JP6693202B2 - Side monitoring device for mobile crane - Google Patents

Description

  TECHNICAL FIELD The present invention relates to a lateral monitoring device for a crane vehicle that allows the operator to grasp the left and right road conditions even when the left and right road conditions cannot be seen from the driver's seat when the crane car is entering an intersection. ..

  The mobile crane stores the boom when traveling on the road, but even when the boom is in the retracted state, the tip of the boom protrudes from the driver's seat forward by a considerable length. In particular, in the case where the driver's cab is used for both traveling and crane operation, since the operator's cab is provided on the swivel base, the length from the driver's cab to the boom tip portion is further increased.

  Then, when such a crane vehicle is approaching an intersection, if there is a building or wall that obstructs the field of view at the road near the intersection, check the road conditions on the left and right from the driver's seat of the crane vehicle. It was possible that the tip of the boom could go deep into the intersection without being able to do so, which could lead to dangerous driving (there is a risk of another vehicle colliding).

  Therefore, a conventional mobile crane is equipped with a TV camera at the tip of the boom that can capture the left and right road conditions, and the images from the TV camera are displayed on the display in the driver's cab to display the left and right road conditions that cannot be seen from the driver's seat. There is a device equipped with a side monitoring device that is capable of grasping. Incidentally, as a crane vehicle with a lateral monitoring device of this kind, there are those disclosed in, for example, Japanese Utility Model Laid-Open No. 61-56385 (Patent Document 1) and Utility Model Registration No. 2521244 (Patent Document 2). ..

  However, in the lateral monitoring devices for mobile cranes disclosed in the above-mentioned publicly known examples (Patent Documents 1 and 2), the television camera for lateral monitoring has a position near the tip of the proximal boom (non-stretchable part) of the telescopic boom ( Although it is mounted at a fixed position, the telescopic boom has a considerable distance (for example, 1 meter) from the mounting position of the TV camera (position near the tip of the base boom) to the front of the boom tip (tip boom tip). The above distance).

  Then, at the time when the TV camera has reached a position where the right and left road conditions of the intersection can be reflected, the boom tip of the crane vehicle has entered a considerably deep position within the intersection, and the boom tip passes in the left-right direction. There was a risk that it would interfere with other vehicles (crash).

Japanese Utility Model Publication No. 61-56385 Utility model registration No. 2521244

  Therefore, the present invention makes it possible to clearly understand the road conditions on the left and right sides of the boom even when the tip of the boom is located just before the intersection or when the depth of approach to the intersection is reduced. It is intended to provide a person monitoring device.

  The present invention has the following configuration as means for solving the above problems.

This gun onset Ming, vehicle and, a boom mounted on the vehicle, boom and television cameras to monitor the side of the boom tip provided on the tip portion, the television camera provided in the cab It is intended for a side monitoring device for mobile cranes, which has a display for displaying images from. In the following description, the “side monitoring device for mobile crane”, which is the title of the present invention, may be simply referred to as “side monitoring device”.

The side monitoring device of the present invention installs the television camera so that it can be moved back and forth between the retracted position near the side of the boom tip and the protruding position forward of the front of the boom tip by the advancing / retreating operation device. together we are, you are as above advancing and retracting operation device may protrude thereby driven forward the television camera by operating the operation switch. In addition, it is preferable that the above-mentioned television cameras are provided with two units directed to the left and right sides so that the left and right road conditions can be simultaneously photographed.

  The side monitoring device of the present application retracts the television camera to the storage position in a state where the mobile crane is normally traveling. In the retracted state of the TV camera, the TV camera is located near the side of the boom tip (left side in Japan), and the road condition on the side of the boom tip (right in Japan) is TV. Although it may not be possible to take a picture with the camera, there is no particular problem because it is not necessary to check the left and right road conditions on the display during normal driving.

Further, in the side monitoring device of the present invention , when approaching an intersection with poor left and right visibility, the advance / retreat operation device is driven to the projection side of the television camera by the operation switch before the boom tip portion enters the intersection. By doing so, the television camera can be made to project to the front projecting position from the front surface of the boom tip. At this time, even if the boom tip is in the vicinity of the position immediately before the intersection (when the intersection is not entered or the entry depth to the intersection is small), the television camera enters the intersection, You can take a picture of the road conditions on the left and right (you can display the image from the TV camera on the display in the driver's cab).

  In order to retract the television camera from the front protruding position to the retracted position, the advancing / retreating operation device may be driven to the retracted side by the operation switch.

Further, in the lateral monitoring device of the present invention, the advancing / retreating operation device outputs a signal from the speed detector when the operation switch is in the ON state and the vehicle is traveling at a predetermined low speed (for example, 10 km / h) or less. In response, the TV camera is allowed to project forward.

