JP2014105090A - Work confirmation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work confirmation device capable of more safely executing suspended load transfer work.SOLUTION: When determining that a suspended load is suspended from a boom, a work confirmation device: starts a calculation of an actual loading factor acting on the boom (Step SA4); creates a work region line (Step SA5); generates a display image with the work region line superimposed on a captured image and displays the same on a monitor (Step SA6); determines whether or not the actual loading factor exceeds a second set value (Step SA7); and, when determining that the actual loading factor exceeds the second set value, generates the display image with the actual loading factor superimposed on the captured image and displays the same on the monitor (Step SA8).

Description

  The present invention relates to a work confirmation device used for a crane having a boom.

  Conventionally, cranes have been provided with booms for moving suspended loads. The boom is formed to be extendable and retractable, and is provided on the vehicle body so as to be horizontally turnable and undulating.

  A hook block is attached to the tip of the boom via a wire, and a hook is attached to the lower side of the hook block. The suspended load is hung on this hook.

  The crane is provided with a work confirmation device for confirming whether or not the suspended load can be moved to a desired position.

  As a conventional work confirmation device, for example, there is a device that captures a landscape when viewed downward from a boom tip of a crane with a camera, and displays a work area line superimposed on the captured image and displayed on a monitor (Patent Document 1). reference).

  The work area line is an area line related to the maximum suspension load performance of the crane's suspended load. The work area line is created based on the actual work load of the suspended load and the maximum work radius corresponding to the boom length. The operator determines whether or not the suspended load can be moved from the work area line displayed on the monitor to a position where it is desired to move.

JP 2011-151742 A

  However, the work area line is not created in consideration of the actual load factor applied to the boom, and the automatic stop position of the boom is set in consideration of the actual load factor. Therefore, the work area line and the automatic stop position do not match. Therefore, when the suspended load is moved to a position where it is desired to move, the suspended load is stopped before or after the suspended region crosses the work area line, which may cause confusion for the operator. Then, the work confirmation apparatus which can perform the movement work of a suspended load more safely is examined.

  The actual load factor is the ratio of the load due to the actual suspended load to the load due to the maximum suspended load at the current crane posture set with the safety factor in mind so that the crane will not be overturned or damaged. That is. If the crane operation is automatically stopped when the actual load ratio reaches 100% during the crane operation, the crane operation can be stopped in anticipation of a predetermined safety factor, so that the operation can be performed safely.

  This invention is made | formed in view of such a conventional subject, and it aims at providing the operation confirmation apparatus which can perform the movement operation | work of a suspended load more safely.

  As a result of earnest research, the present inventors have adopted the following work confirmation device in order to solve the above-mentioned problems.

The work confirmation device of the present invention is a work confirmation used when moving a suspended load that is suspended from a tip of a boom that is provided on a crane body in a horizontally swingable and undulating manner and that can be extended and retracted. A device,
A camera that images the lower side from the boom tip and acquires the captured image;
Image processing means for creating a display image for display to an operator from the captured image;
A monitor for displaying the display image to the operator;
An actual load factor calculating means for calculating an actual load factor applied to the boom;
Drive stop means for stopping the drive of the boom when the actual load factor reaches a first set value;
A work area line creating means for creating a work area line related to the maximum suspension load performance of the suspended load of the crane,
The image processing means creates a display image in which the work area line is superimposed on the captured image, displays the generated image on the monitor, and the actual load factor is set lower than the first set value. When the set value is exceeded, at least the actual load factor is superimposed on the captured image as the display image and displayed on the monitor.

  When the actual load factor exceeds the second set value in a state where the work area line is displayed superimposed on the captured image, the image processing means sets the actual load factor to the work area. The display may be switched from the line. Alternatively, the actual load factor may be added and displayed while the work area line is displayed.

  Further, the image processing means is configured to display the work when the actual load factor exceeds the second set value in a state where both the work area line and the actual load factor are displayed superimposed on the captured image. The actual load factor may be displayed by deleting the area line.

  In the work confirmation device of the present invention, the actual load factor is displayed before the actual load factor reaches the first set value and the suspended load stops moving. For this reason, the operator can grasp the approximate stop position of the suspended load regardless of the work area line. Therefore, the work confirmation device of the present invention can perform the work of moving the suspended load more safely.

