JP7707670B2 - Crane travel support device - Google Patents

Description

The present invention relates to a crane travel support device that supports the travel of a crane.

It is known that automobiles are equipped with collision damage mitigation brakes (see, for example, Patent Document 1).

Patent document 1 discloses an automatic braking system that automatically activates the vehicle's braking means to stop the vehicle before it collides with an obstacle.

JP 2018-083550 A

However, cranes are equipped with detachable accessories such as a boom and counterweight. The overall length of the crane changes when the crane is traveling with these accessories attached to it and when the crane is traveling with these accessories detached from it. This creates a problem in that the traveling crane cannot be stopped at an appropriate distance depending on the attachment and detachment status of the accessories.

The present invention aims to provide a crane travel support device that can stop a traveling crane at an appropriate distance depending on the attachment/detachment status of accessories.

In order to achieve the above object, the crane travel assistance device of the present invention is a crane travel assistance device that assists in the travel of a crane, and is characterized by comprising: a distance detection means for detecting the distance between the object in the travel direction of the crane; an attachment/detachment state detection means for detecting the attachment/detachment state of an accessory that is detachably attached to the crane; a tip determination unit for determining the tip of the crane in the travel direction based on the detection information of the attachment/detachment state detection means; a distance calculation unit for calculating the distance between the object and the tip when the crane is stopped while traveling based on the detection information of the distance detection means and the tip determined by the tip determination unit; and a stop control unit for stopping the travel of the crane based on the distance calculated by the distance calculation unit.

The crane travel support device of the present invention, configured in this way, can stop a traveling crane at an appropriate distance depending on the attachment/detachment status of the accessories.

FIG. 2 is a side view showing the crane of the first embodiment. FIG. 2 is a plan view showing the crane of the first embodiment. 1 is a block diagram showing a functional configuration of a crane travel support device according to a first embodiment. FIG. FIG. 2 is a side view showing a traveling state of a crane to which the boom of the first embodiment is attached. FIG. 2 is a side view showing a traveling state of the crane with the boom detached in the first embodiment. FIG. 4 is a diagram showing an example of an image displayed on a display unit according to the first embodiment; 4 is a flowchart showing a flow of processing by a control unit according to the first embodiment. FIG. 11 is a side view showing a traveling state of a crane to which a counterweight according to a second embodiment is attached. FIG. 11 is a side view showing the traveling state of the crane with the counterweight removed in the second embodiment. 10 is a flowchart showing a flow of processing by a control unit according to a second embodiment.

Below, an embodiment of the crane travel support device according to the present invention will be described based on Example 1 and Example 2 shown in the drawings.

The crane travel assistance device in Example 1 is applied to a rough terrain crane (hereinafter simply referred to as a crane) that is a travellable crane.

[Crane configuration]
Fig. 1 is a side view showing a crane of Example 1. Fig. 2 is a plan view showing a crane of Example 1. The configuration of the crane of Example 1 will be described below. Note that the front-rear direction of the crane is defined as a front-rear direction D.

As shown in Figures 1 and 2, the crane 1 comprises a vehicle body 10, a rotating body 20, and a boom 30.

The vehicle body 10 is equipped with outriggers 11 and a running device for self-propelling on roads and work sites.

During operation, the outriggers 11 extend horizontally and vertically to lift the entire vehicle body 10 and stabilize its position.

The rotating body 20 is provided above the vehicle body 10 and is rotatable around a vertical axis C1 relative to the vehicle body 10. The rotating body 20 is equipped with a cabin 21.

As shown in FIG. 2, the cabin 21 faces the direction of travel of the crane 1 and is provided on the right side of the boom 30. That is, the cabin 21 is provided on the right side of the boom 30 when the rotating body 20 is in a position facing forward. The cabin 21 may also be provided on the left side of the boom 30 when the rotating body 20 is in a position facing forward.

