JP2006257724A - Safety device of work machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a safety device of a work machine enabling the setting of conditions for operating safety means in consideration of circumstances on a driver's side such as the operational skill of a driver so that the work machine can be used easier than before. <P>SOLUTION: This safety device of the work machine comprises obstacle detectors 10a to 10c, an obstacle determination part 21 determining whether an obstacle is positioned in a monitor range or not based on the results of detection by the obstacle detectors, and multiple types of safety means preventing a contact accident on the obstacle. When the obstacle determination part determines that the obstacle is positioned in the monitor range, either of the safety means is operated. Multiple types of monitor patterns pre-set according to the degree of skill in the technique of operation are stored, and any monitor pattern selected from these monitor patterns by the driver by using an input device 40 is displayed on a display device 50 and input into the obstacle determination part 21 to operate the safety means according to the selected monitor pattern. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a safety device for a work machine that is provided in a work machine such as a construction machine and that prevents the work machine from contacting an operator or an obstacle around the work machine.

  A construction machine such as a hydraulic excavator has a vehicle body that is driven by a crawler or a wheel, and a front work machine that is installed on the vehicle body and performs operations such as excavation work and unloading work. This front work machine is, for example, a hydraulic excavator, an arm that is pivotally driven by a hydraulic cylinder as a hydraulic actuator, a bucket that is pivotally driven by a hydraulic cylinder in the same manner as a work arm such as a boom, and the like. And is installed on a turning frame of a vehicle body that is turned by a turning motor as a hydraulic actuator. In the vehicle body, the crawler and the wheel are driven by a travel motor as a hydraulic actuator.

  In such a construction machine, there is a risk that the vehicle body, the front working machine, and the turning frame come into contact with obstacles such as workers and objects around the construction machine when driven by the hydraulic actuator. Therefore, a safety device for a construction machine that prevents the construction machine from coming into contact with such an obstacle has been proposed. This construction machine safety device is equipped with obstacle detection means such as an ultrasonic sensor and a contact sensor on the construction machine, so that when the construction machine approaches the obstacle, the construction machine operator and workers around the construction machine A warning is issued by an alarm device such as a buzzer to call attention, or the various hydraulic actuators of the construction machine are brought to an emergency stop.

  There are various patent documents describing such a safety device for a working machine including the safety device for a construction machine. However, a safety device for a construction machine to be improved by the present invention is disclosed in, for example, Patent Literature 1. Has been. Therefore, the technique described in Patent Document 1 is positioned as a conventional technique, and the contents of the technique are outlined below. At that time, the technical contents of the parts related to the present invention will be mainly described while adding the terms and symbols used in Patent Document 1 in parentheses.

  In this patent document 1, as an obstacle referred to in this specification, such as workers and objects around a work machine (work vehicle 1 such as a hydraulic excavator, a crane, and a forklift), work by the work machine is performed around the work machine. The assisting worker (A), the worker (B) not directly related to the work of the work machine, and other obstacles (C) such as a dump truck performing work in the work area are illustrated. . In the conventional safety device for work machines described in Patent Document 1, three types of monitoring ranges for monitoring such obstacles to prevent the work machine from contacting the obstacles are set around the work machine. ing. That is, a first intrusion prohibition area (2) is set around the outer periphery of the work machine, a second intrusion prohibition area (3) is set in a predetermined range outside the first intrusion prohibition area, 2 The work area (4) is set further outside including the intrusion prohibited area.

  After setting these three types of monitoring ranges, the worker (A) is allowed to work in the second intrusion prohibited area, and the obstacle (C) such as the worker (B) or a dump truck. Is allowed to perform work within the third intrusion prohibited area. On the other hand, when the worker (A) enters the first intrusion prohibited area or when an obstacle (C) such as the worker (B) or a dump truck enters the second intrusion prohibited area, the work machine travels. In addition, the driving of the work machine of the work machine is stopped, and a warning command is transmitted to the warning means (15) to alert the operator, the workers (A), (B), and the like.

  In this conventional work machine safety device, in order to implement such safety measures, obstacle detection means (position detection means 21) for detecting the position of each obstacle around the work machine, and the three types of monitoring ranges described above. Obstacle determination means (monitoring determination means 23) for determining whether or not each obstacle is located within the monitoring range for prohibiting entry based on the detection result of the obstacle detection means; Multiple types of safety means for preventing contact of the work machine with objects (vehicle control means 14 that can forcibly stop the work vehicle 1 and the work machine, patrol light, buzzer, alarm, message display, etc. Warning means 15).

In addition, in order to be able to identify the respective entry-prohibited areas of the obstacles that are prohibited from entering, the operator's (A), (B) helmet upper surface and the cab such as a dump truck as the obstacle (C) An identification mark is attached to the upper surface. When such measures are taken, the obstacles are converted into workers (A), (B) and obstacles (C) by processing image data obtained by imaging the work machine and its surroundings with the imaging camera (5). Which can be specified. With conventional work machine safety devices, the above measures have been adopted to ensure high safety while eliminating frequent work machine stoppage due to the operation of safety means and improving work efficiency. It can be planned.
JP 2003-105807 A (page 4-7, FIGS. 1-4)

  By the way, work machine safety devices to prevent such work machine contact accidents will function only when the driver actually uses them, no matter how carefully they are designed. Therefore, it is important to make the driver easy to use while ensuring the safety of work. On the other hand, the degree of risk that a work machine contact accident will occur depends on the level of the driving skill of the driver, the type of work performed by the work machine, and the situation at the work site. I can't. Therefore, it can be considered that the situation judgment regarding these points can be most appropriately performed if the driver who actually performs the work has the initiative each time the work is to be performed. From the above, when setting conditions for operating the safety means, it is desirable to reflect the driver's intention as much as possible, and the safety device of the work machine functions to assist the driver.

  Therefore, regarding the conventional safety device for work machines, in the conventional safety device for work machines, the first intrusion prohibited area and the second intrusion are considered in consideration of the convenience of activities such as workers and dump trucks. Conditions for operating the safety means are set by setting three types of monitoring ranges, a prohibited area and a work area. Therefore, in the conventional technology, the conditions for operating the safety means are set uniformly in consideration of the situation on the obstacle side such as workers and dump trucks, and the driving skill of the driver and the implementation of the driver Little consideration is given to the situation on the driver's side, such as the type of work to be performed. Therefore, there is no room for the driver's intention to be reflected in the setting of the conditions for operating the safety means, and it is not always easy for the driver to use.

  On the other hand, in the conventional technology, it is necessary for all workers who work around the work machine to use a helmet with a specified identification mark, and when the worker changes the work content, the identification mark is replaced. Also need to do. As described above, since the preparation of the work is extremely complicated, it is not easy for the operator to use, and there is a possibility that the work efficiency may be reduced. Also, due to the complexity of the dressing, if the identification mark is not properly used, the safety device will not function effectively and the intended purpose cannot be achieved.

  Each invention of this application was created in order to solve such problems of the prior art, and the purpose of the invention is to determine the conditions for operating the safety means, the driving skill of the driver and the work performed by the driver. It is to provide a safety device for a work machine that can be set in consideration of the situation on the driver side, such as the type of the machine, and is more convenient than the conventional technology.

  In order to achieve the above-mentioned object, the obstacle detection means for detecting the position of an obstacle such as an operator or an object around the work machine, and the obstacle is monitored to prevent the work machine from contacting the obstacle. Obstacle determination means for determining whether or not an obstacle is located in the monitoring range based on the detection result of the obstacle detection means, in which data relating to the monitoring range set around the work machine is input. A plurality of types of safety means for preventing the work machine from contacting the obstacle, and at least one of the plurality of types of safety means when the obstacle determining means determines that the obstacle is located within the monitoring range. In the first invention of this application, the following 1) is configured, and in the second invention of this application, the following: No. 2) of this application In the present invention, it was constructed as follows 3).

1) A storage means storing a plurality of types of monitoring patterns set in advance according to the proficiency level of the driving skill for the monitoring range and the safety means that is activated when an obstacle is located within the monitoring range; A monitoring pattern that has an operation means that allows the driver to select a desired monitoring pattern from among the types of monitoring patterns, and that reads the monitoring pattern selected by the operation means from the storage means and displays it on the display means Setting means, and a desired monitoring pattern selected by the driver is input to the obstacle determination means, and the safety means can be operated according to the monitoring pattern.

2) A storage means for storing a plurality of types of monitoring patterns set in advance for each type of work performed on the work machine with respect to the monitoring range and the safety means that operates when an obstacle is located within the monitoring range, and these The operation means that allows the driver to select and select a desired monitoring pattern from the plurality of types of monitoring patterns is read out from the storage means and displayed on the display means. A monitoring pattern setting unit is provided, and a desired monitoring pattern selected by the driver is input to the obstacle determination unit, and the safety unit can be operated according to the monitoring pattern.

3) Storage means for storing a plurality of types of monitoring patterns set in advance for each type of work performed on the work machine with respect to the monitoring range and the safety means to be activated when an obstacle is located within the monitoring range; A type of work that automatically determines a monitoring pattern related to the type of work being performed from among a plurality of types of monitoring patterns by determining the type of work being performed on the work machine based on a signal emitted by the machine And determining means for inputting the monitoring pattern selected by the work type determining means to the obstacle determining means so that the safety means can be operated according to the monitoring pattern.

  Since the safety device for a work machine according to the first invention of this application is configured as described in 1) above, it is preset according to the proficiency level of the driving skill by the driver operating the operating means. A desired monitoring pattern can be selected from the plurality of types of monitoring patterns, read out from the storage means, and displayed on the display means. The driver can confirm whether or not the selected monitoring pattern is suitable for his / her driving skill by viewing the monitoring pattern displayed on the display means. By repeating these operations as necessary, it is possible to select an optimum one suitable for the driving skill from a plurality of types of monitoring patterns. In this case, the driver can make a selection in consideration of his / her driving skill and whether the work site has a high risk of causing a work machine contact accident or not. In this way, the safety device of the work machine can set the conditions for operating the safety means, reflecting the independent judgment of the driver side who is the party of the work, unlike the conventional technology, While ensuring the safety of work, it is easy for the driver to use.

