JP2007186953A - Alarm device for arm working machine, alarming method, and arm working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an alarm device for an arm working machine which properly estimates and notifies a risk of the toppling of the working machine. <P>SOLUTION: The alarm device for the arm working machine determines that a vehicle body is in a safe position when angles βf and βγ (rest angle) are larger than a critical rest angle α, which are formed of lines connecting the barycenter point 55 of the whole of the working machine to toppling fulcrums 54a and 54b and a vertical line, and that the vehicle body is in a risky position when the angles βf and βγ (rest angle) are equal to or smaller than the critical rest angle α. The inside of a triangle formed of lines 56a and 56b is a safe zone, and the outside of the triangle is a risky zone. If the barycenter point 55 is in the safe zone, the vehicle body has no risk of toppling, but if the barycenter point 55 is in the risky zone, the vehicle body has a risk of toppling. A range of the location of the barycenter point 55 being the safe position narrows as the level of the barycenter point 55 gets higher. The critical rest angle α chnages depending on the direction of a traveler 1. The alarm device thus compares the critical rest angle α with the rest angles βf and βγ to determine a risk of toppling of the vehicle body in consideration of not only the horizontal location of the barycenter point 55 but also the vertical location of the same. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an alarm device, an alarm method, and an arm working machine for an arm working machine for notifying the possibility of falling of a vehicle body.

  As this type of alarm device, an alarm device for a dismantling work machine having a long arm is known (for example, see Patent Document 1). In the apparatus described in Patent Document 1, the support force of the front stable fulcrum and the rear stable fulcrum on the ground contact surface of the lower traveling body is calculated based on the horizontal center of gravity position of the entire work implement, and the support force is below the limit value. When an alarm is generated.

Japanese Patent No. 2871105

  By the way, the stability of the vehicle body posture (hardness of falling) varies not only with the horizontal center of gravity position but also with the height of the center of gravity, and the higher the center of gravity position, the more unstable the vehicle body posture. However, in the alarm device described in Patent Document 1, the height of the center of gravity is not taken into consideration, and it is not possible to appropriately determine whether or not there is a risk of the work machine falling over.

The alarm generation method for an arm work machine according to the present invention includes a procedure for detecting the position of the center of gravity of the entire work machine in the horizontal direction and the height direction, and the allowable range of horizontal center of gravity movement as the height of the center of gravity of the whole work machine increases. Including a procedure for setting a range so that the value becomes narrower and a procedure for generating an alarm when the detected center of gravity position exceeds the set range.
Further, the alarm device for an arm work machine according to the present invention includes a center of gravity position detecting means for detecting the center of gravity position of the entire work machine in the horizontal direction and the height direction, and the center of gravity in the horizontal direction as the height of the center of gravity of the whole work machine increases. A setting unit that sets a range so that the allowable range of movement becomes narrow, and an alarm unit that generates an alarm when the center of gravity position detected by the center of gravity position detection unit exceeds the range set by the setting unit. And
It is preferable to set the range by a straight line connecting a fall fulcrum, which is a fulcrum when the work machine falls, and a reference point on a vertical line passing through the center of the work machine, which is set above the fall fulcrum.
The work machine is provided with one or a plurality of components whose arrangement is changed on one side or the other side of the work machine according to the work posture, and conditions and / or configuration when it is assumed that all the components are located on one side It is preferable to detect the position of the center of gravity under the conditions when it is assumed that all parts are located on the other side.
The display device and the first illustration image representing the set range are displayed on the screen of the display device, and the second illustration image representing the detected center of gravity position is associated with the first illustration image and is identical. Display control means for displaying on the screen can be further provided.
The work machine has a turning body that can turn with respect to the traveling body, and further includes turning detection means for detecting a direction of the traveling body with respect to the turning body, and an illustration image representing the traveling body, an illustration image representing the turning body, and work The illustration images representing the overturning fulcrum of the machine can be displayed on the same screen, and the display of the illustrations of the traveling body and the overturning fulcrum can be changed according to the orientation of the traveling body detected by the turning detection means.
The ranges may be set corresponding to one direction of the traveling body and the other direction, respectively, and each of these ranges may be displayed on the same screen.
An illustration image representing the overturning fulcrum is displayed at a predetermined position on the screen regardless of the actual size of the work machine, and a second illustration image according to the ratio of the overturning fulcrum size on the screen to the actual size of the overturning fulcrum Can also be displayed.
Calculates the ratio of the actual size of the fall fulcrum corresponding to one direction of the traveling body to the actual size of the fall fulcrum corresponding to the other direction and displays an illustration image showing the fall fulcrum corresponding to one direction on the screen An illustration image that is displayed at a predetermined position and that represents a falling fulcrum corresponding to another direction may be displayed on the screen with a size corresponding to the calculated ratio.
An imaging unit that captures the working state of the arm tip and an operation member that is provided on an operation member that operates the arm working machine, and that is a captured image captured by the imaging unit, or a work image including a first illustration image and a second illustration image. An image selection member that selects any one of the image, and when the captured image is selected by the image selection member, the captured image is displayed on the screen instead of the work image, and when the work image is selected, the captured image is displayed. Alternatively, the work image can be displayed on the screen.
An illustration image representing the traveling body, an illustration image representing the turning body, and an illustration image representing the overturning fulcrum of the work machine are displayed in the first area on the screen, and the first illustration image and the second image are associated with this display. The first illustration image and the second illustration image can be displayed as a meter-like image in the second area on the same screen.

