Patent Description:
A self-traveling crane vehicle includes a traveling body and a crane device mounted on the traveling body. The crane device is supported by the traveling body through a swivel base, and the swivel base may be provided with a driver seat.

<CIT> discloses a crane vehicle in which an ultrasonic sensor is arranged at a front end of a boom of a crane device. The ultrasonic sensor irradiates ultrasonic waves forward in the traveling direction of a traveling body, receives a reflected wave reflected by an object to be detected, and detects the distance to the object to be detected. Accordingly, it is determined whether the object to be detected is an obstacle during traveling or crane work of the crane vehicle.

Further, <CIT> discloses a crane vehicle comprising:.

<CIT> discloses a shovel including an image generation device as a periphery monitoring device for a work machine which generates an output distance image on the basis of an input distance image obtained by a stereo camera attached to a revolving super structure. The image generation device allows coordinates on an input distance image plane on which the input distance image is located to correspond to coordinates on an output distance image plane on which the output distance image is located.

Meanwhile, the crane device is mounted at the centre of the traveling body, and the driver seat is arranged on one side (for example, the right side of the traveling body) in the width direction of the traveling body. Thus, during traveling or during crane work, the other side in the width direction (for example, the left side of the traveling body) becomes a blind spot for the operator.

In the crane vehicle described in Patent Document <NUM>, obstacles cannot be sufficiently detected in the region which is a blind spot from the driver seat.

The present invention has been made based on the above background and an objective thereof is to provide a crane vehicle that achieves safe movement by reliably detecting an obstacle in a region which is a blind spot from a driver seat, namely, a region on the opposite side of the driver seat across a crane device.

The crane vehicle according to the present invention includes a traveling body on which a crane device is mounted, a driver seat arranged on one side in a width direction of the traveling body and having a steering wheel for determining a steering angle of wheels of the traveling body, a first sensor that outputs a signal corresponding to a distance to an obstacle located on the other side in the width direction, a second sensor for outputting a signal that corresponds to the steering angle of the steering wheel, a third sensor for outputting a signal that corresponds to the speed of the traveling body, a controller, and a display. The controller generates a second object that represents an obstacle detected by the first sensor. The controller displays an obstacle display image including a first object that represents a picture of the crane vehicle stored in a memory and the second object on the display. The distance between the first object and the second object corresponds to the distance detected by the first sensor.

Because the obstacle display image including the first object and the second object is displayed on the display, the operator of the crane vehicle can easily recognize the position of the obstacle with respect to the crane vehicle. In addition, because the distance between the first object that represents the crane vehicle and the second object that represents the obstacle corresponds to the distance detected by the first sensor, the operator can easily recognize the distance from the crane vehicle to the obstacle.

The controller sets the color of the second object to a first predetermined color when the distance to the obstacle is equal to or greater than a threshold distance stored in the memory, sets the color of the second object to a second predetermined color different from the first predetermined color when the distance to the obstacle is less than the threshold distance stored in the memory.

When an obstacle approaches, the color of the obstacle is changed from the first predetermined color to the second predetermined color, thus enabling the operator to instantly recognize that the obstacle is approaching.

The controller determines whether the obstacle detected by the first sensor is a moving object or a fixed object from the signals input from the first sensor, the second sensor, and the third sensor, and sets the second predetermined color to a third predetermined color different from the second predetermined color in response to a determination that the object is a moving object.

If the distance from the crane vehicle to the obstacle is short and the obstacle is a moving object, the color of the first object is changed from the second predetermined color to the third predetermined color different from the second predetermined color. Therefore, the operator can easily recognize that the obstacle requires more attention.

The crane vehicle according to the present invention may further include an input device. The controller receives, through the input device, a selection of one image from a bird's-eye view image viewed from above, a front image of a viewpoint directed forward, and a side image directed toward the other side, and displays the received image on the display as the obstacle display image.

According to the above configuration, an image that the operator feels easy to see can be displayed on the display.

The controller may receive an enlargement instruction instructing the enlargement of a partial region of the obstacle display image through the input device, and displays, in response to reception of the enlargement instruction, an enlarged image obtained by enlarging the region on the other side in the width direction of the traveling body on the display.

When an operator inputs an enlargement instruction through the input device, a region which is a blind spot from the driver seat is enlarged and displayed on the display.

The region which is a blind spot from the driver seat is enlarged without prompting the operator to designate the region to be enlarged. Thus, operation of the driver is facilitated. The crane device according to the present invention may further have a speaker. The controller causes the speaker to generate a warning sound when the distance to the obstacle is less than the threshold distance stored in the memory.

The sound also notifies that the obstacle is approaching. Thus, the operator can recognize the approaching of the obstacle more reliably.

The crane device preferably has a boom that can be raised, lowered and stretched. The first sensor is arranged at the front end of the boom. In response to reception of a signal output from the first sensor and corresponding to the distance from the front end of the boom to a load suspended by the boom, the controller may display the distance on the display.

The distance from the front end of the boom to the load suspended by the boom can be detected by the first sensor configured to detect an obstacle during movement of the crane vehicle, and the distance can be displayed on the display.

The crane vehicle according to the present invention may further include a fourth sensor for receiving infrared rays incident from the other side in the width direction. The controller determines whether the obstacle detected by the first sensor is a person or not in accordance with a signal input from the fourth sensor, and sets the second predetermined color to a fourth predetermined color different from the second predetermined color in response to a determination that the obstacle is a person.

When the distance from the crane vehicle to the obstacle is short and the obstacle is a person, the color of the first object is changed from the second predetermined color to the fourth predetermined color different from the second predetermined color. Therefore, the operator can easily recognize that the obstacle requires more attention.

The crane vehicle according to the present invention may further include a plurality of cameras for capturing images of the periphery of the traveling body. The obstacle display image includes the images captured by the cameras.

This enables the driver (manipulator) to recognize the situation around the crane vehicle as well.

According to the present invention, safe movement can be achieved by reliably detecting an obstacle in a region which is a blind spot from a driver seat, namely, a region on the opposite side from the driver seat across a crane device.

Hereinafter, a preferred embodiment of the present invention is described with reference to the drawings as appropriate. Moreover, the present embodiment is only one aspect of the present invention, and it is evident that the embodiment may be changed without changing the gist of the present invention.

