JPH04148889A - Detecting obstruction of working car - Google Patents

Abstract

PURPOSE:To enable safe, sure and quick work by outputting a signal to a warning means of an alarm, an operation cancellation device, etc., when a judgment function judges a separation line previously set to pass and the separation to be in a gradual decrease state. CONSTITUTION:One or plural separation lines 17a, 17c, 17f, etc., are optionally set up in a safer position having room than the minimum separation 16 by a command from the outside and stored to a controller 11. Then, a process signal to operate a warning means is output from the controller 11 by the action of an operation function and a judgment function within the controller 11 when an obstruction 13 gradually approaches a car body to positions a, b, c, d, e, f and g. A driver can detect an approximate distance between a counter weight 9 and the obstruction 13 because a different process signal is input to an alarm device, etc., every time the obstruction 13 passes the separation line 17a, 17c or 17f in this case.

Description

[Detailed Description of the Invention] Industrial Application Field The present invention automatically issues a warning when an obstacle approaches a dangerous (il) aircraft operating or in action. , relates to an obstacle detection method that requires measures such as stopping the operation.

Conventional Technique Q1・i This will be explained by referring to bulldozers and hydraulic excavators, which are construction machines and are one of the work vehicles.

Among these machines, the bulldozer 1 shown in Figures 5 and 6 has a dozer blade 3 with an IG mounted in front of one person.
The dozer blade 3 is operated in a downward direction, and at the same time, the dozer blade 3 is moved forward and backward to excavate the ground surface and level the ground with the cudding edge attached to the lower end of the dozer blade 3.

In addition, the hydraulic excavator shown in FIGS. 7 and 8 has a -L section rotating body 8 rotatably provided above the lower traveling body 7 via a swing bearing, and a boom 4 and an arm 5 are installed in the iij direction.
, a working device consisting of a bucket 6 and the like is pivoted so as to be able to move up and down, the cutting edge of the bucket 6 is used to mainly excavate and scoop up underground, the upper revolving body is rotated as appropriate, and the excavated earth and sand is loaded into a transport vehicle. In addition, if necessary, the lower traveling body 7 is operated to move back and forth, change direction, etc.

In this way, bulldozers and hydraulic excavators use their own blades to move to unspecified locations or rotate to perform work, but work vehicles similar to koneko are now indispensable at every work site. The labor-intensive work that used to be done manually is now completely performed by work vehicles. Therefore, at a single work site consisting of many people (Φ), the current situation is that work is being carried out in a chaotic manner, with people, work vehicles, and other work vehicles progressing at the same time.

The driver's seat of such a work vehicle is usually located at a location and shape where the operation of the work equipment can be most easily seen (and which is safest for the work), For example, when using the bulldozer 1 shown in Fig. 5 to level the ground with the dozer blade 3 while moving backwards, a fence may become a blind spot in the field of vision from the driver's seat. If a worker or other work vehicle approaches near the rear of the body, or if the driver is not aware of other obstacles on the ground, or if the bucket 6 of the hydraulic excavator 2 shown in Fig. 7 is excavated. During loading work into a transport vehicle such as a dump truck by rotating the revolving upper structure 8 with a full load of sand, -] Similarly to item 2, turning the counterweight 9 attached to the rear of the revolving upper structure 8 and the work equipment. Unexpected accidents may occur if workers or other work vehicles enter the radius, or if there are obstacles on the ground.

Conventionally, various measures have been taken to avoid this type of accident, and as an example, a sensor 20 is installed at the rear of the body of the bulldozer 1 shown in Figure 5.6, and a sensor 20 is installed at the rear of the body of the bulldozer 1 shown in Figure 7.8. In the excavator 2, sensors 2 are installed on both sides of the counterweight 9.
1 is fixed. The sensors 20 and 21 are arranged at a predetermined angle,
A search signal is sent to a range of directions, and if there is an obstacle within that range, the reflected wave is detected, and a dedicated controller calculates the distance to the obstacle from the arrival time of the reflected wave. When the distance reaches a preset value, the controller issues a signal and activates a warning device to prevent an accident from occurring.

