JP2002047692A - Self-propelled work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled work machine capable of distinguishing a stationary obstacle from a moving worker. SOLUTION: This self-propelled work machine is provided with an upper swivel base turnably fitted to the upper section of a travel device, a tiltable work machine mounted on the upper swivel base, an object detecting means detecting the worker and an object such as a material existing around the self-propelled work machine, and a controller generating a signal for limiting the action of the self-propelled work machine when the object is judged as moving against the ground based on the detection signal from the object detecting means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a self-propelled machine for work.

[0002]

2. Description of the Related Art Vehicle-based construction machines such as excavators and bulldozers are generally used in civil engineering construction sites and the like, but workers are often hit by or pinched by construction machines. As a device for detecting the entry of a worker into a work area for preventing such an accident, Japanese Utility Model Application No.
The one disclosed in Japanese Patent Publication No. 800 is well known. According to the publication, a contact-type sensor is stretched so as to protrude around a construction machine, and the worker touches the contact-type sensor to detect the entry of the worker. Further, according to Japanese Patent No. 2910355, when a worker enters a turning stop area and a turning low speed area where a predetermined shape is fixed, an ultrasonic sensor attached to the construction machine detects the worker's entry, A technique for stopping or slowing down the turning of a construction machine is disclosed.

[0003]

The prior art described above has the following problems. Most of the work by the construction machine as the self-propelled work machine is a cooperative operation with the worker, and therefore, the worker often works around the construction machine. Further, when working in an urban area, there are obstacles such as construction materials or buildings around the construction machine. In such a work site, in the related art, a surrounding obstacle and a worker cannot be distinguished from each other, and an unnecessary emergency stop occurs. Furthermore, since the worker does not cause such an emergency stop, the work performed by the worker around the construction machine is often avoided. For this reason, there is a problem that work efficiency is reduced.

[0004] The present invention has been made to solve the above-mentioned problem, and an object of the present invention is to provide a self-propelled work machine capable of distinguishing a stationary obstacle from a moving worker.

[0005]

In order to achieve the above object, a first aspect of the present invention has an upper swivel pivotally mounted on an upper part of a traveling apparatus, and the upper swivel has A work self-propelled machine equipped with a work machine which can be raised and lowered, comprising: an object detection means for detecting an object such as a worker or a material existing around the work self-propelled machine; And a controller configured to generate a signal for restricting the operation of the self-propelled work machine when it is determined that the object is moving with respect to the ground based on the detection signal.

According to the first aspect, the object detecting means detects an object such as a worker or a material present around the self-propelled working machine. Based on the detection signal, it is determined whether or not the target is a moving body moving with respect to the ground. If the moving body is a moving body, the vehicle is emergency stopped. Is limited to small. Thereby, the vehicle is stopped only when a moving object is detected around the vehicle, and unnecessary emergency stop does not occur, so that work efficiency is improved.

According to a second aspect based on the first aspect, the controller is configured to process and determine a detection signal from the object detecting means when the mounting portion of the object detecting means is not moving with respect to the ground.

According to the second aspect, since the mounting portion of the objective detecting means does not move with respect to the ground, the moving speed of the mounting portion is not mixed in the detection signal of the objective detecting means, and only the object is detected. Is detected. This enables accurate detection of the moving body.

According to a third aspect based on the first aspect, the object detecting means is attached to an upper turntable of the self-propelled working machine, and the controller detects the detection signal while the self-propelled work machine is turning on the upper turntable. Based on the turning speed of the upper turntable, the distance from the center of rotation of the object detection means, and the angle formed by the object detection means with the upper turntable, to determine whether or not the object is moving with respect to the ground. And

According to the third aspect of the present invention, since the object detecting means is attached to the upper swivel, even when the upper swivel is turning, the detection signal, the turning speed of the upper turn table, and the turning center of the object detecting means. It is possible to determine whether or not the object is moving with respect to the ground based on the distance from the object and the angle formed by the upper turntable of the object detection means. In addition, the upper turntable to which the object detection means is attached has a wide field of view and is easy to scan around the vehicle, so that the target can be reliably detected. Further, since the object detecting means is not subjected to earth and sand, the objective detecting means with less failure can be obtained.

