JP7367406B2 - Mobile cranes and remote terminals - Google Patents

Description

The present invention relates to mobile cranes and remote terminals.

Cranes are known in which a suspended load camera is attached to the tip of the boom to take images including the hook. In the crane, the crane operator rotates, raises, and extends the boom, and hoists and lowers the wire rope while checking the image displayed on a monitor installed in the operation room. be able to.

The monitor can further display information regarding the position and moving direction of the hook in addition to the image taken by the suspended load camera. Based on the information displayed on the monitor, the operator can check the movement status of the cargo hung on the hook.

Patent Document 1 discloses an image display device that displays an image taken by a suspended load camera on a monitor with an arrow indicating the vertical movement direction of the hook superimposed thereon. In the image display device, the arrow indicates the direction of movement of the hook with respect to the horizontal plane. Therefore, in the image display device, even when the boom is being lowered, if the amount of upward movement of the hook due to hoisting of the wire rope is greater than the amount of downward movement of the hook due to the operation of lowering the boom, the upward arrow will be displayed. is displayed. Furthermore, in the image display device, even when the boom is being raised, if the amount of downward movement of the hook due to the lowering of the wire rope is greater than the amount of upward movement of the hook due to the operation of raising the boom, the downward movement is possible. An arrow will appear.

Japanese Patent Application Publication No. 2016-166087

By the way, when operating a crane, there are cases where it is desired to move the load while changing the height position of the load at a constant rate. At this time, the operator operates the crane while checking the image displayed on the monitor and information regarding the position of the hook and the like. With the arrow display disclosed in Patent Document 1, it is possible to grasp the change in the height position of the package, but it is not possible to grasp the rate of change in the height position. Therefore, it is difficult to operate a crane to move the cargo horizontally while changing the height position of the cargo at a constant rate using conventional video and arrow information.

An object of the present invention is to provide a crane that can move cargo while changing the heightwise position of the cargo at an arbitrary rate.

The problem to be solved by the present invention is as described above, and next, means for solving this problem will be explained.

A first invention provides a boom that can be rotated, raised and retracted, a hook suspended from a tip end of the boom by a wire rope that can be hoisted up and down by a winch, and a length of the boom that can be hoisted up and down by a winch. a position acquisition unit that acquires position information of the hook based on the undulating angle and the length of the wire rope being let out ; a suspended load camera that is connected to the tip of the boom and that photographs an image including the hook; and the suspended load camera. a display unit that displays an image taken by the user; and control that calculates the amount of change per unit time in the position of the hook in the height direction from the position information acquired by the position acquisition unit, and displays the amount of change on the display unit. This is a mobile crane comprising:

A second invention is a mobile crane comprising a control unit that controls at least one of the boom and the winch so that when the amount of change becomes equal to or greater than a predetermined value, the amount of change becomes less than the predetermined value. be.

A third aspect of the present invention provides instructions for reducing the amount of change to less than a predetermined value when the amount of change becomes a predetermined value or more, the raising and lowering of the boom, the extension and contraction of the boom, and the winding and The mobile crane includes a control unit that displays at least one instruction regarding lowering on the display unit.

A fourth aspect of the present invention is a mobile crane including a control section that displays the amount of change as an image on the display section in different ways depending on the moving direction of the hook in the height direction and the amount of change.

A fifth invention is a mobile crane, wherein the image displaying the amount of change indicates a horizontal movement direction of the hook.

A sixth invention provides a boom that can be rotated, raised and retracted, a hook suspended from a tip end of the boom by a wire rope that can be hoisted up and down by a winch, and a length of the boom; A mobile device comprising: a position acquisition unit that acquires position information of the hook from the undulating angle and the length of the wire rope being let out ; and a suspended load camera that is connected to the tip of the boom and that photographs images including the hook. This is a remote control terminal for the crane. The remote control terminal includes a display section that displays an image taken by the suspended load camera, and a control section that is configured to be able to communicate with a control device of the mobile crane. The control unit calculates the amount of change per unit time in the position of the hook in the height direction from the position information acquired by the position acquisition unit, and displays the amount of change on the display unit.

The present invention has the following effects.

In the first invention, a change in the position of the hook in the height direction is displayed on the display section. This allows the operator to grasp the rate of change in the height of the load suspended from the hook, allowing the operator to operate the crane to move the load while changing the height position of the load at an arbitrary rate. can.

In the second invention, at least one of the boom or the winch is controlled so that the rate of change in the height position of the hook is less than a predetermined value. This allows the operator to control the crane so as to suppress unexpected fluctuations in the height position of the hook and to move the load while changing the height position of the load at an arbitrary rate.

In the third invention, an appropriate operation for keeping the rate of change in the height position of the hook within a predetermined value is presented to the operator. This allows the operator to control the crane so as to suppress unexpected fluctuations in the height position of the hook and to move the load while changing the height position of the load at an arbitrary rate.

In the fourth invention, changes in the position of the hook in the height direction are displayed as an image. This allows the operator to easily visually grasp the rate of change in the height position of the load, allowing the operator to operate the crane to move the load while changing the height position of the load at any desired rate. .

In the fifth invention, changes in the position of the hook in the horizontal direction and the height direction are expressed in one image. This allows the operator to grasp the horizontal movement direction of the cargo as it changes in height, allowing the operator to operate the crane to move the cargo while changing the height of the cargo at an arbitrary rate. be able to.