It is a side view of the crane of the 1st Embodiment of this invention. It is a block diagram which shows the structure of the work confirmation apparatus used for the crane of the embodiment. It is a flowchart which shows the control processing concerning the movement determination of a suspended load by the work confirmation apparatus of FIG. It is a figure which shows the display content of the monitor before and after exceeding an actual load factor exceeding the 2nd setting value in the embodiment. It is a flowchart which shows the control processing concerning the movement determination of a suspended load by the work confirmation apparatus of the 2nd Embodiment of this invention. It is a figure which shows the display content of the monitor before and after exceeding an actual load factor exceeding the 2nd setting value in the embodiment. It is a flowchart which shows the control processing concerning the movement determination of the hanging load by the work confirmation apparatus of the 3rd Embodiment of this invention. It is a figure which shows the display content of the monitor before and after exceeding an actual load factor exceeding the 2nd setting value in the embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a side view of a crane 1 according to a first embodiment of the present invention. First, the overall configuration of the crane 1 will be briefly described. The crane 1 includes a carrier 2 serving as a main body portion (vehicle body) of a vehicle having a traveling function, a swivel base 3 attached to an upper part of the carrier 2 so as to be horizontally turnable, and a cabin 4 provided on the swivel base 3. I have.

  A pair of left and right outriggers 5 and 5 (only one is shown) are provided on the front side and the rear side of the carrier 2, respectively. A bracket 6 is fixed on the upper side of the swivel base 3. A boom 7 is attached to the bracket 6.

  The base end of the boom 7 is attached to the bracket 6 via a support shaft 8 and can be raised and lowered around the support shaft 8. A hoisting cylinder 9 is interposed between the bracket 6 and the boom 7. The boom 7 is raised and lowered when the hoisting cylinder 9 expands and contracts.

  The boom 7 has a proximal boom 7a, an intermediate boom 7b, and a distal boom 7c. The boom 7 is nested in the proximal boom 7a in this order from the outside to the inside. Each boom 7a-7c is connected inside by an expansion / contraction cylinder (not shown), and expands and contracts when each expansion / contraction cylinder expands and contracts.

  A sheave (not shown) is provided at the distal end portion 7d of the distal end boom 7c. A wire W extending from a winch (not shown) provided on the bracket 6 is hung on the sheave. A hook block 10 is suspended from the wire W, and a hook 11 is attached to the lower side of the hook block 10. A suspended load (not shown) is hung on the hook 11 by a wire rope (not shown).

  An operation panel (not shown) is provided in the cabin 4. This operation panel includes an operation lever (not shown). The operation lever is used by the operator to perform operations such as turning, raising and lowering, extending and retracting the boom 7, extending and retracting each outrigger 5, and starting and stopping the engine.

  FIG. 2 is a block diagram showing the configuration of the work confirmation device 21 of the present invention used in the crane 1. When the crane 1 moves the suspended load to a position where it is desired to move, the operator confirms whether or not the suspended load can be moved to that position.

  This work confirmation device 21 is mainly configured by a calculation means 22 that performs various calculation processes. This calculating means 22 is provided, for example, in the cabin 4 (see FIG. 1).

  On the input side of the calculation means 22, a suspended load monitoring camera 23, a tilt sensor 24, a pan sensor 25, a cylinder pressure sensor 26, a boom length sensor 27, a undulation angle sensor 28, a turning angle sensor 29, an outrigger extension sensor 30, a winch drum A rotation sensor 31 is connected. A monitor 32 and a boom drive means 33 are connected to the output side of the calculation means 22.

  The boom 7 is connected to the boom drive means 33. The boom drive means 33 is for driving or stopping the boom 7.

  In this work confirmation device 21, the suspension determination means includes a cylinder pressure sensor 26, a undulation angle sensor 28, a winch drum rotation sensor 31, and a calculation means 22.

  The image processing means of the present invention is composed of the calculation means 22. The actual load factor calculating means and the work area line creating means of the present invention are composed of a calculating means 22 and sensors 24 to 31 connected to the input side of the calculating means 22. The boom stop means of the present invention is composed of a calculation means 22 and a boom drive means 33.

  As shown in FIG. 1, the suspended load monitoring camera 23 is attached to the distal end portion 7d of the distal end boom 7c with the lens facing directly below. The suspended load monitoring camera 23 captures an image of a landscape (suspended load or the vicinity of the suspended load) when viewed downward from the tip of the boom 7 and acquires the captured image.

  The suspended load monitoring camera 23 is configured to be tiltable at an arbitrary angle with respect to the vertical axis in the tilt direction (vertical direction) and the pan direction (horizontal direction). The operation of tilting (tilting) the suspended load monitoring camera 23 is performed on an operation panel (not shown) in the cabin 4. In the following description, the suspended load monitoring camera 23 is simply referred to as a camera 23.