  At an intersection where it is difficult to check the road conditions on the left and right, the vehicle speed is usually reduced to a predetermined low speed (for example, 10 km / hour) or less before the intersection.

In the side monitoring device of the present invention , when the advancing / retreating operation device is driven to the protruding side of the television camera, the operation switch of the advancing / retreating operation device is turned on, and the speed detector detects a predetermined low speed (for example, 10 km / h) or less. It is executed by both the signal when and when. Therefore, even if the operation switch of the advancing / retreating operation device is turned on during traveling, the advancing / retreating operation device does not drive the TV camera protruding side unless the traveling speed of the vehicle becomes equal to or lower than the predetermined low speed, and the operation switch is turned on. When it is OFF, the advancing / retreating operation device does not drive the TV camera protruding side even when the traveling speed of the vehicle becomes equal to or lower than the predetermined low speed (in any case, the TV camera does not unnecessarily protrude forward).

Then, in the side monitoring device of the present invention , when the traveling speed of the vehicle becomes lower than a predetermined low speed (for example, 10 km / h) while traveling with the operation switch in the ON state, the ON signal of the operation switch and the speed detection detecting the low speed are performed. In response to a signal from the device, the advancing / retreating operation device is automatically driven to the projection side of the television camera.

In the side monitoring device of the present invention , the operation of retracting the television camera from the forward projecting position to the retracted position is performed at a predetermined low speed when the vehicle traveling speed exceeds the predetermined low speed (for example, 10 km / h). The advancing / retreating operation device can be automatically driven to the storage side by a signal from the speed detector that detects the excess speed from

In the lateral monitoring device of the present invention , a television camera for lateral monitoring is installed by an advancing / retreating operation device so as to be able to move forward and backward between a retracted position near the side of the boom tip and a protruding position forward of the front of the boom tip. Therefore, during normal driving, the TV camera can be retracted to the above-mentioned storage position where it does not interfere with running, but when you want to check the side at the intersection, project the TV camera forward from the front of the boom tip. It can be projected to the position (even if the boom tip is near the position just before the intersection, the TV camera can enter the intersection).

Therefore, in the side monitoring device of the present invention , by keeping the television camera in the storage position during normal traveling, the television camera does not interfere with traveling and the television camera is desired to perform lateral confirmation at an intersection. Even if the boom tip is in the vicinity of the position just before the intersection (safety position), the TV camera can be moved into the intersection by projecting the robot to the above-mentioned protruding position. This has the effect of achieving the lateral confirmation function.

Further, as described above, the side monitoring device of the present invention receives the ON signal of the operation switch and the signal from the speed detector when the vehicle is traveling at a predetermined low speed (for example, 10 km / hour) or less. The advancing / retreating operation device is driven on the protruding side of the television camera.

Thus, the lateral monitor of the present invention, when the confirmation of the left and right of the road situation approaching an intersection required, the vehicle traveling speed before the intersection in a state where the operation switch is turned ON at a predetermined low speed following In the normal operation of dropping, the advancing / retreating operation device can be automatically (without special operation) driven to the protruding side of the television camera.

It is a side view of the mobile crane provided with the side monitoring device of the example of the present application. FIG. 2 is an enlarged plan view of a portion (side monitoring device portion) of the mobile crane of FIG. 1. In control block diagram of control performed in the lateral monitor of the gun embodiment, FIG. (A) are reference control example performed without consideration of the signal from the speed detector, Fig. (B) is the same speed detection 6 is a control example of the present embodiment performed by adding a signal from a container. It is explanatory drawing when the crane vehicle equipped with the side monitoring apparatus of the Example of this application approaches the intersection.

  Hereinafter, a lateral monitoring device for a mobile crane according to the present embodiment will be described with reference to FIGS. 1 to 4.

  The mobile crane shown in FIG. 1 has a crane working machine 2 mounted on a vehicle body 11 of a vehicle 1. The crane working machine 2 has a swivel base 21 mounted on the vehicle body 11, and a boom (extendable boom) 22 mounted on the swivel base 21 so as to be able to rise and fall.

  On the swivel base 21, a driver's cab 12 is provided which is commonly used for driving the vehicle 1 and the crane working machine 2. The driver's cab 12 is located far behind the front end of the vehicle body 11 because it is commonly used for driving the vehicle 1 and the crane working machine 2.

  In this type of crane vehicle (FIG. 1), the boom tip 23 projects considerably forward of the operator cab 12 even when the boom (extendable boom) 22 is laid down and stored. The protruding length from the cab 12 to the boom tip 23 is, for example, about 6 to 7 m depending on the model. Therefore, as shown in FIG. 4, when the vehicle 1 is driven to reach an intersection, the driver's cab 12 is considerably behind the intersection entrance (6 to 7 m behind) even when the boom tip 23 reaches the intersection entrance. ) Will be located.