[0011] In a fourth aspect based on the first aspect, the controller is configured to determine, based on the detection signal, the traveling speed of the traveling apparatus, and the angle formed by the traveling direction of the object detecting means, while the working self-propelled machine is traveling on the traveling apparatus. Thus, it is configured to determine whether or not the object is moving with respect to the ground.

[0012] According to the fourth aspect of the present invention, while traveling, the detection signal,
Based on the traveling speed of the traveling device and the angle between the traveling direction of the object detecting means and the traveling direction of the object detection unit, it is determined whether or not the object is moving with respect to the ground. Thus, the speed of the object with respect to the ground can be obtained regardless of whether the vehicle is stationary or running.

According to a fifth aspect based on the fourth aspect, the controller comprises: a detection signal, a traveling speed of the traveling device, an angle formed by the traveling direction of the object detecting means, and Based on the turning speed of the upper turning table, the distance from the turning center of the object detecting means, and the angle made by the object detecting means with the upper turning table, it is possible to process and determine whether or not the object is moving with respect to the ground. I have.

According to the fifth invention, when the working self-propelled machine is traveling and turning, the detection signal, the traveling speed of the traveling device, the angle between the traveling direction of the objective detecting means, and the turning speed of the upper swivel. Based on the distance of the object detection means from the center of rotation and the angle formed by the object detection means with the upper turntable, it is determined whether or not the object is moving with respect to the ground. Thus, the speed of the target object with respect to the ground can be obtained even while the vehicle is running and turning.

According to a sixth aspect of the present invention, there is provided a self-propelled machine for work having an upper swivel rotatably mounted on an upper part of a traveling device, and mounting a work machine capable of raising and lowering on the upper swivel, Object detection means for detecting objects such as workers and materials existing around the self-propelled work machine, and a signal for restricting the operation of the self-propelled work machine based on a detection signal from the object detection means. A plurality of or a single work implement operation position sensor for detecting the position of the work implement having a controller that performs the operation, and switches the detection range of the object detection means based on the position of the work implement detected by the work implement operation position sensor. It has a configuration.

According to the sixth aspect of the present invention, a predetermined position of the work machine from the object detection means is calculated based on the position of the work machine detected by the work machine operation position sensor, and the calculated distance of the object detection means is calculated. Adjust the detection range. As a result, the detection range is always limited to a narrow specified range, and the detection sensitivity of the object can always be set to high sensitivity, so that the object can be reliably detected, and the accurate moving speed and the distance to the object can be detected. it can. Further, since an object in an unnecessarily wide range is not detected, the possibility of erroneous detection can be reduced.

According to a seventh aspect of the present invention, there is provided a self-propelled working machine having an upper swivel rotatably mounted on an upper portion of a traveling device, and a work machine capable of being raised and lowered on the upper swivel, Object detection means for detecting objects such as workers and materials existing around the self-propelled work machine, and a signal for restricting the operation of the self-propelled work machine based on a detection signal from the object detection means. And a monitor means for monitoring the operation state of the machine, the controller comprising: a controller for the working self-propelled machine only when the operation state input from the monitor means is a predetermined operation. It is configured to generate a signal for restricting the operation.

According to the seventh aspect, based on the detection signal,
The controller that generates a signal for restricting the operation of the work self-propelled machine generates a signal that restricts the operation of the work self-propelled machine only when the driving operation monitored by the monitor means is a predetermined driving operation. Thus, for example, only when the vehicle is turning, the object is detected and determined to be abnormal, and the operation of the working self-propelled machine is stopped or the operating speed is reduced. As described above, it is determined that an abnormality occurs only when necessary, and unnecessary emergency stop does not occur, thereby improving work efficiency.

[0019]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a control block diagram of the present embodiment taking an excavator as an example. In the excavator, an upper revolving base 11 is pivotably mounted on a traveling device 10 of an endless track type driven by a sprocket 39, and the upper revolving base 11 includes a cab 12.
The upper swivel 11 is provided with a boom 13, an arm 14, and a bucket 15 as working machines.
The first and second working machine levers 18a and 18b are operated to control the upper swivel 11, the boom 13, the arm 14, and the bucket 15 to perform excavation work and the like.