  Since the safety device for a work machine according to the second invention of this application is configured as described in 2) above, for each type of work performed on the work machine, the driver operates the operating means. A monitoring pattern suitable for the type of work to be performed can be selected from a plurality of preset monitoring patterns, read from the storage means, and displayed on the display means. The driver checks whether or not the selected monitoring pattern matches the work to be carried out by looking at the monitoring pattern displayed on the display means, and selects a monitoring pattern suitable for the work. You can choose. In this way, the safety device of the present working machine can set the conditions for operating the safety means so as to conform to the driver's intention in consideration of the convenience of work, thus ensuring the safety of work. However, it will be convenient for the driver.

  Since the safety device for a work machine according to the third invention of this application is configured as described in 3) above, when the operation of the work machine is started, the work type determination means generates a signal generated by the work machine. The type of work currently being performed on the work machine is determined based on the type of work being performed from among a plurality of types of monitoring patterns set in advance for each type of work performed on the work machine. Automatically select a monitoring pattern. In this way, the safety device of the present working machine automatically sets the conditions for operating the safety means so as to conform to the driver's intention in consideration of the convenience of work, thus ensuring the safety of work. However, it will be convenient for the driver. As described above, the safety device for the work machine according to the first invention of this application, the second invention of this application, and the third invention of this application all have conditions for operating the safety means. It can be set in consideration of the situation on the driver side, and is easier to use than the conventional technology.

  As will be clear from the following explanation, “determination of whether or not the obstacle is located within the monitoring range based on the obstacle detection means for detecting the position of the obstacle and the detection result of the obstacle detection means. Obstacle determining means and a plurality of types of safety means, and at least one of the plurality of types of safety means is activated when the obstacle determining means determines that the obstacle is within the monitoring range. When the “safety device for a work machine” is configured, in the first invention of this application, the second invention of this application, and the third invention of this application, 1), 2), and 3) shown in the section of [1]], according to the inventions of this application, the conditions for operating the safety means are determined according to the driving skill of the driver and the performance of the driver. Considering the driver's situation, such as the type of work to be performed Able to a constant, it can be also over the prior art to obtain a safety device for a good working machine convenient. As a result, the work efficiency can be improved as compared with the conventional technique while ensuring the safety of the work.

  In the safety device for a work machine according to the first invention of this application, the conditions for operating the safety means can be set in consideration of the driver's situation such as the driver's driving skill. In the safety device for a work machine according to the second and third inventions of this application, the driver for performing a plurality of types of work on a single work machine is the condition for operating the safety means. It can be set so as to suit the type of work in consideration of the circumstances on the side. In particular, in the safety device for a work machine according to the third invention of this application, when any one of a plurality of types of work is carried out with one work machine, the condition for operating the safety means is suitable for the type of the work. It is convenient because it is automatically set by the work type determination means.

  When embodying the safety device of the working machine of the first invention, the second invention or the third invention of this application, in particular, as embodied in claim 4 of the claims. By doing so, the conditions for operating the safety means of each work machine can be set in a state that reflects the maximum voluntary judgment of the driver who actually performs the work. For this reason, the driver can improve the default monitoring pattern stored in advance in the storage means so as to optimize his / her driving skill and the type of work in the process of gaining driving experience. Each time an attempt is made, the safety device of the work machine can be improved as appropriate by making corrections so as to immediately respond to the situation at the work site.

  Hereinafter, how the first invention, the second invention, and the third invention of this application are actually embodied will be described with reference to FIGS. 1 to 21. The desirable mode for carrying out the invention will be clarified.

  The work machine safety device according to the first invention, the second invention, and the third invention of this application is similar to the work machine safety device of the prior art described above. Obstacle detection means for detecting the position of obstacles such as workers and objects, and monitoring set up around the work machine to monitor the obstacle and prevent the work machine from contacting the obstacle Data relating to the range is input, and the obstacle determination means for determining whether or not the obstacle is located within the monitoring range based on the detection result by the obstacle detection means and the contact of the work machine with the obstacle are prevented. Multiple kinds of safety means (control means, alarm means, etc. for forcibly stopping the running of the work machine and driving of the work machine), and the obstacle judging means determines that the obstacle is located within the monitoring range When there are at least several types of safety measures It is obtained by so as to operate the one unchanged from the safety device as far as the prior art in this regard.

  Hereinafter, examples of the safety device for a working machine configured by embodying each invention of this application will be described. In each example, the working machine is a self-propelled hydraulic excavator. Explain. First, this self-propelled hydraulic excavator will be outlined with reference to FIG. FIG. 1 is a perspective view showing an example of a work machine for installing a work machine safety device according to the first invention, the second invention, and the third invention of this application.

  In FIG. 1, 1A is a front working machine of a hydraulic excavator for performing excavation work and loading work of earth and sand, 1B is a vehicle body forming a main body of the work machine, 1a is a rear end portion perpendicular to a front portion of the upper swing body 1d. The boom 1b is pivotally mounted so as to be pivotable in the direction, 1b is an arm whose rear end is pivotally pivoted vertically to the front end of the boom 1a, and 1c is the front end of the arm 1b. A bucket 1d is pivotally mounted in a vertically pivotable and detachable manner, 1d is a swivel frame that is turnably mounted on the lower traveling body 1e, a cab 1f installed in the swivel frame, a building cover 1g, a counter An upper swing body 1e composed of various devices such as a weight 1h is used as a base for installing the upper swing body 1d, and a lower traveling body capable of traveling on the work site. 1f is used for operating a hydraulic excavator. Cab, g is a hydraulic pump and housing cover which is installed an engine for driving this, 1h is counterweight to balance the external force acting on the revolving frame at work by the front work device 1A.

  A self-propelled hydraulic excavator can be broadly divided into a front work machine 1A and a vehicle equipped with various devices such as a driver's cab 1f and hydraulic drive / control devices for installing the front work machine 1A. It is comprised with the vehicle body 1B. The front work machine 1A includes a boom 1a, an arm 1b, and a bucket 1c, and a boom cylinder 3a, an arm cylinder 3b, and a bucket cylinder 3c, which will be described later, for driving them. The vehicle body 1B includes an upper swing body 1d and a lower traveling body 1e configured by installing the various devices on a swing frame. This lower traveling body 1e is provided with a pair of crawler-type traveling bodies that are driven by an endless chain-shaped crawler belt to which the rotation of the sprocket is transmitted, on both the left and right sides. , 3f (see also FIG. 2 in conjunction with FIG. 1). The upper swing body 1d is driven by a swing motor 3d (see FIG. 2) described later.

  3a is a boom cylinder that is driven to expand and contract to rotate (tilt) the boom 1a in the vertical direction, 3b is an arm cylinder that is also expanded and contracted to drive and rotate (swing) the arm 1b, and 3c is also the same. A bucket cylinder that is driven to extend and retract to rotate the bucket 1c, 8a is a boom angle detector that detects the rotation angle of the boom 1a, and 8b is an arm angle that detects the rotation angle of the arm 1b with respect to the boom 1a. A detector, 8c is a bucket angle detector that detects a rotation angle of the bucket 1c with respect to the arm 1b, and 8d is a front / rear inclination angle sensor that detects an inclination angle of the vehicle body 1B in the front / rear direction. These angle detectors 8a, 8b, and 8c and the front / rear inclination angle sensor 8d are not directly related to the safety device of the work machine described below.

  Next, based on FIG. 2 thru | or FIG. 14, the safety device of the working machine of the 1st example which actualized and comprised the 1st invention of this application is demonstrated. First, the mechanism of the safety device of the work machine will be described with reference to FIGS.

  FIG. 2 is a block diagram showing a control system and its peripheral devices related to a safety device for a work machine of a first example that is configured by embodying the first invention of this application, and FIG. 3 is a work diagram of FIG. FIG. 4 is a diagram showing an example of a monitoring pattern stored in the safety device of the work machine in FIG. 2, and FIG. 4 is a plan view showing the monitoring range and the relationship between the obstacle detector and the work machine in FIG. FIG. 5 is a diagram showing an example of a monitor pattern selection screen displayed on the display device in the safety device of the work machine shown in FIG.

  The safety device of the work machine is roughly classified into obstacle detectors 10a, 10b, and 10c as obstacle detection means for detecting the position of an obstacle such as an operator or an object around the excavator, and an obstacle. A plurality of types of safety means for preventing the hydraulic excavator from contacting the vehicle and the safety means when it is determined that the hydraulic excavator has approached the obstacle based on the detection results of the obstacle detectors 10a, 10b, and 10c. A monitoring controller 20 that issues an operation command, and a vehicle body controller 30 that controls movement of the various hydraulic actuators of the hydraulic excavator based on operation signals of operation means such as operation levers 4a, 4b, 4c, and 4d and operation pedals. Are provided. The monitoring controller 20 includes an obstacle determination unit 21, a monitoring pattern setting unit 22 having a display device 50 and an input device 40, and a monitoring pattern storage memory 23. Will be described in detail later.

  The vehicle body controller 30 is a device that is normally installed in the hydraulic excavator, and includes a vehicle body control unit 31 for controlling the front work machine 1A and the vehicle body 1B, and the various hydraulic actuators during the normal operation of the hydraulic excavator. Control is performed through the vehicle body control unit 31. The vehicle body control unit 31 includes means for forcibly stopping or decelerating various hydraulic actuators in accordance with the operation command of the monitoring controller 20 regardless of whether or not the operation means is operated in relation to the safety device of the work machine. Specially established. The stopping means and the deceleration means of the actuator together with the alarm sound generator 15 constitute the plural types of safety means for preventing the hydraulic excavator from contacting the obstacle. Therefore, an outline of the related equipment of the vehicle body controller 30 shown in FIG.