  The crane vehicle of FIG. 1 is provided with side monitoring devices near the tip of the boom 22 for monitoring the left and right sides. As shown in FIGS. 1 and 2, the side monitoring device includes television cameras 3 and 3 (a pair of left and right) disposed near the boom tip 23, and each television camera installed in the operator's cab 12. 3, a display 13 for displaying the images from the televisions 3, 3 and an advancing / retreating operation device 4 for advancing / retreating the television cameras 3, 3 between a storage position (position shown by solid lines) and a protruding position (position shown by chain lines) described later. Has been done.

  By the way, the side monitoring device of the illustrated embodiment is adapted to a Japanese crane vehicle, and the cab 12 is installed on the right side of the boom 22 (the right side of the cab 12 is clearly visible). Thus, the TV camera 3 of the side monitoring device is provided on the left side of the boom tip 23 so that the boom 22 from the cab 12 is an obstacle during normal traveling (when the TV camera 3 is in the retracted position as described later). The road condition on the left side, which is hard to see, can be confirmed from the inside of the driver's cab 12 by the image from the TV camera 3.

  As shown in the enlarged view of FIG. 2, the advancing / retreating operation device 4 of this embodiment has a motor 41 capable of forward and reverse rotation, a long screw rod 42 rotated by the motor 41, and a screw rod 42 with respect to the screw rod 42. It has a slide cylinder 43 that slides in the length direction.

  The screw rod 42 is rotatably held by a holding table 40 fixed to a side surface of a distal end portion of a base end boom (non-extendable portion) of the telescopic boom 22, and is rotated in both forward and reverse directions by a motor 41.

  The slide cylinder 43 has a female screw 44 provided at the rear end thereof screwed into the screw rod 42, and is supported by a guide member (not shown) so as to be slidable back and forth.

  The slide cylinder 43 is shown by a chain line (reference numeral 43 ') by screwing the female screw 44 and the screw rod 42 when the motor 41 rotates normally (or reversely) from the retracted state shown by the solid line in FIG. As shown in the solid line by screwing the female screw 44 and the screw rod 42 forward by moving forward from the front surface of the boom tip 23 and rotating the motor 41 in the reverse (or positive) state from the advanced state (chain line shown). As indicated by reference numeral 43, the boom is retracted along the side of the boom tip 23. In the following description, the forward movement of the slide cylinder 43 is performed by the normal rotation of the motor 41, and the backward movement of the slide cylinder is performed by the reverse rotation of the motor 41.

  The advance / retreat length range L of the slide cylinder 43 is not particularly limited, but can be set to about 1 to 1.5 m. Then, when the slide cylinder 43 moves forward maximally as indicated by reference numeral 43 ', the protrusion 45 provided on the slide cylinder 43 operates the front limit switch 46 (stops the normal rotation of the motor 41), while the slide cylinder 43 moves backward maximally. When doing so, the projection 45 operates the rear limit switch 47 (stops the reverse rotation of the motor 41).

  The pair of television cameras 3 and 3 are attached to the attachment base 30 provided at the front end portion of the slide cylinder 43 in left and right outward postures. The left and right TV cameras 3 and 3 photograph the left and right sides of the boom tip 23, and display the images on the display 13 installed in the cab 12. ..

  The electric cords connected to the television cameras 3 and 3 are wired via the cord reel 31 attached to the side surface of the base boom because the television camera 3 moves forward and backward together with the slide cylinder 43.

In the lateral monitoring device of this embodiment, when the vehicle 1 is normally traveling (when the TV cameras 3 and 3 are not used), the TV camera 3 is stored in the storage position (the boom tip 23 of the boom tip 23 of FIG. 1 and FIG. 2). If the user wants to check the road condition on the left and right sides of the boom tip 23 while traveling, the TV cameras 3 and 3 are positioned at the protruding positions indicated by chain lines (reference numerals 3'and 3 '). but projecting position from the retracted position to the television camera to be displaced in (reference numeral 3 ', 3' position) of the control shown in FIG. 3 (a) and (reference control example), the present embodiment shown in FIG. 3 (B) There is control corresponding to the example.

In the control (reference control example) shown in FIG. 3A, when the television cameras 3 and 3 are to be projected, the operation switch 15 is simply turned on. That is, in the case of FIG. 3A, when the operation switch 15 is turned on, the ON signal is output to the controller 10 and the controller 10 outputs a signal for rotating the motor 41 of the advance / retreat operation device 4 in the forward direction. Then, when the motor 41 rotates in the forward direction, each television camera moves forward through the slide cylinder 43 to the projecting position 3 '(the limit switch 46 is operated at the maximum forward position to stop the motor 41). ..