In the sixth invention, the change in the position of the hook in the height direction is displayed on the display section of the remote control terminal. This allows the operator to remotely operate the crane to move the load while changing the height position of the load at an arbitrary rate.

FIG. 1 is a side view showing the overall configuration of the crane. FIG. 2 is a block diagram showing a control configuration of the crane according to the first embodiment. FIG. 3 is a plan view showing the cockpit of the crane. FIG. 4 is a block diagram showing the configuration of the image processing section according to the first embodiment. FIG. 5 is a diagram showing the display contents of the camera monitor. FIG. 6 is a diagram showing the display contents of the camera monitor. FIG. 7 is a processing flow diagram of the image processing unit according to the first embodiment. FIG. 8 is a block diagram showing the configuration of an image processing section according to the second embodiment. FIG. 9 is a diagram showing the display contents of the camera monitor. FIG. 10 is a block diagram showing the control configuration of the crane according to the third embodiment. FIG. 11 is a plan view showing a schematic configuration of the remote control terminal. FIG. 12 is a block diagram showing the configuration of an image processing section according to the third embodiment.

(Embodiment 1)
EMBODIMENT OF THE INVENTION Below, the crane 1 which is a mobile crane based on Embodiment 1 of this invention is demonstrated using FIGS. 1-3. In this embodiment, a rough terrain crane will be explained, but an all-terrain crane, a truck crane, a loading truck crane, an aerial work vehicle, etc. may also be used.

In the following description, the height direction means the vertical direction. Moreover, the height position refers to the position in the height direction with the crane 1 as a reference.

As shown in FIG. 1, a crane 1 is a mobile crane that can be moved to an unspecified location. The crane 1 includes a vehicle 2, a crane device 6 that is a working device, and a control device 31 (see FIG. 2).

The vehicle 2 is a moving body that transports the crane device 6. The vehicle 2 has a plurality of wheels 3 and runs using an engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The vehicle 2 can extend the workable range of the crane 1 by extending the outriggers 5 in the width direction of the vehicle 2 and grounding the jack cylinder.

The crane device 6 is a device that lifts the cargo W using a wire rope. The crane device 6 includes a rotating base 7, a boom 9, a jib 9a, a main hook block 10, a sub hook block 11, a hydraulic cylinder 12 for luffing, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. Equipped with 17th grade.

The turning table 7 is a device for turning the crane device 6. The swivel base 7 is configured to be rotatable about the center of an annular bearing. The turning table 7 is provided with a hydraulic turning hydraulic motor 8 which is an actuator. The turning table 7 is configured to be able to turn in one direction and the other direction by a turning hydraulic motor 8.

The swing hydraulic motor 8, which is an actuator, is rotated by a swing valve 23 (see FIG. 2), which is an electromagnetic proportional switching valve. The swing valve 23 can control the flow rate of the hydraulic oil supplied to the swing hydraulic motor 8 to an arbitrary flow rate. The turning table 7 is provided with a turning sensor 27 (see FIG. 2) that detects the turning position (angle) and turning speed of the turning table 7.

The boom 9 is a beam member that supports a wire rope so that the load W can be lifted up. The boom 9 is swingably provided with the proximal end of the base boom member substantially in the center of the swivel base 7 . The boom 9 is configured to be extendable and retractable in the axial direction by moving each boom member using an unillustrated telescoping hydraulic cylinder serving as an actuator. Furthermore, the boom 9 is provided with a jib 9a.

A telescoping hydraulic cylinder (not shown), which is an actuator, is telescopically operated by a telescoping valve 24 (see FIG. 2), which is an electromagnetic proportional switching valve. The boom 9 is provided with an expansion/contraction sensor 28 for detecting the length of the boom 9, a weight sensor for detecting the weight of the cargo W, and the like.

The hanging load camera 9b (see FIG. 2) is a photographing device that photographs the load W and the features around the load W. The suspended load camera 9b is provided at the tip of the boom 9. The hanging load camera 9b is configured to be able to photograph the local features and terrain around the load W and the crane 1 from vertically above the load W.

The main hook block 10 and the sub hook block 11 are members for hanging cargo W. The main hook block 10 is provided with a plurality of hook sheaves around which a main wire rope 14 is wound, and a main hook 10a on which a load W is hung. The sub-hook block 11 is provided with a sub-hook 11a for hanging cargo W.

The hydraulic cylinder 12 for raising and lowering is an actuator that raises and lowers the boom 9 and maintains the attitude of the boom 9. The hoisting hydraulic cylinder 12 is operated for hoisting by a hoisting valve 25 (see FIG. 2), which is an electromagnetic proportional switching valve. The boom 9 is provided with a luffing sensor 29 (see FIG. 2) that detects the luffing angle of the boom 9.

The main winch 13 takes in (winds up) and lets out (unwinds) the main wire rope 14 . The main winch 13 is configured such that a main drum around which the main wire rope 14 is wound is rotated by a main hydraulic motor (not shown) serving as an actuator.

The sub winch 15 carries out (winding up) and letting out (winding down) the sub wire rope 16. The sub winch 15 is configured such that a sub drum around which the sub wire rope 16 is wound is rotated by a sub hydraulic motor (not shown) serving as an actuator.