  3d is a swing motor that drives the swing frame of the upper swing body 1d to rotate, 3e is a left travel motor that rotationally drives a sprocket of the left crawler traveling body, and 3f is a rotational drive of a sprocket of the right crawler traveling body. The right traveling motor 4a is operated by a boom operation lever 4b that controls the movement of the boom cylinder 3a by extending and retracting the boom cylinder 3a according to the operation direction and controlling the speed at which the boom cylinder 3a expands and contracts according to the operation amount. Similarly, the arm operation lever 4c controls the movement of the arm cylinder 3b according to the operation direction and the operation amount. The bucket operation lever 4c similarly controls the movement of the bucket cylinder 3c according to the operation direction and operation amount. To control the turning direction of the turning motor 3d or to control the turning speed of the turning motor 3d. In addition, a turning operation lever for controlling the movement of the turning motor 3d according to the operation amount, 5 an engine speed detector for detecting the engine speed, which will be described later, and 6 a driver switching operation according to the type of work to be performed. This is an operation mode changeover switch.

  Although not shown in the figure, the various hydraulic actuators described above of the hydraulic excavator such as the boom cylinder 3a, the arm cylinder 3b, the bucket cylinder 3c, the swing motor 3d, and the traveling motors 3e and 3f are driven in the building cover 1g. A variable displacement hydraulic pump that generates pressure oil is installed. This hydraulic pump is driven by an engine (not shown) installed in the building cover 1g. Each of the operation levers 4a to 4d is operated by a desired amount in a desired determined direction, thereby controlling each direction control valve (not shown) for the boom, arm, bucket, and swing motor in the vehicle body control unit 31. ) Control signals (operation signals) based on electric signals are sent to either the left or right signal receivers to switch the directional control valves from the neutral position to the left or right position to control the movement of the hydraulic actuators 3a to 3d. .

  Although not shown, the hydraulic excavator is also provided with left and right traveling operation pedals for controlling the movements of the left and right traveling motors 3e and 3f, respectively. These left and right travel operation pedals are operated by a desired amount in a desired predetermined direction, and left and right of left and right travel direction control valves (not shown) in the vehicle body control unit 31, respectively. A control signal based on an electrical signal is sent to any one of the signal receiving portions to switch the directional control valve for traveling from the neutral position to the left position or the right position. Then, the rotational directions of the left and right traveling motors 3e, 3f are controlled by the operation direction, and the rotational speeds of the traveling motors 3e, 3f are controlled by the operation amount. Here, a control signal based on an electric signal is sent by operating the operation levers 4a to 4d, but a control signal based on a hydraulic pilot pressure may be sent.

  The vehicle body controller 30 can also be used for a safety device for a work machine according to a third invention of this application, which will be described later. However, the detected value of the engine speed detector 5 indicates whether the excavator is in a working state or not. Is used as a signal for determining whether the type of work performed by the hydraulic excavator corresponds to “idling” (see FIG. 22) or not according to the third aspect of the invention. . In the hydraulic excavator, various operations such as excavation work, crane work, and slope finishing work are performed. The operation mode change-over switch 6 switches according to the work performed by the driver and sends a switching signal to the vehicle body controller 30. Thus, the state of the hydraulic circuit is adjusted so that the hydraulic actuator suitable for the work can be driven. The switching signal generated when the operation mode changeover switch 6 is switched is referred to as an “operation mode signal”, and the type of work performed by the hydraulic excavator corresponds to either “excavation” or “crane” (see FIG. 22). It is used as a signal for making a determination according to the third invention.

  The related devices of the monitoring controller 20 will be described. 10a is a left obstacle detector that is provided on the left side of the upper swing body 1d and detects the position of the left obstacle of the vehicle body 1B, and 10b is the upper swing body 1d. A rear obstacle detector 10c for detecting the position of an obstacle behind the vehicle body 1B provided at the rear is provided on the right side of the upper swing body 1d and detects the position of the obstacle on the right side of the vehicle body 1B. The obstacle detector 15 is an alarm sound generator such as a buzzer and an alarm as a safety means for generating an alarm sound to prevent the hydraulic excavator from contacting the obstacle. It may be installed in the operator's cab f to alert the driver, or may be used to issue a warning to workers around the excavator.

  As shown in FIG. 3, the obstacle detectors 10a, 10b, and 10c are obstacles such as workers and objects around the hydraulic excavator located on the left and right sides of the vehicle body 1B and behind the vehicle body 1B, which are difficult to monitor from the cab 1f. Are provided on the left side, the rear, and the right side of the upper swing body 1d, respectively, and the positions of obstacles located in those directions are detected. In the example shown here, these obstacle detectors 10a, 10b, and 10c detect an obstacle with an ultrasonic sensor or an infrared laser, and detect the distance of the obstacle to the detectors 10a, 10b, and 10c. Thus, the positional relationship (the degree of approach) of the obstacle with respect to the vehicle body 1B can be detected. Here, such an ultrasonic sensor or infrared laser is used as the obstacle detection means, but the obstacle detection means may be a sensor such as a laser or a millimeter wave radar, a camera image, etc. The type is not limited as long as it can detect surrounding obstacles.

  In the safety device of the working machine, the obstacle detectors 10a, 10b, and 10c can be used to determine whether or not the excavator is in a dangerous state in the vicinity of the obstacle. As shown in FIG. 3, corresponding to the obstacle detectors 10a, 10b, and 10c, the obstacle is monitored on the left and right sides of the vehicle body 1B and around the rear to prevent the hydraulic excavator from contacting the obstacle. The semicircular monitoring ranges 11a, 11b, and 11c for doing so are set in advance. Then, the monitoring controller 20 determines whether or not the obstacle is located in the monitoring ranges 11a, 11b, and 11c based on the detection result relating to the position of the obstacle in the obstacle detectors 10a, 10b, and 10c. When it is determined that the obstacle is located in the monitoring ranges 11a, 11b, and 11c, a predetermined one of the plurality of types of safety means is operated.

  Therefore, the monitoring controller 20 that performs such determination will be described. 21 is an obstacle determination that activates the safety means by determining whether or not the obstacle is located within the monitoring range based on the detection values of the obstacle detectors 10a, 10b, and 10c when data relating to the monitoring range is input. An obstacle determination unit 22 as means has an input device 40 that can be set by a driver to set a monitoring pattern to be described later. The monitoring pattern set by the input device 40 is read from the storage means and displayed on the display device 50. A monitoring pattern setting unit 23 serving as a monitoring pattern setting unit includes a plurality of types of monitoring patterns set in advance according to the skill level of the driving skill for the monitoring range and the safety unit that is activated when an obstacle is located within the monitoring range. Is a memory for storing monitoring patterns as storage means, and 40 is a memory for storing a plurality of types of monitoring patterns stored in the memory 23 for storing monitoring patterns. An input device as an operation means that can select and set a desired monitoring pattern by a driver's operation, and a display means 50 attached to the monitoring pattern storage memory 23 and capable of displaying various data related to the monitoring pattern and the like. Display device.

  When the monitoring ranges 11a, 11b, and 11c are set in the form as shown in FIG. 3, the monitoring pattern is created in the form as shown in FIG. 4, for example, and data related to the monitoring pattern is stored in the monitoring pattern storage memory 23. Is remembered. In FIG. 4, “direction” in the upper left column means the orientation of the monitoring ranges 11a, 11b, and 11c with respect to the vehicle body 1B, and the orientation of each monitoring range 11a, 11b, and 11c set around the vehicle body 1B is expressed as “left side”. Are abbreviated as “way”, “backward”, and “right side”. In the example shown here, each of the monitoring ranges 11a, 11b, and 11c is divided into a dangerous range and a caution range and is set in two types as described in the uppermost column of FIG. Of these, the danger range is an area where the hydraulic excavator may come into contact with an obstacle depending on the driving state of the hydraulic actuator, and the caution area is set adjacent to the outside of the danger range and is an obstacle detector. This is an area where the position of an obstacle can be detected by 10a, 10b, and 10c.

  In FIG. 4, “distance” in the “danger range” and “caution range” columns means the distance from the obstacle detectors 10a, 10b, and 10c to the boundary of the danger range and the boundary of the warning range, respectively. In other words, it means each radius centered on the base point of the obstacle detectors 10a, 10b, and 10c in the monitoring ranges 11a, 11b, and 11c having the semicircular shape shown in FIG. In the example of FIG. 4, the danger range is set to be within a radius of 2 m for the left side, that is, the monitoring range 11a, within a radius of 1 m for the rear side, that is, the monitoring range 11b, and within a radius of 2 m for the right side, that is, the monitoring range 11c. Further, the caution range is set to be within a radius of 4 m for the left side, within a radius of 3 m for the rear side, and within a radius of 4 m for the right side.

  In FIG. 4, “Countermeasure” in the column of “Danger range” and “Caution range” defines a countermeasure when an obstacle is detected in both monitoring ranges, in other words, a safety means to be activated. In the safety device of the present working machine, three types of safety means are provided: an actuator stop means and an actuator deceleration means provided in the vehicle body control unit 31, and an alarm sound generator 15. In FIG. 4, among these safety means, operating the actuator stop means is “stop”, operating the actuator deceleration means is “deceleration”, and operating the alarm sound generator 15 is “alarm”. The fact that none of these safety devices are activated is abbreviated as “do nothing”. In the example of FIG. 4, the coping method when an obstacle is detected within the danger range is defined as “deceleration” on the left and right sides and “stop” on the rear. In addition, the coping method when an obstacle is detected within the caution range is defined as “do nothing” on the left side and “alarm” on the rear and right sides.