  According to the present invention, the range is set so that the allowable range of center of gravity movement in the horizontal direction becomes narrower as the height of the center of gravity of the entire work implement becomes higher, and an alarm is issued when the center of gravity exceeds this range. Therefore, it is possible to appropriately determine whether or not the work implement may fall over in consideration of the height of the center of gravity.

Hereinafter, embodiments of an alarm device for an arm working machine according to the present invention will be described with reference to FIGS.
FIG. 1 is a side view of a demolition work machine to which the present invention is applied. A revolving body 2 is provided on the upper part of the traveling body 1 so as to be able to turn, and a work front 3 is attached to the revolving body 2 so as to be turnable. The work front 3 includes a multi-stage arm including a base arm 31, an intermediate arm 32, and a tip arm 33, and an attachment 34 for dismantling work. In addition, (A) and (B) in the figure show the working posture, and (C) shows the transportation posture for transporting with the trailer. Below, the front-rear direction of the vehicle body is defined with respect to the front-rear direction of the revolving structure 2.

  The base arm 31 is supported by the hydraulic cylinder 3a so as to be pivotable in the front-rear direction on the front portion of the swing body 2, and the intermediate arm 32 is supported by the hydraulic cylinder 3b so as to be pivotable in the front-rear direction. The distal arm 33 is supported by the hydraulic cylinder 3c on the distal end of the intermediate arm 32 so as to be pivotable in the front-rear direction. The attachment 34 is pivotable on the distal end of the distal arm 33 by the hydraulic cylinder 3d in the longitudinal direction (arrow direction). It is supported. A camera 14 is attached to the distal end of the base arm 31 to photograph the working state in front of the revolving unit.

  The traveling body 1 includes a pair of left and right crawler belts 1 a, driving wheels and driven wheels provided at front and rear ends of the traveling body 1, and a traveling motor 1 b provided at the front end of the traveling body 1. The drive wheels are rotationally driven by the traveling motor 1b, and the crawler belt 1a is driven by the rotation of the drive wheels. In the state shown in the figure, the traveling motor 1b is located on the front side of the vehicle body, but the traveling motor 1b is located on the rear side of the vehicle body when the revolving body 2 is turned 180 °.

  FIG. 2 is a block diagram showing a configuration of the alarm device according to the present embodiment. The information processing apparatus 10 includes a camera 14, a sensor group 11 such as an angle sensor that detects angles of the vehicle body and the arms 31 to 33, an image changeover switch 12 incorporated in an operation lever, and a swiveling body for the traveling body 1. 2 is connected to a turning detection switch 13 for detecting whether the traveling body 1 is directed in the same direction or a perpendicular direction with respect to the turning body 2. The information processing apparatus 10 performs processing as described later based on the input signals from these, outputs a control signal to the alarm buzzer 40, outputs a control signal to the image processing apparatus 20, and displays on the display device 50. Is controlled as follows.

  3 and 4 are diagrams illustrating examples of display images displayed on the display device 50. 3 corresponds to a state where the traveling body 1 faces the same direction with respect to the revolving body 2 (turning angle is about 0 ° or 180 °), and FIG. 4 shows a state where the traveling body 1 faces a right angle (turning angle is about 90 °). ° or 270 °).

  On the main screen 51 of the display device 50, illustration images 52a and 52b of the traveling body 1 and an illustration image 53 of the revolving body 2 are displayed. The illustration image 52a schematically shows the shape of the traveling body 1 seen from the side, and the illustration image 52b schematically shows the shape seen from the front.