A crane vehicle <NUM> of the present embodiment is shown in <FIG>. The crane vehicle <NUM> mainly includes a traveling body <NUM>, a crane device <NUM> mounted on the traveling body <NUM>, and a cabin <NUM> for an operator who drives the traveling body <NUM> and manipulates the crane device <NUM> to sit in. That is, the crane vehicle <NUM> is a rough terrain crane in which the driving of the traveling body <NUM> and the manipulation of the crane device <NUM> are performed in the cabin <NUM>.

In a rough terrain crane, a crane device is equipped on a moving body, a vehicle body is long, and only one cabin is arranged, thus making the range of the blind spot from the operator wider than in general vehicles. In the present embodiment, the crane vehicle <NUM> that can be safely driven and manipulated is described.

The traveling body <NUM> mainly includes a vehicle body <NUM>, an engine (not shown) mounted on the vehicle body <NUM>, a pair of left and right rear wheels <NUM> that are rotationally driven by the engine, and four steerable front wheels <NUM>. The front wheels <NUM> and the rear wheels <NUM> are rotatably held by the vehicle body <NUM>. The front wheels <NUM> and the rear wheels <NUM> correspond to the "wheels" of the present invention.

During normal travelling of travelling on a road or the like, the direction of the traveling body <NUM> is changed by steering the front wheels <NUM>.

In addition, the traveling body <NUM> includes a hydraulic pump (not shown) mounted on the vehicle body <NUM>, and a swivel base motor <NUM> (<FIG>) being a hydraulic motor driven by hydraulic oil supplied from the hydraulic pump. The swivel base motor <NUM> swings a swivel base <NUM> of the crane device <NUM>. The hydraulic pump supplies hydraulic oil to various hydraulic cylinders and hydraulic motors included in the crane device <NUM> in addition to the swivel base motor <NUM>.

Hereinafter, the width direction of the crane vehicle <NUM> is described as the left-right direction, and the direction in which the crane vehicle <NUM> advances during normal traveling is described as the front.

The traveling body <NUM> includes a pair of front and rear outriggers <NUM> for stabilizing the posture of the crane vehicle <NUM> during operation. The outrigger <NUM> includes an outer cylinder (not shown) fixed to the vehicle body <NUM> and extending in the left-right direction, a pair of left and right inner cylinders (not shown) held by the outer cylinder so as to be slidable in the left-right direction, and a pair of left and right jacks <NUM> arranged at the front ends of the inner cylinders. The jack <NUM> is a jack cylinder capable of stretching and contracting in the up-down direction. A ground plate <NUM> is arranged at the lower end of the jack <NUM>. The jack <NUM> is pulled out from the vehicle body <NUM> by the hydraulic cylinder (not shown) and then extended to ground the ground plate <NUM> to an iron plate or the like placed on the ground.

When the crane vehicle <NUM> is moved, the jacks <NUM> are brought into a housed state in which the jacks <NUM> are close to the vehicle body <NUM>, and the crane vehicle <NUM> is supported by the front wheels <NUM> and the rear wheels <NUM>. On the other hand, during working, the crane vehicle <NUM> is supported by the four jacks <NUM> that are pulled out and extended.

In addition, the traveling body <NUM> includes a battery <NUM> (<FIG>) that is charged by driving the engine. The battery <NUM> supplies a direct-current voltage to a power supply circuit <NUM> described later.

The crane device <NUM> includes a swivel base <NUM> swivably supported by the vehicle body <NUM>, and a boom <NUM> supported by the swivel base <NUM> so as to be capable of rising up and falling down.

The swivel base <NUM> is located on the upper surface of substantially the central portion of the vehicle body <NUM> in the front-rear direction. The swivel base <NUM> is swivably supported by, for example, a swing bearing (not shown) arranged in the vehicle body <NUM>. The swivel base <NUM> is rotated by the swivel base motor <NUM> arranged in the vehicle body <NUM>.

A swivel (not shown) is arranged between the vehicle body <NUM> and the swivel base <NUM> so as to circulate hydraulic oil, cooling water, or electricity (power and signals) between the vehicle body <NUM> and the swivel base <NUM>. Because the structure of the swivel is publicly known, detailed description thereof is omitted.

The boom <NUM> is located on the left side of the swivel base <NUM> and is supported by the swivel base <NUM> so as to be capable of rising up and falling down. The boom <NUM> is made to rise up and fall down by a derricking cylinder <NUM> (<FIG>) arranged between the swivel base <NUM> and the boom <NUM>. The derricking cylinder <NUM> is a hydraulic cylinder, and stretches and contracts when the hydraulic oil is supplied through the swivel from the hydraulic pump arranged in the vehicle body <NUM>.

The boom <NUM> has a plurality of frames arranged in a nested manner and is capable of stretching and contracting. The boom <NUM> is provided with a telescopic cylinder <NUM> that moves the frame. The telescopic cylinder <NUM> is a hydraulic cylinder and stretches and contracts when the hydraulic oil is supplied through the swivel from the hydraulic pump arranged in the vehicle body <NUM>.

A hook <NUM> (<FIG>) connected to one end of a wire is arranged at the front end of the boom <NUM>. The other end of the wire is connected to a winch <NUM> (<FIG>). The winch <NUM> is driven by supplying the hydraulic oil from the hydraulic pump through the swivel. The hook <NUM> is lifted and lowered by driving the winch <NUM>.

<FIG> shows a state of the crane vehicle <NUM> during normal traveling or during moving at a work site (hereinafter, referred to as a moving state). In the moving state, the boom <NUM> is contracted and laid down. The front end of the boom <NUM> in the moving state projects forward from the front surface of the vehicle body <NUM>. Hereinafter, the boom <NUM> is assumed to be in the posture in the moving state unless otherwise specified.

The cabin <NUM> is located on the upper surface of the right part of the swivel base <NUM>. That is, the cabin <NUM> is aligned with the boom <NUM> in the left-right direction. Therefore, in the moving state, the left side of the crane vehicle <NUM> becomes a blind spot from the operator sitting in the cabin <NUM>.

The cabin <NUM> has a substantially rectangular box shape. As shown in <FIG>, a driver seat <NUM> on which an operator sits, a driving device <NUM>, a manipulation device <NUM>, a display <NUM>, an input device <NUM> (<FIG>) used for switching the display of the display <NUM> and the like, and a control box (not shown) are housed in the inner space of the cabin <NUM>.