  The tilt sensor 24 and the pan sensor 25 are attached to the upper surface of the suspended load monitoring camera 23 as shown in FIG. The tilt sensor 24 and the pan sensor 25 detect the tilt angle of the suspended load monitoring camera 23.

  The cylinder pressure sensor 26 is attached to the undulation cylinder 9 and detects the pressure of the undulation cylinder 9. The boom length sensor 27 is attached to the boom 7 and detects the length and extension amount of the boom 7. The undulation angle sensor 28 is attached to the boom 7 and detects the undulation angle of the boom 7. The turning angle sensor 29 is attached to the turntable 3 and detects the turning angle of the boom 7.

  The outrigger extension sensor 30 is attached to each outrigger 5 and detects the extension amount of each outrigger 5. The winch drum rotation sensor 31 detects the number of rotations of the drum constituting the winch (the winch winding amount and the feed amount).

  The monitor 32 is provided in the cabin 4 (see FIG. 1). The monitor 32 displays a captured image or the like acquired by the camera 23 to the operator.

  Next, the control process concerning the movement determination of the suspended load by the work confirmation device 21 will be described using the flowchart of FIG.

(Step SA1)
First, the camera 23 captures a landscape when the lower side is viewed from the tip of the boom 7 and acquires the captured image. This captured image is output to the computing means 22.

(Step SA2)
The computing means 22 creates a display image to be displayed to the operator from the captured image, and displays this display image on the monitor 32. Further, the computing means 22 is a captured image with the turning center of the boom 7 as the origin based on the zoom magnification of the camera 23, the tilt angle of the camera 23 obtained from the tilt sensor 24 and the pan sensor 25, and the height position of the camera 23. The coordinate position of is calculated.

  Note that the height position of the camera 23 is calculated based on the length of the boom 7 obtained from the boom length sensor 27 and the undulation angle of the boom 7 obtained from the undulation angle sensor 28.

  At this time, the operator looks at the captured image (displayed image) displayed on the monitor 32 and operates the boom 7 and the camera 23 so that the moving position is within the captured image.

(Step SA3)
Subsequently, the calculation means 22 determines whether or not a suspended load is suspended from the boom 7. This determination is made based on the amount of change in the pressure of the hoisting cylinder 9 obtained from the cylinder pressure sensor 26, the amount of change in the hoisting angle of the boom 7 obtained from the hoisting angle sensor 28, and the winding amount of the winch.

(Step SA4)
When the calculation means 22 determines that the suspended load is suspended from the boom 7 (the determination result of step SA3 is YES), the detection obtained from the sensors 23 to 30 connected to the input side of the calculation means 22 Based on the value, calculation of the actual load factor applied to the boom 7 is started.

  This actual load factor changes with the movement of the suspended load (the movement of the boom 7). The actual load factor increases as the suspended load becomes farther from the turning center of the boom 7. The calculating means 22 outputs a stop signal for the boom 7 to the boom driving means 33 when the actual load ratio reaches the first set value (100%). The boom drive means 33 stops the drive of the boom 7 by this stop signal.

(Step SA5)
Subsequently, the calculation means 22 creates a work area line related to the maximum suspended load performance of the crane suspended load. More specifically, this work area line is an area line indicating a work radius within a range in which the suspended load can move, and is stored in advance in the amount of overhang of the outrigger 5, the actual load of the suspended load, and the calculation means 22. The working radius is calculated based on the rated total load table, and the coordinates are converted and superimposed on the monitor 32 that displays the image captured by the camera 23 and created. Note that the work area line does not exactly match the automatic stop position of the boom 7 due to factors such as the deflection of the boom 7 and the position and orientation of the camera 23.

  The actual load of the suspended load is the pressure of the hoisting cylinder 9 of the boom 7 obtained from the cylinder pressure sensor 26, the length of the boom 7 obtained from the boom length sensor 27, and the hoisting angle of the boom 7 obtained from the hoisting angle sensor 28. Calculated based on

  Although the rated total load table is well known, it is not shown, but the maximum load based on the overhang amount of the outrigger 5, the length of the boom 7, and the maximum working radius centered on the turning center of the boom 7 is shown.

  The calculating means 22 calculates the maximum working radius corresponding to the overhang amount of the outrigger 5 and the actual load of the suspended load from the rated total load table, and creates an arc with this maximum working radius. This arc is the work area line.

(Step SA6)
Next, the calculation means 22 displays a display image D1 in which the work area line A is superimposed on the captured image B as shown in FIG. 4A based on the coordinate position of the captured image with the turning center of the boom 7 as the origin. The display image D1 is created and displayed on the monitor 32.