  In the figure, 54a and 54b are illustration images representing the fulcrums of the vehicle body to the front and rear, respectively. Here, the overturning fulcrums 54a and 54b are displayed at the ground projection position at the rotation center of the driving wheel and the driven wheel of the traveling body 1 in FIG. 3, and at the ground projection position at the center of the width of the crawler belt 1a in FIG. . The distance between the falling fulcrums 54a and 54b is longer in FIG. 3 than in FIG.

  55a and 55b are illustration images representing the center of gravity position of the entire working machine including the traveling body 1, the revolving body 2, and the work front 3. Here, 55a corresponds to the position of the center of gravity when the traveling motor 1b is located on the front side of the vehicle body and the attachment 34 is horizontally rotated forward, and 55b is located on the rear side of the vehicle body. And the position of the center of gravity when the attachment 34 is rotated horizontally rearward. That is, in the present embodiment, since the rotation posture of the attachment 34 and the front and rear positions of the traveling motor 1b are not detected, the conditions that the vehicle body is most likely to fall forward and backward are assumed (safety forward fall worst condition and backward fall worst) Condition), the center-of-gravity positions 55a and 55b of the entire work machine are obtained. The actual center of gravity position is at least between 55a and 55b.

  56a and 56b are illustration images (straight lines) each representing a predetermined limit angle of repose α. As shown in FIG. 8, the limit angle of repose α is defined as an angle formed by a line connecting a point (rest angle apex) P1 on the turning center above the turning body and the fall fulcrums 54a and 54b with respect to the vertical line. This limit angle of repose α defines a range for determining whether or not the vehicle body is in a safe posture without fear of falling, and is determined in advance for each work machine by experiments, simulations, or the like.

  That is, when the angles βf and βγ (referred to as repose angles) formed by the lines connecting the center of gravity position 55 of the entire work implement and the fall fulcrums 54a and 54b with respect to the vertical line are larger than the limit repose angle α, the vehicle body is in a safe posture. Yes, when the angle of repose is less than α, the person is in a dangerous posture. In other words, the inside of the triangle formed by 56a and 56b is a safety area, and the outside is a danger area. If the center of gravity 55 is in the safety area, there is no risk of the vehicle falling, and if it is in the danger area, it may fall. There is. In this case, the range of the center of gravity position 55 that is a safe posture becomes narrower as the height of the center of gravity position 55 becomes higher. The limit angle of repose α also changes depending on the direction of the traveling body 1. When FIG. 3 is compared with FIG. 4, the distance between the fall fulcrums is larger in FIG.

  Thus, by comparing the repose angle α and the repose angles βf and βγ, it is possible to determine the possibility of the vehicle body falling in consideration of not only the horizontal center of gravity position but also the height center of gravity position. That is, the higher the center of gravity position 55 is, the more the center of gravity position moves during work and the vehicle body posture becomes unstable. However, the stability of the vehicle body posture can be appropriately evaluated by narrowing the safety area in the height direction. In the present embodiment, in order to facilitate comparison between the limit angle of repose α and the angle of repose βf, βγ, an angle formed by a line connecting the center of gravity position and the angle of repose angle with respect to a vertical line passing through the turning center. β′f, β′r (β ′ in FIG. 10) is calculated, and this β′f, β′r (referred to as a corrected angle of repose) is compared with the limit angle of repose α, which may cause the vehicle body to fall over. Determine presence or absence.

  As shown in FIGS. 3 and 4, an illustration image 62 of the overall shape of the work implement is displayed on the sub-screen 61 of the display device 50. Corresponding to this illustration image 62, the working radius is displayed on the display unit 63, the arm angle and the work load are displayed on the display unit 64, and the height of the arm tip is displayed on the display unit 65. On the sub-screen 61, a meter image 66 representing the relationship between the limit angle of repose α and the corrected repose angles β′f and β′r is also displayed.

  FIG. 7 is an enlarged view of the meter image 66. The meter image 66 displays three symmetrical regions 66a, 66b, 66c centered on the turning center in a meter shape, and two corrected repose angles (actual repose angle equivalent values) β as shown on the display. 'f, β'r is superimposed and displayed. In the figure, a dangerous area larger than the limit angle of repose α is indicated by 66c, and a safe area smaller than the limit angle of repose α is indicated by 66a and 66b. In addition, 66b is an area | region which approached the limit repose angle (alpha) more than fixed. Thus, by displaying the relationship between the limit angle of repose α and the corrected repose angles β′f and β′r on the meter image 66, the worker can easily recognize the degree of stability of the working posture.