The main hydraulic motor is rotated by a main valve 26m (see FIG. 2), which is an electromagnetic proportional switching valve. The main winch 13 is configured to control a main hydraulic motor using a main valve 26m and to be operable at arbitrary loading and unwinding speeds. Similarly, the sub-winch 15 is configured to control a sub-hydraulic motor by a sub-valve 26s (see FIG. 2), which is an electromagnetic proportional switching valve, so that it can be operated at arbitrary loading and unrolling speeds.

The main drum is provided with a main wire rope letting-out sensor 30m (see FIG. 2) that detects the amount of the main wire rope 14 being taken in and let out. The sub-drum is provided with a sub-wire rope letting-out sensor 30s (see FIG. 2) that detects the amount of the sub-wire rope 16 being taken in and let out.

The cabin 17 is mounted on the swivel base 7. As shown in FIG. 3, a pilot's seat 22 is provided inside the cabin 17. In the cockpit 22, there are operating tools for running the vehicle 2, a turning/extending operating tool 18 for turning the swivel base 7 and extending/retracting the boom 9, a moving/retracting operating tool for the main winch 13 and the sub-winch 15, and , a raising/lowering operation tool 19 for raising/lowering the boom 9, etc. are provided.

The turning/extending operating tool 18 is an operating tool into which an instruction to turn the crane device 6 is input by tilting in the left-right direction, and an instruction to extend/retract the boom 9 by tilting in the front-back direction is input. The hoisting operation tool 19 is an operation tool to which an instruction to rotate the main winch 13 or the sub winch 15 is input by tilting in the left-right direction, and an instruction to hoist the boom 9 is input by tilting in the front-rear direction.

A control panel is located in front of the cockpit. The operation panel is equipped with a main monitor 40 and a camera monitor 41 which is a display section. The main monitor 40 and camera monitor 41 are composed of display devices such as liquid crystal screens. The main monitor 40 displays various information such as posture information of the crane 1 and information on the cargo W.

A camera monitor 41 serving as a display unit displays an image G captured by the suspended load camera 9b. The camera monitor 41 further displays information output from the image processing section 33, which will be described later, superimposed on the video G. Details of the display contents of the camera monitor 41 will be described later.

As shown in FIG. 2, the control device 31 is a device that controls the actuators of the crane 1 via each operation valve. The control device 31 is provided inside the cabin 17. The control device 31 may actually have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected via a bus, or it may have a configuration consisting of a one-chip LSI or the like. The control device 31 stores various programs and data for controlling the operations of each actuator, switching valve, sensor, and the like.

The control device 31 is connected to the suspended load camera 9b, the swinging telescopic operating tool 18, and the hoisting operating tool 19, acquires the image G of the hanging load camera 9b, and controls the operation amount of each of the swinging telescoping operating tool 18 and the hoisting operating tool 19. can be obtained.

The control device 31 is connected to the swing valve 23, the telescopic valve 24, the undulating valve 25, the main valve 26m, and the sub-valve 26s. A control signal can be transmitted to the valve 26m and the sub-valve 26s.

The control device 31 is connected to a turning sensor 27, an extension sensor 28, a levitation sensor 29, a main wire rope letting-out sensor 30m, and a sub-wire rope letting-out sensor 30s, and controls the turning position of the swivel base 7 and the boom length. , posture information such as the undulating angle, the weight of the load W, the length of the main wire rope, and the length of the sub wire rope.

The control device 31 generates a control signal corresponding to each operating tool based on the tilting direction and amount of tilting of the turning/extending operating tool 18 and the raising/lowering operating tool 19.

The control device 31 includes a position acquisition section 32 and an image processing section 33. The position acquisition unit 32 acquires the rotation position of the swivel base 7 and the boom 9 acquired by the rotation sensor 27, the expansion/contraction sensor 28, the undulation sensor 29, the main wire rope payout sensor 30m, and the sub wire rope payout sensor 30s. Positional information, which is the position of the main hook 10a and the sub-hook 11a with respect to the base end of the boom 9, is obtained from the length and undulation angle of and the length of the main wire rope 14 or the sub-wire rope 16.

The image processing unit 33 displays on the camera monitor 41 the amount of change per unit time in the position of the main hook 10a and the sub hook 11a in the height direction. The detailed configuration of the image processing section 33 will be described later.

The crane 1 configured as described above can move the crane device 6 to an arbitrary position by driving the vehicle 2. The crane 1 also uses the hydraulic cylinder 12 for raising and lowering the boom 9 to a desired lifting angle by tilting the hoisting operation tool 19 in the front and rear directions, and raises the boom 9 by tilting the swinging and retracting operation tool 18 in the front and rear directions. By extending the boom to an arbitrary length, the lifting height and working radius of the crane device 6 can be expanded. Further, the crane 1 can transport the load W by lifting the load W by tilting the hoisting operation tool 19 in the left and right direction, and by rotating the swivel base 7 by tilting the swing and extension operation tool 18 in the left and right direction. can. Note that the crane 1 can select whether to use the main winch 13 or the sub winch 15 depending on the weight of the object to be transported and the desired lifting speed.

(Image processing section)
Next, the image processing section 33, which is a control section, will be explained in detail using FIGS. 4 to 6. The image processing unit 33 calculates the amount of change per unit time in the position of the load W suspended by the crane 1 in the height direction, and displays the amount of change on the camera monitor 41. In the following description, a case will be described in which the image processing unit 33 calculates the amount of change in the load W suspended from the sub-hook 11a. Note that the image processing unit 33 can also similarly calculate the amount of change in the load W suspended from the main hook 10a. The configuration of the image processing section 33 when the load W is hung on the main hook 10a is the same as the configuration of the image processing section 33 when the load W is hung on the sub hook 11a, and therefore the description thereof will be omitted.