  In the safety device of the working machine, a plurality of types of such monitoring patterns are set in advance according to the proficiency level of the driving skill, and the data is stored in the monitoring pattern storage memory 23. In the example shown here, there are three types: “standard” for drivers with standard driving skills, “for beginners” for new drivers, and “for experts” for skilled drivers. Various types of monitoring patterns are set and stored. When the input device 40 is operated, the types of these default monitoring patterns and the basic patterns of the monitoring patterns stored in the monitoring pattern storage memory 23 are imaged and displayed on the display device 50 as shown in FIG. Is done. In FIG. 5, the “unrestricted” pattern is a pattern used when the safety device does not need to function, such as when there is no danger of a human contact accident. The driver can select a desired monitoring pattern from these monitoring patterns by operating the input device 40.

  In the monitor pattern selection screen of FIG. 5 of the display device 50, an item “add pattern” is displayed. When the driver selects this item by operating the input device 40, as described later, The driver can newly add and set a unique monitoring pattern suitable for his / her driving skill and store it in the monitoring pattern storage memory 23. Operation for displaying the monitor pattern selection screen shown in FIG. 5 on the display device 50 described above, operation for selecting and setting a desired monitor pattern from predetermined monitor patterns, and setting and adding a new monitor pattern In order to be able to perform various operations such as operations, the input device 40 includes, for example, an appropriate number of key switches.

  Among these operations, when an operation for displaying the monitor pattern selection screen of FIG. 5 on the display device 50 is performed, the monitor pattern setting unit 22 is based on the operation signal of the input device 40 and the monitor pattern storage memory 23. 5 is read through the path a, and the data is processed so that the data can be imaged, and the screen of FIG. When an operation for selecting a desired monitoring pattern from among the predetermined monitoring patterns is performed, the monitoring pattern setting unit 22 is stored in advance in the monitoring pattern storage memory 23 based on an operation signal from the input device 40. Data related to a monitoring pattern selected from data related to a plurality of types of predetermined monitoring patterns is read and processed via a path a, and an image related to the data (see FIGS. 7 to 10 described later) is displayed on the display device. 50. Then, when the driver performs an operation of determining the monitoring pattern to be selected while referring to and confirming this image, the monitoring pattern used for the determination by the obstacle determination unit 21 is set.

  The monitoring pattern setting unit 22 causes the obstacle determination unit 21 to input data related to the set monitoring pattern from the path b through the monitoring pattern storage memory 23. The data related to the set monitoring pattern may be directly input to the obstacle determination unit 21 from the route c. When the input device 40 performs an operation for adding and setting the new monitoring pattern, the monitoring pattern setting unit 22 sends the data related to the set monitoring pattern to the monitoring pattern storage memory 23 via the path a. Remember me. In addition, data related to the set monitoring pattern is input to the obstacle determination unit 21 from the path b through the monitoring pattern storage memory 23 or directly from the path c.

  The obstacle determination unit 21 receives the monitoring pattern set by the driver, the detection values of the obstacle detectors 10a, 10b, and 10c, and each data related to the vehicle body information 39. Then, in the obstacle determination unit 21, the obstacle is positioned in the monitoring range 11 a, 11 b, 11 c based on the detection result relating to the position of the obstacle in the monitoring ranges 11 a, 11 b, 11 c. It is determined whether or not. As a result, when it is determined that the obstacle is located in any one of these danger ranges and caution ranges, the actuator stopping means or the actuator is operated in accordance with the coping method shown in FIG. 4 regarding the set monitoring pattern. A braking command 29 for operating the deceleration means is output to the vehicle body control unit 31 or an operation command for operating the alarm sound generating device 15 is output, and a predetermined pattern is set according to the monitoring pattern set by the driver. Activate safety measures.

  The vehicle body information 39 includes a signal related to the engine speed of the engine speed detector 5, an operation mode signal of the operation mode switch 6, an operation signal related to the operation direction and the operation amount of the operation means such as the operation levers 4 a to 4 d, and the like. It means information indicating the state of operation of the work machine, that is, the state of operation of the front work machine 1A and the vehicle body 1B. These signals are input to the obstacle determination unit 21 in response to a request from the monitoring controller 20. Among these, the signal relating to the engine speed and the operation mode signal may be used when the obstacle judging unit 21 of the safety device of the working machine makes a judgment according to the third invention of this application which will be described later. Yes, it is not directly related to the first invention.

  When actuating the actuator stopping means and actuator decelerating means, it is not always necessary to operate the hydraulic actuator to stop or decelerate completely, and to avoid contact with the hydraulic excavator as much as possible. It is desirable to operate so that only the hydraulic actuator is stopped. The operation signals related to the operation direction and the operation amount of the operation means can be detected from the state of operation of the front work machine 1A and the vehicle body 1B that can be detected by this and the detection results of the obstacle detectors 10a, 10b, and 10c. It is input so that the obstacle determination unit 21 can determine the hydraulic actuator that needs to be stopped or decelerated in order to avoid a contact accident while observing the relationship with the position of the object.

  Based on FIG. 6 thru | or FIG. 13, the procedure of the control performed in the monitoring pattern setting part 22 in the safety device of the working machine of this 1st example is demonstrated.

  FIG. 6 is a flowchart for explaining a control procedure performed by the monitoring pattern setting unit in the safety device of the work machine in FIG. 2, and FIG. 7 is a flowchart selected based on the monitoring pattern selection screen in FIG. FIG. 8 is a diagram showing an example of a display screen related to one existing monitoring pattern; FIG. 8 is a diagram showing an example of a display screen related to a second existing monitoring pattern selected based on the monitoring pattern selection screen shown in FIG. 9 is a diagram showing an example of a display screen relating to the third existing monitoring pattern selected based on the monitoring pattern selection screen of FIG. 5, and FIG. 10 is based on the monitoring pattern selection screen of FIG. FIG. 11 is a diagram showing an example of a display screen relating to the fourth existing monitoring pattern selected in the above-described manner. FIG. 11 is a screen for setting an additional monitoring pattern for the driver to newly set and add a unique monitoring pattern. Figure showing an example, FIG. FIG. 13 is a diagram showing an example of a display screen for operation displayed on the display device after the second existing monitoring pattern of FIG. 8 is selected and confirmed, and FIG. 13 is for setting an additional monitoring pattern of FIG. It is a figure which shows an example of the screen for the monitoring pattern selection displayed on a display apparatus, after an additional monitoring pattern is set and memorize | stored based on this screen.

  When the driver operates the input device 40 to display a monitor pattern selection screen on the display device 50, in STEP 101, the monitor pattern setting unit 22 stores data related to the screen from the monitor pattern storage memory 23. And the monitor pattern selection screen shown in FIG. This monitor pattern selection screen displays the pattern names of the three types of monitor patterns, “Standard”, “Beginner” and “Expert”, which are preset according to the skill level of driving skills. The pattern name “None” is displayed, and the basic pattern of the monitoring pattern is displayed.

  Next, when an operation for selecting a desired monitoring pattern from these predetermined monitoring patterns is performed by the input device 40, the monitoring pattern setting unit 22 stores data related to the selected monitoring pattern from the monitoring pattern storage memory 23. The display screen according to the read data is displayed on the display device 50. Examples of display screens related to existing monitoring patterns that can be selected from the monitoring pattern selection screen of FIG. 5 are shown in FIGS. FIG. 7 shows an example of a display screen related to the pattern name “unlimited”, FIG. 8 shows an example of a display screen related to the pattern name “standard”, and FIG. 9 shows an example of a display screen related to the pattern name “for beginner”. FIG. 10 is an example of a display screen related to the pattern name “for expert”.

  In the upper column in the left column of each display screen, the distances from the obstacle detectors 10a, 10b, 10c to the boundary of the danger range are abbreviated as “left side”, “rear side”, and “right side”, respectively. To the right of the distance, the appropriate action to be taken when an obstacle is detected within the danger range is "Decelerate", "Stop", "Alarm", or "Do nothing". A thing is selected and displayed. In the lower column in the left column of each display screen, similar items are displayed in the same manner for the attention range. In the right column of each display screen, these items are displayed as images, and a pattern name related to a predetermined monitoring pattern is displayed above the items.

  When the driver finds his / her favorite monitoring pattern by selecting and referring to the display screens related to the predefined monitoring patterns of multiple types, he selects the “decision” item at the lower right of the display screen. Is performed by the input device 40 to determine the monitoring pattern to be selected. This confirmation operation means that “select a monitoring pattern?” In the flowchart of FIG. 6 is YES. Therefore, the process proceeds to STEP 102 and the monitoring pattern setting unit 22 reads the monitoring pattern storage memory 23 from the monitoring pattern storage memory 23. Data related to the display screen for operation relating to the confirmed monitoring pattern is read, and the display screen for operation is displayed on the display device 50.

  For example, when the “standard” monitoring pattern shown in FIG. 8 is selected from the display screens related to the predetermined monitoring pattern and confirmed, the operation display screen related to the monitoring pattern shown in FIG. Is displayed. Thus, since the display screen for driving related to the monitoring pattern selected by the driver is displayed on the display device 50 in the driver's cab, when the driver performs the operation of the hydraulic excavator, the selected and displayed monitoring is performed thereafter. It is possible to drive properly while keeping the pattern in mind. Thus, the entire process for selecting and setting the monitoring pattern used for the determination by the obstacle determination unit 21 is completed.