  FIG. 5 is a diagram illustrating an example of another display image displayed on the display device 50. FIG. 5 corresponds to the state in which the traveling body 1 faces the same direction as the revolving body 2, and the main screen 51 shows illustration images of the falling fulcrums 54 a and 54 b (black in the figure) as shown in FIG. 3. Lines 56a, 56b (solid lines) representing the limit repose angle α are displayed. Further, in FIG. 5, illustration images (indicated by white outlines) of the overturning fulcrums 54a and 54b corresponding to a state in which the traveling body 1 is oriented in a direction perpendicular to the revolving body 2 and lines 56a and 56b ( (Dotted line) is also displayed. That is, not only the stability of the current vehicle body posture, but also the stability of the vehicle body posture when the turning body 2 is turned 90 ° are displayed together in different display forms.

  On the main screen 51, a photographed image photographed by the camera 14 can also be displayed by operating the image changeover switch 12. An example is shown in FIG. In FIG. 6, a photographed image of the arm tip is displayed. Note that this captured image can be displayed in an enlarged or reduced manner.

  11 and 12 are flowcharts illustrating an example of processing in the information processing apparatus 10, and FIGS. 9 and 10 are diagrams illustrating a correspondence relationship between actual data and screen data. FIG. 9 shows a correspondence relationship in a state where the traveling body 1 faces in the front-rear direction (the same direction as the revolving body 2), and FIG. 10 shows the traveling body 1 in the lateral direction (perpendicular to the revolving body 2). The correspondence in the state of facing is shown. As shown in FIG. 9 in advance, the information processing apparatus 10 has a limit angle of repose α of the working machine with the traveling body 1 facing in the front-rear direction, a distance tpt from the turning center on the screen to the falling fulcrums 54a and 54b. The length (back and forth direction fulcrum length)) and the height (repose angle vertex height) hat from the fall fulcrum 54a, 54b on the screen to the repose angle vertex P1 are stored.

  The information processing apparatus 10 starts processing when the work machine is turned on. First, as shown in FIG. 11, the model scale SCALEK is calculated in step S1 to match the actual size of the vehicle body with the display image, and the horizontal scale SCALES is calculated in step S2. The model scale SCALEK has the front-rear direction overturning fulcrum length tpt (FIG. 9) on the screen and the length (actual dimension) TPT from the actual turning center to the overturning fulcrum with the traveling body 1 facing the front-rear direction. Ratio (tpt / TPT). The horizontal scale SCALES is a ratio (TPS / TPT) of the length (actual dimension) TPS to the fall fulcrum in a state where the traveling body 1 faces in the horizontal direction and the TPT. Note that TPT and TPS are stored in advance as values unique to the work machine, and usually have a relationship of TPT> TPS.

  In step S3, the attitude angles of the arms 31 to 33 are calculated based on the vehicle body and the angles of the arms 31 to 33 detected by the sensor group 11. In step S4 and step S5, the center of gravity position of the entire work machine corresponding to the worst condition for forward fall and the worst condition for backward fall, respectively, based on the posture angle and the mass and gravity center position data of the vehicle body and arms 31 to 33 stored in advance. Is calculated. The center-of-gravity position is calculated for each of the state in which the traveling body 1 faces in the front-rear direction and the state in which the traveling body 1 faces in the lateral direction, and is obtained as a horizontal distance GX from the turning center and a height GY from the fall fulcrum.

  In step S6, the gravity center positions GX and GY obtained in steps S4 and S5 are respectively multiplied by the model scale SCALEK to convert the gravity center positions (actual data GX and GY) to the coordinates on the screen (screen data gx and gy). To do. In other words, the center of gravity position (gxft, gyft) and (gxrt, gyrt) corresponding to the worst conditions for forward and reverse falls with the traveling body 1 facing forward and backward, and the traveling body 1 facing the lateral direction The center-of-gravity positions (gxfs, gyfs) and (gxrs, gyrs) corresponding to the forward worst condition and backward fall worst condition are obtained respectively. In step S7, the repose angle apex height hat with the traveling body 1 facing in the front-rear direction is multiplied by the horizontal scale SCALES to calculate the repose angle apex height has (FIG. 10) with the run direction 1 facing in the lateral direction. To do.

  In step S8, the turning direction is determined based on the signal from the turning detection switch 13. If it is determined in step S8 that the swing body 2 is facing the same direction as the traveling body 1, that is, if it is determined that the traveling body 1 is facing the front-rear direction, the process proceeds to step S9. If it is determined that the vehicle 1 is oriented in a direction perpendicular to the direction 1, that is, if it is determined that the traveling body 1 is oriented in the lateral direction, the process proceeds to step S10.