In general, the safe range of the set distance for activating the alarm means is as follows: Taking a bulldozer as an example, in the forward and backward direction of movement shown in FIG. 6, the working movement length is Lm.
Respectively, its forward and backward moving length direction safety dimension 12
= 1.5 m, iil force direction (work in progress):
If i-W m, a safety dimension w = 2 m or more in the [4] direction should be provided on both sides of the
The turning radius Rαm or the rear end turning radius Rcm of the working device varies depending on whether it is located in front or behind the rotating structure 8.
↑11 It is recommended that the distance be one of the following plus the radial safety dimension r = 2m or more.

Problems to be Solved by the Invention In the conventional warning device, as described above, the distance from the obstacle at which the alarm starts to operate is set with a margin in advance, and the alarm is activated during work. If the device is activated, it will either stop the aircraft from operating in that direction or
On the other hand, special precautions and measures must be taken to carefully operate the aircraft.On the other hand, in recent actual work, even in narrow spaces where obstacles exist within the safety setting of the above-mentioned separation distance, Furthermore, it is often the case that work must be carried out, and in such cases, in the prior art, even though the alarm system is continuously activated, it is necessary to either ignore it and proceed with the work, or to continue with the work without warning. Since the operation of the device is temporarily stopped and work continues, the result is useless when a new obstacle enters the system.

The present invention compensates for the shortcomings of the prior art without providing a large extra safety margin (i.e., the distance from one or more obstacles that are gradually approaching the operating range of the aircraft, An object of the present invention is to propose a method that detects the position and even the direction with respect to the aircraft body and activates an alarm means to perform construction work safely, quickly, and reliably. In order to accomplish the task, we will use a detection method consisting of the following configuration: In other words, we will send search signals in directions and ranges where there is a possibility that they will come close to each other due to the operation of the aircraft or the movement of obstacles. 1 capable of detecting reflected waves of the above exploration signal from obstacles within the
Or install multiple non-contact sensors on the aircraft.

A calculation function that calculates the distance between the aircraft and an obstacle based on the signal from the non-contact sensor, and whether the calculated distance gradually increases, decreases, or remains constant over time. A discrimination function that determines whether the Based on the obtained results, when the separation distance between the aircraft and the obstacle gradually decreases, and the value becomes less than the set value described above, for each set value of one or more stages,
Alternatively, different processing steps, -
A controller that outputs No. 5 is installed, and an alarm device that emits different types of alarm sounds for each different processing signal from the controller, and an operation device for operating the aircraft to operate in the direction of gradually decreasing the separation distance. Equipped with a warning means such as an operation release device that automatically releases the operation, and a direction detection function that allows you to know the location of the non-contact sensor that is the output source of different processed signals, as well as the direction in which the probe signal is sent. Provide warning means.

Operation The aircraft with the non-contact sensor on its side is activated by the operating device,
Alternatively, even if an obstacle exists near the aircraft, if the separation distance from the obstacle gradually decreases and does not fall within one or more preset separation steps, the controller will not start the activation of the warning means. Does not transmit processing signals. When the aircraft and the obstacle gradually approach each other, and the separation distance calculated by the calculation function of the controller exceeds a preset separation distance, and the discrimination function determines that the obstacle is gradually decreasing, for each set separation distance, Different signals are output from the controller to warning means such as alarm devices and operation release devices, so the distance between the aircraft and the obstacle can be easily determined step by step, and in some cases, the aircraft can be stopped from moving in that direction. Alternatively, the direction and position of the obstacle relative to the aircraft can be confirmed using means such as a monitor, using a warning means equipped with a direction detection function.

Embodiment As an embodiment of the present invention, the structure and operation of a hydraulic excavator will be described with reference to FIGS. 1 to 4. In addition.

In FIGS. 1 to 4, the same parts as in FIGS. 7 and 8 are denoted by the same reference numerals, and the explanation thereof will be omitted.