As shown in FIG. 4, the image processing section 33 includes a movement direction acquisition section 34, a change amount calculation section 35, a determination section 36, a control instruction generation section 37, a graphic generation section 38, and a setting section 39.

The movement direction acquisition unit 34 acquires the horizontal movement direction of the sub-hook 11a from each operation signal of the rotation/extension operation tool 18 and the up/down operation tool 19, and outputs the movement direction to the graphic generation unit 38.

The change amount calculation unit 35 calculates the amount of change per unit time in the position of the sub hook 11a in the height direction from the position information regarding the sub hook 11a acquired by the position acquisition unit 32. That is, the change amount calculation unit 35 can calculate the moving speed of the cargo W suspended from the sub-hook 11a in the height direction. In the following description, the amount of change per unit time in the position of the sub-hook 11a in the height direction is simply referred to as the amount of change V.

A sign “+” or “-” indicating the moving direction of the sub hook 11a in the height direction (vertical direction) is added to the amount of change V. For example, in the height direction, a + sign is added to the value indicating the amount of change V of the sub-hook 11a moving upward, and a - sign is added to the value indicating the amount of change V of the sub-hook 11a moving downward. A sign is added. The change amount calculation unit 35 outputs the change amount V to the determination unit 36 and the graphic generation unit 38.

The determination unit 36 determines whether the change amount V is equal to or greater than the change amount threshold Th set in the setting unit 39. The determination unit 36 outputs the determination result to the control instruction generation unit 37.

The control instruction generating unit 37 generates an instruction regarding the operation of the crane 1 to make the amount of change V less than the amount of change threshold Th when the amount of change V is greater than or equal to the amount of change threshold Th. Specifically, the control instruction generation unit 37 generates at least one of an instruction to raise or lower the boom 9, an instruction to shorten or extend the boom 9, and an instruction to draw in or let out the sub-wire rope 16. For example, when a + sign is added to the amount of change V, the control instruction generation unit 37 generates an instruction to lower the boom 9, which is an instruction to move the height position of the cargo W downward, and an instruction to shorten the boom 9. When the sub-wire rope 16 is being retracted, an instruction to reduce the retracting operation amount, and when the sub-wire rope 16 is being let out, an instruction to increase the retracting operation amount is generated. . The control instruction generating section 37 outputs the generated instruction to the graphic generating section 38 as an instruction signal.

The figure generation unit 38 generates a figure S, which is an image to be displayed on the camera monitor 41. In this embodiment, the figure S is a wide arrow figure. In the figure S, the tip of the arrow points to the horizontal movement direction of the sub-hook 11a acquired by the movement direction acquisition unit 34. Note that the shape of the figure S does not have to be an arrow as long as the horizontal moving direction of the sub-hook 11a can be recognized.

In the present embodiment, the figure S is expressed in different colors depending on the amount of change V calculated by the amount of change calculating section 35. For example, the shape S is red when the + change amount V is larger than an arbitrarily determined color change value, and pink when the + change amount V is smaller than the color change value and larger than 0. When V is 0, it is expressed in white. In addition, the figure S is expressed in blue when the - change amount V is larger than an arbitrarily determined color change value, and in light blue when the - change amount V is smaller than the color change value and larger than 0. Ru. In this way, the figure S is displayed in a plurality of stages (five stages in this embodiment) depending on the direction and magnitude of the amount of change V, with an arbitrarily determined color change value as a reference. Moreover, the figure S may be made to change steplessly between red and blue in proportion to the direction and magnitude of the amount of change V. Thereby, the graphic generation unit 38 can use one graphic to indicate the direction of movement in the horizontal direction, and to display the amount of change V in multiple or stepless color changes. Note that the means for varying the display mode of the figure S is not limited to using different colors, but may also be, for example, using arrows of different sizes, or displaying a single color with different densities. It may be. Alternatively, it may be based on a blinking pattern.

The figure generation unit 38 outputs the generated figure S to the camera monitor 41. Furthermore, when there is an instruction signal from the control instruction generation section 37, the graphic generation section 38 outputs the instruction contents to the camera monitor 41.

In the setting section 39, a color change value and a change amount threshold Th are set. The setting unit 39 acquires and holds the color change value and the change amount threshold value Th input from an input device (not shown). Further, the setting unit 39 may hold the shape of the figure generated by the figure generation unit 38 and the display mode of the figure.

Next, the display contents of the camera monitor 41 on which the output from the image processing section 33 is displayed will be explained.

FIG. 5 is a diagram showing an example of display content on the camera monitor 41. As shown in FIG. The camera monitor 41 displays an image G captured by the suspended load camera 9b. The output position of the camera monitor 41 is adjusted by the control device 31 so that the cargo W hanging from the sub-hook 11a is displayed in the center of the screen.

On the camera monitor 41, the graphic S output from the image processing section 33 is displayed superimposed on the video G acquired by the suspended load camera 9b.

