the surroundings, and therefore can detect even the shape of the surrounding object.

Furthermore, the surroundings monitoring device 634 in four directions can detect even about 10 to 20[ m ] (the arrow in the chain line in fig. 5 indicates a detectable angle range in a plan view, and does not indicate a detectable distance).

As described above, each of the periphery monitoring apparatuses 634 detects on the detection planes at four different angles including the horizontal direction, and thus can detect the three-dimensional shape.

The number and arrangement of the periphery monitoring devices 634 are merely examples, and the number and arrangement may be changed as appropriate as long as the monitoring range (the entire periphery of the crane 1 in 360 °) shown in fig. 6 described later can be monitored.

Rear periphery monitoring device 634 is disposed at a position that becomes the rearmost end of the bottom surface of upper revolving unit 3 with counterweight 5 removed, and the detection range of the detection plane inclined rearward and upward by angle θ 1 from this position about the horizontal axis includes the bottom portion of counterweight 5.

Therefore, rear periphery monitoring device 634 can detect the presence or absence of counterweight 5 on upper revolving unit 3. That is, the periphery monitoring device 634 functions as a detection device that detects the assembly state of the crane based on the presence or absence of the counterweight 5.

The detection range of the left and right surroundings monitoring devices 634 includes the left and right crawler tracks 22.

Therefore, the left and right surroundings monitoring devices 634 can detect the presence or absence of the left and right crawler belts 22 on the lower traveling body 2. That is, the periphery monitoring device 634 also functions as a detection device that detects the crane assembly state based on the presence or absence of the crawler 22.

[ Crane-based surroundings monitoring ]

Fig. 6 is a plan view showing a monitoring range of the surroundings monitoring in the crane 1. As shown in fig. 6, in principle, the crane 1 uses an inner region (hatched region) of a circle having the rotation center of the upper slewing body 3 as the center as a monitoring range.

The monitoring range shown in fig. 6 indicates a reference monitoring range W1 when a work such as conveyance of a suspended load is performed in a state where the crane 1 is assembled (the state of fig. 1).

The monitoring range includes other monitoring ranges (to be described later) than the reference monitoring range W1. In the following description, when these plural kinds of monitoring ranges are not distinguished, they are collectively referred to as "monitoring ranges", and when each monitoring range is described separately, it is described as a name of each monitoring range.

In the drawings showing various monitoring ranges including fig. 6, the boom 4 is not shown in the crane 1, but the boom 4 is normally in an upward standing state and is not within the monitoring range.

Data indicating the position, shape, size, and range of the various monitoring ranges in the plan view is stored in the memory 625 in advance.

In fig. 6, a rear end radius circle C1 based on the rear end radius of the upper slewing body 3 is shown by a one-dot chain line. The rear end radius is equal to the distance from the rotation center of the upper slewing body 3 to the outermost portion (i.e., the rearmost portion of the counterweight 5) in plan view, and the upper slewing body 3 falls within the range within the rear end radius circle C1 (excluding the boom 4) even if it is slewing in any direction. That is, if the range is outside, contact or collision with an obstacle such as a person or an object can be avoided when the upper revolving structure 3 revolves.

The reference monitoring range is the inside of a circle having a radius obtained by adding a margin to the rear end radius circle C1 in order to ensure sufficient safety, and the crane 1 monitors whether or not an obstacle is present in the reference monitoring range. The detection range of the surroundings monitoring apparatus 634 covers the entire monitoring range including other monitoring ranges described later.

If an obstacle exists in the detection range, the laser scanning of the periphery monitoring device 634 generates reflected light, and the reflected light is detected to perform distance detection. Since the periphery monitoring device 634 detects the periphery thereof with high resolution, it is possible to detect not only the distance at each position on the surface of the obstacle but also the cross-sectional shape in a plan view.

When an obstacle is detected by the periphery monitoring device 634, the monitoring control unit 611 of the controller 61 of the crane 1 determines whether or not the obstacle is within the reference monitoring range, and if it is determined that the obstacle is within the reference monitoring range, a processing for coping with the approach is executed.

The processing to be handled by the monitoring control unit 611 includes recording processing.

When it is confirmed that the obstacle has entered the monitoring range, the recording process records the position, time, and the like in the memory 625. The monitoring control unit 611 may recognize whether the obstacle is a person or some object based on the shape of the obstacle detected by the periphery monitoring device 634, and record the result.