In the cab 12, left and right traveling devices 10,
Left and right traveling levers 17a, 17 for commanding the traveling speed of
b is provided. Near the center of rotation of the left and right traveling levers 17a and 17b, left and right traveling lever operation amount detectors 22a and 22b for detecting left and right traveling lever operation amounts Lr and Lm are attached. Left and right travel lever operation amount detectors 22a, 22
b outputs positive or negative left and right travel lever operation amounts Lr and Lm when the operator operates the left and right travel levers 17a and 17b forward or backward.

In the cab 12, two working machine levers 18a and 18b are provided. The two work implement levers 18a and 18b each have two degrees of freedom, and the first work implement lever 18a controls the turning speed of the upper turntable 11 and the operating speed of the arm 14. The second working machine 1
8b controls the operating speed of the boom 13 and the bucket 15. A turning speed command value detector 23 for detecting a turning speed command value Lw and an arm speed command value detector 44 for detecting a command value of an arm speed are provided at the rotation center of the first work implement lever 18a. A boom speed command value detector 45 and a bucket speed command value detector 46 are attached to the rotation center of the second work implement lever 18b. The work command value Ls is output from the speed command value detectors 44, 45, and 46 collectively, and is turned on when any of the boom 13, the arm 14, and the bucket 15 is operating, and all of them are turned on. When it is not operating, it outputs an OFF work machine command value Ls.

In the cab 12, a warning lamp 28 is provided.
And an operation panel 27 on which an abnormality release button 29 is arranged. The warning lamp 28 notifies the operator of the abnormality by blinking the lamp when the abnormality occurs. Here, it is assumed that the abnormality is an obstacle within a distance set based on the posture of the work implement. The abnormality release button 29 is a button that is pressed by an operator when releasing an emergency stop or the like of the vehicle at the time of abnormality, and outputs an ON signal when the operator presses it and an abnormality release signal Re of an OFF signal when not pressed. Output. further,
An operation control device 24 is provided in the operator's cab 12 to stop all of the vehicle by inputting a command when an abnormality occurs, or to limit the operating speed of each work machine to a small value.

A radar 50 is mounted on the upper outside of the cab 12 via a scan table 51. As the radar 50, for example, the speed of the target object and the distance from the radar 50 are determined based on the radiated radio wave obtained by modulating the frequency of the millimeter wave radio wave in the shape of a mountain wave or a sawtooth wave and the received radio wave reflected back from the target object. Utilize the millimeter wave radar to be detected. The scanning table 51 is provided with the radar 5 at a predetermined angle in the horizontal and vertical directions.
The beam of the 0 radio wave is scanned.

A boom angle detector 20 for detecting a boom angle θb of the boom 13 with respect to the upper swivel 11 is a boom 1
3 is attached to the center of rotation. An arm angle detector 21 for detecting an arm angle θa of the arm 14 with respect to the boom 13 is attached to the rotation center of the arm 14. Note that the boom angle detector 20 and the arm angle detector 21 are referred to as a work implement operation position sensor. Upper swivel 1
A turning speed detector 19 for detecting a turning speed ω with respect to the first traveling device 10 is provided below the upper swivel 11 and the vehicle speed Vv
The vehicle speed detector 52 for detecting the rotation speed is mounted on the center of rotation of the sprocket 39. A driver's cab orientation detector 30 for detecting the position of the driver's cab 12 with respect to the driver's cab 10 is attached between the traveling device 10 and the upper swivel 11 and outputs a driver's cab orientation signal Cd. The cab direction signal Cd is
When the cab 12 is at a position opposite to or the same direction as the sprocket 39, an on signal or an off signal is output. The cab 12 in FIG. 1 shows a state in which the cab 12 is in a position opposite to the sprocket 39.

Next, input / output signals of the controller 38 will be described. First, a radar signal Rm detected by the radar 50 is input to the controller 38 as an input signal.
The radar signal Rm includes a radiated radio wave and a received radio wave reflected back from the object. Further, a boom angle detector 20, an arm angle detector 21, left and right travel lever operation amount detectors 22a and 22b, a turning command value detector 23, a vehicle speed detector 52, a turning speed detector 19, an abnormality release button 29, and a driver seat The boom angle θb, the arm angle θa, the left and right travel lever operation amounts Lr,
Lm, the turning speed command value Lw, the vehicle speed Vv, the turning speed ω, the abnormality release signal Re, and the driver's seat direction signal Cd are input to the controller 38, respectively. The work implement command value Ls detected by the arm, boom, and bucket speed command value detectors 44, 45, and 46 is input to the controller 38.