The cabin 21 has operation units (e.g., a steering wheel, a shift lever, an accelerator pedal, and a brake pedal) for controlling the travel of the vehicle body 10. The cabin 21 also has operation units for operating the rotating body 20, the boom 30, the winch 24, etc. The driver M in the cabin 21 operates the operation units to rotate the rotating body 20, raise and lower and extend the boom 30, and rotate the winch 24 to perform work.

As shown in Figures 1 and 2, a counterweight 55 is detachably attached to the rear of the rotating body 20 as an accessory. The counterweight 55 is attached to the rotating body 20 in a state where it protrudes rearward from the rear end of the vehicle body 10.

As shown in FIG. 1, the boom 30, which serves as an accessory, is removably attached to the rotating body 20. The boom 30 includes a base boom 31 on the base end side, an intermediate boom 32, and a tip boom 33 on the tip end side. The intermediate boom 32 and the tip boom 33 are nested and stored sequentially inside the base boom 31.

The base boom 31 is supported by a hoisting cylinder 22 provided on the rotating body 20. The boom 30 is raised and lowered by the extension and retraction of the hoisting cylinder 22, and the boom 30 is extended and retracted by the extension and retraction of the telescopic cylinder (not shown).

A sheave 34 is disposed on the boom head 33a provided at the tip of the tip boom 33. A wire rope 35 for lifting a load is wound around the winch 24 provided on the rotating body 20. The wire rope 35 is disposed along the boom 30 from the winch 24 to the sheave 34. The wire rope 35 is hung around the sheave 34 and suspended vertically downward from the sheave 34. A hook 36 is provided at the bottom of the wire rope 35.

The hook 36 can be used to hang cargo. When the wire rope 35 is paid out by the winch 24, the hook 36 descends, and when the wire rope 35 is wound up, the hook 36 rises.

As shown in Figures 1 and 2, the crane 1 is provided with a distance detection means 40. The distance detection means 40 detects the distance to an object in the direction of travel when the crane 1 is traveling. The distance detection means 40 can be, for example, a millimeter wave radar, an ultrasonic sensor, or a LiDAR (Light Detection and Ranging) sensor.

Examples of objects include cars, bicycles, people, buildings, and construction materials placed at a construction site. Objects can be stationary objects or moving objects.

The distance detection means 40 has a first distance detection means 41 and a second distance detection means 42.

The first distance detection means 41 is attached to the front side (front end) of the vehicle body 10 in a forward facing position.

The second distance detection means 42 is attached to the rear side (rear end) of the vehicle body 10 in a rearward facing position.

As shown in FIG. 2, the cabin 21 is provided with a display unit 71. The display unit 71 can be a monitor that displays images.

The vehicle body 10 is provided with an attachment/detachment state detection means 56. The attachment/detachment state detection means 56 can be, for example, a photoelectric sensor. The attachment/detachment state detection means 56 detects the attachment/detachment state of the accessory part.

The attachment/detachment state detection means 56 is not limited to a photoelectric sensor or the like that automatically inputs information. In other words, in actual crane operations, even if a sensor or the like automatically detects the working state of the crane, an operator such as the driver M will ultimately visually check whether the automatically detected working state is correct, and if they confirm that there is no error, they will manually operate a confirmation button or the like. Therefore, the attachment/detachment state detection means 56 can also be a confirmation button that accepts input by the operator that manually inputs the intention to confirm.

The attachment/detachment state detection means 56 detects the attachment/detachment state of the boom 30 to the rotating body 20. The attachment/detachment state detection means 56 also detects the attachment/detachment state of the counterweight 55 to the rotating body 20.

The vehicle body 10 is equipped with a braking device 80 that is controlled by a control unit 60, which will be described later. The braking device 80 brakes the traveling crane 1 based on information from the control unit 60.

The crane 1 configured in this way can move the cargo suspended from the hook 36 to a specified position by using the winch 24 to pay out and reel in the wire rope 35, by raising and lowering the boom 30, and by rotating the rotating body 20.

The crane 1 can travel with the boom 30 attached to the rotating body 20 or with the boom 30 detached from the rotating body 20. When the boom 30 is attached to the rotating body 20, the crane 1 travels with the tip of the boom 30 in a stored, lowered position protruding forward from the vehicle body 10.