  In step S9, the corrected repose angle β 'corresponding to the forward fall worst condition and the backward fall worst condition with the traveling body 1 facing in the front-rear direction is calculated. That is, the angles β′ft and β′rt formed by the vertical line of the line connecting the center of gravity position (gxft, gyft) and (gxrt, gyrt) of the entire work machine and the repose angle vertex P1 are calculated. In step S10, the corrected repose angle β ′ (FIG. 10) corresponding to the worst forward fall condition and the backward fall worst condition in a state where the traveling body 1 faces sideways is calculated. That is, the angles β′fs and β′rs formed by the vertical line of the line connecting the center of gravity position (gxfs, gyfs) and (gxrs, gyrs) and the angle of repose angle P1 of the entire work machine are calculated.

  In step S11, a control signal is output to the image processing device 20, and the calculated corrected repose angles β'f and β'r are displayed on the meter image 66 of the display device 50 as shown in FIG. In step S12, it is determined whether or not the absolute values of the corrected repose angles β′f and β′r are both greater than the limit repose angle α. If step S12 is affirmed, the process proceeds to step S13, where an alarm on signal is output and an alarm is generated from the alarm buzzer 40. If step S12 is negative, the process proceeds to step S14, where an alarm off signal is output and the generation of the alarm from the alarm buzzer 40 is stopped.

  Next, the process proceeds to step S21 in FIG. 12, and it is determined whether or not a camera image is selected by operating the image changeover switch 12. If step S21 is affirmed, the process proceeds to step S22, a control signal is output to the image processing apparatus 20, a photographed image is displayed on the display apparatus 50 as shown in FIG. 6, and the process returns to step S3. When step S21 is denied, it progresses to step S23, and the illustration image 53 (fixed image) of the turning body 2 is displayed on the display apparatus 50 as shown in FIG. Next, in step S24, the length tpt of the overturning fulcrum on the screen in the state where the traveling body 1 is directed in the horizontal direction (lateral overturning fulcrum length; 10) is calculated.

  In step S25, the turning direction is determined based on the signal from the turning detection switch 13. If it is determined in step S25 that the revolving structure 2 is facing the front-rear direction, the process proceeds to step S31. In step S31 to step S36, an illustration image corresponding to the state in which the traveling body 1 faces in the front-rear direction is displayed on the main screen 51 of the display device 50 as shown in FIG.

  That is, in step S31, illustration images 55a and 55b representing the center of gravity positions (gxft, gyft) and (gxrt, gyrt) of the entire work machine calculated in step S6 are displayed. In step S32, the traveling body image 52a in the front-rear direction is displayed. indicate. In step S33, the images 54a and 54b of the falling fulcrum corresponding to the front-rear direction falling fulcrum length tpt are filled and displayed. The lines 56a and 56b representing the directional limit angle of repose α are displayed as solid lines. In step S35, the falling fulcrum images 54a and 54b corresponding to the horizontal direction fulcrum length tps (step S24) are displayed in white. In step S36, the horizontal direction fulcrum length tps and the repose angle vertex height has. Based on (Step S7), the lines 56a and 56b indicating the lateral repose angle α are displayed by dotted lines.

  On the other hand, if it is determined in step S25 that the revolving unit 2 is facing sideways, the process proceeds to step S41, and the display device 50 displays an illustration image corresponding to the state where the traveling unit 1 is facing sideways in steps S41 to S46. Displayed on the main screen 51. That is, in step S41, illustration images 55a and 55b representing the center-of-gravity positions (gxfs, gyfs) and (gxrs, gyrs) of the entire work machine calculated in step S6 are displayed. In step S42, the lateral traveling body image 52b is displayed. indicate. In step S43, the falling fulcrum images 54a and 54b corresponding to the lateral falling fulcrum length tps are filled and displayed. In step S44, the lateral falling fulcrum length tps and the repose angle apex height has are The lines 56a and 56b representing the directional limit angle of repose α are displayed as solid lines. In step S45, the fall fulcrum images 54a and 54b corresponding to the front-rear direction fall fulcrum length tpt are displayed in white, and in step S46, based on the front-rear direction fall fulcrum length tpt and the angle of repose vertex height hat, Lines 56a and 56b representing the limit angle of repose α in the front-rear direction are displayed by dotted lines.