The controller 38 outputs a warning lamp signal Cr to the warning lamp 28, and outputs an emergency stop signal Ca and an operation speed limit signal Cv to the operation control device 24, respectively. The warning lamp signal Cr, the emergency stop signal Ca, and the operation speed limit signal Cv are ON signals when there is an abnormality, and are OFF signals when there is no abnormality. When the warning lamp signal Cr is an ON signal, the warning lamp 28 flashes to notify the operator that there is an abnormality. When the emergency stop signal Ca is an ON signal, the operation control device 24 stops the entire vehicle. When the operation speed limiting signal Cv is an ON signal, the operation control device 2
4 limits the operating speed of each work machine to a small value. Further, the scanning power Cs for scanning the radar 50 in the horizontal and vertical directions is always supplied from the controller 38 to the scanning table 51.
Is output to

Next, the configuration of the controller 38 will be described. The controller 38 includes a detection radius determining unit 55, an obstacle recording unit 56, an operation monitoring unit 57, an alarm determining unit 58, an obstacle erasing unit 59, and an alarm canceling unit 60. The detection radius determining unit 55 sets a detection radius at which the presence or absence of an object is detected by the radar 50 based on the posture of the work implement. The obstacle recording unit 56 determines whether the detected object is a moving obstacle, a moving obstacle, or a fixed obstacle based on the radar signal Rm, the vehicle speed Vv, and the turning speed ω, and determines the speed of the obstacle with respect to the ground. From the absolute velocity Va and the radar 50
Is stored, which is the distance D between the radar objects. The moving obstacle is a moving obstacle, and the moving obstacle is an obstacle that may move in the future. A fixed obstacle is an obstacle that does not move.

The operation monitor 57 determines whether the vehicle is moving forward, moving backward, turning, or excavating, based on the left and right running lever operation amounts Lr, Lm and the turning speed command value Lw. The alarm determination unit 58 determines whether or not an obstacle is near the vehicle and whether or not it is a moving obstacle based on the determination of the operation monitor unit 57 and the radar signal Rm, and performs an emergency stop of the entire vehicle. , Or to reduce the operating speed of the work implement. The obstacle erasure unit 59 erases the stored record of the obstacle based on the distance between the obstacle and the vehicle. The alarm canceling unit 60 cancels the abnormality when the operator presses the abnormality canceling button 29 after the occurrence of the abnormality, and when the operation state of the work implement, the turning, and the traveling is in a predetermined state.

The processing contents of the controller 38 will be described with reference to FIGS. In each of the flowcharts of FIGS. 2, 3, 5, and 6, each processing step is indicated by an S-number. The processing continues from A surrounded by a triangle in FIG. 2 to A surrounded by a triangle in FIG. Similarly, FIG. 3B to FIG.
Then, the processing continues from C of FIG. 5 to C of FIG. 6, respectively. First, the processing content of the detection radius determination unit 55 will be described with reference to FIG. In step S1, the arm angle θa and the boom angle θ
Based on b and the lengths of the boom 13 and the arm 14 stored in advance, the horizontal distance from the turning center to the bucket pin 16 and the horizontal distance from the turning center to the farthest part of the arm 14 are calculated. To the bucket distance Lb
And the process proceeds to step S2. In step S2, it is determined whether or not the rear distance L, which is the distance from the turning center to the rear surface of the upper turntable 11, is greater than the bucket distance Lb. When the rear distance L is equal to or smaller than the bucket distance Lb, the detection radius R is set to the bucket distance L in step S4.
Then, the process proceeds to step S9. The bucket position Lb and the rear surface position L are shown in FIG.

Referring to FIG. 3, the processing contents of the obstacle recording unit 56 will be described. In step S9, it is determined whether or not the target is detected based on the radar signal Rm. If detected, the process proceeds to step S10, and if not detected, the process directly proceeds to step S20 in FIG. Step S10
In step S11, it is determined whether or not there is a moving object within the detection radius R set in steps S3 and S4 based on the radar signal Rm. Calculate and store the absolute speed Va and store in step S
Move to the process of 14. If there is no moving object, the process proceeds to step S15.