The crane 1 can travel with the counterweight 55 attached to the rotating body 20 or with the counterweight 55 detached from the rotating body 20. When the counterweight 55 is attached to the rotating body 20, the crane 1 travels with the rear end of the counterweight 55 protruding rearward from the vehicle body 10.

[Functional configuration of the crane driving support device]
Fig. 3 is a block diagram showing the functional configuration of the crane travel support device of Example 1. Fig. 4 is a side view showing the traveling state of the crane 1 to which the boom 30 of Example 1 is attached. Fig. 5 is a side view showing the traveling state of the crane 1 to which the boom 30 of Example 1 is detached. Fig. 6 is a diagram showing an example of an image displayed on the display unit 71 of Example 1. The functional configuration of the crane travel support device of Example 1 will be described below.

As shown in FIG. 3, in the crane travel support device 1A, the detection information detected by the first distance detection means 41 or the detection information detected by the second distance detection means 42 and the detection information detected by the attachment/detachment state detection means 56 are input to the control unit 60, and the processing information processed by the control unit 60 is output to the braking device 80 and the display unit 71.

The first distance detection means 41 is used when the crane 1 is moving forward or when it is stationary, such as before starting, and detects the distance to an object in the direction of travel of the crane 1. The detection information detected by the first distance detection means 41 is input to the control unit 60.

The second distance detection means 42 is used when the crane 1 is moving backwards or when it is stationary before starting, and detects the distance to an object in the direction of travel of the crane 1. The detection information detected by the second distance detection means 42 is input to the control unit 60.

The attachment/detachment state detection means 56 detects the attachment/detachment state of the boom 30 to the rotating body 20. The attachment/detachment state detection means 56 also detects the attachment/detachment state of the counterweight 55 to the rotating body 20. The detection information of the attachment/detachment state detection means 56 is input to the control unit 60.

The control unit 60 includes an attachment/detachment information acquisition unit 61, a distance information acquisition unit 62, an attachment/detachment state determination unit 63, a tip determination unit 64, a separation distance calculation unit 65, and a stop control unit 66.

The attachment/detachment information acquisition unit 61 acquires detection information from the attachment/detachment state detection means 56. The distance information acquisition unit 62 acquires detection information from the first distance detection means 41 or detection information from the second distance detection means 42. Specifically, the distance information acquisition unit 62 acquires detection information from the first distance detection means 41 when the crane 1 is traveling forward, and acquires detection information from the second distance detection means 42 when the crane 1 is traveling backward.

The attachment/detachment state determination unit 63 determines whether the boom 30 and counterweight 55 are attached to the rotating body 20 based on the detection information of the attachment/detachment state detection means 56 acquired by the attachment/detachment information acquisition unit 61.

The tip determination unit 64 determines the tip of the crane 1 in the direction of travel of the crane 1 based on the determination information of the attachment/detachment state determination unit 63.

Specifically, when the crane 1 is traveling forward, the attachment/detachment state detection means 56 detects the attachment state of the boom 30, and the attachment/detachment state determination unit 63 determines that the boom 30 is attached to the rotating body 20, the tip determination unit 64 determines that the tip of the boom 30 is the tip T1 (T) of the crane 1, as shown in FIG. 4.

When the crane 1 is traveling forward, the attachment/detachment state detection means 56 detects that the boom 30 has been detached, and the attachment/detachment state determination unit 63 determines that the boom 30 is not attached to the rotating body 20, as shown in FIG. 5, the tip determination unit 64 determines that the tip of the hoisting cylinder 22 that supported the boom 30 is the tip T2 (T) of the crane 1. Note that when the boom 30 is detached from the rotating body 20, the hoisting cylinder 22 protrudes forward of the vehicle body 10.

The distance calculation unit 65 calculates the distance between the object and the tip T when the crane 1 is stopped while traveling, based on the detection information of the first distance detection means 41 and the tip T determined by the tip determination unit 64.

