JP2002061141A - Safety device of walking type working machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safety device for conducting the rear obstacle detecting control of a walking type working machine for the purpose of protecting an operator by detecting an obstacle in the rear of the operator without detecting the operator. SOLUTION: An obstacle sensor 2 is a sensor for detecting an object and distance information to the object in non-contact state in the air, and having a lateral detecting range from the width of the human body to the width of the working machine both inclusive. Plural sensors are disposed toward the operator, with at least two sensors sandwiching the operator, thereby detecting an object in the rear of the operator during reverse movement of the moving machine. Further, according to the distance to the obstacle, a warning is given or traveling is automatically stopped.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety device for a walking-type mobile work machine, and more particularly to a rear obstacle detection control device, and industrially mainly using an industrial engine or motor as a drive source. The present invention relates to improving the safety behind an operator who operates a walking type snow removing machine, a walking type construction machine, a walking type biological production machine such as a transport machine, a harvester, a combine, a binder, and a management machine.

[0002]

2. Description of the Related Art A rear obstacle detecting device for a mobile machine is publicly widely known for an automobile, and a similar peripheral obstacle detecting device for an AGV is widely known. Recently, it is also used for a biological production machine such as a combine, and for example, there is Japanese Patent Application No. Hei 6-165438.

[0003]

Problems to be Solved by the Invention However, Japanese Patent Application No. Hei 6-1
65438 and other conventional ones are for riding machines or unmanned transport machines, and the solution is mainly for protection of the fuselage or for protection of people near the outside of the machine. Those aimed at protecting operators are not yet widespread. Because the traveling speed of walking-type work machines is extremely slow and limited, safety devices have not been given much attention so far. However, in recent years, with the spread of such machines, unskilled workers, elderly people, women and girls, etc. are often handled, and the number of accidents in which workers are caught between the machine and obstacles tends to increase.

[0004] On the other hand, technically, the conventional one cannot be diverted as it is. First, the conventional device detects an operator. Secondly, conventionally, it was sufficient to detect an obstacle on a large flat surface, but for a walking type, it is necessary to detect other small obstacles and also behind the operator. The presence of an operator between the machine and the obstacle makes it difficult to detect a rear obstacle for a walking machine than for a passenger machine.
That is, it is necessary for the operator to detect an obstacle object behind the operator without detecting it.

Therefore, the present invention solves the above-mentioned problems which could not be realized by the conventional method, realizes a backward obstacle detection control system for a walking type work machine, and improves the safety of the walking type work machine operator when moving backward. The purpose is to dramatically improve.

[0006]

Means for Solving the Problems In order to solve the above-mentioned problems, a technical means adopted in the present invention is a sensor for detecting an object in a non-contact manner in the air or detecting information on a distance to the object in a walking type work machine. Then, a plurality of obstacle sensors 2 having a lateral detection range equal to or greater than the width of the human body and substantially equal to or less than the width of the machine body are arranged toward the operator so that at least two of the obstacle sensors sandwich the operator. This is a configuration in which an object behind the operator is detected. Further, a warning is issued according to the distance to the obstacle, and the traveling is automatically stopped.

[0007]

As a result, if there is an obstacle behind the operator when moving backward and there is an obstacle in the reverse direction, a warning is issued to warn the driver. When the distance to the obstacle is short and it is dangerous, a forced automatic stop is performed. By doing so, the risk of the operator being caught between the machine and the obstacle is reduced, and the safety during reverse travel is dramatically improved.

[0008]

An embodiment of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a perspective view of a first embodiment of the present invention in a walking snow plow, as seen from the operation panel side of the snow plow 1, FIG. 2 is a plan view, and FIG. 3 is a side view. The snow blower 1 is a machine that scrapes or cuts snow by an auger 15 and collects the snow, and causes the shooter & deflector 16 to throw the snow in a direction intended by the pilot M.