The driving device <NUM> is used for driving the traveling body <NUM>. The driving device <NUM> mainly includes a plurality of pedals <NUM> and a steering wheel <NUM>. The pedal <NUM> is an input unit for receiving an instruction to accelerate or decelerate the traveling body <NUM>, and is an accelerator pedal, a brake pedal, a clutch pedal, or the like. The steering wheel <NUM> is an input unit for receiving an instruction to change the steering angle of the front wheels <NUM> of the traveling body <NUM>. Because the configuration of the driving device <NUM> is publicly known, detailed description thereof is omitted.

The manipulation device <NUM> is used to manipulate the crane device <NUM>. Specifically, the operator's instructions of stretching/contracting the jacks <NUM> of the outrigger <NUM>, swinging the swivel base <NUM>, stretching or contracting the boom <NUM>, raising or lowering the boom <NUM>, and driving the winch <NUM> are received. The manipulation device <NUM> is configured of, for example, a lever <NUM>, a pedal <NUM>, a switch (not shown), or the like. Because the configuration of the manipulation device <NUM> is publicly known, detailed description thereof is omitted.

The display <NUM> is arranged in the cabin <NUM> at a position deviated to the left from the centre in the left-right direction. More specifically, the display <NUM> is arranged on the left side of the steering wheel <NUM>. Power is supplied to the display <NUM> from a power supply circuit <NUM> described later and an image signal is input to the display <NUM> from a controller <NUM> described later. The display <NUM> displays an image corresponding to the input image signal. Specifically, the display <NUM> displays a stretching state of the jacks <NUM>, a swivelling angle of the swivel base <NUM>, a stretching state (length) of the boom <NUM>, a derricking angle of the boom <NUM>, and an obstacle detected by an obstacle sensor <NUM> described later.

The input device <NUM> has one or a plurality of operation units such as push buttons operated by the operator. Alternatively, the input device <NUM> has a touch sensor superimposed on the display <NUM>. The input device <NUM> receives at least an instruction to select an obstacle display mode for displaying an obstacle image in a moving state, an instruction to select an image between a bird's-eye view image and a front image, an instruction to select an enlarged display of an image, or the like.

A control substrate is housed in the control box (not shown). A resistor, an integrated circuit, a diode, a capacitor, or a microcomputer that realizes the controller <NUM>, the power supply circuit <NUM> and a transmission/reception circuit <NUM> shown in <FIG> are mounted in the control substrate.

The power supply circuit <NUM> is electrically connected to the battery <NUM> through a cable and a swivel, and is supplied with a direct-current voltage from the battery <NUM>. The power supply circuit <NUM> has a DC/DC converter such as a switching regulator to convert the supplied direct-current voltage into a direct-current voltage having a stable predetermined voltage value (<NUM> V, <NUM> V, <NUM> V, and the like) and outputs the direct-current voltage. The power supply circuit <NUM> supplies the predetermined direct-current voltage as a drive voltage to the controller <NUM>, the display <NUM>, and the transmission/reception circuit <NUM>.

As shown in <FIG>, the controller <NUM> includes a CPU <NUM>, a ROM <NUM> in which a program is stored, a RAM <NUM>, a memory <NUM>, and a communication bus (not shown). The CPU <NUM> executes the program by sequentially executing the instructions described in the address of the program stored in the ROM <NUM>. The RAM <NUM> temporarily stores data and the like when the program is executed. The CPU <NUM>, the ROM <NUM>, the RAM <NUM>, and the memory <NUM> are connected by the communication bus. Moreover, a vehicle speed sensor <NUM> and a steering sensor <NUM>, which are indicated by broken lines in <FIG>, are included in the configuration of Modification example <NUM> and are described in Modification example <NUM>. In addition, an infrared sensor <NUM> shown by the broken line in <FIG> is included in the configuration of Modification example <NUM> and is described in Modification example <NUM>. Furthermore, a camera <NUM> shown by the broken line in <FIG> is included in the configuration of Modification example <NUM> and is described in Modification example <NUM>.

The controller <NUM> is connected to the driving device <NUM>, the manipulation device <NUM>, the input device <NUM>, the display <NUM>, the speaker <NUM>, and the transmission/reception circuit <NUM>. The controller <NUM> inputs an operation signal corresponding to the operator's instruction from the driving device <NUM>, the manipulation device <NUM>, and the input device <NUM>. In addition, the controller <NUM> outputs an image signal to the display <NUM> and displays an image on the display <NUM>. Furthermore, the controller <NUM> outputs a control signal to the transmission/reception circuit.

In addition, the controller <NUM> outputs an audio signal to the speaker <NUM>. The speaker <NUM> is mounted on, for example, the control substrate. The speaker <NUM> outputs a sound corresponding to the input audio signal.

Besides, the controller <NUM> is connected to the swivel base motor <NUM>, the derricking cylinder <NUM>, the telescopic cylinder <NUM>, the winch <NUM>, and a member such as a solenoid valve for controlling the operation of the jacks <NUM>, and controls the operation of the swivel base motor <NUM>, the derricking cylinder <NUM>, the telescopic cylinder <NUM>, the winch <NUM>, and the jacks <NUM>.

The transmission/reception circuit <NUM> is electrically connected to obstacle sensors 50A, 50B and 50C (described later) through a cable and the swivel. The transmission/reception circuit <NUM> includes, for example, a transmission circuit for generating a detection wave, an amplifier circuit for amplifying the detection wave generated by the transmission circuit and supplying the amplified detection wave to the obstacle sensor <NUM> being an antenna, and a detection circuit for generating and amplifying a detection signal corresponding to the radio waves received by the obstacle sensor <NUM> and outputting the amplified detection signal to the controller <NUM>. The transmission/reception circuit <NUM> is driven by receiving supply of power (direct-current voltage) from the power supply circuit <NUM>. The transmission/reception circuit supplies the detection wave to the obstacle sensor <NUM> based on the control signal input from the controller <NUM>, generates and outputs a detection signal.