The operation switch 15 used in the control of FIG. 3 (A) employs a switch that allows the advance / retreat operation device (motor 41) to be alternately switched between the projecting side drive and the storage side drive each time it is pressed. Then, it is easy to use.

By the way, in the control of FIG. 3 (A) (reference control example) , the operation switch 15 is turned off with the television camera 3 stored during normal traveling, and the operation switch 15 is turned on when it is desired to check the road conditions on the left and right. The TV camera 3 can be moved to the protruding position only by turning ON the operation switch 15. However, since it is necessary to manually turn ON the operation switch 15 every time when the user wants to check the road conditions on the left and right, the operation of the operation switch 15 There is a drawback that the ON operation is troublesome. In particular, manually operating the operation switch 15 while the vehicle is traveling requires a high degree of attention. In the control of the FIG. 3 (A), when moved backward television camera protruding state (reference numeral 3 ') is also required to operate the operation switch 15 manually there take any action, because humans during storage is necessary.

On the other hand, the control of the embodiment of the present application shown in FIG. 3B is carried out in consideration of the following background. That is, when the vehicle approaches an intersection where the left and right road conditions are difficult to see, the vehicle speed is reduced to a predetermined low speed (for example, 10 km / h) or less before the intersection. However, the left and right road conditions are difficult to see. Before the intersection, the control shown in FIG. 3B is performed on the assumption that the vehicle travels at a low speed.

  In the control of FIG. 3 (B), both the ON signal of the operation switch 15 and the low speed detection signal from the speed detector 16 when the vehicle traveling speed drops below a predetermined low speed (for example, 10 km / hour). When a signal is input to the controller 10, a signal for rotating the motor 41 of the advancing / retreating operation device 4 in the forward direction is issued from the controller 10.

  That is, in the control of FIG. 3B, the operation switch 15 is turned on in advance (the operation switch ON signal is always output to the controller 10), and in that state, the vehicle traveling speed is a predetermined low speed (for example, When the speed becomes 10 km / h or less, the speed detector 16 outputs a low-speed traveling signal to the controller 10, and both signals cause the controller 10 to output a signal for rotating the motor 41 of the forward / backward operation device 4 in the forward direction.

  Therefore, in the control of FIG. 3 (B), it is only necessary to turn on the operation switch 15 in advance, and thereafter, when the vehicle traveling speed drops to a predetermined low speed, the television cameras 3 and 3 automatically project. Since the vehicle moves forward to the position, a special TV camera projecting operation is not required while the vehicle is driving.

  Further, in the control of FIG. 3B, the vehicle traveling speed exceeds the predetermined low speed (for example, 10 km / hour) in the operation of retracting the television camera from the forward projecting position (the position of reference numeral 3 ') to the retracted position. At this time, in response to a signal from the speed detector 16 that detects the excess speed from the predetermined low speed, a signal for driving the advancing / retreating operation device 4 to the storage side is issued from the controller 10, and the advancing / retreating operation device 4 is automatically operated. Drives to the storage side.

  As a control for automatically moving the television camera 3 forward to the projecting position, in addition to the control of FIG. 3B (control based on each signal from the operation switch 15 and the speed detector 16), a direction indicator is provided. It is also possible to add a signal when operating. That is, in this case, only when three signals of the ON signal of the operation switch 15, the low-speed traveling signal from the speed detector 16, and the operation signal from the turn signal are input to the controller 10, The controller 10 outputs a signal for rotating the motor 41 of the advancing / retreating operation device 4 in the forward direction. Also in this case, when the turn signal is turned off, the advance / retreat operation device 4 may be automatically driven to the storage side by the turn signal OFF signal.

  1 is a vehicle, 2 is a crane working machine, 3 is a television camera, 4 is an advancing / retreating operation device, 10 is a controller, 11 is a vehicle body, 12 is a driver's cab, 13 is a display, 15 is an operation switch, 16 is a speed detector, 21 Is a swivel base, 22 is a boom, 23 is a boom tip portion, 41 is a motor, 42 is a screw rod, and 43 is a slide cylinder.

Claims (1)

A vehicle, a boom mounted on the vehicle, a television camera provided at a boom tip portion for monitoring the side of the boom tip portion, and a display provided in a driver's cab for displaying an image from the television camera In a mobile crane equipped with
The television camera is installed by an advancing / retreating operation device so as to be advancing / retreating between a storage position near a side portion of the boom tip and a projecting position in front of the front surface of the boom tip ,
The advancing / retreating operation device is adapted to drive the television camera to project forward by operating an operation switch ,
The advancing / retreating operation device receives the ON signal from the operation switch and the signal from the speed detector when the vehicle is traveling at a predetermined low speed or less, and allows the drive to project the television camera forward. I am trying to
A side monitoring device for mobile cranes.

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