FIG. 5A shows, as an example, a display on the camera monitor 41 when the load W suspended from the sub-hook 11a moves forward and the height position of the load W does not change. As shown in FIG. 5(A), on the camera monitor 41, the arrow indicating the forward direction, which is the moving direction of the cargo W, is white, indicating that the height position of the cargo W has not changed (see white arrow). is displayed. As an example, FIG. 5(B) shows that the baggage W moves forward, and in the height direction, the baggage W moves at a speed smaller than the change amount threshold Th set in the setting section 39 and larger than the color change value. This is the display on the camera monitor 41 when moving with a change amount V of -. As shown in FIG. 5(B), on the camera monitor 41, an arrow indicating the forward direction, which is the moving direction of the baggage W, shows that the baggage W is moving with a negative change amount V that is larger than the color change value. displayed in blue (see black arrow).

In this way, the image processing unit 33 having the above-described configuration displays the arrow figure S indicating the moving direction of the sub-hook 11a in a superimposed manner on the camera monitor 41 on which the image G taken by the suspended load camera 9b is displayed. . Furthermore, the image processing unit 33 displays the graphic S in different colors depending on the direction and value of the amount of change V of the subhook 11a.

When the amount of change V is greater than or equal to the predetermined change amount threshold Th, the image processing unit 33 issues an instruction to the camera monitor to change the height position of the sub hook 11a so that the amount of change V becomes less than the predetermined change amount threshold Th. 41. As an example, FIG. 6 shows a camera monitor when the luggage W is moving forward and downward in the height direction at a speed equal to or higher than the change amount threshold Th set in the setting section 39. 41 is displayed. As shown in FIG. 6, the camera monitor 41 shows that the arrow figure S indicating the forward direction, which is the moving direction of the baggage W, is moving downward with a negative change amount V that is larger than the color change value. displayed in blue (see black arrow). Further, instructions regarding the operation of the wire rope are presented to the operator on the camera monitor 41.

(Image processing)
Next, image processing by the image processing section 33 will be described using FIG. 7. FIG. 7 is a flow diagram showing processing by the image processing section 33.

When the flow shown in FIG. 7 starts, the movement direction acquisition unit 34 acquires the horizontal movement direction of the sub-hook 11a from the operation signals of the swinging/extending operation tool 18 and the undulating operation tool 19 (step S1). The graphic generation unit 38 generates a graphic S of an arrow pointing to the movement direction acquired by the movement direction acquisition unit 34 (step S2).

Next, the variation calculation unit 35 calculates the variation V of the sub-hook 11a from the position information of the sub-hook 11a acquired by the position acquisition unit 32 (step S3).

The graphic generation unit 38 refers to the color change value set in the setting unit 39 and obtains a color according to the amount of change V (step S4). The figure generation unit 38 changes the color of the figure S to the acquired color (step S5).

Next, the determining unit 36 determines whether the acquired change amount V is equal to or greater than the change amount threshold Th set in the setting unit 39 (step S6).

When the determination result in step S6 is YES, the control instruction generation unit 37 generates an operation instruction regarding the operation of the crane 1 to reduce the amount of change V (step S7), and sends the operation instruction to the graphic generation unit 38. Output (step S8).

When the determination result in step S6 is NO, and after the processing in step S8, the graphic generation unit 38 outputs the graphic S to the camera monitor 41 (step S9), and ends the flow.

In the crane 1 equipped with the image processing section 33 having the above configuration, different shapes of the graphics S are displayed on the camera monitor 41 depending on the amount of change V of the sub-hook 11a. Therefore, the operator can grasp the direction and rate of change in the height direction of the load W suspended from the sub-hook 11a by the aspect of the figure S, and can easily change the height position of the load W at an arbitrary rate. It is possible to move cargo while changing it.

For example, the operator can move the load W horizontally without changing the height position by operating the crane 1 while confirming that a white arrow pointing forward is displayed on the camera monitor 41. I can do it. In addition, if the operator wants to move the cargo W in the height direction moving speed (amount of change V) downward at a speed smaller than the speed V1, the operator can change the color by setting the range in which the figure S is displayed in light blue. Set the value to speed V1. The operator moves the cargo while changing the height position at a speed smaller than the speed V1 by operating the crane 1 while confirming that a light blue arrow pointing forward is displayed on the camera monitor 41. can be done. In this embodiment, the amount of change V is displayed in the color of the figure S, but at least a part of the screen on the camera monitor 41 may be displayed in a color corresponding to the amount of change V, or a color different from the figure S may be displayed. It may also be configured to display it graphically.

Further, when the operator performs an operation such that the rate of change in the height position of the cargo W becomes equal to or greater than the change amount threshold Th, the image processing unit 33 performs an appropriate operation to reduce the change amount V of the sub-hook 11a. Present the operation to the pilot. Thereby, the operator can control the crane 1 to suppress unexpected fluctuations in the height position of the hook and to move the load W while changing the height position of the load W at an arbitrary rate.

Further, in the present embodiment, the crane 1 can express the rate of change in the position of the sub-hook 11a in the horizontal movement direction and the height direction with one figure S. Therefore, the operator can visually grasp the rate of change in the height position of the load W in conjunction with the change in the horizontal position of the load W, and therefore can easily control fluctuations in the position of the load. Therefore, it is possible to provide a crane that can move the load W while easily changing the position of the load W in the height direction at an arbitrary rate.

(Embodiment 2)
Next, a crane 1 according to a second embodiment of the present invention will be described using FIGS. 8 and 9. In this embodiment, the control instruction generation unit 137 of the image processing unit 133 included in the control device 31 of the crane 1 controls the boom 9 and the main winch 13 or the sub winch 15 when the change amount V becomes equal to or greater than the change amount threshold Th. The configuration differs from that of the first embodiment in that at least one of the components is automatically controlled. In the following description, the same components as in Embodiment 1 are given the same reference numerals as in Embodiment 1, and the description thereof will be omitted.