The processing for coping by the monitoring control unit 611 includes notification processing.

When it is confirmed that the obstacle enters the monitoring range, the notification process gives an alarm for confirming the entry to the operator via the display device 622 or the alarm 623.

In the case of the display device 622, when recognizing the position of an entering object and what the entering object is, the recognition result and the like may be displayed.

Also, in the case of the alarm 623, an alarm sound at the time of notification processing may be emitted, and the volume, tone, tempo, or the like may be changed as the position of an entering object approaches. Also, when recognizing what the entering object is, the tone may be changed according to the kind of the recognized object.

The monitoring control unit 611 performs the emergency stop processing.

When it is confirmed that the obstacle enters the monitoring range, the emergency stop process performs control such as stopping the traveling operation of the lower traveling structure 2, stopping the revolving operation of the upper revolving structure 3, stopping the pitching operation of the stopper arm 4, and stopping the lifting operation of the suspended object. In addition, the operation speed may be reduced in stages or in a stepwise manner to stop the operation in order to avoid sudden stop. Further, control may be performed to completely stop the entering object by increasing the speed reduction rate as the position of the entering object approaches.

The monitoring control unit 611 may be configured to perform only one of the above-described processes to be performed, or may perform a plurality of processes to be performed simultaneously. Further, it may be configured such that which of the above-described processes to be executed is to be set based on the setting from the input unit 621, and only the process to be executed for which execution is set is executed.

[ Change of monitoring Range (1) ]

The controller 61 further includes a change processing unit 612 that changes the monitoring range of the periphery monitoring according to the assembly state of the crane.

Hereinafter, a mode in which the change processing unit 612 changes the monitoring range will be described with reference to fig. 7 to 12.

Fig. 7 shows a reduced monitoring range W2 in a state where the counterweight 5 is not mounted (in a state where it is detached).

Although the reference monitoring range W1 is a circle having a radius obtained by adding a margin to the radius of the rear end radius circle C1, the rear end radius of the upper slewing body 3 is reduced in a state where the counterweight 5 is not mounted, and therefore, as shown in fig. 7, the rear end radius circle C2 is also reduced, and accordingly, the reduced monitoring range W2 is also reduced as compared with the reference monitoring range W1.

The change processing unit 612 selects the reference monitoring range W1 when it is determined from the detection of the periphery monitoring device 634 that the counterweight 5 is mounted on the upper slewing body 3, and selects the reduced monitoring range W2 when it is determined that the counterweight 5 is not mounted.

[ Change of monitoring Range (2) ]

Fig. 8 shows a modification (modification monitoring range W3) from the reduced monitoring range W2 when the one-side crawler 22 is not mounted (when detached). Fig. 9 shows a modification from the reduced monitoring range W2 (modified monitoring range W4) when the both side crawler 22 is not mounted (when detached).

When the crawler belt 22 is detached from the main body 21, a space in the place where the crawler belt 22 is disposed is empty, and a person may enter the space. Therefore, when one or two crawler belts 22 are not mounted, the space of the arrangement portion of the crawler belt 22 should be also the object of the surrounding monitoring, and therefore, as shown in the change monitoring ranges W3 and W4, the space of the arrangement portion of the crawler belt 22 can be changed to be added to the monitoring range.

In fig. 8 and 9, the case where the space of the arrangement portion of the crawler 22 is added to the reduced monitoring range W2 is illustrated, but the space of the arrangement portion of the crawler 22 is added to the reference monitoring range W1 when the crawler 22 is not mounted while the counterweight 5 is mounted on the crane 1.

When it is determined from the detection of the periphery monitoring device 634 that the crawler belts 22 on one side or both sides are not mounted on the lower traveling body 2, the change processing unit 612 changes the space of the placement portion where the crawler belts 22 are not mounted to the monitoring range to the currently selected reference monitoring range W1 or the reduced monitoring range W2.

[ Change of monitoring Range (3) ]

When the crawler belt 22 on one side or both sides is not mounted (when it is dismounted), the crawler belt 22 may be dismounted or mounted by the turning operation of the upper turning body 3 using the lower boom 41 of the upper turning body 3 mounted on the crane 1 itself.

In view of this, when it is determined from the detection of the periphery monitoring device 634 that one or both crawler belts 22 are not attached to the lower traveling structure 2, the change processing unit 612 may perform processing for changing the monitoring range based on the turning angle of the upper turning body 3 detected by the turning amount sensor 633.