The configuration of the rear obstacle detection control will be described. Obstacle sensors 2, 2 are side plates 11, 11 of the operation unit of snow blower 1.
Are mounted so as to sandwich the operator M toward the operator M. In this embodiment, an ultrasonic sensor is used as the obstacle sensor 2. FIG. 7 shows a detection area of the sensor alone, and FIG. 8 shows a planar detection area when the snow removal machine 1 is mounted as described above. Data indicating the area is φ100mm
Distance direction and horizontal direction (left and right up and down)
Are not plotted, and do not indicate a so-called ultrasonic sound field such as an ultrasonic intensity distribution and a velocity distribution. Hereinafter, this is referred to as a detection beam B. The upper part of FIG. 7 shows the horizontal distribution Bh of the detection beam, and the lower part shows the vertical distribution Bv of the detection beam.

FIGS. 4 and 5 are views showing a single part of the obstacle sensor 2. FIG. It mainly comprises an ultrasonic sensor 21, its case 22 and a bracket 23. Reference numeral 21a in the ultrasonic sensor 21 denotes a horn part, and 21c denotes a vibrator part. 21b is a mesh drip-proof cover. Case 2
No. 2 is considered so that the detection beam is not damaged. The ultrasonic sensor 21 is fixed to the mounting plate 22b with screws,
The case 22 is fixed to a bracket 23 with bolts and nuts, and the bracket 23 is fixed to the operation unit side plate 11 with bolts.

In this embodiment, the direction of the detection beam is
When attaching to the bracket 23,
When attaching the bracket 23 to the side plate 11, the vertical angle direction can be adjusted. Of course, it can be fixed even at the optimum position. In the present embodiment, the snow removing machine 1 can be mounted later on for the purpose of setting options. However, the snow removing machine 1 can be installed directly on the side plate 11 as a matter of course. The reason why the ultrasonic sensor 21 is disposed at the rear position is to avoid an unstable area at a short distance of the ultrasonic sensor 21 and to secure a mounting pitch width.

The arrangement further comprises a voice alarm rotating light 3, a back switch 4, a speed sensor 5, and a controller 6, and FIG. 6 is a control block diagram of them. The back switch 4 is arranged below the operation panel so as to interlock with the lever 12 so that the back switch 4 is turned on when the traveling lever 12 is tilted in the reverse direction of the aircraft (FIG. 1). The speed sensor 5 is of a general electromagnetic pickup type and is formed integrally with a flywheel of the engine 14 by a ring gear 14 for starting a cell.
b (FIG. 3). The output of the speed sensor 5 itself is a pulse output corresponding to the engine speed, but the equivalent speed is determined by the gear ratio of the engine speed to the running speed.

By the way, in order to avoid danger when the vehicle is traveling backward, the walking snowplow 1 of the present embodiment has an emergency stop lever 13 (FIG. 3) for reverse traveling according to the guideline of the Snow Plow Safety Council (Japan Agricultural Works Bureau).
Has conventionally been provided. This is a rotatable parallel link mechanism. When the parallel link mechanism is pushed and rotated, the traveling clutch is disengaged and the traveling is stopped, but it is not sufficient to avoid danger. It can also be said to be used for measures to reduce the impact of an accident after an collision, that is, after an accident. The present application also seeks to significantly improve the performance of these conventional functions.

The control will be described briefly. Back switch 4
Is entered, that is, when the lever 12 is tilted in the reverse direction and the body starts to reverse, control is started. When an obstacle enters the reverse detection beam and enters within approximately 3.5 m from the end of the sensor 2 (approximately 3 m behind the operator M in this configuration), the voice alarm rotating light 3 is operated, and further within approximately 1.3 m. (Approximately 0.7 m behind operator M)
The fuel cut solenoid 14a is operated to stop the engine and stop the reverse movement of the aircraft. Of course, even if an obstacle enters the detection beam B from the lateral direction by changing the reverse direction, control is performed according to the distance. Here, when the output of the sensor 2 is 0.4 m to 1 m, these controls are not performed. That is, this range is the machine operation operation range of the operator M.