  In the above processing, the images 56a, 56b of the limit angle of repose α corresponding to the front-rear direction and the lateral direction of the traveling body 1 and the images 54a, 54b of the falling fulcrum are displayed together. It is also possible to display only one of them. In this case, the process of step S35, step S36, step S45, and step S46 becomes unnecessary. Further, before the direction of the traveling body 1 changes more than a certain level, an image corresponding to either the front-rear direction or the horizontal direction is displayed, and when the direction of the traveling body 1 changes more than a certain amount, the front-rear direction and the lateral direction are supported. Images may be displayed simultaneously.

The operation of the present embodiment is summarized as follows.
For example, when the traveling body 1 is working in a state in which the traveling body 1 is directed in the front-rear direction, the information processing apparatus 10 uses the detected value from the sensor group 11 to determine the center of gravity of the entire work machine in the worst condition for forward fall and the worst condition for backward fall As shown in FIG. 5, together with the illustration images 52 and 53 of the working machine and the images 54a and 54b of the falling fulcrum, as shown in FIG. (Step S23, Steps S31 to S36). The relationship between the limit angle of repose α and the position of the center of gravity is also displayed on the meter image 66 on the sub screen 61 (step S11).

  The position of the center of gravity of the entire work machine changes depending on the posture change of the work front 3 and the work load during the dismantling work, and the display of the images 55a and 55b and the meter image 66 of the position of the center of gravity changes accordingly. When the corrected repose angles β′f and β′r that change according to the position of the center of gravity are smaller than the limit repose angle α, the images 55a and 55b of the position of the center of gravity are inside the lines 56a and 56b (safe area). Through this screen display, the worker can recognize not only whether there is a risk of the work machine falling down, but also how much the current work machine posture has enough to fall over. This can also be recognized from the meter image 66. In the meter image 66, the safety area is displayed by 66a and 66b as shown in FIG. 7, so whether or not the corrected repose angles β′f and β′r have approached the limit repose angle α by a certain amount or more is also shown. Can be recognized. The main screen 51 also displays images 54a, 54b of the falling fulcrum when the traveling body 1 faces in the horizontal direction and images 56a, 56b representing the limit angle of repose α, and is stable against falling when the revolving body 2 is turned. The worker can easily recognize how much the sex changes.

  When the corrected repose angles β′f and β′r exceed the limit repose angle α, the images 55a and 55b at the positions of the center of gravity move outside the lines 56a and 56b (dangerous areas). At this time, an alarm is generated from the alarm buzzer 40 (step S13), and it is notified that the work implement may fall over. As a result, the worker can recognize that there is a risk of the vehicle body falling without looking at the screen display, and stops the operation that causes the vehicle body to fall over. Note that, at the same time as the alarm is generated, an operation in which the corrected repose angle β ′ becomes larger than that may be forcibly stopped. In this case, the higher the center of gravity position of the entire work implement, the greater the center of gravity movement and the more unstable the body posture.However, the higher the center of gravity, the narrower the safety area is set, so there is a risk of the body falling. This can be determined appropriately in consideration of the stability of the vehicle body.

According to the above embodiment, the following effects can be obtained.
(1) A modified angle of repose determined by a limit angle of repose α as an angle between a line connecting the repose angle apex P1 on the turning center and the falling fulcrums 54a and 54b with respect to the vertical line and determined by the center of gravity position in the horizontal direction and the height direction. An alarm is generated when β 'exceeds the critical angle of repose α. Accordingly, it is possible to appropriately determine whether or not the vehicle body may fall over in consideration of the height of the center of gravity.
(2) Since the illustration images 55 and 56 showing the relationship between the limit angle of repose α and the corrected angle of repose β ′ are displayed on the main screen 51 in association with the illustration images 52 to 54 of the work implement, The worker can easily recognize how much room is available.
(3) Since the meter image 66 showing the relationship between the limit angle of repose α and the corrected angle of repose β ′ is displayed on the sub-screen 61, the worker can also change the display on the main screen 51 to the camera-captured image. Can understand the risk of falling.
(4) Since the limit angle of repose α is set by the repose angle vertex P1 and the falling support points 54a and 54b, the range of the safe posture of the work implement can be easily set.