The image processing section 133 includes a movement direction acquisition section 34, a change amount calculation section 35, a determination section 36, a control instruction generation section 137, a graphic generation section 138, and a setting section 39, as shown in FIG.

When the amount of change V is equal to or greater than the amount of change threshold Th, the control instruction generation unit 137 controls at least one of the boom 9, the main winch 13, or the sub winch 15 to make the amount of change V less than the amount of change threshold Th. A control signal to be controlled is output to the control device 31 of the crane 1. Specifically, the control instruction generation unit 137 generates a control signal to raise or lower the boom 9, a control signal to shorten or extend the boom 9, and a control signal to draw in or pay out the main wire rope 14 or the sub wire rope 16. , is output to the control device 31 of the crane 1. Further, when the control instruction generating section 137 is outputting the control signal to the control device 31, the control instruction generating section 137 outputs the contents of the control signal being outputted to the graphic generating section 138 as a control content signal.

The figure generation unit 138 generates the figure S similar to that in the first embodiment, and causes the figure S to blink when there is a control content signal from the control instruction generation unit 137. The figure generation unit 138 outputs the generated figure S to the camera monitor 41. Furthermore, when there is a control content signal from the control instruction generation unit 137, the graphic generation unit 138 outputs the control content to the camera monitor 41. Note that the shape of the figure outputted by the figure generation unit 138 to the camera monitor 41 when the amount of change V is equal to or greater than the change amount threshold Th can make the operator aware that the crane 1 is automatically controlled. If possible, means other than the above may be used. FIG. 9 shows an example of what is displayed on the camera monitor 41 when the amount of change V is equal to or greater than the amount of change threshold Th.

The configuration of the image processing unit 133 other than the above is the same as the configuration of the image processing unit 33 of Embodiment 1, and therefore the description thereof will be omitted.

According to the configuration of the present embodiment, when the operator performs an operation such that the amount of change V becomes equal to or greater than the change amount threshold Th, the boom 9 , and at least one of the main winch 13 or the sub winch 15 is controlled. Thereby, the operator controls the crane 1 to suppress unexpected fluctuations in the height position of the main hook 10a or the sub-hook 11a, and to move the load W while changing the height position of the load W at an arbitrary rate. be able to.

In this embodiment, the control instruction generation section 137 outputs a control signal to the control device 31 of the crane 1 and outputs a control content signal to the graphic generation section 138. However, similarly to the first embodiment, the control instruction generation section 137 is configured to generate an instruction regarding the operation of the crane 1, and output the generated instruction as an instruction signal to the graphic generation section 138 instead of the control content signal. It may be. That is, when the amount of change V is greater than or equal to the amount of change threshold Th, the crane 1 is automatically controlled so that the amount of change V becomes less than the amount of change threshold Th, and the camera monitor 41 displays operating instructions for the crane 1 to the operator. It may be a configuration that is presented.

(Embodiment 3)
Next, a crane 1 according to a third embodiment of the present invention will be described using FIGS. 10 to 12. The crane 1 includes a vehicle 2, a crane device 6 that is a working device, a communication device 222, a control device 231, and a remote control terminal 250 that can remotely control the crane device 6. The present embodiment differs from the configuration of the first embodiment in that the crane device 6 can be remotely controlled by a remote control terminal 250. In the following description, the same components as in Embodiment 1 are given the same reference numerals as in Embodiment 1, and the description thereof will be omitted.

FIG. 10 is a block diagram showing the control configuration of the crane 1. The communication device 222 is a device that receives a control signal from the remote control terminal 250 via a wide area information communication network or the like, and transmits control information or the like from the crane device 6 via the wide area information communication network or the like. The communication device 222 is provided inside the cabin 17. The communication device 222 is configured to transfer control signals and the like from the remote control terminal 250 to the control device 231 of the crane 1 upon receiving them. Furthermore, the communication device 222 is configured to transfer control information from the control device 231 and video G from the suspended load camera 9b to the remote control terminal 250.

The control device 231 is connected to the communication device 222, can acquire control signals from the remote control terminal 250, and can transmit control information from the crane device 6, video G from the suspended load camera 9b, and the like. The other configurations of the control device 231 are the same as those of the control device 31 in Embodiment 1, so the description of the other configurations will be omitted.

FIG. 11 is a plan view of a remote control terminal 250 that remotely controls the crane 1. As shown in FIG. 11, the remote control terminal 250 is a device used to remotely control the crane 1. The remote control terminal 250 includes a casing 251, a suspended load moving operating tool 252 provided on the operating surface of the casing 251, a terminal-side turning operating tool 253, a terminal-side telescopic operating tool 254, a terminal-side main drum operating tool 255m, and a terminal-side main drum operating tool 255m. It is equipped with a sub-drum operating tool 255s, a terminal-side undulation operating tool 256, a terminal-side display section 257 that is a display section, a terminal-side communication device 261, a terminal-side control device 262, and the like. The remote control terminal 250 transmits control signals for the operating valves of each actuator that moves the load W by operating the suspended load moving operating tool 252 or various operating tools to the crane device 6 via a wide area information communication network (such as the Internet). .

