JPH0781886A - Display device for movable range of crane - Google Patents

Abstract

PURPOSE:To provide a display device by which the current position and movable range of the end portion of a telescopic boom can be made sure even in the direction of swing motion, at a magnitude equal to that of an operating radius so as to suit the operator's perception. CONSTITUTION:Rectangular coordinates are displayed on a display portion with the X coordinate 22 showing a swinging position and the Y coordinate 21 showing an operating radius, and the current hoisted load is computed by a control portion 8 on the basis of each signal, and a rated operating radius 23 for the condition in which the actual load is hoisted is computed for each swinging position, and an image of the position 24 of the end portion of a telescopic boom is superimposed on the image of the rated operating radius 23 or a limiting radius, and the images are displayed in a corresponding position on the rectangular coordinates.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movable range display device for a telescopic boom tip of a mobile crane.

[0002]

2. Description of the Related Art In the prior art, as shown in FIG. 9, for example, the work radius or load factor is taken in the radial direction, and the telescopic boom tip end position and each swivel point in polar coordinates with the swivel angle in the circumferential direction. An image is displayed by superimposing the limit work range for each corner.

[0003]

However, since the perception of the operator is formed based on the rectangular coordinates, the perception of rotational movement (angle) is generally inferior to the perception of linear movement (distance). To do. For this reason, the polar coordinate display shows a right angle motion in the working radius (front and back) direction, but a rotary motion in the turning (left and right) direction, so be aware of the danger in the turning direction compared to the working radius direction. Is not easy. Although many fall accidents occur during crane work, it is worth noting that most fall accidents occur during turning. In the conventional technology, the problem is that the danger is sensed in the turning direction, and the angle is grasped as a scale instead of the distance.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, in which the X coordinate is the turning position and the Y position is on the display unit.
The coordinates are displayed in rectangular coordinates indicating the working radius, the tip position image of the telescopic boom is calculated at the corresponding position on the rectangular coordinates, and the current hoisting load based on each signal is calculated and calculated in the control unit. The rated working radius for the state in which the actual load is suspended is calculated and calculated for each turning position, and the rated working radius (limit movable range) image is superimposed and displayed.

[0005]

With the above-described structure, the rated working radius for the current lifting load can be obtained on the rectangular coordinates on the display, that is, on the rectangular coordinates where the X coordinate is the turning angle and the Y coordinate is the working radius. Is displayed for each turning angle, and the current working radius of the telescopic boom tip and the turning position are displayed in an overlapping manner.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a system block diagram of an embodiment of a movable range display device according to the present invention, which is roughly classified into a boom length detection means 1, a boom angle detection means 2, a turning position detection means 3, a load detection means 4, a work state input means or detection. The means 5, the movable range setting means 6, the target point setting means 7, etc., if necessary, the detection and input setting sections, and the actual working radius based on these information,
Rated working radius 2 from turning position, actual load and rated total load curve
3, a boom tip position 24, a limit radius 35, a movable range, a target point 41, etc. are stored and calculated, and a display unit 9 for displaying the result.

FIG. 2 shows a work state input means or detection means 5,
An embodiment will be shown in which the display unit 9 including the movable range setting unit 6 and provided at the corresponding position in the illustration of the crane is integrated with the display unit 9 having a multi-display.

FIG. 3 is a display image of the display unit 9 and shows a display example with the upper swing body as a reference. Y coordinate 21 is the working radius, X
The coordinate 22 is the turning angle, and the origin is set on the upper swing body, and the origin is normally in front of the operator. The rated work radius 23 and the boom tip position 24 are displayed. Since the display is based on the operator, the movable range of the crane can be grasped centering on the operator. Further, the turning angle display range is not limited to the entire circumference (-180 to +180), but may be partially (-
90 to +90). FIG. 4 is a display image of the display unit 9 and shows a display example based on the lower traveling body. Similar to FIG. 3, the Y-coordinate 21 is the working radius, and the X-coordinate 22 is the turning angle, which is the origin on the lower traveling body. The rated work radius 23 and the telescopic boom tip position 24 are displayed. From the display, it is possible to know which direction the upper revolving structure is facing with respect to the lower traveling structure. Further, the display range of the turning angle can be freely displayed as in FIG. It is clear from the displayed images that in order to move further from to FIG. 3 and FIG. 4, it is necessary to raise the boom while turning to the right, avoid the danger area, and perform the prone operation again.