  On the other hand, when the driver cannot find an appropriate monitoring pattern from a plurality of types of predetermined monitoring patterns and “select a monitoring pattern?” Is NO, the monitoring of FIG. 5 displayed in STEP 101 is performed. The input device 40 performs an operation of selecting an “add pattern” item at the lower left of the pattern selection screen. If it does so, it will transfer to STEP103 and the monitoring pattern setting part 22 will display the screen for the additional monitoring pattern setting of a format as shown in FIG. Therefore, the driver arbitrarily operates the input device 40 for the distance and coping method for each of the “left side”, “rear”, and “right side” items for the danger range and the caution range on this screen. Set. The additional monitor pattern setting screen shown in FIG. 11 shows a state after the driver A has thus set the distance and the coping method.

  After the driver sets the additional monitoring pattern in this way, and performs an operation of selecting the “decision” item at the lower right of the screen, the monitoring pattern setting unit 22 performs a process of confirming the setting of the additional monitoring pattern. The data related to the unique additional monitoring pattern set by the driver A is stored in the monitoring pattern storage memory 23. Then, the process returns to STEP 101, and the monitor pattern selection screen is displayed on the display device 50 again. The monitoring pattern selection screen displayed after the setting of the additional monitoring pattern is as shown in FIG. That is, on this screen, an image related to the additional monitoring pattern set by the driver A similar to that in FIG. 11 is displayed on the right column, and the pattern name in the left column is “Driver”. A pattern name “for A” is newly displayed.

  Next, when the driver selects the pattern name “for driver A” and performs an operation of selecting the “decision” item, “select a monitoring pattern?” In the flowchart of FIG. 6 becomes YES. Therefore, the process proceeds to STEP102. Then, the monitoring pattern setting unit 22 reads the data related to the operation display screen relating to the newly set additional monitoring pattern from the monitoring pattern storage memory 23, and this additional monitoring similar to the operation display screen of FIG. An operation display screen (not shown) regarding the pattern is displayed on the display device 50. Thus, the entire process for setting the additional monitoring pattern used for the determination by the obstacle determination unit 21 is completed. If another additional monitoring pattern is desired to be set, an operation for selecting the “add pattern” item is performed in STEP 101 and the above-described operation for adding a pattern is performed. This additional monitoring pattern is set.

  Based on FIG. 14, the procedure of control performed by the obstacle determination unit 21 in the safety device of the work machine will be described. FIG. 14 is a flowchart for illustrating a control procedure performed by the obstacle determination unit in the safety device for the work machine in FIG. 2.

  The control procedure in the obstacle determination unit 21 shown in FIG. 14 is performed at regular intervals by interruption of a timer every 10 milliseconds, for example. First, in step 201, the obstacle determination unit 21 obtains an obstacle detection signal from each of the obstacle detectors 10a, 10b, and 10c. Next, the obstacle determination unit 21 monitors each of the obstacle detectors 10a, 10b, and 10c when the presence of the obstacle is detected based on each of the obstacle detection signals in step 202. Calculate the distance to the obstacle. In step 203, data relating to a monitoring pattern (a predetermined monitoring pattern or an additional monitoring pattern) set by the driver is read from the monitoring pattern storage memory 23 and acquired.

  Thereafter, the process proceeds to step 204, where the obstacle determination unit 21 determines the danger ranges and caution ranges in the monitoring ranges 11a, 11b, and 11c of the monitoring pattern and the distances from the obstacle detectors 10a, 10b, and 10c to the obstacles. Based on the result of the collation, the following countermeasures are taken according to the coping method set in the monitoring pattern. First, it is determined whether or not there is an obstacle in the monitoring ranges 11a, 11b, and 11c. As a result, there is no obstacle in any of the monitoring ranges 11a, 11b, and 11c in the danger range and the caution range (YES) ), The process in the obstacle determination unit 21 is terminated.

  As a result of the determination, when it is determined that there is an obstacle (NO) in any one of the monitoring ranges 11a, 11b, and 11c in the danger range and the caution range, the coping method set in the monitoring pattern is “ It is sequentially determined whether any of “do nothing”, “alarm”, and “braking” (“deceleration” or “stop”). First, it is determined whether or not the coping method set in the monitoring pattern is “do nothing”. As a result, when it is determined that “do nothing” (YES), the obstacle determination unit The process in 21 is terminated. Also, when it is determined that it does not correspond to “do nothing” (NO), it is determined whether or not the coping method set in the monitoring pattern is “alarm”.

  As a result, when it is determined that the coping method is “alarm” (YES), the process proceeds to step 205, and the obstacle determination unit 21 generates an alarm by operating the alarm sound generation device 15 and performs processing. Exit. As a result of the determination, when it is determined that the alarm is not “alarm” (NO), the coping method set in the monitoring pattern is “braking” as a natural result. A braking command 29 is transmitted to the vehicle body control unit 31 of the controller 30, and the actuator stop means or the actuator deceleration means is operated according to the monitoring pattern, and the process is terminated. Thus, the cycle of one cycle related to the control procedure in the obstacle determination unit 21 is completed. In the example shown here, when the safety means is activated, one kind of safety means is activated. For example, the actuator deceleration means and the alarm sound generator 15 are activated simultaneously or before and after. Two types of safety means may be activated.

  In the working machine safety device that embodies the first invention of this application described above, the driver operates the input device 40 as the operating means, and is preset according to the proficiency level of the driving skill. A desired monitoring pattern can be selected from a plurality of types of predetermined monitoring patterns, read out from the monitoring pattern storage memory 23 serving as storage means, and displayed on the display device 50. The driver can check whether or not the selected monitoring pattern is suitable for his / her driving skill by viewing the monitoring pattern displayed on the display device 50. By repeating these operations as necessary, it is possible to select an optimum one suitable for the driving skill from a plurality of types of predetermined monitoring patterns.

  In this case, the driver can make a selection in consideration of his / her driving skill as well as the actual situation at the work site, such as whether the work site has a high risk of occurrence of a hydraulic excavator contact accident. As described above, the safety device of the work machine is different from the conventional technology in that the conditions for operating the safety means such as the actuator stop means and the actuator speed reduction means are independently determined by the driver who is the party of the work. Can be set in consideration of the circumstances on the driver side, which is more convenient for the driver than the conventional technology. As a result, the work efficiency can be improved as compared with the conventional technique while ensuring the safety of the work.

  In particular, in the safety device of the present working machine, the additional monitoring pattern is configured so that the driver can uniquely set it by operating the input device 40 and store it in the monitoring pattern storage memory 23. Therefore, the conditions for operating the safety means of the hydraulic excavator can be set in a state in which the independent judgment of the driver actually performing the work is reflected to the maximum extent. Therefore, the driver tries to improve the default monitoring pattern stored in the monitoring pattern storage memory 23 so as to be optimized for his / her driving skill in the process of accumulating driving experience. It is possible to improve the safety device of the work machine that is more convenient and safer by making corrections so as to adapt to the situation of the work site each time.

  Based on FIG. 15 thru | or FIG. 21, the safety device of the working machine of the 2nd example which actualized and comprised the 1st invention of this application is demonstrated.

  15 is a plan view showing the monitoring range and the relationship between the obstacle detector and the work machine of FIG. 1 according to the safety device of the work machine of FIG. 16, and FIG. 16 embodies the first invention of this application. FIG. 17 is a block diagram showing a control system and its peripheral devices related to the safety device for the work machine of the second example configured as shown in FIG. FIG. 18 is a diagram illustrating an example of a screen, FIG. 18 is a diagram illustrating an example of a display screen related to an existing monitoring pattern selected based on the monitoring pattern selection screen in FIG. 17, and FIG. 19 is a monitoring pattern unique to the driver. FIG. 20 is a diagram showing an example of a screen for setting an additional monitoring pattern related to the safety device for the work machine in FIG. 16 for newly setting and adding, FIG. 20 is a diagram for selecting and confirming the existing monitoring pattern in FIG. Display on the display after FIG. 21 is a diagram showing an example of a display screen for driving, and FIG. 21 shows a monitor displayed on the display device after an additional monitoring pattern is set and stored based on the additional monitoring pattern setting screen of FIG. It is a figure which shows an example of the screen for pattern selection.

  In the safety device for the working machine of the first example according to the first invention of this application which has already been described, as the obstacle detecting means, an object which detects the distance of the obstacle to the detecting means with an ultrasonic wave or an infrared laser is used. In this way, the positional relationship (the degree of approach) of the obstacle with respect to the vehicle body 1B is detected. On the other hand, in the safety device of the working machine of the second example, as the obstacle detection means, an obstacle detection means that can detect the direction of the obstacle in addition to the distance of the obstacle to the detection means is used. The positional relationship between obstacles can be uniquely identified. Examples of such obstacle detection means include a scanning laser and a millimeter wave radar.

  In the safety device of the work machine of the second example, by using such an obstacle detection means, the dangerous range and the caution range in the monitoring ranges 11a, 11b, and 11c are not limited to the semicircular pattern, It can be set to any shape. Moreover, in the safety device for the work machine of the second example, the monitoring range is set as shown in FIG. That is, the monitoring ranges 11a, 11b, and 11c are set on the left side, the rear side, and the right side of the vehicle body 1B as in the safety device of the work machine of the first example, and the monitoring range 11d is set on the front side. Yes. Accordingly, when providing obstacle detection means, as shown in FIG. 15, obstacle detectors 10a, 10b, and 10c are provided on the left side, rear side, and right side of the upper swing body 1d, respectively, in the first example. In addition to the above, an obstacle detector 10d is also provided in front.

  The control system related to the safety device for the work machine of the second example is shown in FIG. 16, but this control system provides the obstacle determination unit 21 with data relating to the detection result of the obstacle detection means. In addition to the data related to the detection values of the object detectors 10a, 10b, and 10c, the data related to the detection values of the obstacle detector 10d are input, and all the data related to these detection values are obstacles. The control system is substantially the same as the control system according to the first example except that the data includes the distance of the obstacle to the detection means and the direction of the obstacle. Moreover, the content of the control performed by the obstacle determination unit 21 is substantially the same as that of the control system according to the first example.