In the figure, 10 R, 1, 01, = transmits exploration signals with the right and left non-contact sensors installed at both ends of counterways 1 to 9, as shown in Figures 3 and 4. Mainly, when working by turning the revolving structure 8, it is easy to create a blind spot for the driver, and there is a danger that workers on the ground or other work vehicles may inadvertently enter. The direction in the direction of the range is fixed so as to expand the search signal area 12.

This contactless sensor 1. OR, 1, and OL are located within the search signal area 12, such as obstacles 13 shown in FIG. 3, such as underground workers, other work vehicles, etc. 14, etc., it detects the reflected wave of the exploration signal and inputs the signal to the controller 11 provided in the driver's cab.

The controller 11 includes a non-contact sensor 10R.

a distance calculation function that calculates the distance between the aircraft and the obstacle 13 or obstacle 714, etc. from the time difference between the exploration signal that is the signal from the LOL and its reflected wave;
A discrimination function that determines whether the separation distance gradually increases, gradually decreases, or continues as time passes, that is, whether it is approaching, receding, or relatively stationary, and an external human input, The separation distance between the aircraft and the obstacle gradually decreases based on the memory function that presets one or more arbitrary steps of separation distance and stores the set value, and the results obtained from the above calculation function and Jilt separate function. , has a function of outputting a different processed signal for each set value of one or more stages when the value becomes equal to or less than the above-mentioned stored set value,
This processed signal is used to automatically stop operating a warning device that issues alarms with different volumes and sound quality for different signals, or a control device that operates the aircraft in a direction where the separation distance gradually decreases. Activate a warning means such as a release device. Although not shown, the alarm device referred to here is a buzzer of conventional technology 4i:i? For example, when the operation operation system is a hydraulic pilot system, the operation release device temporarily connects the pipe leading to the pilot oil chamber of the operation system into the tank. let me,
Refers to similar conventional techniques, such as returning the spool of the oil pressure U) changeover valve to the neutral position, which was operated by pilot oil pressure.

In addition to the above-mentioned first function, the controller 11 also has a second function.
As a function of multiple non-contact sensors installed on the same aircraft, for example, the symbol lOR, 1 in FIGS. 1 and 2
, OT- are processed individually, and a processed signal containing information such as the individual mounting position, exploration signal, anti-q = wave direction, calculated separation distance, etc. is output, and from this processed signal, the obstacle Detects the direction and position of the aircraft relative to the aircraft, and activates a warning means that can display the information. Note that warning means at this time include, for example, a common name, a monitor, a display, etc. according to known technology.

The controller 11 of the present invention may have the above-mentioned first function and second function independently, or may have a third function that combines both. Any system may be used as long as the driver can easily keep track of surrounding obstacles at all times while driving under such conditions.

The obstacle detection method of the present invention having the above configuration and functions will be explained.

Assuming that the minimum separation distance that becomes the rear end turning radius due to the turning of the counterweight 9 in FIG. 3 is 16, if there is an obstacle in this range and the turning operation is performed, an accident will occur. Now, an obstacle 13, for example, an auxiliary worker, is located in the search signal area 12 on the non-contact sensor 10R side.
Assuming that I C1dl' 1f72 gradually approaches the minimum separation distance 16, in the prior art, for example, when the obstacle 13 is at position Q or b, it is assumed that it is moving. Even if the sensor is stopped, if the sensor determines that there is an obstacle, it will immediately activate the warning means.
b+, is located at a considerable distance from the minimum separation distance 16, and the obstacle 13 may cross positions α, 1), etc., and further enter positions c, d, e, f, %・\. On the other hand, stopping at an intermediate position or otherwise exiting towards position O is not dangerous at all. Therefore, in the present invention, in such a case, the minimum separation distance 16J: is set at a safer position with a margin of 16J, or multiple separation distance lines 17a, .
1.1c, ]7f, etc. can be arbitrarily set by an external command and stored in the controller 11 (.

By doing so, the obstacle 13 is at position α.