In FIG. 5, a movable range setting means 6 is added to FIG.
The movable range can be set with respect to at least the working radius and the turning position, and the display is shown by being superimposed on the corresponding position of the rectangular coordinates in FIGS. 3 and 4. Movable range is left turning limit 3
1, a right turn limit 32, a radius / turn combined limit 33, and a radius limit 34 are displayed. The rated work radius 23 based on the current hoisting load and the movable range based on the above settings may be compared for each turning angle, and the smaller one may be displayed as the limit radius 35 on the angular coordinate. As shown in FIG.

In FIG. 7, target point 41 setting means is added to FIG.
The crane is operated to a position to be stored in advance so that at least the working radius and turning angle at the target point 41 are stored, and the position of the target point 41 is set to the corresponding position of the Cartesian coordinates in FIGS. 3 and 4. The superimposed display is shown. In this case, the set number of target points 41 is not limited. With such a display image, even if the lifting load is different each time, it is possible to determine that the overload will occur at the target point 42 immediately after the hoisting load is cut off, and if any operation is performed, the target point 41 will be reached. You can immediately determine if you can reach it by looking at the screen. If the target point 41 is approached within a certain range, enlarged display can be performed automatically or by the display selection means, and this function cannot be realized by polar coordinate display. FIG. 8 shows a display example in which a certain range of the display example of FIG. 7 is enlarged.

[0011]

As described above in detail, according to the display image, the crane operator can grasp the movable range of the crane and the position of the telescopic boom tip part in the turning direction with a sense of distance as in the working radius direction. Since there is no correspondence between the vertical and horizontal directions in which the telescopic boom tip moves on the image and the forward, backward, leftward and rightward operating directions of the crane, it is possible to intuitively grasp and it is extremely useful for ensuring the safety of crane operation. .

[Brief description of drawings]

FIG. 1 is a system block diagram of a movable range display device according to the present invention.

FIG. 2 shows an embodiment of a display unit according to the present invention.

FIG. 3 is an example of a display image (based on an upper swing body) according to the present invention.

FIG. 4 is an example of a display image according to the present invention (lower traveling body reference).

5 is a display example in which a movable range is set at a position corresponding to the Cartesian coordinates in FIG. 3 and superimposed.

FIG. 6 is a display example in which the rated working radius and the movable range based on the current hoisting load are compared for each turning angle on the Cartesian coordinate system of FIG. 3, and the smaller one is set as the limit radius.

FIG. 7 is a display example in which a target point setting means is added to store a working radius and a turning angle at a target point, and the position of the target point is superimposed on the corresponding position of the rectangular coordinates in FIGS. 3 and 4.

8 is a display example in which a certain range of the display example of FIG. 7 is enlarged.

FIG. 9 shows a display example in conventional polar coordinates.

[Explanation of symbols]

 1 boom length detection means 2 boom angle detection means 3 turning position detection means 4 load detection means 5 work state input means and detection means 6 movable range setting means 7 target point setting means 8 control section 9 display section 21 Y coordinate 22 X coordinate 23 Rated working radius 24 Boom tip position 35 Limit radius 41 Target point

Claims (1)

[Claims] 1. A telescopic boom tip end of a mobile crane in which a telescopic boom is movably attached to a revolving structure mounted on a vehicle having a slideable and jackable outrigger in front, rear, left and right directions. A range display device, including boom length detection means for detecting the length of the telescopic boom, boom angle detection means for detecting the hoisting angle of the telescopic boom, load detection means for detecting the load acting on the telescopic boom, and telescopic Boom angle detection means, load detection means for detecting the load acting on the telescopic boom, turning position detection means for detecting the turning position of the telescopic boom, and work state input for inputting the work states of the upper swing body and the lower traveling body. Means or a work state detecting means for detecting the above state, and performs an operation based on a signal from the display section capable of displaying an image and each of the detecting means or each input means. A control unit for outputting a signal for displaying the calculation result on the display unit, wherein the display unit displays the X coordinate as a turning position and the Y coordinate as a rectangular coordinate so as to indicate a working radius, At the corresponding position on the Cartesian coordinates, the tip position image of the telescopic boom and the current hoisting load based on each signal are calculated and calculated, and then the rated working radius for the state where the actual load is hung is calculated for each turning position. A movable range display device for a crane, characterized in that the movable range display device is configured to calculate and calculate, and superimpose and display the image of the rated work radius or the limit radius.