Here, a method of calculating the absolute speed Va, which is the speed of the moving object with respect to the ground, will be described with reference to FIG.
FIG. 4A shows that the vehicle is traveling at the vehicle speed Vv,
1 shows a state when the turning is stopped. The target object 61 is located at a position where the horizontal scan angle of the radar 50 is θ from the straight traveling direction of the vehicle. First, based on the radar signal Rm, the speed along the direction of a straight line connecting the radar 50 and the object 61 is obtained as the relative speed Vm of the object 61. Since the relative speed Vm is a speed in which the vehicle speed Vv of the vehicle is taken into account, the absolute speed Va is calculated as in equation (1) by subtracting only the θ component of the vehicle speed Vv. Va = Vm−Vv × cos θ (1)

FIG. 4B shows a state in which the vehicle has stopped traveling and the upper turntable 11 on which the radar 50 is mounted is turning at the turning speed ω. Since the relative speed Vm is a speed in which the turning speed ω is added, only the component along the straight line A of the speed Vω at the position of the object 61 due to the turning speed ω is subtracted, and the absolute speed Va is expressed by Expression (2). Is calculated. Note that the straight line A is a straight line passing through the radar 50 and the target object 61. Va = Vm−ω × Lf × sin α (2) where, Lf: horizontal distance from the turning center O to the radar 50. α: An angle formed between a straight line passing through the turning center and the radar 50 and the straight line A, and is obtained by subtracting the scan angle θ from 180 degrees. The vehicle is running and the upper turntable 11
When the vehicle is turning, the absolute velocity Va of the object 61 is given by the following equation (3).
Can be calculated by Va = Vm−Vv × cos θ−ω × Lf × sin α (3)

In step S14, the distance D between the radar objects and the direction θ of the radar 50 are calculated and stored based on the radar signal Rm, and the process proceeds to step S20 in FIG. In step S15, it is determined whether or not a moving obstacle has existed in the past in the vicinity where the moving object has been found, and if so, the moving obstacle in the past is deleted in step S16, and the process proceeds to step S14. Move on. When there is no moving obstacle in the vicinity in the past, it is determined in step S17 whether or not the reflection intensity of the received radio wave returned from the target object is equal to or higher than a preset intensity. The process proceeds to step S14. If the intensity is smaller than the set intensity, the process directly proceeds to step S20.

Referring to FIG. 5, the processing contents of the operation monitor unit 57 and the alarm judgment unit 58 will be described. In FIG. 5, the operation monitor unit 57 processes steps S20 to S23, and the alarm determination unit 58 processes steps S24 to S28. In step S20, it is determined whether the left and right travel lever operation amounts Lr and Lm are both zero values.
That is, when the lever is being operated, the process proceeds to step S21, and when the value is zero, the process proceeds to step S22. In step S21, "condition 1: when the left and right travel lever operation amounts Lr and Lm are both positive values and the driver's cab direction signal Cd is off" or "condition 2: left and right travel lever operation amount L"
It is determined whether both r and Lm are negative values and the cab direction signal Cd is ON. Condition 1 or 2
Is satisfied, it is determined that the operator's face is oriented in the traveling direction, and the process proceeds directly to step S30 in FIG. 6, and if not, the operator's back is oriented in the traveling direction, and the process proceeds to step S24. . In step S22, the arm angle θa, the boom angle θb,
The bucket height H, which is the height of the bucket pin 16 from the ground surface, is calculated based on the lengths of the work machines 13 and 14. Then, it is determined whether or not the bucket height H is a negative value. If the bucket height H is a negative value, the process directly proceeds to step S30, and if the bucket height H is a positive value, the process proceeds to step S23. In step S23,
It is determined whether or not the turning speed command value Lw is larger than the operation amount threshold Lwj. If the rotation speed command value Lw is larger than the operation amount threshold Lwj, the process proceeds to step S25.
Move on to the process of 30.

In step S24, the obstacle is the rear distance L
Is determined to be within the radius of step S30. If yes, the process proceeds to step S26.
Move on to processing. In step S26, it is determined whether or not the obstacle is a moving obstacle. If the obstacle is a moving obstacle, the operation speed limiting signal Cv is turned off in step S27, and the emergency stop signal C is turned off.
a and the warning lamp signal Cr are set to ON signals, respectively, and the process proceeds to step S30. If it is not a moving obstacle, the operation speed limiting signal Cv and the warning lamp signal Cr are set to an ON signal and the emergency stop signal Ca is set to an OFF signal in step S28, and the process proceeds to step S30. In step S25, it is determined whether or not the obstacle is within the set detection radius R. If there is, the process proceeds to step S26, and if not, the process proceeds to step S30.