  That is, the safety device for the work machine of the second example has, as storage means, monitoring ranges 11a, 11b, 11c, and 11d divided into danger ranges and caution ranges, and obstacles within these danger ranges and caution ranges. A monitoring pattern storage memory 23 similar to the first example in which a plurality of types of monitoring patterns set in advance according to the proficiency level of the driving skill with respect to the safety means that is activated when the vehicle is positioned is provided, and the obstacle determination means As described above, data relating to the danger range or the caution range is input, and it is determined whether or not the obstacle is located within the danger range or the caution range based on the detection results of the obstacle detections 10a, 10b, 10c, 10d. The same obstacle determination unit 21 as the first example is provided.

  The monitoring pattern setting means includes an input device 40 as an operation means that allows the driver to operate and select a desired monitoring pattern from the plurality of types of monitoring patterns. A monitoring pattern setting unit 22 that reads the monitoring pattern from the monitoring pattern storage memory 23 and displays the monitoring pattern on the display device 50, and inputs a desired monitoring pattern selected by the driver to the obstacle determination unit 21. The control system itself is substantially the same as the device of the first example. Further, as a safety means, an actuator stop means and an actuator deceleration means provided in the vehicle body control unit 31 and an alarm sound generation device 15 connected to the obstacle determination unit 21 are provided. Same as the device.

  A control procedure performed by the monitoring pattern setting unit 22 in the safety device of the working machine of the second example will be described with reference to FIGS. 17 to 21 with the aid of FIG.

  When the driver operates the input device 40 to display a monitor pattern selection screen on the display device 50, in STEP 101, the monitor pattern setting unit 22 stores data related to the screen from the monitor pattern storage memory 23. , And a monitor pattern selection screen shown in FIG. The format of the monitor pattern selection screen is basically the same as the screen of FIG. 5 according to the first example, but the type of the monitor pattern displayed on the screen is the same as that of the screen of FIG. It ’s different. That is, the image showing the danger range and the caution range is locally displayed on the right and left sides and the necessary points on the rear side in the screen of FIG. 5 according to the first example, whereas in the second example In the screen shown in FIG. 17, the entire periphery of the vehicle body 1B is continuously displayed in an irregular pattern.

  When the driver selects a desired monitoring pattern from the default monitoring patterns displayed in the pattern name area while referring to the monitoring pattern selection screen of FIG. 17, the monitoring pattern setting unit 22 selects the monitoring pattern. A display screen related to the monitored pattern is displayed on the display device 50. For example, when the “standard” monitoring pattern is selected, the display screen shown in FIG. 18 is displayed. This display screen is different from the display screens of FIGS. 8 to 10 according to the first example, in the left column of the screen, items “left side”, “rear side”, “right side” regarding the danger range and the caution range are displayed. There are no indications about the distance and countermeasures, but instead, in the image related to the “standard” monitoring pattern shown in the left column of the screen, “5 m”, which is a measure of the distance on the vertical and horizontal axes, and the danger range “Stop” as a coping method and “alarm” as a coping method regarding the attention range are displayed.

  The driver selects an appropriate one from among a plurality of types of default monitoring patterns in the monitoring pattern selection screen of FIG. 17, for example, the “standard” monitoring pattern, and is displayed at the lower right of the display screen of FIG. When the operation of selecting the “decision” item is performed, the monitoring pattern to be selected is confirmed, “Select monitoring pattern?” In the flowchart of FIG. 6 becomes YES, and the process proceeds to STEP102. Then, the monitoring pattern setting unit 22 reads out data related to the driving display screen related to the confirmed monitoring pattern from the monitoring pattern storage memory 23 and displays the driving display screen related to the “standard” monitoring pattern shown in FIG. It is displayed on the device 50. Thus, the entire process for selecting and setting the monitoring pattern used for the determination by the obstacle determination unit 21 is completed.

  On the other hand, when the driver cannot find an appropriate monitoring pattern from a plurality of types of predetermined monitoring patterns and “select a monitoring pattern?” Is NO, the monitoring of FIG. 17 displayed in STEP 101 is performed. The input device 40 performs an operation of selecting an “add pattern” item at the lower left of the pattern selection screen. If it does so, it will transfer to STEP103 and the monitoring pattern setting part 22 will display the screen for the additional monitoring pattern setting of a style as shown in FIG. Therefore, the driver changes and resets the boundary lines of the images related to the danger range and the caution range in this screen, and performs an operation for setting the boundary lines to meet the driver's request. In the example shown here, this operation is performed using the light pen 50 a shown in FIG. 19 attached to the display device 50, not the input device 40. Therefore, the light pen 50a functions as a kind of operation means or input means for allowing the driver to arbitrarily set the monitoring pattern.

  Since the operation means by such a light pen 50a can be drawn while looking at the work site to draw a boundary line between the danger range and the caution range, the setting operation of the additional monitoring pattern is simply and appropriately performed. be able to. After setting the danger range and the caution range on the additional monitor pattern setting screen in FIG. 19, a desired coping method is set for each of them. Note that the additional monitoring pattern setting screen shown in FIG. 19 shows a state after the driver B has set the dangerous range, the caution range, and the coping method. After the driver sets the additional monitoring pattern in this way, the driver performs an operation of selecting the “decision” item at the lower right of the screen.

  Then, the monitoring pattern setting unit 22 performs processing for confirming the setting of the additional monitoring pattern, and stores the data related to the unique additional monitoring pattern set by the driver B in the monitoring pattern storage memory 23. Then, the process returns to STEP 101, and the monitor pattern selection screen is displayed on the display device 50 again. The monitor pattern selection screen displayed after the setting of this additional monitor pattern is as shown in FIG. That is, on this screen, an image related to an additional monitoring pattern similar to that shown in FIG. 19 set by the driver A is displayed on the right column, and the pattern name in the left column is “Driver”. The pattern name “for B” is newly displayed.

  Next, when the driver selects the pattern name “for driver A” and performs an operation of selecting the “decision” item, the process proceeds to STEP 102, and the monitoring pattern setting unit 22 sets the pattern name for driving in FIG. An operation display screen (not shown) relating to an additional monitoring pattern similar to the display screen is displayed on the display device 50. Thus, the entire process for setting the additional monitoring pattern used for the determination by the obstacle determination unit 21 is completed.

  In the safety device of the present working machine, as the obstacle detection means, in particular, means that can uniquely identify the positional relationship of the obstacle with respect to the vehicle body 1B is used. Alternatively, the position of the obstacle detected by the obstacle detectors 10a, 10b, 10c, and 10d can be displayed on the operation display screen related to the monitoring pattern of FIG. When configured to be able to do this, the driver can accurately grasp the trends of the entire worker that are difficult to grasp from the cab 1f and the relationship between this and the monitoring range, and the safety and work efficiency of the work. Contribute to improvement. If the set monitoring pattern does not match the actual situation at the work site, the operation described above is performed after the operation of selecting the “add pattern” item in STEP 101, as in the case of the first example apparatus. To set another additional monitoring pattern.

  The content of the obstacle detection signal acquired by the obstacle determination unit 21 is greater than the control performed by the obstacle determination unit 21 according to the first example in the control performed by the obstacle determination unit 21 in the safety device of the work machine. Since there is only a slight difference in the type of monitoring pattern, it can be performed in the same procedure as the control procedure according to the first example shown in FIG. Here, an example in which the monitoring range in the monitoring pattern is set to an arbitrary shape in two dimensions has been shown, but the obstacle detection means has a performance capable of detecting a three-dimensional position, and the monitoring range is three-dimensional. You may enable it to set with the shape of.

  Since the safety device of the present working machine uses an obstacle detecting means that can detect the direction of the obstacle in addition to the distance of the obstacle to the detecting means, the safety device for the working machine of the first example is used. In addition to the effects similar to the above, in addition to the device of the first example, it is more convenient for the driver. That is, by using such obstacle detection means, the monitoring range such as the danger range and the caution range can be set in an arbitrary shape desired by the driver. The monitoring range suitable for the situation can be set in detail, which makes it very easy for the driver to use.

  Based on FIG. 22 to FIG. 25, an example of a safety device for each work machine configured by embodying the second invention and the third invention of this application will be described.

  FIG. 22 is a diagram showing an example of a monitor pattern setting screen displayed on the display device in the safety device of each work machine configured by embodying the second invention and the third invention of this application, FIG. 23 is a diagram showing an example of a monitor pattern selection screen displayed on the display device in the safety device of each work machine, and FIG. 24 is an existing monitor pattern based on the monitor pattern setting screen of FIG. FIG. 25 is a diagram showing an example of a display screen for operation displayed on the display device after selection and setting, and FIG. 25 is performed by the obstacle determination unit in the safety device for work machines according to the third invention of this application. 3 is a flowchart for explaining a control procedure.

  The safety device for the work machine according to the second invention and the safety device for the work machine according to the third invention, which are embodied by embodying the second invention and the third invention of this application, respectively, are shown in FIG. A control system similar to the control system shown is provided. The safety devices of both work machines are characterized in that the monitoring pattern storage memory 23 as a storage means stores a plurality of types of monitoring patterns of different types from the above-described safety devices of the work machines. That is, in the work machine safety device according to the second and third aspects of the invention, the monitoring pattern storage memory 23 indicates that the monitoring range divided into the danger range and the caution range and when an obstacle is located within the monitoring range. With respect to the safety means to be operated, a plurality of types of monitoring patterns set in advance for each type of work performed by the hydraulic excavator ”are stored, and this point has a characteristic that is not seen in the work machines described above.