(Step SA7)
Next, the computing means 22 determines whether or not the actual load factor has exceeded the second set value. This second set value is set to 90% lower than the first set value in order to notify the operator of a warning.

(Step SA8)
When the calculation means 22 determines that the actual load factor exceeds the second set value (the determination result of step SA7 is YES), the calculation unit 22 converts the actual load factor C into the captured image B as shown in FIG. An additional superimposed display image D2 is created, and this display image D2 is displayed on the monitor 32.

  Therefore, in the work confirmation device 21 of the present embodiment, the actual load factor C is displayed before the actual load factor C reaches the first set value and the suspended load stops moving. For this reason, the operator can grasp the approximate stop position of the suspended load regardless of the work area line A. Therefore, the work confirmation device 21 of the present invention can perform the work of moving the suspended load more safely.

  Furthermore, in the work confirmation device 21 of the present embodiment, the actual load factor C is added and displayed, so that it is possible to confirm the error between the work area line A and the actual load factor C, and to the operator. Can prevent confusion.

  In the work confirmation device 21 according to the present embodiment, when the actual load factor C becomes equal to or lower than the second set value due to the movement of the suspended load from the state where the actual load factor C is displayed on the monitor 32, the original In other words, as shown in FIGS. 4B to 4A, the actual load factor C is deleted and only the work area line A is displayed. Therefore, since the operator resumes the suspended load moving operation while looking at the work area line A, the suspended load moving operation can be performed smoothly.

(Second Embodiment)
FIG. 5 is a flowchart illustrating a control process related to the movement determination of the suspended load by the work confirmation apparatus 121 according to the second embodiment of this invention. As shown in FIG. 2, the configuration of the work confirmation device 121 according to the present embodiment is the same as the configuration of the work confirmation device 21 according to the first embodiment. In the present embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and different parts will be mainly described.

(Step SB1 to Step SB7)
The contents of the control processes in steps SB1 to SB7 are the same as the contents of the control processes in steps SA1 to SA7 described in the first embodiment (see FIG. 3).

  Briefly, when the calculation means 122 determines that the suspended load is suspended from the boom 7 (the determination result of step SB3 is YES), as shown in FIG. Is displayed on the captured image B, and the display image D1 is displayed on the monitor 32.

(Step SB8)
If the calculation means 122 determines that the actual load factor has exceeded the second set value (the determination result in step SB7 is YES), as shown in FIG. A display image D3 that is switched from A and superimposed on the captured image B is created, and this display image D3 is displayed on the monitor 32.

  Therefore, in the work confirmation device 121 according to the present embodiment, as in the work confirmation device 21 according to the first embodiment, before the actual load factor C reaches the first set value and the movement of the suspended load stops. The actual load factor C is displayed. For this reason, the operator can grasp the approximate stop position of the suspended load regardless of the work area line A. Therefore, the work confirmation apparatus 121 according to the present embodiment can perform the moving work of the suspended load more safely.

  Furthermore, since the actual load factor C is switched from the work area line A and displayed in the work confirmation device 121 of the present embodiment, the actual load factor C and Compared with the case where the work area line A is displayed together, the actual load factor C can be confirmed more accurately. Further, even if there is an error between the work area line A and the actual load factor C, it is possible to prevent the operator from being confused.

  In the work confirmation apparatus 121 according to the present embodiment, when the actual load factor C becomes equal to or lower than the second set value due to the movement of the suspended load from the state where the actual load factor C is displayed on the monitor 32, the original In other words, the work area line A is switched from the actual load factor C and displayed as shown in FIG. Therefore, since the operator resumes the suspended load moving operation while looking at the work area line A, the suspended load moving operation can be performed smoothly.

(Third embodiment)
FIG. 7 is a flowchart illustrating a control process related to the determination of the movement of the suspended load by the work confirmation apparatus 221 according to the third embodiment of this invention. As shown in FIG. 2, the configuration of the work confirmation device 221 according to the present embodiment is the same as the configuration of the work confirmation device 21 according to the first embodiment and the work confirmation device 121 according to the second embodiment. In the present embodiment, the same parts as those in the first embodiment and the second embodiment are denoted by the same reference numerals, and different parts are mainly described.

(Step SC1 to Step SC5)
The contents of steps SC1 to SC5 are the same as the contents of steps SA1 to SA5 described in the first embodiment (see FIG. 3).