Specifically, as shown in FIG. 4, when the crane 1 with the boom 30 attached to the rotating body 20 travels forward and detects an object G ahead in the direction of travel, the separation distance calculation unit 65 calculates the separation distance E1 (E) between the object G and the tip of the boom 30 as the tip portion T1 when the traveling crane 1 is stopped.

As shown in FIG. 5, when the crane 1 with the boom 30 detached from the rotating body 20 travels forward and detects an object G ahead in the travel direction, the separation distance calculation unit 65 calculates the separation distance E2 (E) between the object G and the tip of the elevation cylinder 22 as the tip portion T2 when the traveling crane 1 is stopped.

The separation distance E1 can be the same distance as the separation distance E2, but it can also be longer or shorter than the separation distance E2.

The stop control unit 66 issues an instruction to the braking device 80 to stop the travel of the crane 1 based on the separation distance E calculated by the separation distance calculation unit 65. In other words, the stop control unit 66 issues an instruction to the braking device 80 to stop the travel of the crane 1 so that it stops at the separation distance E calculated by the separation distance calculation unit 65.

The braking device 80 generates a braking force for the crane 1 based on the instruction output from the stop control unit 66. In other words, the braking device 80 functions as a collision damage mitigation brake that stops the traveling crane 1 based on the instruction output from the stop control unit 66.

The stop control unit 66 may output an instruction to the braking device 80 to brake, or instead of outputting an instruction to the braking device 80 to brake, may output an instruction to a sound generating device such as a buzzer to emit an alarm sound, or an instruction to a lighting device or display device such as an indicator lamp to emit an alarm light.

The control unit 60 outputs a display showing the attachment/detachment status of the boom 30 to the display unit 71 based on the processing information in the control unit 60.

The display unit 71 displays the attachment/detachment status of the accessory parts based on the judgment information of the attachment/detachment status judgment unit 63. In other words, the display unit 71 displays the attachment/detachment status of the accessory parts of the crane 1.

Specifically, if the attachment/detachment state determination unit 63 determines that the boom 30 is not attached to the rotating body 20, the display unit 71 displays the crane 1 in a state in which the boom 30 is not attached to the rotating body 20, as shown in FIG. 6.

On the other hand, if the attachment/detachment state determination unit 63 determines that the boom 30 is attached to the rotating body 20, the display unit 71 displays the crane 1 in a state in which the boom 30 is attached to the rotating body 20.

[Processing by the control unit]
7 is a flowchart showing the flow of processing by the control unit 60 of the embodiment 1. The flow of processing by the control unit 60 of the embodiment 1 will be described below.

When the crane 1 is traveling forward, as shown in FIG. 7, the distance information acquisition unit 62 acquires detection information from the first distance detection means 41 (step S101).

Next, the attachment/detachment information acquisition unit 61 acquires the detection information from the attachment/detachment state detection means 56 (step S102).

Next, the attachment/detachment state determination unit 63 determines whether the boom 30 is attached to the rotating body 20 based on the detection information of the attachment/detachment state detection means 56 acquired by the attachment/detachment information acquisition unit 61 (step S103).

If it is determined that the boom 30 is attached to the rotating body 20 (YES in step S103), the tip determination unit 64 determines that the tip of the boom 30 is the tip portion T1 (step S104).

Next, the separation distance calculation unit 65 calculates the separation distance E1 between the object G and the tip of the boom 30, which serves as the tip portion T1 (step S105).

Next, the control unit 60 instructs the display unit 71 to display the crane 1 with the boom 30 attached to the rotating body 20 (step S106).

Next, the stop control unit 66 issues an instruction to the braking device 80 to stop the travel of the crane 1 based on the separation distance E1 calculated by the separation distance calculation unit 65 (step S107), and ends the process.

On the other hand, if it is determined that the boom 30 is not attached to the rotating body 20 (NO in step S103), the tip determination unit 64 determines that the tip of the elevation cylinder 22 that supported the boom 30 is the tip portion T2 (step S108).

Next, the separation distance calculation unit 65 calculates the separation distance E2 between the object G and the tip of the elevation cylinder 22, which serves as the tip portion T2 (step S109).