Fig. 10 shows a modification mode (modification monitoring range W5) in a state where the upper slewing body 3 is rotated 90 ° to the left side in the modification monitoring range W3 when the one-side crawler 22 is not mounted (detached). Fig. 11 shows a modification (change monitoring range W6) in a state where the upper slewing body 3 is slewing to the left by 45 °, and fig. 12 shows a modification (change monitoring range W7) in a state where the upper slewing body 3 is returning to a state of heading straight ahead.

The change monitoring range W5 in fig. 10 is obtained by changing the above change monitoring range W3 so as to exclude a range in a plan view in which the upper slewing body 3 is rotated 90 ° to the left from the monitoring range. The change monitoring range W6 in fig. 11 is obtained by changing the above change monitoring range W3 so as to exclude a range in a plan view in which the upper slewing body 3 is slewing 45 ° to the left from the monitoring range.

The change monitoring range W7 in fig. 12 returns to the same state as the change monitoring range W3.

For example, change processing unit 612 selects change monitoring range W5 when rotation amount sensor 633 detects a rotation angle of upper revolving unit 3 in the range of 90 ° ± 22.5 ° on the left side, selects change monitoring range W6 when rotation amount sensor 633 detects a rotation angle of upper revolving unit 3 in the range of 45 ° ± 22.5 ° on the left side, and selects change monitoring range W7 when rotation amount sensor 633 detects a rotation angle of upper revolving unit 3 in the range of 0 ° ± 22.5 ° on the left side.

In this manner, the change monitoring range may be changed in stages, or the change monitoring range may be continuously changed by sequentially calculating the range in which the upper slewing body 3 is slewing from the slewing angle of the upper slewing body 3 detected by the slewing amount sensor 633.

Here, although the case where the upper revolving structure 3 revolves in the range of 0 ° to 90 ° is exemplified, when revolving in the range of 90 ° to 360 °, the change monitoring range corresponding to the revolving angle of the upper revolving structure 3 is also changed.

The above-described change monitoring ranges W5 to W7 illustrate a state where the one crawler 22 is detached, but when the crawler 22 on both sides is detached, the change monitoring range corresponding to the pivot angle of the upper slewing body 3 is changed in a state where the arrangement positions of the crawler 22 are added to the monitoring range. In a state where the both crawler belts 22 are mounted, the monitoring range may be changed from the reference monitoring range W1 or the reduced monitoring range W2 to a changed monitoring range corresponding to the turning angle of the upper slewing body 3.

[ confirmation processing during change of monitoring Range ]

The controller 61 includes a confirmation processing unit 613 for confirming in advance whether or not the monitoring range is to be changed by the driver when the monitoring range is changed by the change processing unit 612. The change processing unit 612 can determine whether or not to change the monitoring range based on the confirmation result of the confirmation processing unit 613 by the driver.

When the change processing unit 612 determines that the monitoring range is to be changed, the confirmation processing unit 613 displays a confirmation screen G1 for allowing the monitoring range to be changed on the display device 622 of the cab 33. Fig. 13 is a display example of the confirmation screen G1.

For example, both the monitoring range before the change and the monitoring range after the change are displayed on the confirmation screen G1 so that the driver can confirm whether or not the change is made. In contrast, the driver inputs permission change or refusal change through the input unit 621, or does not perform any operation.

On the other hand, the confirmation processing unit 613 notifies the change processing unit 612 of the permission to change the monitoring range only when the permission to change is input. When receiving the notification of permission of change, the change processing unit 612 executes the change of the monitoring range.

When the refusal of the change is input or no input is made within a certain time after the confirmation screen G1 is displayed, the confirmation processing part 613 returns the display device 622 to the display state in the normal operation, and displays a notification screen G2 for receiving the change input of the monitoring range shown in fig. 14 to the extent that the display state is not obstructed at the end of the screen. That is, the notification screen G2 is zoomed out from the confirmation screen G1 and moved to the outside from the center of the screen.

When a selection operation is input to the notification screen G2 by the input unit 621, the confirmation processing unit 613 displays the confirmation screen G1 again to allow the driver to confirm whether or not the change is made.

[ flow of monitoring processing around crane ]

Fig. 15 is a flowchart showing a process of determining whether or not the crane 1 has the counterweight 5.