1), c, d, e, f, $, when gradually approaching the aircraft, for example, from position G to the direction beyond the separation distance line 17α, then from position C to the separation distance line 17c
In the case of crossing the distance line 17f from position f to position d or C, or entering position 2 by crossing the distance line 17f from position f, a warning means is activated by the arithmetic function and discrimination function in controller 1. A processed signal to activate the controller 11 is output from the controller 11, and each time the obstacle 13 exceeds the distance line ]7α, ], 7c, 17f, a different processed signal is sent to the alarm device. Since the warning device and the like are activated accordingly, the driver can immediately determine within which distance line the obstacle 13 is located, and furthermore, the distance between the counter witness 9 and the obstacle 13. Approximate distance can be detected.

As mentioned above, as long as the obstacle 13 crosses one of the separation distance lines and continues to approach the aircraft, the controller 11 continues to output the processed signal, but the relative approach between the obstacle 13 and the aircraft is If the user stops and maintains that position or exits in the direction of position Q, the output of the sum processing signal stops. Problems such as difficulty in detection and provision of an extra operating range for warning means are eliminated. Note that when the obstacle 13 is within the minimum separation distance 16, it goes without saying that the controller 11 outputs a processing signal to the warning means, regardless of the determination result of the determination function.

FIG. 4 is a plan view of the hydraulic excavator 2 excavating and loading work near and along the barrier 14. When the excavation position and direction of the hydraulic excavator 2 are in the related positions shown, is within the exploration signal area 12 of the non-contact sensor 10L on the left side.In the case of the conventional technology, the warning means is activated continuously and issues a warning, so special work [receiving] or When another new obstacle enters between the barriers 14, it is impossible to detect it, but in the present invention, a safe separation distance w, which is set with a little margin with respect to the minimum separation distance 16, is set. 18f is set and stored in the controller 1 (thereby, when the upper rotating body 8 turns to the right and the counterweight 9 approaches the barrier 14 beyond the separation line 18f, the means is activated, so hydraulic excavator 2 at this site.
Accurately know the limit of the right turning angle of the two-part rotating body 8, and
In addition, as in the above example, the warning means will not be activated with unnecessary margin, and during that time, it will not be possible to detect when another obstacle enters between the aircraft and the barrier 14. It is possible.

Further, in the work of arranging the controller 1 as shown in FIG. 4, if the controller 1 is provided with the above-mentioned second function, its effectiveness will be expanded.

That is, a plurality of non-contact sensors 1. The controller 11 processes the signals from OR, 1oI=, etc. separately and outputs separate processed signals, and at this time,
For example, distance lines 18α, 18c, and 1.8f are set for the memory function related to the non-contact sensor IOR side, and distance line 1.9 f is set for the memory function related to the OL side. If you have set it, controller 1
1 is a warning means provided in the operator's cab 15 that processes signals from the non-contact sensors 10R and IOL individually, outputs individual signals, and informs the direction and position of obstacles 13 and barriers 14 with respect to the aircraft body. It is displayed on monitors, displays, etc., and if an obstacle approaches the aircraft beyond the respective separation distance lines, a warning device is activated depending on the degree of danger, so the actual situation of the obstacle is in doubt. can.

In addition, in the above embodiment, one non-contact sensor is installed on the left and right.
However, the mounting position, direction, quantity, etc. are not limited to this embodiment, and may vary depending on the type of work machine, work site conditions, etc. It is preferable to install non-contact sensors with appropriate search signal areas in appropriate positions and quantities in directions where danger is predicted to occur due to obstacles, such as the rear, left, and right directions. Needless to say.