The memory <NUM> is a non-volatile memory such as an EEPROM. The memory <NUM> stores a vehicle object being a schematic picture of the crane vehicle <NUM>. The vehicle object is used to generate an obstacle image described later. In addition, the memory <NUM> also stores threshold distance and color data. The threshold distance and the color data are used for determining the color of the obstacle in the obstacle image.

As shown in <FIG>, the crane vehicle <NUM> includes three obstacle sensors 50A, 50B and 50C. As shown in <FIG>, the obstacle sensor 50A is attached to the lower surface of the front end portion of the boom <NUM>. As shown in <FIG>, the obstacle sensor 50B is attached to the upper surface of the central portion of the vehicle body <NUM> in the front-rear direction on the left side of the vehicle body <NUM>. The obstacle sensor 50C is attached to the upper surface of the central portion of the vehicle body <NUM> in the left-right direction on the rear side of the vehicle body <NUM>. The obstacle sensor <NUM> corresponds to the "first sensor" of the present invention.

The obstacle sensor 50A arranged on the boom <NUM> is electrically connected through a cable to the transmission/reception circuit <NUM> of the control substrate arranged in the cabin <NUM>.

The obstacle sensor 50B and the obstacle sensor 50C arranged on the vehicle body <NUM> are electrically connected through a cable (not shown) and the swivel to the transmission/reception circuit <NUM> of the control substrate arranged in the cabin <NUM>.

Hereinafter, when the obstacle sensors 50A, 50B and 50C are not distinguished, they are described as the obstacle sensor <NUM>.

The obstacle sensor <NUM> is a transmission/reception antenna for transmitting and receiving radio waves. The obstacle sensor <NUM> transmits radio waves (detection wave) through the transmission/reception circuit <NUM> and receives radio waves (detection wave) reflected by the obstacle.

The obstacle sensor <NUM> being an antenna has directivity. In <FIG>, the directivity of the obstacle sensor <NUM> is shown by hatching. The obstacle sensor 50A mainly transmits radio waves toward the front and the left side of the crane vehicle <NUM>, and receives radio waves incident from the front and the left side of the crane vehicle <NUM> with high sensitivity. That is, the obstacle sensor 50A detects obstacles on the left side of the vehicle body <NUM> and in front of the vehicle body <NUM>, which are blind spots from the cabin <NUM>.

The obstacle sensor 50B mainly transmits radio waves toward the left side of the crane vehicle <NUM> and receives radio waves incident from the left side of the crane vehicle <NUM> with high sensitivity. That is, the obstacle sensor 50B detects obstacles on the left side of the vehicle body <NUM>, which is a blind spot from the cabin <NUM>.

The obstacle sensor 50C mainly transmits radio waves toward the left side and the rear side of the crane vehicle <NUM> and receives radio waves incident from the left side and the rear side of the crane vehicle <NUM> with high sensitivity. That is, the obstacle sensor 50C detects obstacles on the left side of the vehicle body <NUM> and on the rear side of the vehicle body <NUM>, which are blind spots from the cabin <NUM>.

Hereinafter, display processing in which the controller <NUM> displays an image on the display <NUM> when the crane vehicle is in the moving state is described with reference to <FIG>. Moreover, the execution order of each processing (each step) described below can be appropriately changed without changing the gist of the invention.

The controller <NUM> uses the input device <NUM> to determine whether the operator has selected the obstacle display mode (S11). Specifically, the controller <NUM> determines whether a start signal has been input from the input device <NUM>. That is, the display processing is started when the operator has selected the obstacle display mode.

The controller <NUM> waits until the start signal is input (S11: No). When the controller <NUM> determines that the start signal has been input (S11: Yes), the controller <NUM> executes the obstacle detection processing (S12). Details of the obstacle detection processing are described with reference to <FIG>.

First, the controller <NUM> outputs a control signal to the transmission/reception circuit <NUM> (S31), and causes the transmission/reception circuit <NUM> to transmit a detection wave from the obstacle sensor <NUM>. The transmitted detection wave is reflected by the obstacle. The detection wave (reflected wave) reflected by the obstacle is received by the obstacle sensor <NUM>. The reflected wave received by the obstacle sensor <NUM> is processed by the transmission/reception circuit <NUM> and output to the controller <NUM> as a detection signal. Because the processing performed by the transmission/reception circuit <NUM> is publicly known, detailed description thereof is omitted.

The controller <NUM> waits until a detection signal is input from the transmission/reception circuit <NUM> (S32: No). When the detection signal is input (S32: Yes), the controller <NUM> detects the direction in which the obstacle is located (S33), the distance to the obstacle (S34), and the size of the obstacle (S35), and ends the obstacle detection processing.

For example, the controller <NUM> calculates the distance to the obstacle, the direction in which the obstacle is located (that is, the position of the obstacle), and the size of the obstacle from a time starting from the transmission of the detection wave by the obstacle sensor 50A until the reception of the reflected wave, a time starting from the transmission of the detection wave by the obstacle sensor 50B until the reception of the reflected wave, the intensity distribution of the received reflected wave with respect to the reception angle (reception direction), and the like. In addition, the controller <NUM> calculates the distance to the obstacle, the direction in which the obstacle is located (that is, the position of the obstacle), and the size of the obstacle from a time starting from the transmission of the detection wave by the obstacle sensor 50B until the reception of the reflected wave, a time starting from the transmission of the detection wave by the obstacle sensor 50C until the reception of the reflected wave, the intensity distribution of the received reflected wave with respect to the reception angle (reception direction), and the like. Moreover, the detection of the position of the obstacle and the detection of the size of the obstacle are examples only, and other detection methods may also be used.

The controller <NUM> executes the processing of steps S33, S34 and S35 for all the detected obstacles.

As shown in <FIG>, when the obstacle detection processing is ended (S12), the controller <NUM> determines whether the detected separation distance is equal to or greater than the threshold distance stored in the memory <NUM> (S13). That is, the controller <NUM> determines whether the obstacle is close to the crane vehicle <NUM>. When the controller <NUM> determines that the separation distance is equal to or greater than the threshold distance (S13: Yes), the controller <NUM> sets the color of the obstacle to a first predetermined color indicated by color data stored in the memory <NUM> (S14). On the other hand, when the controller <NUM> determines that the separation distance is not equal to or greater than the threshold distance (S13: No), the controller <NUM> sets the color of the obstacle to be a second predetermined color indicated by the color data stored in the memory <NUM> (S15). The second predetermined color is, for example, red or yellow, and the first predetermined color is, for example, green or blue. After the execution of step S15, the controller <NUM> outputs an audio signal to the speaker <NUM> and causes the speaker <NUM> to output a warning sound (S24). That is, when the distance to the obstacle is short, the speaker <NUM> outputs the warning sound. The controller <NUM> executes the processing of steps S13 to S15 and S24 for all the detected obstacles.