The controller 61 periodically detects whether the counterweight 5 is fitted.

That is, as shown in fig. 15, the surrounding distance value is acquired based on the detection by the surrounding monitoring device 634 (step S31).

It is determined whether or not the distance value obtained when the counterweight 5 is present (i.e., the reference value) matches the detected distance value, with reference to the distance value in the direction in which the counterweight 5 should be present, from among the distance values of the surroundings detected by the surroundings monitoring device 634 (step S33). The reference value of weight 5 is stored in memory 625 in advance.

If the reference value matches the detected distance value, controller 61 records information that counterweight 5 is currently attached to upper slewing body 3 in memory 625 as counterweight attachment/detachment information (step S35), and ends the process.

On the other hand, if the reference value does not match the detected distance value, the controller 61 determines whether or not the detected distance value is larger than the reference value (step S37).

When the detected distance value is larger than the reference value, it is determined that the removed counterweight 5 is detected or an object other than counterweight 5 is detected, and counterweight attachment/detachment information indicating that counterweight 5 is not currently attached to upper slewing body 3 is recorded in memory 625 (step S39), and the process ends.

On the other hand, if the detected distance value is not greater than the reference value, the controller 61 determines whether the detected distance value is obtained (step S41).

If the detected distance value is not obtained, it indicates at least a state where no object is present within the distance detectable range of periphery monitoring device 634, and therefore the process proceeds to step S39, where counterweight attachment/detachment information indicating that counterweight 5 is not currently attached to upper slewing body 3 is recorded in memory 625, and the process ends.

On the other hand, when the detected distance value is obtained, the detected distance value indicates a distance smaller than the reference value, and therefore it is considered that an object (obstacle) other than counterweight 5 is detected, and this is recorded in memory 625 (step S43), and the process is terminated.

Next, the periphery monitoring of the crane 1 will be described. Fig. 16 is a flowchart showing the periphery monitoring process of the crane 1 by the controller 61. This process of periphery monitoring is repeatedly executed in a short cycle during the assembling or disassembling work of the crane 1 or the carrying work of the hoisted object.

First, controller 61 reads the counterweight attachment/detachment information recorded in memory 625 (step S1), and determines whether or not counterweight 5 is attached to upper slewing body 3 (step S3).

When the weight attachment/detachment information indicates that the weight 5 is currently attached, the reference monitoring range W1 (see fig. 6) is selected to monitor whether or not an obstacle has entered the reference monitoring range W1 (step S5).

At this time, when the confirmation processing unit 613 is set to perform confirmation and it is necessary to change the monitoring range from the other monitoring range to the reference monitoring range W1, the confirmation screen G1 is displayed on the display device 622, and the reference monitoring range W1 is selected only when the permission to change the monitoring range is input.

When the weight attachment/detachment information indicates that the weight 5 is currently detached, the reduced monitoring range W2 (see fig. 7) is selected to monitor whether or not an obstacle has entered the reduced monitoring range W2 (step S7).

At this time, when the confirmation processing unit 613 is set to perform confirmation and it is necessary to change the monitoring range from the other monitoring range to the reduced monitoring range W2, the confirmation screen G1 is displayed on the display device 622, and the reduced monitoring range W2 is selected only when permission to change the monitoring range is input.

Next, the controller 61 determines whether or not an obstacle is present within the monitoring range W1 or W2 selected in accordance with the detection by the surroundings monitoring apparatus 634 (step S9).

Then, if no obstacle is detected within the monitoring range W1 or W2, the monitoring process is ended.

On the other hand, if an obstacle is detected within the monitoring range W1 or W2, the controller 61 warns of the detection of the obstacle through the display device 622 or the alarm 623 (step S11), and ends the monitoring process. When an obstacle is detected, in addition to the notification processing based on the warning, recording processing for recording detection or emergency stop processing for operation of the crane 1 may be performed, or recording processing for recording detection or emergency stop processing for operation of the crane 1 may be performed instead of the notification processing.

In the above-described monitoring process, the case where the monitoring range is changed according to the presence or absence of counterweight 5 has been exemplified, but the monitoring range may be changed according to the presence or absence of crawler 22.

That is, as in the case of counterweight 5 in fig. 15, the presence or absence of crawler belt 22 may be detected in advance by detection of surroundings monitoring device 634, and may be recorded in advance in memory 625 as attachment/detachment sensor information. In the case of the crawler belt 22, it is necessary to detect the presence or absence of the crawler belt for each of the left and right sides.