Next, the control unit 60 instructs the display unit 71 to display the crane 1 in a state in which the boom 30 is not attached to the rotating body 20 (step S110).

Next, the stop control unit 66 issues an instruction to the braking device 80 to stop the travel of the crane 1 based on the separation distance E2 calculated by the separation distance calculation unit 65 (step S111), and ends the process.

[Function of the crane travel support device]
The operation of the crane travel support device 1A of the first embodiment will be described below.

The crane travel support device 1A of the first embodiment is a crane travel support device 1A that supports the travel of the crane 1, and includes a distance detection means 40 that detects the distance from the object G in the travel direction of the crane 1, an attachment/detachment state detection means 56 that detects the attachment/detachment state of the accessories (boom 30, counterweight 55) that are detachably attached to the crane 1, a tip determination unit 64 that determines the tip T in the travel direction of the crane 1 based on the detection information of the attachment/detachment state detection means 56, a separation distance calculation unit 65 that calculates the separation distance E between the object G and the tip T when the traveling crane 1 is stopped based on the detection information of the distance detection means 40 and the tip T determined by the tip determination unit 64, and a stop control unit 66 that stops the travel of the crane 1 based on the separation distance E calculated by the separation distance calculation unit 65 (Figure 3).

This makes it possible to identify the tip T in the traveling direction of the crane 1 depending on the attachment/detachment state of the accessories (boom 30, counterweight 55). Then, the traveling crane 1 can be stopped at a position where the identified tip T is separated from the object G by a separation distance E. Therefore, depending on the attachment/detachment state of the accessories (boom 30, counterweight 55), the traveling crane 1 can be stopped at an appropriate separation distance E.

In the crane travel support device 1A of the first embodiment, the accessory is the boom 30 that is detachably attached to the rotating body 20, and when the attachment/detachment state detection means 56 detects the attached state of the boom 30, the tip determination unit 64 determines that the tip of the boom 30 is the tip part T, and when the attachment/detachment state detection means 56 detects that the boom 30 is detached, the tip determination unit 64 determines that the tip of the hoisting cylinder 22 that supported the boom 30 is the tip part T (Figures 4 and 5).

As a result, when the boom 30 is attached to the rotating body 20, the tip T in the traveling direction (forward) of the crane 1 can be the tip of the boom 30. On the other hand, when the boom 30 is not attached to the rotating body 20, the tip T in the traveling direction of the crane 1 can be the tip of the hoisting cylinder 22. Therefore, depending on the attachment and detachment state of the boom 30, the crane 1 traveling forward can be stopped at an appropriate separation distance E.

The crane travel support device of Example 2 differs from the crane of Example 1 in that the travel direction of the crane is different.

[Functional configuration of the crane driving support device]
Fig. 8 is a side view showing the traveling state of the crane with the counterweight 55 of the embodiment 2 attached. Fig. 9 is a side view showing the traveling state of the crane with the counterweight 55 of the embodiment 2 removed. The functional configuration of the crane traveling support device of the embodiment 2 will be described below. Note that the same terms or the same symbols will be used for the description of the same or equivalent parts as those described in the above embodiments.

As shown in FIG. 3, the tip determination unit 64 determines the tip T of the crane 1 in the travel direction of the crane 1 based on the determination information of the attachment/detachment state determination unit 63.

Specifically, when the crane 1 is traveling backwards, the attachment/detachment state detection means 56 detects the attachment state of the counterweight 55, and the attachment/detachment state determination unit 63 determines that the counterweight 55 is attached to the rotating body 20, the tip determination unit 64 determines that the rear end of the counterweight 55 is the tip T3 (T) of the crane 1, as shown in FIG. 8. Note that when the counterweight 55 is attached to the rotating body 20, the counterweight 55 protrudes rearward from the vehicle body 10.