The detection and control method will be described. With this configuration, the plane detection area shown in FIG. 8 is obtained. The ultrasonic sensor 21 used in this embodiment is approximately 0.3 m to 5 m at the position of the obstacle.
It sends out an electrical output that is stable up to ∞ and is proportional to the distance in the range of 0.4 m to 5 m. When the operator M is at the normal position (center of the operation panel) in this detection area, an obstacle can be detected up to about 0.5 m behind the operator M with respect to the operator M. In FIG. 8, a section from the end of the sensor 2 to 1.0 m is a non-control section. That is, even if the operator M moves left and right and enters the detection beam area, the sensor 2 detects but does not perform control. At that time, the operator M blocks one of the detection beams, but continues to detect the region of the body width behind the operator M with the other detection beam.

FIG. 9 shows a set vertical detection area in this embodiment. The beam end minimum ground clearance h1 is set to approximately 0.1 m so as not to erroneously detect unevenness of the road surface due to the spread of the detection beam B. The optimal mounting height h2 of the sensor 2 is determined by this and the vertical diameter of the beam B. By setting the sensor B near the waist height of the operator M, the beam B can pass under the arm of the operator M, and the blind spot area behind the operator M can be reduced. Can be smaller. The snow removing machine 1 of this embodiment has a function of elevating and lowering the upper body, and consideration is given to the first h1 at the maximum ascending position.

To detect an obstacle behind the operator M for the purpose of protecting the operator M, the width of the detection beam B of the sensor 2 needs to be larger than the width of the human body behind the operator M. This is because if the width of the detection beam B is less than this, the beam deviates and an obstacle on the projection plane of the human body cannot be detected. Conversely, if the beam width is too wide and is greater than the fuselage width, it reacts to a position that is out of the aircraft rearward projection plane and has no danger of collision or being pinched. As described above, the sensor 2 needs the distance information for the detection measures of the operator M itself. In this embodiment, two sensors 2 are mounted on the left and right. However, another sensor may be provided to complement the detection at the center.

Ultrasonic sensor 21 used in the first embodiment
The shape of the detection beam B is basically the ultrasonic frequency,
It depends on the ratio between the diameter and the plate thickness of the vibrator 21c and the receiving sensitivity, but can be adjusted to some extent by the shape of the horn 21a, and the required sensor performance can be determined from the relationship between the human body width and the body width. In this embodiment, an integrated transmission / reception type in which transmission and reception of ultrasonic waves are performed by the same
A KHz cylindrical horn is used. In order to prevent mutual interference between sensors, a time-division alternating operation is performed. The slow response, which is a drawback of the ultrasonic system, is not a problem at walking speed. In the conventional method, it is sufficient to detect a uniform surface of a large object such as a garage wall, another building, or another car, and the beam shape matching the shape of the obstacle to be protected and the shape of the obstacle is not considered. The shape of the light beam detection beam of the obstacle sensor 2 can be set by adjusting the optical system (lens system).

In addition, the reason why the speed sensor 5 is inserted is to improve usability. The walking machine is generally held at a reversing speed of 2.5 km / h or less, but some models have a higher speed. Also, walking machines are smaller than passenger machines, and there are many occasions where they are packed and lined up with each other or on walls when loading or garage during transportation. In the present embodiment, the stopping distance from the transmission of the stop signal to the stop of the aircraft is approximately 0.5 m at a maximum speed of 2.5 km / h. That is, since the stopping distance changes depending on the reverse speed, it is necessary to change the stop control point according to the reverse speed. Conversely, when the reverse speed is 0.5 km / h or less, stop control is not performed. This is because it is regarded as a very full alignment work. However, the alarm continues to be issued.

With the above configuration, a rear obstacle detection control device that monitors the back of the walking machine without responding to the operator M is realized. Preliminary safety control can be realized to detect danger behind and to avoid danger before an accident occurs. Emergency stop lever 13 for reverse that was conventionally provided
It has become possible to dramatically improve safety from the post-accident safety control (Fig. 3).

The fuel cut solenoid 14a is operated for stop control when the prime mover is a diesel engine. For a gasoline engine, the primary side of the ignition coil is short-circuited. Stop the prime mover. Although the engine stop control is performed in this embodiment, the travel stop control may be performed by electrically driving the travel clutch.