Referring to FIG. 6, the processing contents of the obstacle erasing section 59 and the alarm canceling section 60 will be described. In FIG. 6, the obstacle erasing unit 59 processes steps S30 to S33, and the alarm canceling unit 60 processes steps S40 to S41. In step S30, it is determined whether or not the stored obstacle and the vehicle approach each other and pass each other. If they pass each other, the stored obstacle is deleted in step S33, and the process proceeds to step S40. If they do not pass each other, the process proceeds to step S31. In step S31, it is determined whether or not the working machine has turned more than the angle to the obstacle,
If the vehicle has turned more than the angle, the process proceeds to step S33. If the vehicle has not turned more than the angle, the process proceeds to step S32. In step S32, it is determined whether or not a certain period of time has elapsed since the obstacle was stored. If it has elapsed, the process proceeds to step S33, and if not, the process proceeds to step S40.

In step S40, it is determined whether or not the abnormality release signal Re is an ON signal, the work implement command value Ls is an OFF signal, and the left and right travel lever operation amounts Lr and Lm and the turning speed command value Lw satisfy zero values. Judge. If satisfied, the emergency stop signal Ca and the operating speed limit signal C are obtained in step S41.
The processing is completed by setting all of v and the warning lamp signal Cr to off signals. If not satisfied, the process is directly completed.

The operation and effect of the present invention having the above-described configuration will be described. The detection radius determination unit 55 sets the larger of the bucket distance Lb and the rear surface distance as the detection radius R, and sets the monitoring distance of the radar 50 so that an object within the set detection radius R can be accurately monitored. . As a result, the beam of the radar 50 is always concentrated in a limited range, so that the sensitivity of the detected object is improved and the obstacle can be reliably detected.

When the radar 50 detects an object moving within the set detection radius R in the obstacle recording unit 56, the calculated absolute velocity Va of the moving object and the value obtained when the radar 50 detects the object one step before. Compare with the absolute speed Vao. If the absolute value of the difference between the absolute speed Va and the absolute speed Vao one step before is larger than a predetermined value, it is determined that the moving object is a reliable moving obstacle because the speed change rate of the moving object is large. The speed Va and the distance D between the radar objects are stored in the obstacle recording unit 56. Also, if there is a moving obstacle that has moved in the past in the vicinity of the currently detected non-moving object, the past moving obstacle is erased, and the non-moving object detected this time may move in the future. And stores the distance D between the radar objects in the obstacle recording unit 56 as a moving obstacle. Furthermore, even if there is no moving obstacle that has moved in the past near the non-moving object detected this time, if the reflection intensity of the received radio wave reflected back from the object is more than a certain value, it is regarded as a fixed obstacle. Distance D between radar objects
Is stored in the obstacle recording unit 56. Accordingly, an object that moves in any state of the vehicle can be reliably detected as a moving obstacle, so that an obstacle such as a stationary material can be reliably distinguished from a moving worker.

The operation monitor 57 determines whether the vehicle is moving forward or backward based on the left and right travel lever operation amounts Lr and Lm. In addition, it is determined whether the vehicle is excavating or turning based on the bucket height H and the turning speed command value Lw. Then, only when the vehicle is moving backward or turning, the alarm determination unit 58 determines whether or not the obstacle is within the detection radius R. The warning determination unit 58 determines whether or not a moving obstacle exists within the rear distance L when the vehicle is moving backward, and within the set detection radius R when the vehicle is turning. The operation is stopped, and the warning lamp 28 notifies the operator of the presence of a moving obstacle. When there is no moving obstacle within the detection radius R, the obstacle is determined to be a fixed obstacle, and the operating speed of the work machine is limited only to a small value without stopping the entire vehicle in an emergency. However, the operator is notified of the presence of the fixed obstacle by the warning lamp 28. As described above, since the vehicle is emergency stopped only when a moving obstacle is present, there is no unnecessary emergency stop, thereby improving work efficiency. During the excavation and the forward movement, the warning lamp 2
In step 8, it is not determined whether to give a warning.