When the crane 1 is traveling backwards, the attachment/detachment state detection means 56 detects that the counterweight 55 has been detached, and the attachment/detachment state determination unit 63 determines that the counterweight 55 is not attached to the rotating body 20, the tip determination unit 64 determines that the rear end of the vehicle body 10 is the tip T4 (T) of the crane 1, as shown in FIG. 9. Note that when the counterweight 55 is detached from the rotating body 20, the vehicle body 10 protrudes rearward from the rotating body 20.

The distance calculation unit 65 calculates the distance between the object G and the tip T when the crane 1 is stopped while traveling, based on the detection information of the second distance detection means 42 and the tip T determined by the tip determination unit 64.

Specifically, as shown in FIG. 8, when the crane 1 with the counterweight 55 attached to the rotating body 20 travels backward and detects an object G ahead of the travel direction, the separation distance calculation unit 65 calculates the separation distance E3 (E) between the object G and the rear end of the counterweight 55 as the tip T3 when the traveling crane 1 is stopped.

As shown in FIG. 9, when the crane 1 with the counterweight 55 detached from the rotating body 20 travels backward and detects an object G ahead of the travel direction, the separation distance calculation unit 65 calculates the separation distance E4 (E) between the object G and the rear end of the vehicle body 10 as the tip T4 when the traveling crane 1 is stopped.

Note that the separation distance E3 can be the same distance as the separation distance E4, but it can also be longer or shorter than the separation distance E4.

[Processing by the control unit]
10 is a flowchart showing the flow of processing by the control unit 60 of the embodiment 2. The flow of processing by the control unit 60 of the embodiment 2 will be described below.

When the crane 1 is traveling backwards, as shown in FIG. 10, the distance information acquisition unit 62 acquires detection information from the second distance detection means 42 (step S201).

Next, the attachment/detachment information acquisition unit 61 acquires the detection information of the attachment/detachment state detection means 56 (step S202).

Next, the attachment/detachment state determination unit 63 determines whether the counterweight 55 is attached to the rotating body 20 based on the detection information of the attachment/detachment state detection means 56 acquired by the attachment/detachment information acquisition unit 61 (step S203).

If it is determined that the counterweight 55 is attached to the rotating body 20 (YES in step S203), the tip determination unit 64 determines that the rear end of the counterweight 55 is the tip T3 (step S204).

Next, the separation distance calculation unit 65 calculates the separation distance E3 between the object G and the rear end of the counterweight 55, which serves as the tip portion T3 (step S205).

Next, the control unit 60 instructs the display unit 71 to display the crane 1 with the counterweight 55 attached to the rotating body 20 (step S206).

Next, the stop control unit 66 issues an instruction to the braking device 80 to stop the travel of the crane 1 based on the separation distance E3 calculated by the separation distance calculation unit 65 (step S207), and ends the process.

On the other hand, if it is determined that the counterweight 55 is not attached to the rotating body 20 (NO in step S203), the tip determination unit 64 determines that the rear end of the vehicle body 10 is the tip T4 (step S208).

Next, the separation distance calculation unit 65 calculates the separation distance E4 between the object G and the rear end of the vehicle body 10, which is the tip portion T4 (step S209).

Next, the control unit 60 instructs the display unit 71 to display the crane 1 in a state in which the counterweight 55 is not attached to the rotating body 20 (step S210).

Next, the stop control unit 66 issues an instruction to the braking device 80 to stop the traveling of the crane 1 based on the separation distance E4 calculated by the separation distance calculation unit 65 (step S211), and ends the processing.
[Function of the crane travel support device]
The operation of the crane travel support device 1A of the second embodiment will be described below.

In the crane travel support device 1A of the second embodiment, the accessory is a counterweight 55 that is detachably attached to the rotating body 20 while protruding rearward from the vehicle body 10. When the attachment/detachment state detection means 56 detects that the counterweight 55 is attached, the tip determination unit 64 determines that the rear end of the counterweight 55 is the tip T, and when the attachment/detachment state detection means 56 detects that the counterweight 55 is removed, the tip determination unit 64 determines that the rear end of the vehicle body 10 is the tip T (Figures 8 and 9).