The housing 251 is the main component of the remote control terminal 250. The housing 251 is configured to have a size that allows the operator to hold it in his/her hand. The casing 251 has a suspended load moving operation tool 252, a terminal-side rotation operation tool 253, a terminal-side telescopic operation tool 254, a terminal-side main drum operation tool 255m, a terminal-side sub-drum operation tool 255s, and a terminal-side undulating operation tool on the operation surface. 256, a terminal-side display section 257, and a terminal-side communication device 261 are provided.

The hanging cargo moving operating tool 252 is an operating tool into which an instruction to move the cargo W is input. The terminal-side turning operation tool 253 is an operation tool into which an instruction to turn the crane device 6 is input. The terminal-side telescopic operating tool 254 is an operating tool into which an instruction to extend or retract the boom 9 is input. The terminal-side main drum operating tool 255m is an operating tool into which an instruction to rotate the main winch 13 is input. The terminal-side sub-drum operating tool 255s is an operating tool into which an instruction to rotate the sub-winch 15 is input. The terminal-side raising/lowering operating tool 256 is an operating tool into which an instruction to raise/lower the boom 9 is input. Each operating tool includes an operating stick that stands up from the operating surface of the housing 251, and a sensor (not shown) that detects the direction and amount of tilting of the operating stick.

The terminal side display section 257, which is a display section, is a display section that displays various information such as posture information of the crane 1 and information on the cargo W. The terminal side display section 257 is composed of a display device such as a liquid crystal screen. The terminal side display section 257 is provided on the operation surface of the housing 251. On the terminal side display section 257, a graphic S and an operation instruction outputted from the image processing section 233, which will be described later, are displayed superimposed on the image G from the suspended load camera 9b. Note that in this embodiment, the terminal side display section 257 is provided in the remote control terminal 250, but it may be a monitor separate from the remote control terminal 250.

As shown in FIG. 10, the terminal side communication device 261 is a device that receives control information, etc. of the crane device 6 via a wide area information communication network, etc., and transmits control information, etc. from the remote control terminal 250 to the crane device 6. It is. The terminal side communication device 261 is provided inside the housing 251. The terminal side communication device 261 is configured to transmit the image G, control signal, etc. from the suspended load camera 9b of the crane device 6 to the terminal side control device 262 upon receiving it. Further, the terminal side communication device 261 is configured to transmit control information from the terminal side control device 262 to the crane device 6 via the communication device 222 of the crane 1 from a wide area information communication network or the like.

The terminal-side control device 262 is a device that controls the remote control terminal 250. The terminal-side control device 262 is provided inside the casing 251 of the remote control terminal 250. The terminal side control device 262 may actually have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected via a bus, or may have a configuration consisting of a one-chip LSI or the like.

The terminal side control device 262 includes a suspended load moving operation tool 252, a terminal side turning operation tool 253, a terminal side telescopic operation tool 254, a terminal side main drum operation tool 255m, a terminal side sub drum operation tool 255s, a terminal side undulating operation tool 256, Various programs and data are stored in order to control the operations of the terminal side display section 257, the terminal side communication device 261, etc.

The terminal side control device 262 controls a suspended load moving operation tool 252, a terminal side turning operation tool 253, a terminal side telescopic operation tool 254, a terminal side main drum operation tool 255m, a terminal side sub drum operation tool 255s, and a terminal side undulating operation tool 256. It is possible to obtain an operation signal consisting of the tilting direction and tilting amount of the operation stick of each operating tool.

The terminal side control device 262 is connected to the terminal side communication device 261 and can transmit and receive various information to and from the control device 231 through the communication device 222 of the crane device 6 connected via the wide area information communication network. Specifically, the video acquisition unit 263 of the terminal-side control device 262 can acquire the video G captured by the suspended load camera 9b.

The terminal-side control device 262 controls each operation acquired from each sensor of the terminal-side turning operating tool 253, the terminal-side telescopic operating tool 254, the terminal-side main drum operating tool 255m, the terminal-side sub-drum operating tool 255s, and the terminal-side undulation operating tool 256. Control signals for the corresponding swing valve 23, expansion/contraction valve 24, undulation valve 25, main valve 26m, and sub-valve 26s can be generated from the stick operation signal.

The terminal-side control device 262 is connected to the terminal-side display section 257, and displays on the terminal-side display section 257 a schematic image of the crane 1 in its current posture, an image G from the suspended load camera 9b, and an image processing section 233 to be described later. It is possible to display the figure S and instruction contents outputted from.

The terminal side control device 262 includes a position acquisition section 232 and an image processing section 233 which is a control section. The position acquisition unit 232 is configured to operate each of the suspended load moving operation tool 252, the terminal-side turning operation tool 253, the terminal-side telescopic operation tool 254, the terminal-side main drum operation tool 255m, the terminal-side sub-drum operation tool 255s, and the terminal-side levitation operation tool 256. From the operation signal acquired from the sensor, the swivel position of the swivel base 7, the length and undulation angle of the boom 9, and the length of the main wire rope 14 or the sub wire rope 16 are calculated, and the main hook relative to the base end of the boom 9 is calculated. 10a and the position information of the subhook 11a is acquired.

The image processing unit 233, which is a control unit, includes a movement direction acquisition unit 234, a change amount calculation unit 35, a determination unit 36, a control instruction generation unit 37, a figure generation unit 38, and a setting unit 39, as shown in FIG. .