FIG. 10 shows a second embodiment in which the apparatus of the first embodiment is directly mounted on another walking combine C. The function of the walking type combine C is the same as that of the riding type except that the operator M performs the walking guidance operation. Since the body width is almost the same as that of the snow blower 1, the obstacle sensors 2 and 2 are used as they are only by the difference of the mounting bracket. The walking-type biological production machine does not have a mechanism corresponding to the emergency stop lever 13 when the snow plow 1 is moving backward, and this is the first additional function for securing safety when moving backward, and its significance is significant.

[0023]

The present invention relates to a walking type working machine, a sensor for detecting an object in the air in a non-contact manner or detecting distance information to the object. The obstacle sensor 2 having the
Multiple units are installed to detect the object behind the operator when the mobile machine moves backwards, and an alarm is issued according to the distance to the obstacle, and the traveling is automatically stopped, so the following effects are obtained. Have.

When the aircraft is moving backward, the danger of the operator being caught between the aircraft and obstacles in the reverse direction can be avoided beforehand, and work safety is greatly improved.

The operation can be performed stably with few erroneous alarms and erroneous controls.

[Brief description of the drawings]

FIG. 1 is a perspective view of a walking snowplow according to a first embodiment of the present application, as viewed from an operation panel side.

FIG. 2 is a plan view of the walking snowplow showing the first embodiment of the present application.

FIG. 3 is a side view of the walking snowplow showing the first embodiment of the present application.

FIG. 4 is a perspective view illustrating an obstacle sensor unit according to the embodiment of the present application.

FIG. 5 is a side view illustrating an obstacle distance sensor unit according to the embodiment of the present application.

FIG. 6 is a diagram showing a schematic control block of an embodiment of the present application.

FIG. 7 is a diagram showing a detection beam of the ultrasonic sensor alone according to the embodiment of the present application.

FIG. 8 is a plan view showing a lateral direction detection beam in the first embodiment of the present application.

FIG. 9 is a side view showing a vertical detection beam in the first embodiment of the present application.

FIG. 10 is a perspective view of a walk-type combine, showing a second embodiment of the present application, as viewed from the operation panel side.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Walking type snowplow 2 Obstacle sensor 3 Voice alarm rotating light 4 Back switch 5 Speed sensor 6 Controller 11 Operating part side plate of snowplow 12 Running lever 13 Emergency stop lever when reversing 14 Engine 15 Snowplow auger 16 Snowplow shooter & Deflector 21 Aerial ultrasonic distance sensor M Operator C Walking type combine

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) B62D 51/06 111 B62D 51/06 111 E02F 9/24 E02F 9/24 B

Claims (7)

[Claims] 1. A sensor for detecting an object in a non-contact manner in the air or detecting information on a distance to the object in a walking type work machine,
A safety device for a walking-type work machine, comprising: an obstacle sensor 2 having a lateral detection range that is substantially equal to or greater than a human body width and substantially equal to or less than the body width. 2. A structure in which a plurality of the obstacle sensors 2 are arranged toward the operator so that at least two of the obstacle sensors sandwich the operator, and an object behind the operator is detected when the work machine moves backward. Claim 1
A safety device for a walking-type working machine according to claim 1. 3. The walking type according to claim 1, wherein the detection of the operator is ignored, and an alarm is issued or the work machine is automatically stopped according to a distance to an object behind the operator. Work machine safety equipment. 4. The safety device for a walking-type work machine according to claim 1, wherein a distance to the object that performs the automatic stop operation is varied according to a reverse speed of the body. 5. The safety device for a walking-type work machine according to claim 1, wherein the obstacle sensor 2 is an ultrasonic sensor. 6. The safety device for a walking-type work machine according to claim 1, wherein the sensor 2 is a light wave sensor such as an LED or a laser. 7. The safety device for a walking-type work machine according to claim 1, wherein the sensor 2 is a radio wave sensor.