As a result, when the counterweight 55 is attached to the rotating body 20, the tip T in the traveling direction (rear) of the crane 1 can be the rear end of the counterweight 55. On the other hand, when the counterweight 55 is not attached to the rotating body 20, the tip T in the traveling direction of the crane 1 can be the rear end of the vehicle body 10. Therefore, the crane 1 traveling backwards can be stopped at an appropriate distance E depending on the attachment/detachment state of the boom 30.

The rest of the configuration and effects are similar to those of the above embodiment, so a detailed explanation will be omitted.

The crane travel support device of the present invention has been described above based on Examples 1 and 2. However, the specific configuration is not limited to these examples, and design changes and combinations of the examples are permitted as long as they do not deviate from the gist of the invention according to each claim in the scope of the claims.

In the first and second embodiments, the accessory is the boom 30 or the counterweight 55. However, the accessory is not limited to this, and may be any detachable part that forms at least a portion of the outer edge of the crane 1, such as an outrigger unit having outriggers 11.

In the first embodiment, an example is shown in which the tip T of the crane 1 when the boom 30 is removed from the rotating body 20 is the tip of the hoisting cylinder 22. In the second embodiment, an example is shown in which the tip T of the crane 1 when the counterweight 55 is removed from the rotating body 20 is the rear end of the vehicle body 10. However, the tip can be changed as appropriate depending on the specifications of the crane.

In the first and second embodiments, the distance detection means 40 includes a first distance detection means 41 and a second distance detection means 42. However, the distance detection means may be one, or three or more.

In Example 1, an example of applying the present invention to a rough terrain crane is shown. However, the present invention can also be applied to any travelling crane.

1 Crane 1A Crane travel support device 20 Swing body 22 Drilling cylinder 30 Boom (an example of an accessory)
40 Distance detection means 55 Counterweight (an example of an accessory)
56 Attachment/detachment state detection means 64 Tip determination unit 65 Separation distance calculation unit 66 Stop control unit E Separation distance G Object T Tip

Claims (2)

A crane travel assistance device that assists in the travel of a crane,
A distance detection means for detecting a distance between the crane and an object in a traveling direction of the crane;
a detachment state detection means for detecting the attachment state of an accessory that is detachably attached to the front or rear of the vehicle body of the crane;
a tip determination unit that determines a tip of the crane in a traveling direction based on detection information from the attachment/detachment state detection means;
a distance calculation unit that calculates a distance between the object and the tip when the traveling crane is stopped based on detection information from the distance detection means and the tip determined by the tip determination unit;
A stop control unit that stops the traveling of the crane based on the separation distance calculated by the separation distance calculation unit ,
The accessory is a boom that is detachably attached to the rotating body in a state where it protrudes forward from the vehicle body,
a tip determination unit determining the tip of the boom as the tip part when the attachment/detachment state detection means detects that the boom is attached and a tip determination unit determining the tip of a hoisting cylinder that supported the boom as the tip part when the attachment/detachment state detection means detects that the boom is detached . A crane travel assistance device that assists in the travel of a crane,
A distance detection means for detecting a distance between the crane and an object in a traveling direction of the crane;
a detachment state detection means for detecting the attachment state of an accessory that is detachably attached to the front or rear of the vehicle body of the crane;
a tip determination unit that determines a tip of the crane in a traveling direction based on detection information from the attachment/detachment state detection means;
a distance calculation unit that calculates a distance between the object and the tip when the traveling crane is stopped based on detection information from the distance detection means and the tip determined by the tip determination unit;
A stop control unit that stops the traveling of the crane based on the separation distance calculated by the separation distance calculation unit ,
the accessory is a counterweight that is detachably attached to the rotating body in a state where it protrudes rearward from the vehicle body,
A crane traveling support device characterized in that when the vehicle body travels backward, if the attachment/detachment state detection means detects that the counterweight is attached, the tip determination unit determines that the rear end of the counterweight is the tip, and when the attachment/detachment state detection means detects that the counterweight is detached, the tip determination unit determines that the rear end of the vehicle body is the tip .