  Accordingly, the obstacle determination unit 21 serving as the obstacle determination means inputs one of the data related to the plurality of types of monitoring patterns according to the driver's selection or automatically. Then, based on the detection results of the obstacle detections 10a, 10b, 10c, and 10d, it is determined whether or not the obstacle is located in the danger range or the caution range related to the monitoring pattern, and the position is in any of them. Then, when it is determined, the safety means is operated according to the coping method related to the monitoring pattern. Regarding the monitoring pattern setting unit 22 and its input device 40 and the display device 50 attached to the monitoring pattern setting unit 22, the safety device for the work machine according to the second and third inventions and the safety of the work machine described above are used. There is no substantial difference with the device.

  First, the control procedure performed by the monitoring pattern setting unit 22 will be described. When the driver operates the input device 40 to activate the monitoring pattern setting unit 22 when starting the operation of the hydraulic excavator, it is shown in FIG. A monitor pattern setting screen is displayed on the display device 50. On the monitoring pattern setting screen, three types of operation states, that is, types of work are displayed in the left column. Among these, “excavation” is a central operation of the hydraulic excavator, and all the various monitoring patterns described in the explanation relating to the first invention described above relate to this excavation operation. Further, “crane” means an operation of lifting and transferring a heavy object by a hydraulic excavator, and “idling” means a non-working state. In the right column of the screen, pattern names of “standard”, “for suspended work”, and “no restriction” are displayed corresponding to these types of work, respectively.

  Explaining this point, “excavation” means that only the standard monitoring pattern, which has already been described, is set, and “idling” means that the default monitoring pattern already described. This means that only the “unlimited” monitoring pattern is set. In addition, for “crane”, a newly added monitoring pattern for “suspended load work” is set, but this monitoring pattern has not yet been specified at this stage and will be shown later in FIG. This is a monitoring pattern selected and set by the driver from the monitoring patterns in the monitoring pattern selection screen.

  Now, when selecting “crane” from these three types of work and specifying the “setting” item in the lower right of the display screen with the input device 40, the monitoring pattern selection shown in FIG. Is displayed on the display device 50. This monitoring pattern selection screen is similar to the above-described monitoring pattern selection screen, and the monitoring patterns for “Standard”, “Beginner” and “Expert” are preset according to the skill level of driving skills. And “Unlimited” monitoring patterns are displayed in the pattern name column, and the basic pattern of the monitoring pattern is displayed in the right column. . Among these, “for suspended loads” is an operation for hanging a heavy object such as a steel frame, a generator, or a block. Since the crane work by the hydraulic excavator is an extremely unstable work for suspending heavy objects, the above four types of monitoring patterns set the danger range wider than the monitoring pattern for “excavation”.

  After the monitor pattern selection screen is displayed in this way, the same operation as the operation described in FIG. 6 is performed, and a desired monitor pattern is operated from these default monitor patterns displayed at the pattern names. When the person selects, a display screen (for example, a display screen similar to FIG. 18) relating to the selected monitoring pattern is displayed on the display device 50. Next, when an operation for confirming the monitoring pattern to be selected is performed, an operation display screen (for example, an operation display screen similar to FIG. 20) related to the confirmed monitoring pattern is displayed on the display device 50. Further, when the driver does not find what he / she wants in the default monitoring pattern, an operation of selecting “Add pattern” at the lower left of the screen of FIG. 23 is performed, and then the same operation as described above is performed. Additional monitoring patterns unique to the driver can also be set.

  On the other hand, an operation of selecting “digging” from the three types of work displayed in the left column of the monitoring pattern setting screen in FIG. 22 and designating the “setting” item at the lower right of the display screen. When this is done, since the monitoring pattern related to “excavation” is only the “standard” monitoring pattern, an operation display screen related to this “standard” monitoring pattern is displayed on the display device 50. FIG. 24 shows an operation display screen related to the “standard” monitoring pattern, and this operation display screen is the same as the screen shown in FIG. 20 described above. Regarding the monitoring pattern related to “excavation”, in addition to “standard”, a monitoring pattern for “beginner” or “for an expert” may be selected, or an additional monitoring pattern may be set. The matters described above are matters common to the safety device for the work machine according to the second and third inventions. Note that “idling” in the three types of work will be described later.

  In the safety device for a work machine according to the second aspect of the present invention, when the driver selects either “excavation” or “crane” from the types of work and sets a monitoring pattern as described above, the obstacle determination unit In 21, the data relating to the set monitoring pattern is read out and acquired from the monitoring pattern storage memory 23 in accordance with the control procedure similar to the flowchart shown in FIG. Then, it is determined whether or not an obstacle is located within the danger range or the caution range related to the acquired monitoring pattern, and according to the monitoring pattern, the actuator stop means, the actuator speed reduction means, and the alarm sound generator 15 Activate any safety measures.

  In the safety device for a work machine according to the third aspect of the present invention, a monitoring pattern preset for each type of work such as “excavation”, “crane”, “idling” (for example, “standard” monitoring pattern related to “excavation”) ) Or the monitoring pattern selected or added by the driver for each type of work (for example, the monitoring pattern related to the selected or added “crane”) is registered in the monitoring pattern storage memory 23 to operate. When a person starts work, a monitoring pattern corresponding to the type of work to be started is automatically read from the monitoring pattern storage memory 23 and input to the obstacle determination unit 21. In order to realize this, the vehicle body such as the operation mode signal of the operation mode change-over switch 6 that is switched by the driver according to the type of work to be performed and the detected value related to the engine speed in the engine speed detector 5 Information 39 is input to the obstacle determination unit 21.

  The obstacle determination unit 21 determines the type of work performed by the hydraulic excavator based on the vehicle body information 39 as a signal generated by such a hydraulic excavator, and executes it from a plurality of types of monitoring patterns. Work type determination means for automatically selecting a monitoring pattern related to the type of work being performed is attached. The work type determination means determines whether the type of work performed on the hydraulic excavator is “excavation” or “crane” based on the operation mode signal, and uses the detected value related to the engine speed. Based on this, it is determined whether or not the type of work is “idling”.

  A control procedure performed by the obstacle determination unit 21 in the work machine safety device according to the third aspect of the present invention will be described with reference to FIG.

  First, in step 401, the obstacle determination unit 21 obtains an obstacle detection signal from each of the obstacle detectors 10a, 10b, 10c, and 10d. Next, when the obstacle determination unit 21 detects the presence of an obstacle based on these obstacle detection signals in step 402, these are detected from the obstacle detectors 10a, 10b, 10c, and 10d, respectively. Calculate the distance to the monitored obstacle. In step 403, the work type determination means in the obstacle determination unit 21 determines the type of work currently being performed based on the input operation mode signal as the vehicle body information 39 and the detected value related to the engine speed. Is one of “excavation”, “crane”, and “idling”, and information on the operating state is obtained. That is, when the detected value related to the engine speed is in the idle state, it is determined as “idling”, and when the detected value related to the engine speed is not in the idle state, when the operation mode signal is the “digging mode” signal, “ When it is a signal of “excavation” or “crane mode”, it is determined as “crane”.

  Next, in step 404, the work type determination means in the obstacle determination unit 21 determines the work that has been determined in step 403 as being currently performed from a plurality of types of monitoring patterns set for each work type. Data related to the monitoring pattern corresponding to the type is read from the monitoring pattern storage memory 23 and acquired. Thereafter, the process proceeds to step 405, where the obstacle determination unit 21 collates the danger range and caution range related to the monitoring range of the monitoring pattern with the distance from each obstacle detector 10a, 10b, 10c, 10d to the obstacle. Then, based on the result of the collation, the same countermeasure as described in the flowchart of FIG. 14 is performed. In the case of embodying the second and third inventions of this application, the example using the control system of FIG. 16 is shown here, but the control system as shown in FIG. 2 can also be used. .

  In the safety device for a work machine according to the above-described second invention, by operating the input device 40 as an operation means, it can be implemented from a plurality of types of monitoring patterns set in advance for each type of work to be performed by the hydraulic excavator. A monitoring pattern suitable for the type of work to be performed can be selected, read from the monitoring pattern storage memory 23 as a storage means, and displayed on the display device 50. The driver confirms whether or not the selected monitoring pattern matches the work to be carried out by looking at the monitoring pattern displayed on the display device 50, and is suitable for the same work. Can be selected. In this way, the safety device of the work machine should set the conditions for operating the safety means such as the actuator stop means and the actuator speed reduction means so as to meet the driver's intention in consideration of work convenience. Therefore, it is easy to use for the driver while ensuring the safety of the work.

  In the work machine safety device according to the third aspect, when the operation of the hydraulic excavator is started, the work type determination means in the obstacle determination unit 21 operates the operation mode signal and the engine rotation as vehicle information 39 generated by the hydraulic excavator. Based on the detection value related to the number, the type of work such as “excavation” and “crane” currently being carried out by the hydraulic excavator is judged, and a plurality of types of monitoring set in advance for each type of work carried out by the hydraulic excavator A monitoring pattern relating to the type of work being performed is automatically selected from the patterns. In this way, the safety device of the present working machine automatically sets the conditions for operating the safety means so as to conform to the driver's intention in consideration of the convenience of work, thus ensuring the safety of work. However, it is simple and convenient for the driver. As described above, both of the safety devices for work machines according to the second and third inventions can set the conditions for operating the safety means in consideration of the situation on the driver side. Convenient to use.

  In particular, in the safety device for a work machine according to the second and third inventions, an additional monitoring pattern is uniquely set by the driver by operating the input device 40 and stored in the monitoring pattern storage memory 23. Therefore, the conditions for operating the safety means of the hydraulic excavator can be set in a state in which the independent judgment of the driver actually performing the work is reflected to the maximum extent. Therefore, the driver tries to improve the default monitoring pattern stored in the monitoring pattern storage memory 23 so as to be optimized for the type of work in the process of accumulating driving experience or to perform the work. Each time it is done, it is possible to improve the safety device of the work machine to be more convenient and safer by making corrections so as to respond immediately to the situation at the work site.