Effects of the Invention The present invention can be applied to working vehicles at sites where multiple working vehicles operate and move at the same time, at narrow sites where working vehicles and workers coexist, or at sites where there are two types of work that are complex and diverse. If a device for object detection is provided, even if the separation distance between the aircraft or work equipment and the obstacle is relatively close, the aircraft will move in a direction where the separation distance gradually decreases. As long as the (or work equipment) or obstruction does not move, or a minimum safe separation distance is maintained, the warning means will not be activated, so work operations can continue as normal, while other unexpected When an obstacle approaches the aircraft within the set separation distance,
Of course, it is possible to detect this, but in the unlikely event that
If the separation distance between the worker, third parties, and obstacles such as structures on the ground gradually decreases beyond the set distance line, such actions will cause the work vehicle or the obstacle to When this happens, 11 levels of warning are activated immediately, but the separation distance line can be set in multiple levels, and furthermore,
At each stage, a processed signal is output from the controller, and different types of warnings are notified to the driver from the warning means, making it easy to grasp the distance between the aircraft and the obstacle at that time. . In addition, by installing multiple non-contact sensors on the aircraft, the signals from each are processed separately by a controller, and the separate processed signals are output to a warning means equipped with a direction detection function. , the direction and position of obstacles relative to the aircraft can be easily confirmed using a monitor or other means. Therefore, like conventional warning devices,
If extra allowance is made to activate the warning device, or if it is unavoidable that work must be carried out with the warning device activated, special monitoring and guidance measures should be taken to take into account the occurrence of new obstacles. Therefore, it is rare that you are forced to drive with special care. Therefore, according to the invention:
Even in complex work sites such as the one mentioned above,
Able to perform work safely, reliably, and quickly. 4. Brief explanation of the drawings Figures 1 to 4 are external views of a hydraulic excavator in which the detection method according to the present invention is applied. Figure 1 is a side view of the external appearance during excavation work, and Figure 2 is the plan view of Figure 1, Figure 3 is the diagonal rear view of the hydraulic excavator)i
FIG. 4 is a plan view illustrating the operating situation of the present invention when a large or other work vehicle approaches, and FIG. The plan views to be explained, FIGS. 5 to 8, are τ of the prior art.
Figure 5 is an external view of the bulldozer during earth-grading, Figure 6 is the back of Figure 5 (A, Figure 7 is an external view of the hydraulic excavator during excavation work) The side view, FIG. 8, is a plan view of FIG.

・・・・・・Bulldozer・・・・L Mountain pressure excavator・・・・・・Counterway (+-・・・・Non-contact sensor (right side)・・・・・・
・Non-contact sensor (left side)・・・・・・・・・Controller・・・・・・・・・Exploration signal area・・・・・・・・・Obstacle・・・・・・・・・Barrier 1 ・・・ ・・ 2 ・・ 9 ・・ 10 l( 1, 01-11・side 5

Claims (3)

[Claims] (1) Multiple non-contact sensors capable of transmitting exploration signals in a predetermined direction around the outer circumference of the aircraft and detecting the reflected waves of the exploration signals, and processing the signals received from the multiple non-contact sensors internally. , a controller that outputs a plurality of processed signals;
In the obstacle detection device comprising a warning means activated by the processed signal, the controller has a calculation function for calculating the separation distance between the aircraft and the obstacle from the relationship between the exploration signal of the non-contact sensor and its reflected wave; A discrimination function that determines whether the separation distance calculated by the calculation function is gradually increasing, decreasing, or maintained over time, and setting multiple separation distances based on external commands and storing the values. If the separation distance obtained by the calculation function is within a plurality of set separation distances,
In addition, when the separation distance is determined to be in a gradually decreasing state by the discrimination function, it has a function of outputting different types of processed signals for each set separation distance and for each of the plurality of non-contact sensors. Features: Obstacle detection method for work vehicles. (2) An obstacle for a work vehicle as set forth in claim (1), which is provided with warning means for issuing warnings of different volumes or sound quality in response to different processed signals transmitted from the controller for each set separation distance. Detection method. (3) A work vehicle characterized by being provided with an alarm means capable of receiving different processed signals transmitted from the controller for each of the plurality of non-contact sensors and identifying the position of the non-contact sensor with respect to the aircraft body and the direction in which the exploration signal is transmitted. Obstacle detection method.