In the monitoring, whether or not the space of the placement portion of the crawler 22 is added to the monitoring range is determined depending on the presence or absence of the left and right crawlers 22 in the steps S1 to S7 in fig. 16.

When the monitoring range is changed according to the turning angle of the upper turning body 3 when the crawler 22 is detached, a process of detecting the turning angle of the upper turning body 3 and selecting the change monitoring ranges W5 to W7 according to the detected turning angle is added at a stage prior to step S9 in fig. 16.

[ technical effects of embodiments of the invention ]

As described above, since the crane 1 can change the monitoring range of the surrounding monitoring according to the assembly state of the crane 1, an appropriate monitoring range can be selected according to the assembly state, and an obstacle or the like can be detected more effectively.

For example, in the conventional crane, when the monitoring range for the assembly state of the crane is narrow, the monitoring becomes insufficient, and when the monitoring range for the assembly state of the crane is wide, the monitoring becomes excessive, and therefore, the operation becomes complicated, but in the crane 1, an appropriate monitoring range is set, and therefore, the influence on the operation can be suppressed and the sufficient monitoring can be performed.

Further, since the crane 1 includes the periphery monitoring device 634 as a detection device for detecting the assembled state thereof, it is not necessary to use a detection mechanism (for example, a camera or the like provided at the work site) outside the crane 1. Therefore, a communication device or the like for acquiring an external detection result is not required. Further, when an external detection means is used, detection needs to be performed within the installation range, and the crane 1 is not limited to this, and the assembled state can be detected regardless of where the crane 1 is located.

Further, since the assembly state of the crane 1 is detected by the periphery monitoring device 634, a dedicated sensor for detecting the counterweight 5 or the crawler 22 is not required, the number of components can be reduced, and sensor wiring and the like are not required.

The controller 61 of the crane 1 further includes a confirmation processing unit 613 for allowing the driver to confirm whether or not the monitoring range is to be changed, and the change processing unit 612 changes the monitoring range after receiving an input for changing the monitoring range.

This enables the driver to determine the change of the monitoring range according to the actual situation, and to maintain the operability high.

Further, even when there is no input for changing the monitoring range, the notification screen G2 is continuously displayed on the display device 622, so that the monitoring range can be changed more appropriately by the judgment of the driver in accordance with a change in the operating state or the like.

In the crane 1, the monitoring range can be changed from the reference monitoring range W1 to the reduced monitoring range W2 according to the assembled state (i.e., the change in the rear end radius of the upper slewing body 3). In particular, the monitoring range can be changed according to a change in the rear end radius caused by attachment or detachment of the counterweight 5.

The crane 1 is often accompanied by a turning operation of the upper turning body 3 at the time of assembly and disassembly, at the time of a transporting work of a suspended object, or the like, but by appropriately selecting a monitoring range in accordance with a change in the rear end radius, it is possible to secure operability and also to realize appropriate surrounding monitoring.

In the crane 1, the monitoring range can be changed according to the assembled state (i.e., the state of the presence or absence of the crawler 22). When the crawler belt 22 is not mounted, a change process is performed in which the arrangement position of the crawler belt 22 is added to the monitoring range.

Therefore, the crawler 22 can be installed in a space where a person can enter or cannot enter, and the monitoring can be strictly performed or the monitoring can be released, thereby further optimizing the monitoring range.

In the crane 1, when the crawler 22 is not attached, a change process is performed to change the monitoring range according to the rotation angle of the upper revolving structure 3.

Therefore, it is possible to strictly perform monitoring or release monitoring in a space that is accessible or inaccessible to a person according to the rotation of the upper slewing body 3, and thus it is possible to further optimize the monitoring range.

[ monitoring device for Crane ]

In the crane 1, the case where the crane control device 60 performs the periphery monitoring is exemplified, but for a crane provided with a control device having no periphery monitoring function, the crane monitoring device 60A of a crane configured by a device different from the control device 60 as shown in fig. 18 may be attached to the crane, brought into the crane, or placed in the vicinity of the crane to perform the periphery monitoring. The monitoring device 60A of the crane shown in fig. 18 is configured in the same manner as the crane 1, and the same reference numerals are given thereto, and redundant description thereof is omitted.