Subsequently, the controller <NUM> determines the type of the image selected by the operator using the input device <NUM> based on the operation signal input from the input device <NUM> (S16). Specifically, the controller <NUM> determines whether the type of the image selected by the operator is a "bird's-eye view image", a "front image", or a "left image". The bird's-eye view image is an image captured when the crane vehicle <NUM> and its surroundings are viewed from above the crane vehicle <NUM>. The front image is an image captured when the front of the crane vehicle <NUM> is viewed from the crane vehicle <NUM>. The left image is an image captured when the left side of the crane vehicle <NUM> is viewed from the crane vehicle <NUM>.

When the controller <NUM> determines that the type of the image selected by the operator is the "bird's-eye view image" (S16: bird's-eye view image), the controller <NUM> uses the vehicle object stored in the memory <NUM> to generate an obstacle display image (<FIG>) being a bird's-eye view image. More specifically, the controller <NUM> generates an obstacle display image including the vehicle object stored in the memory <NUM> and the obstacle object that represents the obstacle detected by the obstacle detection processing. At that time, the controller <NUM> arranges an obstacle object having a size corresponding to the size of the obstacle detected in the obstacle detection processing at the position (direction and distance) of the obstacle detected in the obstacle detection processing. In addition, the controller <NUM> generates an obstacle object with the color set in step S14 or S15. The vehicle object corresponds to the "first object" of the present invention. The obstacle object corresponds to the "second object" of the present invention. The image shown in <FIG> corresponds to the "obstacle display image" of the present invention.

Similarly, when the controller <NUM> determines that the type of the image selected by the operator is the "front image" (S16: front image), the controller <NUM> generates an obstacle display image being a front image (S18), and generates an obstacle display image being a left image (S19) when the controller <NUM> determines that the type of the image selected by is the "left image" (S16: left image). The left image corresponds to the "side image" of the present invention.

After the obstacle display image (S17, S18, S19) is generated, the controller <NUM> determines whether the operator has instructed to enlarge the image by using the input device <NUM> (S20). Specifically, the controller <NUM> determines whether an operation signal indicating the enlargement of the image is input from the input device <NUM>.

When the controller <NUM> determines that the operation signal indicating the enlargement of the image has been input from the input device <NUM> (S20: Yes), the controller <NUM> generates an enlarged image (<FIG>) obtained by enlarging the generated obstacle display image (S21). The controller <NUM> enlarges a predetermined region of the obstacle display image to generate the enlarged image. Specifically, the controller <NUM> generates the enlarged image obtained by enlarging the left region of the crane vehicle <NUM>.

When the controller <NUM> determines that the operation signal indicating the enlargement of the image has not been input from the input device <NUM> (S20: No), the processing of step S21 of generating the enlarged image is skipped.

The controller <NUM> displays the bird's-eye view image generated in step S17, the front image generated in step S18, the left image generated in step S19, or the enlarged image generated in step S21 on the display <NUM> as an obstacle display image (S22).

Subsequently, the controller <NUM> determines whether the operator has input an instruction to end the obstacle display mode by using the input device <NUM> (S23). Specifically, the controller <NUM> determines whether an end signal has been input from the input device <NUM>. When the controller <NUM> determines that the end signal has not been input (S23: No), the controller <NUM> returns to the processing of step S12 and continues the display processing. On the other hand, when the controller <NUM> determines that the end signal has been input (S23: Yes), the controller <NUM> ends the display processing.

In the present embodiment, an image (<FIG>) including the vehicle object and the obstacle object is displayed on the display <NUM>, so that the operator of the crane vehicle <NUM> can easily recognize the position of the obstacle with respect to the crane vehicle <NUM>. In addition, the distance between the vehicle object that represents the crane vehicle <NUM> and the obstacle object that represents the obstacle corresponds to the separation distance detected by the obstacle sensor <NUM>, so that the operator can easily recognize the distance from the crane vehicle <NUM> to the obstacle.

In addition, in the present embodiment, when the obstacle is far from the crane vehicle <NUM>, the color of the obstacle object is the first predetermined color (for example, blue), and when the obstacle is close to the crane vehicle <NUM>, the color of the obstacle object is the second predetermined color (for example, red), thus enabling the operator to instantly recognize whether the obstacle is close to the crane vehicle <NUM>.

Besides, in the present embodiment, when the obstacle approaches, the color of the obstacle object is changed from the first predetermined color (for example, blue) to the second predetermined color (for example, red), thus enabling the operator to instantly recognize that the obstacle is approaching.

In addition, in the present embodiment, the image selected by the operator from the "bird's-eye view image", the "front image", and the "left image" is displayed on the display <NUM>. Thus, an image that the operator feels easy to see can be displayed on the display.

Besides, in the present embodiment, when the operator inputs an enlargement instruction, the region on the left side of the crane vehicle <NUM>, which is a blind spot from the driver seat <NUM>, is enlarged and displayed on the display <NUM>. That is, the region which is a blind spot from the driver seat <NUM> is enlarged without prompting the operator to designate the region to be enlarged. Thus, the operation of the operator is facilitated.

Besides, in the present embodiment, the sound output from the speaker <NUM> also notifies that the obstacle is close to the crane vehicle <NUM>. Thus, the operator can more reliably recognize that the obstacle is close to the crane vehicle <NUM> or recognize that the obstacle is within the threshold distance.

In addition, in the present embodiment, because the obstacle is detected by radio waves, the obstacle can be reliably detected even when the surroundings are dark such as at night. That is, the obstacle is reliably displayed on the display <NUM> even when the surroundings are dark such as at night.

Further the controller <NUM> determines whether the detected obstacle is a moving object that moves or a fixed object that does not move.