(5) Assuming conditions (the worst conditions for forward fall and the worst condition for backward fall) in which the components (travel motor 1b and attachment 34) provided in the work machine are most likely to fall, Since the position of the center of gravity is detected, it can be more safely evaluated whether or not the work machine is in a safe posture.
(6) Since the direction of the traveling body 1 is detected by the turning detection switch 13, and the image display is changed when the traveling body 1 is facing the front-rear direction and the lateral direction, the traveling body 1 is changed. Regardless of the orientation, the worker can accurately grasp the degree of fear of the work machine falling over.
(7) Not only the illustration image 56 of the limit angle of repose α when the traveling body 1 is facing in one direction (for example, the front-rear direction), but also the limit angle of repose when facing the other direction (for example, the lateral direction). Since the illustration image 56 of α is also displayed at the same time, it is possible to grasp whether or not there is a risk of the work machine falling over when the revolving structure 2 is revolved.
(8) Since the illustration image 55 of the center of gravity position is displayed according to the ratio of the length tpt of the fall fulcrum on the screen and the length TPT of the actual fall fulcrum (step S6), the size of the work implement is large. Even when they are different, the relationship between the limit angle of repose α and the corrected angle of repose β ′ can be satisfactorily displayed on the screen.
(9) Since the fall fulcrum length tps on the screen is displayed according to the ratio of the length TPT of the fall fulcrum in the front-rear direction and the length TPS of the fall fulcrum in the horizontal direction, the illustration image 54 of the fall fulcrum The display corresponds well to the shape of the work implement.
(10) Since the display on the main screen 51 is switched to the captured image of the camera 14 by operating the image switch 12 provided on the operation lever, the image display can be switched without releasing the operation lever. Excellent workability.

  In the embodiment described above, the limit angle of repose α is set by a line connecting the angle of repose P1 on the turning center and the falling support point 54, and the range of the safe posture of the work implement is set by the limit angle of repose α. As long as the range is set so that the allowable range of center of gravity movement in the horizontal direction becomes narrower as the height of the center of gravity of the entire work implement becomes higher, the configuration as the range setting means is not limited to that described above.

  If the display device 55 displays the illustration image 56 (first illustration image) indicating the range of the safety posture of the work implement and the illustration image 50 (second illustration image) of the center of gravity position associated therewith, The form of the display image is not limited to that described above. For example, the direction of the traveling body 1 and the rotation posture of the attachment 34 may be detected, and the center of gravity position may be displayed at one point. If the difference between the center of gravity positions 55a and 55b is small, the average value may be taken for display. When the center of gravity is ahead of the turning center, only the front center of gravity position 55a and the overturning fulcrum 54a may be displayed, and when behind the center of gravity, only the rear center of gravity position 55b and the overturning fulcrum 54b may be displayed. . The relationship between the limit angle of repose α and the corrected angle of repose β ′ is displayed on the main screen 51 (first area) and the sub-screen 61 (second area), respectively, but only on one of them. May be.

  Although the center of gravity position is detected based on the vehicle body and the angles of the arms 31 to 33 detected by the sensor group 11, any center of gravity position detecting means may be used. When the corrected repose angle β ′ exceeds the limit repose angle α, an alarm sound is generated from the alarm buzzer 40, but the alarm means is not limited to this. Although the direction of the traveling body 1 is detected by the turning detection switch 13, the configuration of the turning detection means is not limited to this. Although the camera 14 is provided at the distal end portion of the arm 31 to photograph the working state of the arm distal end portion, any photographing means may be used. An image change-over switch 12 provided on the operation lever is used to switch between a work image (FIGS. 3 to 5) showing the relationship between the limit repose angle α and the corrected repose angle β ′ and a captured image of the camera 14 (FIG. 6). However, the configuration of the image selection member is not limited to this.

  Although the said embodiment was applied to the demolition work machine, this invention is applicable similarly to the other arm work machine which has a rotatable arm. That is, the present invention is not limited to the alarm device according to the embodiment as long as the features and functions of the present invention can be realized. The above description is merely an example, and when interpreting the invention, there is no limitation or restriction on the correspondence between the items described in the embodiment and the items described in the claims.

The side view of the demolition work machine with which this invention is applied. The block diagram which shows the structure of the alarm device which concerns on this Embodiment. The figure which shows an example of the display image displayed on the display apparatus of FIG. The figure which shows the other example of the display image displayed on the display apparatus of FIG. The figure which shows another example of the display image displayed on the display apparatus of FIG. The figure which shows the example which switched the display image displayed on the display apparatus of FIG. The figure which expands and shows the meter image of FIGS. The figure explaining the setting of a limit repose angle. The figure which shows the correspondence of the actual data and screen data in the state in which the traveling body faced the front-back direction. The figure which shows the correspondence of the actual data and screen data in the state in which the traveling body faced the horizontal direction. The flowchart (the 1) which shows an example of the process in the information processing apparatus of FIG. The flowchart (the 2) which shows an example of the process in the information processing apparatus of FIG.