  In the safety device for a work machine according to the third aspect of the invention, an item of “idling” is set as the work type, and a monitoring pattern of “no restriction” is set, so that when the engine is in an idle state, The safety device is prevented from functioning when the excavator is in a non-working state. By adopting such means, when the excavator is in a non-working state, the alarm sound generating device 15 is activated by the intrusion of an obstacle, and the driver or the like is not bothered by a meaningless alarm.

  In the example shown here, there are only three types of work performed on the work machine: “excavation”, “crane”, and “idling” for convenience of explanation. "Slope finish", "Surface grooving", etc., more types may be set as necessary, and monitoring patterns suitable for each may be set. When classifying work types, in the example shown here, only the work to be performed by attaching the bucket 1c to the front work machine 1A is classified according to the type of work, but the "bucket" "breaker" ”,“ Grapple ”, or the like, the type of work may be classified according to the attachment attached to the front work machine 1A, and a monitoring pattern suitable for each may be set. In that case, when performing an operation with any attachment, the excavator can automatically select a monitoring pattern according to the type of the operation to be performed by generating a signal related to the attachment. It may be.

  Here, a key switch is assumed as an operation means for the driver to select a desired monitoring pattern. However, one or more of a keyboard, a mouse, and a joystick are used, or an image is displayed on the display device 50. Appropriate ones can be used, such as using a touch panel that can be operated by touching. In addition, each driver has a dedicated start key having an authentication function for identifying an individual, and a monitoring pattern is preset for each driver and stored in the monitoring pattern storage memory 23. By using the start key as the operation means, it may be configured such that the driver can be identified and the monitoring pattern related to the driver can be automatically selected when the start key is attached to the key hole.

  In the example shown here, since the driver operates the hydraulic excavator in the cab 1f on the upper swing body 1d, the monitoring pattern setting unit 22 having the input device 40 is built in the monitoring controller 20 on the vehicle body 1B side. However, the function of the monitoring pattern setting unit 22 is provided in an information terminal such as a PC or PDA, and the monitoring pattern set in the information terminal is transmitted to the monitoring controller 20 on the vehicle body 1B side by wired communication or wireless communication. May be. By adopting such a method, the driver can set and transmit a monitoring pattern suitable for the work site while accurately grasping the entire situation around the vehicle body 1B outside the vehicle.

It is a perspective view which shows an example of the working machine for installing the safety device of the working machine which concerns on 1st invention of this application, 2nd invention, and 3rd invention. It is a block diagram which shows the control system which concerns on the safety device of the working machine of the 1st example which comprised the 1st invention of this application, and its peripheral equipment. It is a top view which shows the relationship between the monitoring range and obstacle detector which concern on the safety device of the working machine of FIG. 2, and the working machine of FIG. It is a figure which shows an example of the monitoring pattern memorize | stored in the safety device of the working machine of FIG. It is a figure which shows an example of the screen for the monitoring pattern selection displayed on the display apparatus in the safety device of the working machine of FIG. It is a flowchart for demonstrating the procedure of the control performed in the monitoring pattern setting part in the safety device of the working machine of FIG. It is a figure which shows the example of the display screen regarding the 1st existing monitoring pattern selected based on the screen for monitoring pattern selection of FIG. It is a figure which shows the example of the display screen regarding the 2nd existing monitoring pattern selected based on the screen for monitoring pattern selection of FIG. It is a figure which shows the example of the display screen regarding the 3rd existing monitoring pattern selected based on the screen for monitoring pattern selection of FIG. It is a figure which shows the example of the display screen regarding the 4th existing monitoring pattern selected based on the screen for monitoring pattern selection of FIG. It is a figure which shows the example of the screen for the additional monitoring pattern setting for a driver | operator to set and add an original monitoring pattern newly. It is a figure which shows the example of the display screen for a driving | operation displayed on a display apparatus, after selecting and confirming the 2nd existing monitoring pattern of FIG. It is a figure which shows an example of the screen for the monitoring pattern selection displayed on a display apparatus, after an additional monitoring pattern is set and memorize | stored based on the screen for the additional monitoring pattern setting of FIG. It is a flowchart for demonstrating the procedure of the control performed by the obstruction determination part in the safety device of the working machine of FIG. It is a top view which shows the relationship between the monitoring range and obstacle detector which concern on the safety device of the working machine of FIG. 16, and the working machine of FIG. It is a block diagram which shows the control system which concerns on the safety device of the working machine of the 2nd example comprised by materializing 1st invention of this application, and its peripheral device. It is a figure which shows an example of the screen for the monitoring pattern selection displayed on the display apparatus in the safety device of the working machine of FIG. It is a figure which shows the example of the display screen regarding the existing monitoring pattern selected based on the screen for monitoring pattern selection of FIG. It is a figure which shows the example of the screen for the additional monitoring pattern setting which concerns on the safety device of the working machine of FIG. 16 for a driver | operator to set and add an original monitoring pattern newly. It is a figure which shows the example of the display screen for a driving | operation displayed on a display apparatus, after selecting and confirming the existing monitoring pattern of FIG. FIG. 20 is a diagram illustrating an example of a monitoring pattern selection screen displayed on the display device after an additional monitoring pattern is set and stored based on the additional monitoring pattern setting screen of FIG. 19. It is a figure which shows an example of the screen for the monitoring pattern setting displayed on the display apparatus in the safety device of each work machine which materialized and comprised each 2nd invention and 3rd invention of this application. It is a figure which shows an example of the screen for the monitoring pattern selection similarly displayed on the display apparatus in the safety device of each work machine. It is a figure which shows the example of the display screen for driving | running | working displayed on a display apparatus, after selecting and setting the existing monitoring pattern based on the monitoring pattern setting screen of FIG. It is a flowchart for demonstrating the procedure of the control performed in the obstruction determination part in the safety device of the working machine which concerns on 3rd invention of this application.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1A Front work machine 1B Car body 1a Boom 1b Arm 1c Bucket 1d Upper turning body 1e Lower traveling body 1f Operation room 3a Boom cylinder 3b Arm cylinder 3c Bucket cylinder 3d Turning motor 3e Left traveling motor 3f Right traveling motor 5 Engine speed detection 6 Operation mode changeover switch 10a to 10d Obstacle detector 11a to 11d Monitoring range 15 Alarm sound generator 20 Monitoring controller 21 Obstacle determination unit 22 Monitoring pattern setting unit 23 Memory for saving monitoring pattern 29 Control command 30 Body controller 31 Body Control unit 39 Body information 40 Input device 50 Display device

Claims (4)

  Obstacle detection means to detect the position of obstacles such as workers and objects around the work machine, and set around the work machine to monitor the obstacle and prevent the work machine from contacting the obstacle Data relating to the monitored range is input, and based on the detection result of the obstacle detection unit, the obstacle determination means for determining whether the obstacle is located within the monitoring range, and the contact of the work machine with the obstacle And a plurality of types of safety means for preventing at least one of the plurality of types of safety means when the obstacle judging means determines that the obstacle is within the monitoring range. In the safety device, a storage means storing a plurality of types of monitoring patterns set in advance according to the proficiency level of the driving skill with respect to the monitoring range and the safety means to be operated when an obstacle is located within the monitoring range this The operation means that allows the driver to select and select a desired monitoring pattern from the plurality of types of monitoring patterns is read out from the storage means and displayed on the display means. And a monitoring pattern setting means, wherein a desired monitoring pattern selected by the driver is input to the obstacle determination means, and the safety means can be operated according to the monitoring pattern. Safety equipment.   Obstacle detection means to detect the position of obstacles such as workers and objects around the work machine, and set around the work machine to monitor the obstacle and prevent the work machine from contacting the obstacle Data relating to the monitored range is input, and based on the detection result of the obstacle detection unit, the obstacle determination means for determining whether the obstacle is located within the monitoring range, and the contact of the work machine with the obstacle And a plurality of types of safety means for preventing at least one of the plurality of types of safety means when the obstacle judging means determines that the obstacle is within the monitoring range. In this safety device, a storage device storing a plurality of types of monitoring patterns set in advance for each type of work performed on the work machine with respect to the monitoring range and the safety means to be operated when an obstacle is located within the monitoring range. And an operation means that allows the driver to select a desired monitoring pattern from among the plurality of types of monitoring patterns, and the monitoring pattern selected by the operation means is read from the storage means and displayed. And a monitoring pattern setting means to be displayed on the vehicle. The desired monitoring pattern selected by the driver is input to the obstacle determination means, and the safety means can be operated according to the monitoring pattern. Safety equipment for working machines.   Obstacle detection means to detect the position of obstacles such as workers and objects around the work machine, and set around the work machine to monitor the obstacle and prevent the work machine from contacting the obstacle Data relating to the monitored range is input, and based on the detection result of the obstacle detection unit, the obstacle determination means for determining whether the obstacle is located within the monitoring range, and the contact of the work machine with the obstacle And a plurality of types of safety means for preventing at least one of the plurality of types of safety means when the obstacle judging means determines that the obstacle is within the monitoring range. In this safety device, a storage device storing a plurality of types of monitoring patterns set in advance for each type of work performed on the work machine with respect to the monitoring range and the safety means to be operated when an obstacle is located within the monitoring range. And determining a type of work performed on the work machine based on a signal generated by the work machine, and automatically selecting a monitoring pattern related to the type of work being performed from a plurality of types of monitoring patterns It is characterized in that a work type determining means is provided, and the monitoring pattern selected by the work type determining means is input to the obstacle determining means, and the safety means can be operated according to the monitoring pattern. Safety equipment for working machines.   The work machine safety device according to claim 1, 2 or 3, wherein the driver can arbitrarily set a monitoring pattern and store it in a storage means. Machine safety device.

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