The crane vehicle <NUM> described in this modification example further includes the vehicle speed sensor <NUM> and the steering sensor <NUM> shown by broken lines in <FIG>. The vehicle speed sensor <NUM> outputs, as a detection signal, pulses of the number (per unit time) in accordance with the vehicle speed of the crane vehicle <NUM>. The steering sensor <NUM> is, for example, a resolver or an encoder. The steering sensor <NUM> outputs a signal as a detection signal in accordance with the rotational position (steering angle) of the steering wheel <NUM>. The detection signals output by the vehicle speed sensor <NUM> and the steering sensor <NUM> are input to the controller <NUM>. The steering sensor <NUM> corresponds to the "second sensor" of the present invention. The vehicle speed sensor <NUM> corresponds to the "third sensor" of the present invention.

In this modification example, the controller <NUM> executes the display processing shown in <FIG> instead of the display processing shown in <FIG>. Moreover, in the display processing shown in <FIG>, the same processing as the display processing shown in <FIG> is denoted by the same reference characters and the description thereof is omitted.

The controller <NUM> executes the processing of steps S11 to S15 and S24 as in the above embodiment (the display processing shown in <FIG>). Subsequently, the controller <NUM> executes an obstacle determination processing for determining whether the obstacle detected by the obstacle sensor <NUM> is a moving object or a fixed object (S51).

Specifically, the controller <NUM> calculates the traveling direction and the vehicle speed (moving speed) of the crane vehicle <NUM> based on the detection signals input from the vehicle speed sensor <NUM> and the steering sensor <NUM>. The traveling direction of the crane vehicle <NUM> is, for example, straight travel, reverse travel, left turn, right turn, or the like. Next, the controller <NUM> calculates the moving direction and the moving speed of the detected obstacle based on the temporal change in the position of the obstacle detected in the obstacle detection processing (S12). The controller <NUM> determines that the detected obstacle is a fixed object when the calculated traveling direction and vehicle speed (moving speed) of the crane vehicle <NUM> coincide with the calculated moving direction and moving speed of the obstacle. On the other hand, the controller <NUM> determines that the obstacle is a moving object when the calculated traveling direction and vehicle speed (moving speed) of the crane vehicle <NUM> do not coincide with the calculated moving direction and moving speed of the obstacle. Moreover, the "determination of whether the obstacle is a moving body or a fixed object" described above is an example only and may be performed by other methods.

In response to the determination that the detected obstacle is a moving object (S51: Yes), the controller <NUM> changes the second predetermined color (for example, yellow) set in step S15 to a third predetermined color (for example, red) different from the second predetermined color and the first predetermined color (for example, blue) (S52). In addition, in response to the determination that the detected obstacle is a moving object (S51: Yes), the controller <NUM> changes the first predetermined color (for example, blue) set in step S14 to a fifth predetermined color (for example, orange) different from the first predetermined color, the second predetermined color, and the third predetermined color (S52). The third predetermined color and the fifth predetermined color are colors previously stored in the memory <NUM>. On the other hand, the controller <NUM> skips the processing of step S52 when the detected obstacle is not a moving object (that is, the detected obstacle is a fixed object) (S51: No).

After executing step S52, the controller <NUM> executes the processing of steps S16 to S23 as in the embodiment described above, and ends the display processing.

A fixed object such as a wall of a building and a moving object such as a pedestrian, a motorcycle, or a bicycle are displayed with colors changed, thus enabling the user to instantly recognize whether the object is a fixed object or a moving object.

In addition, when the distance from the crane vehicle <NUM> to the obstacle is short and the obstacle is a moving object, the color of the obstacle object is changed from the second predetermined color (for example, yellow) to the third predetermined color (for example, yellow), thus enabling the user to easily recognize that more attention is required.

Further, an arrangement is described in which the obstacle sensor 50A is used to detect obstacles around a load suspended by the hook <NUM> or a distance to the suspended load during the operation of the crane device <NUM>.

The configuration of a crane vehicle <NUM> shown in <FIG> is the same as the configuration of the crane vehicle <NUM> described in the first embodiment, except that the crane vehicle <NUM> has a rotating body that changes the orientation of the antenna of the obstacle sensor 50A.

The input device <NUM> receives an instruction to select an obstacle detection mode for detecting obstacles around the load <NUM> during the operation of the crane device <NUM>.

Hereinafter, the display processing executed by the controller <NUM> during the operation of the crane device <NUM> is described with reference to <FIG>. The display processing is processing in which the presence/absence of obstacles around the load <NUM>, the distance from the front end of the boom <NUM> to the load <NUM>, or the like is displayed on a state display image showing the swivelling angle of the swivel base <NUM>, the derricking angle of the boom <NUM>, the length of the boom <NUM>, and the like.

First, the controller <NUM> determines whether the operator has selected the obstacle detection mode by using the input device <NUM> (S41). Specifically, the controller <NUM> determines whether a start signal has been input from the input device <NUM>. That is, the display processing is started when the operator has selected the obstacle display mode.

The controller <NUM> waits until a start signal is input (S41: No). When the controller <NUM> determines that the start signal has been input (S41: Yes), the controller <NUM> changes the orientation of the obstacle sensor 50A (S42). Specifically, the orientation of the obstacle sensor 50A is changed to the orientation in which the detection wave is irradiated toward the underneath of the front end of the boom <NUM>.

Subsequently, the controller <NUM> executes obstacle detection processing (S43). Specifically, the controller <NUM> outputs a control signal to the transmission/reception circuit <NUM> and receives a detection signal as in the processing of step S31 (<FIG>). The controller <NUM> determines whether an obstacle exists around the load <NUM> based on the received detection signal (S44).

When the controller <NUM> determines that an obstacle exists around the load <NUM> (S44: Yes), the controller <NUM> causes the display <NUM> to display an image indicating that an obstacle exists around the load <NUM>, or causes the speaker <NUM> to output a warning sound (S45). Moreover, whether the object is the load <NUM> or the obstacle is determined by, for example, the position of the detected object. For example, the controller <NUM> determines that the object located directly under the hook <NUM> is a "load" and the object existing around the "load" is an "obstacle".

Subsequently, the controller <NUM> determines whether the operator has input an instruction to end the obstacle detection mode by using the input device <NUM> (S48). Specifically, the controller <NUM> determines whether an end signal has been input from the input device <NUM>. When the controller <NUM> determines that the end signal has not been input (S48: No), the controller <NUM> returns to the processing of step S42 and continues the display processing. On the other hand, when the controller <NUM> determines that the end signal has been input (S48: Yes), the controller <NUM> ends the display processing.

When the controller <NUM> determines that no obstacle exists in the processing of step S44 (S44: No), the controller <NUM> calculates a suspension distance being the distance to the load <NUM> (S46). The suspension distance is calculated from, for example, the time starting from the irradiation of the detection wave to the reception of the reflected wave reflected by the load <NUM>.

The controller <NUM> displays the calculated suspension distance on the state display image showing the swivelling angle of the swivel base <NUM>, the derricking angle of the boom <NUM>, the length of the boom <NUM>, and the like (S47). Subsequently, the controller <NUM> determines whether the end signal has been input from the input device <NUM> (S48). When the controller <NUM> determines that the end signal has not been input (S48: No), the controller <NUM> returns to the processing of step S42 and continues the display processing. On the other hand, when the controller <NUM> determines that the end signal has been input (S48: Yes), the controller <NUM> ends the display processing.

The obstacle sensor 50A arranged at the front end of the boom <NUM> can be used to detect the distance to the load <NUM> suspended by the crane device. In addition, an obstacle around the load <NUM> can be detected.

Additionally, an arrangement is described in which infrared sensors <NUM> for detecting infrared rays is arranged in addition to the obstacle sensor <NUM>.

The infrared sensors <NUM> are arranged adjacent to the obstacle sensors 50A, 50B and 50C, respectively. That is, three infrared sensors <NUM> are arranged on the crane vehicle <NUM>. The infrared sensor <NUM> corresponds to the "fourth sensor" of the present invention.

The infrared sensor <NUM> includes a lens for collecting incident infrared rays, a light receiving unit for receiving the infrared rays collected by the lens, and an amplifier circuit for amplifying and outputting a signal corresponding to the infrared rays received by the light receiving unit. The amplifier circuit is driven by the direct-current voltage supplied from the power supply circuit <NUM>. That is, the infrared sensor <NUM> is arranged adjacent to the obstacle sensor <NUM>, and thereby the power is supplied through the cable or the swivel connecting the obstacle sensor <NUM> and the control substrate.

A receiving unit may output a signal corresponding to the intensity of the received infrared ray, or may have a plurality of light receiving units. The infrared sensor <NUM> having a plurality of light receiving units outputs a signal corresponding to the difference in the intensity of the infrared rays received by each light receiving unit. That is, when an object to be detected such as a person who emits infrared rays moves, the infrared sensor <NUM> outputs a detection signal indicating that the object to be detected has been detected.

The region where the lens of the infrared sensor <NUM> performs light collection corresponds to the directional region of the obstacle sensor <NUM> being an antenna. That is, the lens of the infrared sensor <NUM> collects the infrared rays that are incident from the region where the obstacle sensor <NUM> mainly irradiates the detection wave. Therefore, the infrared sensor <NUM> detects the same region as the detection region of the obstacle sensor <NUM>.

The controller <NUM> executes the processing of steps S11 to S15 and S24 as in the first embodiment (display processing shown in <FIG>). Subsequently, the controller <NUM> determines whether the obstacle detected by the obstacle sensor <NUM> is a "person" (S61). Specifically, the controller <NUM> calculates the position of the object to be detected that emits infrared rays in the same manner as in the first embodiment, based on the detection signals input from the plurality of infrared sensors <NUM>. The controller <NUM> determines whether the calculated position of the object to be detected matches the position of the obstacle.

Subsequently, the controller <NUM> determines whether the size of the obstacle detected by the obstacle sensor <NUM> is equal to or larger than the threshold value. The threshold value is previously stored in the memory <NUM>. The controller <NUM> determines that the obstacle is a "person" when the position of the object to be detected matches the position of the obstacle and the size of the obstacle is equal to or larger than the threshold value.

Moreover, the above-mentioned "determination of whether the obstacle is a person or not" is an example only and may be performed by other methods.

When the controller <NUM> determines that the detected obstacle is a person (S61: Yes), the controller <NUM> changes the second predetermined color (for example, yellow) set in step S15 to the fourth predetermined color (for example, red) different from the second predetermined color, and changes the first predetermined color (for example, blue) set in step S14 to a sixth predetermined color (for example, orange) different from the second predetermined color, the first predetermined color (for example, blue), and the fourth predetermined color (S62).

On the other hand, when the controller <NUM> determines that the detected obstacle is not a person (S61: No), the controller <NUM> skips the processing of step S62. Then, the controller <NUM> executes the processing of steps S16 to S23 as in the first embodiment.

The color of the obstacle object is varied depending on whether the obstacle is a person or not, thus enabling the user to easily recognize whether the obstacle is a person or not.

In addition, when the distance from the crane vehicle <NUM> to the obstacle is short and the obstacle is a person, the color of the obstacle object is changed from the second predetermined color (for example, yellow) to the fourth predetermined color (for example, red), thus enabling the operator to easily recognize that more attention is required.

Moreover, the fourth predetermined color is different from the second predetermined color and the third predetermined color, and the sixth predetermined color is different from the fifth predetermined color.

As shown in <FIG>, the crane vehicle <NUM> of this modification example includes a plurality of (four in the illustrated example) cameras <NUM>. The first camera <NUM> is arranged in the front part of the crane vehicle <NUM> to capture images in front of the crane vehicle <NUM>. The second camera <NUM> is arranged at the rear side of the crane vehicle <NUM> to capture images back of the crane vehicle <NUM>. The third camera <NUM> is arranged on the left side of the crane vehicle <NUM> to capture images on the left side of the crane vehicle <NUM>. The fourth camera <NUM> is arranged on the right side of the crane vehicle <NUM> to capture images on the right side of the crane vehicle <NUM>.

The camera <NUM> is electrically connected to the control substrate through a cable or a swivel. The camera <NUM> outputs the captured image as an image signal. The image signal output by the camera <NUM> is input to the controller <NUM>. The controller <NUM> synthesizes a plurality of images represented by the input image signals to generate a bird's-eye view image of the periphery of the crane vehicle <NUM>. Because the method by which the controller <NUM> generates a bird's-eye view image from a plurality of images is publicly known, detailed description thereof is omitted.

The controller <NUM> synthesizes the generated bird's-eye view images of the periphery of the crane vehicle <NUM> into the bird's-eye view image described in the embodiment, and displays the synthesized image on the display <NUM> as an obstacle display image. Alternatively, the controller <NUM> synthesizes the images captured by the camera <NUM> for capturing images in front of the crane vehicle <NUM> into the front image described in the embodiment, and displays the front image on the display <NUM> as an obstacle display image. Alternatively, the controller <NUM> synthesizes the images captured by the camera <NUM> for capturing images on the left side of the crane vehicle <NUM> into the left image described in the embodiment, and displays the left image on the display <NUM> as an obstacle display image.

In addition to the vehicle object and the obstacle object, the image of the periphery of the crane vehicle <NUM> is also added to the obstacle display image, thus enabling the operator to recognize the situation around the crane vehicle <NUM> more easily.

Further, an arrangement is described in which no obstacle sensor <NUM> is arranged on the right side of the swivel base <NUM> on which the cabin <NUM> is arranged. However, the obstacle sensor <NUM> may also be arranged on the right side of the swivel base <NUM>.

In addition, in the above-described embodiment, an example is described in which the boom <NUM> is located on the left side of the swivel base <NUM> and the cabin <NUM> is located on the right side of the swivel base <NUM>. However, the boom <NUM> may also be located on the right side of the swivel base <NUM> and the cabin <NUM> may also be located on the left side of the swivel base <NUM>.

Besides, in the above-described embodiment and modification examples, an example is described in which the user selects whether to execute the obstacle detection mode. However, the obstacle detection mode may always be executed.

In addition, in the above-described embodiment, an example is described in which the transmission/reception circuit <NUM> is mounted on the control substrate, the obstacle sensor <NUM> being an antenna is arranged on the boom <NUM> or the vehicle body <NUM>, and the transmission/reception circuit <NUM> is electrically connected to the obstacle sensor <NUM> through a cable or a swivel. However, a transmission/reception module in which an antenna and the transmission/reception circuit <NUM> are integrated may also be used instead of the obstacle sensor <NUM> and the transmission/reception circuit <NUM>.

Furthermore, in the above-described embodiment, an example is described in which the obstacle sensor <NUM> transmits the detection wave by the power supplied from the power supply circuit <NUM> arranged in the cabin <NUM>. However, an antenna power supply circuit for supplying power to the obstacle sensor <NUM> may also be arranged in the vehicle body <NUM> separately from the power supply circuit <NUM>. The antenna power supply circuit transforms the direct-current voltage supplied from the battery <NUM> into a predetermined direct-current voltage and outputs the direct-current voltage.

In addition, in the above-described embodiment, an example is described in which a signal corresponding to the reflected wave received by the obstacle sensor <NUM> is input to the controller <NUM> through a cable or a swivel. However, the obstacle sensor <NUM> and the controller <NUM> may be configured to be capable of wirelessly communicating with each other, and a signal corresponding to the reflected wave received by the obstacle sensor <NUM> may be input to the controller <NUM> by wireless communication. Specifically, the obstacle sensor <NUM> has a transmission antenna for wireless communication. A reception antenna (pattern antenna) for wireless communication is arranged in the control substrate. The signal output from the obstacle sensor <NUM> is input to the controller <NUM> by wireless communication, and thus noise can be prevented from being superimposed on the signal at the swivel.

Besides, an arrangement is described in which the image signal output by the camera <NUM> is input to the controller <NUM> through a cable or a swivel. However, the camera <NUM> and the controller <NUM> may be configured to be capable of wirelessly communicating with each other, and the image signal output by the camera <NUM> may be input to the controller <NUM> by wireless communication. Specifically, the camera <NUM> is electrically connected to the transmission antenna for wireless communication through a cable. A reception antenna (a pattern antenna or the like) for wireless communication is arranged in the control substrate. The image signal output by the camera <NUM> is input to the controller <NUM> by wireless communication. Thus, noise can be prevented from being superimposed on the image signal at the swivel.

Furthermore, in the above-described embodiment, the obstacle sensor <NUM> that transmits radio waves has been described. However, the obstacle sensor <NUM> may also irradiate light such as laser light. In that case, the obstacle sensor <NUM> includes a light emitting unit such as a light emitting diode for irradiating light, a light receiving unit such as a photodiode for receiving the light and outputting a voltage corresponding to the intensity of the received light, and an amplification unit for amplifying the voltage output by the light receiving unit and outputting the amplified voltage as a detection signal.

Claim 1:
Crane vehicle (<NUM>), comprising:
- a traveling body (<NUM>) on which a crane device (<NUM>) is mounted;
- a driver seat (<NUM>) arranged on one side in a width direction of the traveling body (<NUM>), the driver seat (<NUM>) having a steering wheel (<NUM>) for determining a steering angle of wheels (<NUM>) of the traveling body (<NUM>);
- a first sensor (<NUM>) that outputs a signal corresponding to a distance to an obstacle located on the other side in the width direction;
- a second sensor (<NUM>) for outputting a signal that corresponds to the steering angle of the steering wheel (<NUM>);
- a third sensor (<NUM>) for outputting a signal that corresponds to the speed of the traveling body (<NUM>);
- a controller (<NUM>); and
- a display (<NUM>),
wherein
- the controller (<NUM>)
- generates a second object that represents an obstacle detected by the first sensor (<NUM>), and
- displays an obstacle display image including a first object that represents the crane vehicle (<NUM>) stored in a memory (<NUM>) and the second object on the display (<NUM>),
- the distance between the first object and the second object corresponds to the distance detected by the first sensor (<NUM>),
- the controller (<NUM>)
- sets the color of the second object to a first predetermined color when the distance to the obstacle is equal to or greater than a threshold distance stored in the memory (<NUM>),
- sets the color of the second object to a second predetermined color different from the first predetermined color when the distance to the obstacle is less than the threshold distance stored in the memory (<NUM>),
- determines whether the obstacle detected by the first sensor (<NUM>) is a moving object or a fixed object from the signals input from the first sensor (<NUM>), the second sensor (<NUM>), and the third sensor (<NUM>), and
- sets the second predetermined color to a third predetermined color different from the second predetermined color in response to a determination that the object is a moving object.