The crane monitoring device 60A includes a processing unit 61A, and the input unit 621, the display device 622, the alarm 623, the memory 625, and the periphery monitoring device 634 are connected to the processing unit 61A. In addition, the surroundings monitoring apparatus 634 may acquire the detection information through wired communication or wireless communication.

The processing unit 61A includes software modules of the monitoring control unit 611, the change processing unit 612, and the confirmation processing unit 613. The monitoring control unit 611, the change processing unit 612, and the confirmation processing unit 613 may be configured by hardware.

With the monitoring device 60A, it is possible to appropriately monitor the periphery of a crane having no periphery monitoring function, as in the crane 1.

[ others ]

The details of the embodiments of the invention described above may be changed as appropriate without departing from the spirit and scope of the invention.

For example, the reference monitoring range W1 is set to a circular range around the entire circumference of the crane 1 as an example, but the reference monitoring range W1 is not limited to this.

For example, when a hanging object is carried, the hanging object, the hook, or the like may come close to the front of the crane 1 and enter the front portion of the reference monitoring range W1, and it may be determined that an obstacle is present. On the other hand, the front side portion of the reference monitoring range W1 is a range that is easily visible to the naked eye of the driver in the cab 33, and the driver looks forward during work.

Therefore, as shown in fig. 17, the front portion of the upper slewing body 3 can be removed from the monitoring range with respect to the reference monitoring range W1. Thus, when the crane 1 performs a work of transporting a suspended object, it is possible to reduce the influence on the work and perform excellent surrounding monitoring.

Further, not only the conveyance work of the suspended load by the crane 1, but also the front portion of the upper revolving structure 3 may be removed from the monitoring range with respect to the reference monitoring range W1 as shown in fig. 17 when the crane 1 performs the assembling/disassembling work (for example, the counterweight 5, the crawler 22, the lower counterweight, and other attachable/detachable components are moved by the boom 4 of the crane).

That is, regardless of the type of the object, when the crane 1 suspends the object, the monitoring range can be reduced so as to reduce or eliminate the front portion of the upper slewing body 3.

Further, since a worker often enters the periphery of the counterweight 5 or crawler 22 during the work of attaching or detaching the counterweight 5 or crawler 22, the periphery of the attachment position of the counterweight 5 or crawler 22 may be removed from the monitoring area during the work.

The structure for changing the monitoring range in the crane 1 is applicable not only to a crawler crane but also to other mobile cranes such as a wheel crane and a truck crane.

Further, although the laser scanner is exemplified as the periphery monitoring device, the laser scanner for performing three-dimensional detection may be used instead of the laser scanner in which the detection range is two-dimensional.

Further, the distance detection mechanism may be used not only for the laser scanner but also for a camera, an ultrasonic wave, or the like.

Further, although the case where the crane 1 is mounted with the periphery monitoring device 634 has been described above, a configuration may be adopted in which detection information thereof is acquired by communication from a periphery monitoring device such as an external monitoring camera installed in a work site. In this case, the presence or absence of the counterweight 5 or the crawler 22 may be detected by an external periphery monitoring device.

Further, the detection mechanism that can detect the presence or absence of an object, such as a sensor based on optical or magnetic detection, a limit switch, or the like, may be used instead of the configuration in which the presence or absence of the counterweight 5 or the crawler 22 is detected by the surroundings monitoring device 634.

Instead of detecting the presence or absence of the counterweight 5, the crawler 22, the boom 4, the lower counterweight, and other attachable/detachable structures by a surrounding monitoring device or another detection device, a person may input the presence or absence of the attachable/detachable structure through the input unit 621 or the like, and the monitoring range may be changed according to the input content.

Further, as the crane 1, a case where the attachable and detachable (attachable and detachable) structure is the counterweight 5, the crawler 22, the boom 4, and the like is exemplified, but the lower counterweight may be an attachable and detachable structure. In this case, the space of the mounting portion thereof is added to the monitoring range after the lower balance weight is removed.

Further, in the above-described embodiment, the example in which the boom 4 is not considered within the monitoring range because the boom 4 is tilted is shown, but the boom 4 may be laid down to a state close to the horizontal state in the process of attaching and detaching the boom 4, and in this case, the monitoring range in which the boom 4 is considered may be set.

Further, when the electric components such as the camera are detachably (assemblably) attachable, the monitoring range may be changed.