Explanation of symbols

3 Front 10 for Work Information Processing Device 11 Sensor Group 12 Image Changeover Switch 13 Rotation Detection Switch 14 Camera 20 Image Processing Device 40 Alarm Buzzer 50 Display Device

Claims (12)

An alarm generating method for an arm working machine for notifying the possibility of falling of a working machine having a rotatable arm,
A procedure for detecting the position of the center of gravity of the entire work machine in the horizontal direction and the height direction;
A procedure for setting the range so that the allowable range of center of gravity movement in the horizontal direction becomes narrower as the height of the center of gravity of the entire work machine becomes higher,
A method for generating an alarm for an arm working machine, comprising: a procedure for generating an alarm when the detected center of gravity position exceeds the set range. An alarm device for an arm working machine for notifying the possibility of falling of a working machine having a rotatable arm,
Centroid position detection means for detecting the centroid position of the entire work machine in the horizontal direction and the height direction;
A setting means for setting the range so that the allowable range of center of gravity movement in the horizontal direction becomes narrower as the height of the center of gravity of the entire work machine becomes higher;
An alarm device for an arm working machine, comprising: alarm means for generating an alarm when the gravity center position detected by the gravity center position detection means exceeds a range set by the setting means. The alarm device for an arm working machine according to claim 2,
The range setting means defines the range by a straight line connecting a fall fulcrum, which is a fulcrum when the work machine falls, and a reference point on a vertical line passing through the center of the work machine, which is set above the fall fulcrum. An alarm device for an arm working machine, characterized by setting. In the alarm device for an arm working machine according to claim 2 or 3,
The working machine is provided with one or a plurality of components whose arrangement is changed on one side or the other side of the working machine according to the working posture,
The center-of-gravity position detecting means detects a center-of-gravity position under a condition when all the component parts are located on the one side and / or a condition when all the component parts are located on the other side. An alarm device for an arm working machine. In the alarm device for an arm working machine according to any one of claims 2 to 4,
A display device;
A first illustration image representing the range set by the range setting means is displayed on the screen of the display device, and a second illustration image representing the centroid position detected by the centroid position detection means is displayed as the first illustration image. An alarm device for an arm working machine, further comprising display control means for displaying on the same screen in association with the illustration image. In the alarm device for an arm working machine according to claim 5,
The work machine has a swiveling body that can swivel with respect to the traveling body,
A turning detection means for detecting the direction of the traveling body with respect to the turning body;
The display control means displays an illustration image representing the traveling body, an illustration image representing the revolving body, and an illustration image representing the overturning fulcrum of the work machine on the same screen, and is detected by the turning detection means. An alarm device for an arm working machine, wherein display of an illustration image of the traveling body and the overturning fulcrum is changed according to a direction of the traveling body. The alarm device for an arm working machine according to claim 6,
The range setting means sets the range corresponding to one direction and the other direction of the traveling body,
The alarm device for an arm working machine, wherein the display control means displays each of these ranges on the same screen. The alarm device for an arm working machine according to claim 6 or 7,
The display control means displays an illustration image representing the overturning fulcrum at a predetermined position on the screen regardless of the actual size of the work implement, and according to the ratio between the size of the overturning fulcrum on the screen and the actual size of the overturning fulcrum. An alarm device for an arm working machine, wherein the second illustration image is displayed. The alarm device for an arm working machine according to claim 8,
The display control means calculates a ratio between the actual size of the fall fulcrum corresponding to one direction of the traveling body and the actual size of the fall fulcrum corresponding to the other direction, and the fall fulcrum corresponding to the one direction. An illustration image representing the position is displayed at the predetermined position on the screen, and the illustration image representing the falling fulcrum corresponding to the other direction is displayed on the screen with a size corresponding to the calculated ratio. Alarm device for work equipment. In the alarm device for an arm working machine according to any one of claims 5 to 9,
Photographing means for photographing the working state of the arm tip;
An image selection member that is provided on an operation member that operates the arm working machine, and that selects either a photographed image photographed by the photographing means or a work image including the first illustration image and the second illustration image; Further comprising
The display control means displays the photographed image on the screen instead of the work image when a photographed image is selected by the image selection member, and replaces the photographed image when the work image is selected. Is displayed on the screen, an alarm device for an arm working machine. In the alarm device for an arm working machine according to any one of claims 5 to 10,
The display control means displays an illustration image representing the traveling body, an illustration image representing the revolving body, and an illustration image representing the overturning fulcrum of the work implement in a first area on the screen, and is associated with this display. The first illustration image and the second illustration image are displayed, and the first illustration image and the second illustration image are displayed as meter-like images in a second area on the same screen. Alarm device for arm working machine.   The arm working machine according to any one of claims 2 to 11.

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