(Step SC6)
When the calculation means 222 determines that the suspended load is suspended from the boom 7, the work area line A and the actual load factor C are superimposed on the captured image B as shown in FIG. A display image D2 is created, and this display image D2 is displayed on the monitor 32.

(Step SC7 to Step SC8)
The calculation means 222 determines whether or not the actual load factor C has exceeded the second set value, and if it is determined that the actual load rate C has exceeded the second set value, as shown in FIG. The display image D3 in which the line A is deleted and the actual load factor is superimposed on the captured image B is created, and the display image D3 is displayed on the monitor 32.

  Therefore, in the work confirmation device 221 of the present embodiment, the actual load factor C is displayed before the actual load factor C reaches the first set value and the movement of the suspended load stops. Can grasp the approximate stop position of the suspended load regardless of the work area line A. Therefore, the work confirmation device 221 according to the present embodiment can perform the work of moving the suspended load more safely.

  Furthermore, since the work confirmation apparatus 221 of the present embodiment displays only the actual load rate C by deleting the work area line A, the actual load as in the work confirmation apparatus 21 of the first embodiment is displayed. Compared to the case where the rate C and the work area line A are displayed together, the actual load rate can be confirmed more accurately. Further, even if there is an error between the work area line A and the actual load factor C, it is possible to prevent the operator from being confused.

  In the work confirmation device 221 of the present embodiment, when the actual load factor C becomes equal to or lower than the second set value due to the movement of the suspended load from the state where the actual load factor C is displayed, the original state, That is, the work area line A is restored and displayed together with the actual load factor C as shown in FIG. Therefore, since the operator resumes the suspended load moving operation while looking at the work area line A, the suspended load moving operation can be performed smoothly.

  As mentioned above, although embodiment which concerns on this invention was illustrated, said 3 embodiment does not limit the content of this invention. Various modifications can be made without departing from the scope of the claims of the present invention.

  For example, in the above three embodiments, the second set value is set to 90% in order to warn the operator. However, if the second set value is lower than 100%, it is set to an arbitrary value. good.

  Further, when displaying the second set value, a color may be added. For example, when the second set value is less than 80%, it is displayed in green to inform the operator that it is in a safe state. When the second set value is less than 80% to less than 90%, it is displayed in yellow to notify the operator of the stop of the boom 7. When the second set value is 90% to less than 100%, it is displayed in red to notify the operator that the movement of the suspended load is in the limit state or to notify that the boom 7 is stopped.

DESCRIPTION OF SYMBOLS 1 Crane 2 Carrier 7 Boom 21 Work confirmation apparatus 22 Calculation means 23 Suspended load monitoring camera 24 Tilt sensor 25 Pan sensor 26 Cylinder pressure sensor 27 Boom length sensor 28 Untilt angle sensor 29 Turning angle sensor 30 Outrigger extension sensor 31 Winch drum rotation sensor 32 Monitor 33 Boom drive means 121 Work confirmation device 122 Calculation means 221 Work confirmation device 222 Calculation means A Work area line B Captured image C Actual load factor D1 Display image D2 Display image D3 Display image

Claims (4)

It is a work confirmation device used when moving a suspended load suspended via a rope from the tip of a boom which is provided on a crane body and can be swung horizontally and can be expanded and contracted.
A camera that images the lower side from the boom tip and acquires the captured image;
Image processing means for creating a display image for display to an operator from the captured image;
A monitor for displaying the display image to the operator;
An actual load factor calculating means for calculating an actual load factor applied to the boom;
Drive stop means for stopping the drive of the boom when the actual load factor reaches a first set value;
A work area line creating means for creating a work area line related to the maximum suspension load performance of the suspended load of the crane,
The image processing means creates a display image in which the work area line is superimposed on the captured image, displays the generated image on the monitor, and the actual load factor is set lower than the first set value. When the set value is exceeded, an operation confirmation device that creates at least the actual load factor superimposed on the captured image as the display image and displays it on the monitor. In the work confirmation device according to claim 1,
When the actual load factor exceeds the second set value in a state where the work area line is displayed superimposed on the captured image, the image processing means calculates the actual load factor from the work area line. A work confirmation device characterized by switching and displaying. In the work confirmation device according to claim 1,
When the actual load factor exceeds the second set value in a state where the work area line is displayed superimposed on the captured image, the image processing means displays the work area line while displaying the work area line. A work confirmation device characterized by adding and displaying an actual load factor. In the work confirmation device according to claim 1,
When the actual load factor exceeds the second set value in a state where both the work area line and the actual load factor are displayed superimposed on the captured image, the image processing means A work confirmation device characterized in that the actual load factor is displayed after deleting.