The movement direction acquisition unit 234 determines the horizontal direction of the main hook 10a or the sub hook 11a from each operation signal of the terminal-side rotation operation tool 253, the terminal-side telescopic operation tool 254, and the terminal-side ups and down operation tool 256 that the remote control terminal 250 has. The moving direction is acquired and output to the graphic generation section 38. The change amount calculation unit 35 calculates the change amount V of the main hook 10a or the sub hook 11a from the position information regarding the main hook 10a or the sub hook 11a acquired by the position acquisition unit 232.

The configuration of the image processing unit 233 other than the above is the same as the configuration of the image processing unit 33 of Embodiment 1, and therefore the description thereof will be omitted.

Also in the crane 1 that is remotely controlled by the remote control terminal 250 having the above configuration, the rate of change in the position of the cargo W in the height direction is displayed on the terminal side display section 257. Therefore, the operator can remotely operate the crane 1 so that the load W moves while changing the height position of the load W at an arbitrary rate.

Therefore, it is possible to provide a crane that can move the load while easily changing the position of the load W in the height direction at a constant rate.

In this embodiment, the control instruction generation unit 37 generates an instruction regarding the operation of the crane 1 when the amount of change V is equal to or greater than the amount of change threshold Th, and generates a figure using the generated instruction as an instruction signal, as in the first embodiment. It is output to section 38. However, similarly to the second embodiment, the control instruction generation unit 37 may be configured to output a control signal to the control device 231 of the crane 1 when the amount of change V is equal to or greater than the amount of change threshold Th. Further, the control instruction generation section 37 may be configured to output the instruction signal to the graphic generation section 38 and output the control signal to the control device 231.

(Other embodiments)
In each of the embodiments described above, the camera monitor 41 and the terminal-side display section 257 display the image G from the hanging load camera 9b. However, the camera monitor and terminal side display unit may be configured to display images acquired by a device such as a laser scanner, as long as the positional relationship between the luggage W, terrestrial objects, and the ground surface can be recognized. .

In the second embodiment, when the amount of change V is equal to or greater than the amount of change threshold Th, the crane 1 is automatically controlled. However, if the amount of change V is greater than or equal to the amount of change threshold Th, a configuration may be adopted in which the operator can set in advance whether or not the crane will be automatically controlled.

The above-described embodiment merely shows a typical form, and various modifications can be made without departing from the gist of the embodiment. Furthermore, it goes without saying that the present invention can be implemented in various forms, and the scope of the present invention is indicated by the description of the claims, and furthermore, the meaning of equivalents described in the claims and all the equivalents within the scope are Including changes.

1 Crane 7 Swivel base 9 Boom 9b Hanging load camera 10 Main hook block 10a Main hook (hook)
11 Sub hook block 11a Sub hook (hook)
13 Main winch 14 Main wire rope 15 Sub-winch 16 Sub-wire rope 18 Swivel expansion/contraction operating tool 19 Lifting operating tool 31, 231 Control device 32, 232 Position acquisition section 33, 133, 233 Image processing section (control section)
34, 234 Movement direction acquisition section 35 Change amount calculation section 36 Judgment section 37, 137 Control instruction generation section 38, 138 Graphic generation section 39 Setting section 41 Camera monitor (display section)
222 Communication device 250 Remote control terminal 257 Terminal side display section (display section)
262 Terminal side control device

Claims (6)

with a swiveling, hoisting and telescoping boom;
a hook suspended from the tip of the boom by a wire rope that can be hoisted up and down by a winch;
a position acquisition unit that acquires position information of the hook from the length of the boom, the undulation angle of the boom, and the payout length of the wire rope ;
a hanging load camera connected to the tip of the boom and capturing images including the hook;
a display unit that displays an image taken by the suspended load camera;
a control unit that calculates the amount of change per unit time in the position of the hook in the height direction from the position information acquired by the position acquisition unit, and displays the amount of change on the display unit;
Equipped with
Mobile crane. The mobile crane according to claim 1,
The control unit includes:
controlling at least one of the boom and the winch so that when the amount of change becomes a predetermined value or more, the amount of change becomes less than the predetermined value;
Mobile crane. The mobile crane according to claim 1 or 2,
The control unit includes:
When the amount of change exceeds a predetermined value, instructions regarding raising and lowering the boom, extending and contracting the boom, and hoisting and lowering the wire rope are issued to make the amount of change less than the predetermined value. displaying at least one of them on the display section;
Mobile crane. The mobile crane according to any one of claims 1 to 3,
The control unit includes:
Displaying the amount of change as an image on the display unit in different ways depending on the moving direction of the hook in the height direction and the amount of change;
Mobile crane. The mobile crane according to claim 4,
the image is a figure indicating a horizontal movement direction of the hook;
Mobile crane. A boom that can be rotated, raised and extended, a hook suspended from a wire rope that can be hoisted up and down by a winch at the tip of the boom, the length of the boom, the hoisting angle of the boom, and the wire rope. A remote control terminal for a mobile crane, comprising a position acquisition unit that acquires position information of the hook from the length of the hook being let out, and a suspended load camera that is connected to the tip of the boom and that photographs an image including the hook. There it is,
a display unit that displays an image taken by the suspended load camera;
a control unit configured to be able to communicate with a control device of the mobile crane,
The control unit includes:
Calculating the amount of change per unit time in the position of the hook in the height direction from the position information acquired by the position acquisition section, and displaying the amount of change on the display section;
Remote control terminal.

Images