The obstacle erasing section 59 shows a processing method for erasing the storage of the obstacle from the obstacle recording section 56. When the vehicle runs and passes the stored obstacle, or when the work implement turns past the obstacle by turning more than the angle to the obstacle, the storage of the obstacle is unnecessary and is deleted. In addition, obstacles that have been stored for more than a predetermined time are also erased. The alarm canceling unit 60 shows a process for canceling the abnormality after an emergency stop of the entire vehicle in the event of an abnormality and after restricting the operating speed of the work implement to a small value.
The abnormality release signal Re is an ON signal, that is, the operator has pressed the abnormality release button 29 to output the abnormality release signal Re of the ON signal, and the left and right traveling levers 17a, 17b and the first,
The abnormality is released when all the levers of the two working machine levers 18a and 18b are neutral.

In this embodiment, a millimeter wave radar is used, but the present invention is not limited to this. A sensor capable of detecting the speed and distance of an object, for example, an ultrasonic sensor using a sound wave or a far-infrared sensor Etc. may be used.
In the present embodiment, the beam of the millimeter-wave radar is scanned to monitor a wide range. However, the radiation range may be enlarged and fixed without scanning. In the present embodiment, the boom angle detector 20 and the arm angle detector 2 serve as work implement operation position sensors.
Although 1 is used, a bucket angle detector for detecting the angle between the arm 14 and the bucket 15 may be used in combination. Alternatively, the operating position of the working machine may be measured using a scanning laser beam distance sensor. Further, a limit switch may be provided, and the lever operation amount command value after the switch is operated may be integrated to detect the position of the work machine, or the position of the work machine may be measured using GPS. You may. You may combine them. Also, a boom angle detector 2
Only 0 may be provided, and the operating position of the work implement may be determined based on the detected boom angle and assuming the angle to the ground of the arm.

As described above, according to the present invention, a working self-propelled machine equipped with a work machine capable of freely performing operations such as turning and elevating, and capable of running freely exists around the working self-propelled machine. It has an object detecting means for detecting an object such as a worker, a material, or the like. A controller is provided for judging whether or not the object is moving with respect to the ground based on a signal detected by the object detecting means, and restricting a predetermined operation when the object is moving. Thereby, the vehicle is stopped only when a moving object is detected around the vehicle, and unnecessary emergency stop does not occur, so that work efficiency is improved. In addition, based on a signal detected by the object detection means mounted on the upper swivel with good visibility without being covered with earth and sand, the relative speed between the speed of the mounting portion and the speed of the object is detected. From the relative speed, the speed of the object relative to the ground (absolute speed) is obtained by subtracting the speed of the mounting part detected by the speed detector,
It is determined whether or not the target object is a moving obstacle based on the magnitude of the obtained absolute speed. With this, even if the vehicle is traveling or turning, the object is detected and it is determined whether or not the detected object is moving, so that the moving worker and the stationary construction materials are always Can be reliably distinguished.

[Brief description of the drawings]

FIG. 1 is a control block diagram of the present embodiment.

FIG. 2 is a processing flowchart of a detection radius determination unit.

FIG. 3 is a processing flowchart for an obstacle recording unit.

FIG. 4 is an explanatory diagram of an absolute speed and a distance between radar objects.

FIG. 5 is a processing flowchart of an operation monitor unit and an alarm determination unit.

FIG. 6 is a processing flowchart of an alarm canceling unit.

[Explanation of symbols]

