Crane vehicle
A crane vehicle achieves safe movement by reliably detecting an obstacle in a region which is a blind spot from the opposite side of the driver seat across a boom. The crane vehicle includes an obstacle sensor which is a transmission/reception antenna that transmits a detection wave and receives the detection wave reflected from the obstacle. A signal corresponding to the reflected wave received by the obstacle sensor is amplified and input to a controller, which calculates the position and the size of the obstacle on the basis of the signal. The controller generates an obstacle display image and displays the image on a display, the obstacle display image including a vehicle object that represents a crane vehicle and an obstacle object which is an object corresponding to the calculated size of the obstacle and which is disposed at a position corresponding to the calculated position of the obstacle.
1. A crane vehicle, comprising:
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;
a first sensor that outputs a signal corresponding to a distance to an obstacle located on the other side in the width direction;
a controller; and
a display,
wherein:
the controller creates a second object that indicates an obstacle detected by the first sensor,
the controller displays an obstacle display image including a first object that represents 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,
the controller places the second object on the obstacle display image in response to the location detected by the first sensor,
the controller sets a 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, and 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,
the driver seat has a steering wheel for determining a steering angle of wheels of the traveling body, and
the crane device further comprises:
a second sensor for outputting a signal that corresponds to the steering angle of the steering wheel, and
a third sensor for outputting a signal that corresponds to the speed of the traveling body, and further wherein:
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.
2. The crane vehicle according to claim 1 , further comprising an input device,
wherein 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.
3. The crane vehicle according to claim 2 , wherein the controller receives, through the input device, an enlargement instruction instructing the enlargement of a partial region of the obstacle display image, 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.
4. The crane vehicle according to claim 1 , further comprising a speaker, wherein 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.
5. The crane vehicle according to claim 1 , wherein:
the crane device has a boom capable of being raised, lowered and stretched,
the first sensor is arranged at a front end portion of the boom, and
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 displays the distance on the display.
6. The crane vehicle according to claim 1 , further comprising a plurality of cameras for capturing images of the periphery of the traveling body,
wherein the obstacle display image includes the images captured by the cameras.
7. A crane vehicle, comprising:
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;
a first sensor that outputs a signal corresponding to a distance to an obstacle located on the other side in the width direction;
a controller; and
a display,
wherein:
the controller creates a second object that indicates an obstacle detected by the first sensor,
the controller displays an obstacle display image including a first object that represents the crane vehicle stored in a memory and the second object on the display,
the controller places the second object on the obstacle display image in response to the location detected by the first sensor,
the distance between the first object and the second object corresponds to the distance detected by the first sensor,
the controller sets a 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, and sets the color of the second object to a second predetermined color different from the first predetermined color when the stance to the obstacle is less than the threshold distance stored in the memory,
further comprising a fourth sensor for receiving infrared rays incident from the other side in the width direction,
wherein 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.