10 traveling device, 11 upper turntable, 12 driver's seat, 1
3 boom, 14 arm, 15 bucket, 16 bucket pin, 17a right traveling lever, 17b left traveling lever, 18a first working machine lever, 18b second working machine lever, 19 turning speed detection Device, 20: boom angle detector, 21: arm angle detector, 22a: right traveling lever operation amount detector, 22b: left traveling lever operation amount detector, 23
... turning speed command value detector, 24 ... operation control device, 27 ...
Operation panel 28 Warning lamp 29 Abnormality release button 30
... Driver direction detector, 38. Controller, 39. Sprocket, 44. Arm speed command value detector, 45. Boom speed command value detector, 46. Bucket speed command value detector, 50. Radar, 51. Scan table 52, a vehicle speed detector, 55, a detection radius determination unit, 56, an obstacle recording unit, 57
... operation monitor section, 58 ... alarm determination section, 59 ... obstacle elimination section, 60 ... alarm release section, 61 ... object, .theta.b ... boom angle, .theta.a ... arm angle, Lr ... right travel lever operation amount, L
m: left travel lever operation amount, Lw: swing speed command value, Ls
… Work equipment command value, Re… Abnormality release signal, Cr… Warning lamp signal, Ca… Emergency stop signal, Cd… Operator direction signal
H: bucket height, Lwj: operation amount threshold, ω: turning speed, Vv: vehicle speed, Cv: operating speed limit signal, Rm: radar signal, D: distance between radar objects, Va: absolute speed, V
m: relative speed, Cs: scanning power, Lf: radar position, Lb: bucket distance, L: rear surface distance, R: detection radius.

Claims (7)

[Claims] A work machine (13, 14, 15) having an upper revolving base (11) rotatably mounted on an upper part of a traveling device (10), and capable of elevating on the upper revolving base (11). ) Equipped with an object detecting means (50) for detecting an object such as a worker or material existing around the working self-propelled machine; and Based on the detection signal (Rm), a controller (Ca, Cv) that generates a signal (Ca, Cv) for limiting the operation of the work self-propelled machine when it determines that the object (61) is moving with respect to the ground. 38) A working self-propelled machine characterized by having: 2. The working self-propelled machine according to claim 1, wherein the controller (38) is configured to receive the signal from the object detection means (50) when the mounting part of the object detection means (50) is not moving with respect to the ground. A work self-propelled machine characterized by processing and judging a detection signal (Rm). 3. The self-propelled machine for work according to claim 1, wherein the object detection means (50) is an upper swivel (11) of the self-propelled machine for work.
When the self-propelled work machine is turning on the upper turntable (11), the controller (38) detects the detection signal (Rm) and
Based on the turning speed (ω) of (11), the distance (Lf) of the object detecting means (50) from the turning center, and the angle (α) formed by the upper turning table of the object detecting means (50), the object is grounded. A work self-propelled machine characterized in that it determines whether or not it is moving with respect to a work. 4. The work self-propelled machine according to claim 1, wherein the controller (38) is configured to detect the detection signal (Rm) and the travel device (10) while the work self-propelled machine is running on the travel device (10). Traveling speed (V
A work self-propelled machine characterized by performing processing determination on whether or not an object (61) is moving with respect to the ground based on v). 5. The self-propelled machine for work according to claim 4, wherein the controller (38) comprises:
While turning, the detection signal (Rm) and the traveling speed (V
v), the angle (θ) with the direction of travel of the object detection means (50), the rotation speed (ω) of the upper swivel (11), the distance (Lf) from the center of rotation of the object detection means (50) and the object detection A work self-propelled machine characterized in that it determines whether or not an object is moving with respect to the ground based on an angle (α) formed by the upper turntable of the means (50). 6. A work machine (13, 14, 15) having an upper revolving base (11) rotatably mounted on an upper part of a traveling device (10), wherein the upper revolving base (11) is capable of raising and lowering freely. ) Equipped with an object detecting means (50) for detecting an object such as a worker or material existing around the working self-propelled machine; and Based on the detection signal (Rm), a controller (38) for generating a signal (Ca, Cv) for limiting the operation of the work self-propelled machine, and detects a position of the work machine (13, 14, 15). Multiple or single work implement motion position sensors (20, 21)
And a switching device that switches a detection range (R) of the object detection means (50) based on a position of the work machine detected by the work machine operation position sensor (20, 21). 7. A working machine (13, 14, 15) having an upper swivel (11) rotatably mounted on an upper part of a traveling device (10), wherein the upper swivel (11) is configured to be capable of elevating. ) Equipped with an object detecting means (50) for detecting an object such as a worker or material existing around the working self-propelled machine; and A controller (38) for generating a signal (Ca, Cv) for limiting the operation of the self-propelled machine for operation based on the detection signal (Rm), and a monitor means (57) for monitoring an operation state of the machine. The controller (38) further generates a signal (Ca, Cv) for limiting the operation of the working self-propelled machine only when the driving operation state input from the monitoring means (57) is a predetermined driving operation. A working mobile machine, characterized in that: