JP2008179940A - Surrounding monitoring equipment of working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide the surrounding monitoring equipment of a working machine which can accurately present a driver with the presence of an obstacle being a hindrance to the continuation of work. <P>SOLUTION: This surrounding monitoring equipment of the working machine monitors the surrounding state of the working machine by using an image which is displayed on a display device provided in a driver's cabin. In the surrounding monitoring equipment, the image 80d where marks 101 and 102 for highlighting a required monitoring range 11 and an obstacle (worker) 90 intruding into the monitoring range 11 are drawn on a camera image is displaced on the display device. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an apparatus for monitoring the periphery of a work machine with an image, and more particularly, to a means for accurately presenting image information of an obstacle existing around the work machine to a driver of the work machine. In this specification, the term “obstacle” refers to all other obstacles that hinder the operation of the work machine, such as other work machines, workers and persons entering and leaving the work site, and structures on the work site. Say.

  Conventionally, in order to prevent a contact accident between a work machine and an obstacle existing around the work machine, an image is taken around the work machine, and the image is displayed on a display means provided in the driver's seat. A working machine such as a hydraulic excavator provided with a device is known (see, for example, Patent Document 1).

When this type of surrounding monitoring device is provided, the operator of the work machine can know the presence or absence of an obstacle present around the work machine by looking at the image displayed on the display means. If there is no image, you can continue the work with peace of mind, and if there are obstacles on the display, you can interrupt the work to prevent an accident between the work machine and the obstacles around it. Can be prevented.
JP 2002-327470 A

  However, there are many cases where there are a plurality of obstacles at the work site, and since the position of the obstacles with respect to the work machine moves momentarily with the operation of the work machine or the activity of the worker, the imaging means is simply used. By simply displaying the image around the work machine imaged on the display means, there is a possibility that an obstacle in the image may be overlooked, and it cannot always be said that sufficient safety can be ensured. In addition, since it is difficult to accurately determine the distance from the work machine to the obstacle in the image displayed on the display means, whether or not the obstacle has entered the area that hinders the operation of the work machine. Cannot be discriminated at a glance, and the driver is required to have a high level of caution and judgment, which may reduce the work efficiency.

  The present invention has been made to solve such deficiencies of the prior art, and the object thereof is to provide an environment around a work machine that can more accurately present to the driver the presence of an obstacle that hinders the operation of the work machine. It is to provide a monitoring device.

  In order to solve the above-described problems, the present invention provides an imaging unit that images the surroundings of a work machine, an obstacle position measuring unit that detects an obstacle existing around the work machine and measures the position thereof, and the obstacle position. Obstacle determining means for determining whether or not the obstacle detected by the measuring means is within a preset monitoring range, and display image generation for processing the image captured by the imaging means to generate a display image And a display unit for displaying an image processed by the display image generation unit. The display image generation unit includes an obstacle detected by the obstacle position measurement unit. When the obstacle determining means determines that the obstacle is within the monitoring range, an image that emphasizes the obstacle determined to be within the monitoring range is added to the image captured by the imaging means. The display image generated with, and the configuration of displaying on the display means.

  As described above, when the obstacle detection unit determines that the obstacle detected by the obstacle position measurement unit is within the preset monitoring range, it is within the monitoring range in the image captured by the imaging unit. By adding an image that highlights the obstacle determined to be displayed on the display means, the driver can easily and reliably recognize the obstacle that has entered the monitoring range, so that the driver can continue working. It is possible to prevent oversight of obstacles that cause obstacles and to prevent a reduction in work efficiency.

  Further, the present invention provides the surrounding monitoring device for a work machine having the above-described configuration, wherein the display image generation means indicates the position of the obstacle in the image taken by the imaging means as an image that emphasizes the obstacle. The structure is such that the marks are drawn in layers.

  In this way, when the mark indicating the position of the obstacle is superimposed and drawn as an image that emphasizes the obstacle, the driver can intuitively recognize the direction and distance of the obstacle with respect to the work machine. Therefore, it is possible to accurately perform the operation or shutdown of the work machine necessary to avoid the contact.

  Further, the present invention provides the surrounding monitoring device for a work machine having the above-described configuration, wherein the display image generation means indicates the position of the obstacle in the image taken by the imaging means as an image that emphasizes the obstacle. The mark and the information prepared in association with the obstacle are overlapped and drawn.

  In this way, when the information indicating the position of the obstacle and the information prepared in association with the obstacle are superimposed and drawn as an image that emphasizes the obstacle, the driver can intuitively determine the direction and distance of the obstacle with respect to the work machine. Not only can it be recognized, but more information related to the obstacle can be presented to the driver, so that the operation or shutdown of the work machine necessary to avoid contact with the obstacle can be more accurately performed. It can be carried out.

  According to the present invention, in the surrounding monitoring device for a work machine having the above-described configuration, the obstacle position measurement unit includes a first self-position measurement unit provided in the work machine, another work machine that can be an obstacle, A second self-position measuring means provided for the worker; and a communication means provided in the work machine for receiving the self-position of another work machine or the worker measured by the second self-position measuring means. The obstacle determination means is based on the self-position of the work machine measured by the first self-position measurement means and the self-position of the other work machine or the worker obtained by the communication means. It is configured to determine whether or not the other work machine or the worker is within the monitoring range.

  As described above, the obstacle determination in one work machine is performed by the first self-position measuring means provided in the one work machine, and the self-position of the one work machine and the other work machines and work. Based on the self-position of the other work machine and the self-position of the worker transmitted from the worker etc., the position of the other work machine and the worker etc. by the obstacle position measuring means provided in one work machine It is hard to cause erroneous measurement due to blind spots as in the case of measuring, and the position information of other work machines and workers can be obtained reliably, so the position measurement of other work machines and workers can be more reliably performed. It is possible to improve the reliability of the surrounding monitoring system.

  According to the present invention, in the surrounding monitoring device for a work machine having the above-described configuration, the obstacle position measuring means includes a first signal exchanging means provided in the work machine, and another work machine or work that can be an obstacle. A second signal exchanging means provided to a worker and a relative position measuring means provided in the work machine for measuring a relative position between the first and second signal exchanging means. Then, from the relative position measured by the relative position measuring means, it is determined whether or not the other work machine or the worker is within the monitoring range.

  Conventionally, as relative position measurement means, various means such as distance measurement means using an ultrasonic wave or a microwave transponder, position detection using a wireless LAN, and image processing are known. When such a relative position measuring means and a signal exchanging means are provided in a work machine, a worker, etc., other work machines and workers in one work machine are provided as in the case where the self-position measuring means is provided. Therefore, the reliability of the surrounding monitoring system can be improved.

  According to the present invention, in the surrounding monitoring device for a work machine having the above-described configuration, the display image generation unit adds an image indicating the monitoring range to an image photographed by the imaging unit.

  As described above, when an image indicating the monitoring range is added to the image captured by the imaging unit and displayed on the display unit, the driver intuitively understands whether or not an obstacle is included in the monitoring range. Therefore, it is possible to reliably determine whether an obstacle is within the monitoring range, and to further improve the work efficiency.

  The surrounding monitoring device for a work machine according to the present invention is an image photographed by an imaging unit when it is determined by the obstacle determining unit that the obstacle detected by the obstacle position measuring unit is within a preset monitoring range. Since an image that emphasizes an obstacle determined to be within the monitoring range is added and displayed on the display means, the driver can easily and reliably recognize the obstacle that has entered the monitoring range. Therefore, it is possible to prevent oversight of obstacles that hinder the driver's continued work and improve the safety of the work, and it does not require special attention and judgment from the driver, thus preventing a reduction in work efficiency. can do.

  Hereinafter, a first example of a surrounding monitoring apparatus according to the present invention will be described with reference to FIGS. The working machine surrounding monitoring apparatus of the present example is characterized in that the hydraulic excavator is provided with obstacle position measuring means for detecting an obstacle such as a worker or another working machine and measuring the position thereof.

  As shown in FIGS. 1 and 2, the hydraulic excavator includes an articulated front work machine 1A including a boom 1a, an arm 1b, and a bucket 1c that rotate in a vertical direction, an upper swing body 1d, and a lower traveling body 1e. It is comprised with the vehicle body 1B which consists of. The upper swing body 1d is provided with an operator cab 1f, and a base end of a boom 1a constituting the front work machine 1A is supported by a front portion thereof so as to be rotatable in a vertical direction. The boom 1a, the arm 1b, the bucket 1c, and the lower traveling body 1e are driven by hydraulic actuators such as a boom cylinder 3a, an arm cylinder 3b, a bucket cylinder 3c, and a traveling motor 3e, respectively. The upper swing body 1d is also driven by a hydraulic actuator (not shown) called a swing motor. Furthermore, the boom 1a, the arm 1b, the bucket 1c, and the upper swing body 1d are provided with angle detectors 8a, 8b, 8c, and 8d, respectively, so that the rotation angle of each member can be detected.

  As shown in FIG. 3, the working machine surrounding monitoring apparatus of this example includes an obstacle detector 10 as an obstacle detection means, a camera 12 such as a CCD camera as an imaging means, and a buzzer as an alarm sound generation means. Alarm sound generating device 40 such as a speaker, a display device 50 such as a liquid crystal display device as a display means, and an output signal of the obstacle detector 10 and an output signal of the camera 12 to capture the output signal of the alarm sound generating device 40 And a monitoring controller 20A that outputs a drive signal for the display device 50. The monitoring controller 20A determines whether there is an obstacle within the required monitoring range based on the output signal of the obstacle detector 10, and warns when it is determined that there is an obstacle within the required monitoring range. An obstacle determination unit 21 that outputs an obstacle position information corresponding to the driving signal of the sound generator 40 and the determination result thereof, temporarily stores the captured image of the camera 12, and temporarily stores the captured image of the camera 12 and the obstacle It comprises a display image generation unit 22 that combines the obstacle position information from the determination unit 21 and generates an image to be displayed on the display device 50.

  The alarm sound generator 40 and the display device 50 are installed in the cab 1f, and the obstacle detector 10 and the camera 12 are provided at the rear of the upper swing body 1d as shown in FIGS. As the obstacle detector 10, a proximity sensor such as a laser radar, a millimeter wave radar, an ultrasonic sensor or an infrared sensor is used. As shown in FIGS. 2 and 5, the obstacle detector 10 detects obstacles such as workers, structures, and other work machines existing in the monitoring range 11 set behind the vehicle body 1B. The distance and direction from the vehicle body 1B to those obstacles are obtained. The camera 12 captures an image within the monitoring range 11. Note that reference numeral 13 in FIG. 4 indicates the field of view range of the camera 12.

  Hereinafter, the procedure of processing performed by the monitoring controller 20A will be described with reference to FIGS. FIG. 6 is a flowchart showing a procedure of processing performed by the obstacle determination unit 21, and FIG. 7 is a flowchart showing a procedure of processing performed by the display image generation unit 22. Each of these processes is performed at a predetermined cycle during the operation of the work machine.

  The obstacle determination unit 21 obtains obstacle position information according to the procedure of STEP 101 to STEP 105 shown in FIG.

  STEP 101: The obstacle detector 10 detects the presence or absence of an obstacle in the monitoring range 11. As shown in FIG. 5, when a worker 90 enters the monitoring range 11, the worker 90 is detected as an obstacle by the obstacle detector 10. If no obstacle is detected in STEP 101, the process ends.

  STEP102: When an obstacle is detected in STEP101, the distance from the vehicle body 1B to the worker 90 and the orientation of the worker 90 with respect to the vehicle body 1B are obtained from the obstacle detector 10 as the obstacle detection position. As shown in FIG. 4, the position where the worker 90 blocks the detection surface 11 a of the obstacle detector 10 is an obstacle detection position by the obstacle detector 10.

  STEP 103: From the obstacle detection position obtained from the obstacle detector 10 and the installation position information of the obstacle detector 10 stored in advance in the obstacle determination unit 21, the three-dimensional of the worker 90 as the obstacle position information. Calculate the position.

  STEP 104: A signal is sent to the alarm sound generator 40 to generate an alarm sound in the cab 1f.

  STEP 105: The obstacle position information is sent to the display image generation unit 22, and the process of the obstacle determination unit 21 is terminated. In this example, the three-dimensional position information of the worker 90 is sent to the display image generation unit 22 as obstacle position information.

  The display image generation unit 22 displays the composite image on the display device 50 in the procedure of STEP 201 to STEP 206 shown in FIG.

  STEP 201: The captured image of the camera 12 is stored. As shown in FIG. 5, when the worker 90 has entered the monitoring range 11, the display image generation unit 22 stores the image 80 a shown in FIG. 8. In addition, what is reflected in the lower part of the image 80a is a part of the upper swing body 1d.

  STEP 202: The monitoring range 11 is drawn on the image 80a stored in the display image generation unit 22, and the drawn image 80b shown in FIG. 9 is generated. As a result, it becomes easier for the driver to visually determine whether or not an obstacle is within the monitoring range 11, and the driver's fatigue can be reduced and work efficiency can be prevented from being lowered.

  STEP 203: The three-dimensional position information of the worker 90 is obtained from the obstacle determination unit 21.

  STEP 204: The three-dimensional position of the worker 90 obtained from the obstacle determination unit 21 is converted into a pixel position on a two-dimensional plane of the camera image. In this example, as illustrated in FIG. 10, the three-dimensional position information of the worker 90 obtained from the obstacle determination unit 21 is used as the pixel position of the worker 90 on the image 80 b in which the monitoring range 11 is drawn ( X, Y). In this example, the pixel at the upper left corner of the image 80c is the origin position (0, 0).

  STEP 205: An image that emphasizes an obstacle is added to the image 80b to generate a display image 80d. In this example, as shown in FIG. 11, a spot 101 indicating the position of the worker 90 is drawn at the pixel position (X, Y) of the worker 90 obtained in STEP 204, and the worker 90 is positioned in the vicinity thereof. A display image 80d is generated by drawing an arrow 102 indicating the position. As shown in FIG. 12, when there are a plurality of workers 90 and 95 behind the vehicle body 1B, the plurality of workers 90 and 95 appear in the camera image 80. In this step, FIG. As shown, the spot 101 and the arrow 102 are drawn only for the worker 90 who has entered the monitoring range 11.

  STEP 206: An image 80d in which marks 101 and 102 for emphasizing the monitoring range 11 and the obstacle 90 that has entered the monitoring range 11 are drawn on the camera image 80a is generated and output to the display device 50. Thereby, the image 80d of FIG. 11 is displayed on the display device 50.

  In the above embodiment, the case where the worker becomes an obstacle has been described as an example, but other excavators, structures existing at the work site, visitors, visitors, etc. who enter the work site as needed In the same way, contact with the hydraulic excavator can be avoided.

  The surrounding monitoring device of the working machine of this example does not display the camera image 80a as it is on the display device 50 installed in the operator cab 1f, but displays the required monitoring range 11 and the monitoring range 11 in the camera image 80a. Since the image 80d on which the marks 101 and 102 for emphasizing the invading obstacle (worker) 90 are drawn is displayed, the driver can surely recognize the presence or absence of the obstacle 90 that hinders the work. Thus, contact between the work machine and the obstacle 90 can be prevented, and a reduction in work efficiency can be prevented. Further, since the image of the monitoring range 11 is displayed on the display device 50, it is easy for the driver to visually determine whether or not the obstacle 90 is within the monitoring range 11. From this point, the work machine and the obstacle It is possible to prevent contact of the object 90 and improve work efficiency. Furthermore, the surrounding monitoring device of the working machine of this example has an alarm sound generating device 40 installed in the cab 1f and generates an alarm sound when an obstacle 90 is detected in the monitoring range 11 of the obstacle detector 10. Thus, the oversight of the obstacle 90 entering the monitoring range 11 by the driver can be prevented more reliably.

  Below, the modification of the surrounding monitoring apparatus of the working machine which concerns on this example is listed.

  (1) In the above embodiment, the case where the present invention is applied to a hydraulic excavator has been described as an example. However, the gist of the present invention is not limited to this, and the present invention is also applicable to any other work machine that is publicly known. Can

  (2) In the above-described embodiment, the obstacle detector 10 and the camera 12 are provided one by one behind the upper swing body 1d. However, the number and arrangement of the obstacle detector 10 and the camera 12 are particularly limited. Instead of a certain one, a plurality of obstacle detectors 10 and cameras 12 may be mounted at a plurality of locations on the vehicle body 1B to perform a wider range of monitoring. Correspondingly, a plurality of display devices can be provided in the cab 1f.

  (3) In the above embodiment, the spot 101 and the arrow 102 indicating the position of the obstacle are drawn on the camera image 80 as an image that emphasizes the obstacle. However, the gist of the present invention is not limited to this. Alternatively, it is possible to adopt means such as changing the color of the obstacle by image processing. In addition to the mark indicating the position of the obstacle, other information related to the obstacle 90 can also be displayed. For example, a display method such as changing the size or color of the mark according to the distance of the obstacle, or blinking the mark when the obstacle is moving in the direction approaching the vehicle body can be adopted.

  Next, a second example of the surroundings monitoring apparatus according to the present invention will be described with reference to FIGS. The working machine surrounding monitoring apparatus of the present example includes a first self-position measuring unit on a hydraulic excavator and a second self-position measuring unit on a worker, and 1 based on the measurement result of each self-position measuring unit. It is characterized by monitoring the approach of workers and other hydraulic excavators to other hydraulic excavators.

  As shown in FIG. 15, the hydraulic excavator transmits and receives signals between a camera 12 such as a CCD camera that is an imaging unit, a GPS receiver 14 that is a self-position measuring unit, and other hydraulic excavators and workers. A wireless transmitter / receiver 15 that performs alarming, an alarm sound generating device 40 such as a buzzer or speaker that is an alarm sound generating means, a display device 50 such as a liquid crystal display device that is a display means, an output signal of the camera 12, and a GPS receiver 14 And a monitoring controller 20B that takes in the received signal of the wireless transceiver 15 and outputs the driving signal of the alarm sound generating device 40 and the driving signal of the display device 50. The monitoring controller 20B includes a monitoring range pattern storage memory 25 in which a required monitoring range pattern is stored in advance, a monitoring range pattern stored in the memory 25, self-location information of the work machine that is captured from the GPS receiver 14, and wireless Based on the self-location information of other work machines or workers taken in from the transceiver 15, it is determined whether an obstacle has entered the required monitoring range, and it has been determined that an obstacle has entered the monitoring range. In this case, the intrusion determination unit 24 that outputs the driving signal of the alarm sound generation device 40 and the obstacle position information corresponding to the determination result, the captured image of the camera 12, and the stored captured image of the camera 12 and the intrusion determination are stored. The display image generation unit 22 generates an image to be displayed on the display device 50 by combining the obstacle position information from the unit 24. As shown in FIG. 14, the GPS receiver 14 is provided on the upper surface of the rear part of the upper swing body 1d, and the radio transceiver 15 is provided on the roof of the cab 1f.

  On the other hand, as shown in FIG. 18, the worker 90 is equipped with a GPS receiver 91 that is a self-position measuring unit and a wireless transceiver 92 that transmits and receives signals to and from a hydraulic excavator. The wireless transmitter / receiver 92 records worker-specific information such as the name of the worker who is equipped with the wireless transmitter / receiver 92 and the details of the work in charge. The wireless transmitter / receiver 92 transmits the worker position information acquired by the GPS receiver 91 and the worker specific information recorded in the wireless transmitter / receiver 92 to the wireless transmitter / receiver 15 provided in the excavator. The wireless transceiver 15 provided in the hydraulic excavator receives the worker position information and the worker specific information from the wireless transceiver 92 provided in the worker 90.

  In the monitoring range pattern storage memory 25, an arbitrary monitoring range pattern can be stored in advance as required. FIG. 16 is a diagram showing an example of the monitoring range pattern stored in the monitoring range pattern storage memory 25, and the monitoring range 17 is set so as to surround the vehicle body 1B. The intrusion determination unit 24 uses the position information of the absolute coordinates of the hydraulic excavator acquired by the GPS receiver 14 and the position information of the absolute coordinates of the worker acquired by the GPS receiver 91, The distance of the worker from the excavator is calculated, and as shown in FIGS. 17 and 18, when the worker is present in the monitoring range 17 set around the vehicle body 1B, the obstacle is present in the monitoring range 17. Is determined to have entered. The camera 12 captures an image within the monitoring range 17.

  Hereinafter, a procedure of processing performed by the monitoring controller 20B will be described with reference to FIGS. 19 and 20. FIG. 19 is a flowchart showing a procedure of processing performed by the intrusion determination unit 24, and FIG. 20 is a flowchart showing a procedure of processing performed by the display image generation unit 22. Each of these processes is performed at a predetermined cycle during the operation of the work machine.

  The intrusion determination unit 24 sends the worker position information and the worker specific information to the display image generation unit 22 in the procedure of STEP 301 to STEP 305 shown in FIG.

  STEP 301: The wireless transmitter / receiver 15 obtains worker position information and worker-specific information from the wireless transmitter / receiver 92 that the worker 90 is equipped with.

  STEP 302: The monitoring range pattern is read from the monitoring range pattern storage memory 25.

  STEP 303: The worker position information is compared with the monitoring range pattern, and it is determined whether or not the worker 90 has entered the monitoring range 11. If it is determined in STEP 303 that the worker 90 has not entered the monitoring range 11, the process is terminated.

  STEP 304: If it is determined in STEP 303 that the worker 90 has entered the monitoring range 11, a drive signal is output to the alarm sound generator 40 to generate an alarm sound.

  STEP 305: The worker position information and the worker specific information are sent to the display image generating unit 22, and the processing of the worker intrusion determining unit is ended.

  The display image generation unit 22 displays the composite image on the display device 50 according to the procedure of STEP 401 to STEP 407 shown in FIG.

  STEP 401: A captured image of the camera 12 is stored. As shown in FIGS. 17 and 18, when the worker 90 has entered the monitoring range 11, the display image generation unit 22 stores the image 100 a shown in FIG. 21. Note that a part of the upper swing body 1d is shown in the lower part of the image 100a.

  STEP 402: The monitoring range 11 is drawn on the image 100a stored in the display image generation unit 22, and the drawn image 100b shown in FIG. 22 is generated. As a result, it becomes easier for the driver to visually determine whether or not an obstacle is within the monitoring range 11, and the driver's fatigue can be reduced and work efficiency can be prevented from being lowered.

  STEP 403: Obtain worker position information and worker specific information from the intrusion determination unit 24.

  STEP 404: Convert worker position information obtained from the intrusion determination unit 24 into pixel positions on a two-dimensional plane of the camera image. This conversion is performed in the same manner as described in STEP 204 and FIG.

  STEP 405: An image that emphasizes an obstacle is added to the image 100b to generate a display image 100c. In this example, as shown in FIG. 23, a spot 101 indicating the position of the worker 90 is drawn at the pixel position of the worker 90 obtained in STEP 404, and an arrow 102 indicating the position of the worker 90 in the vicinity thereof. Is drawn to generate a display image 100c.

  STEP 406: The worker specific information obtained from the intrusion determination unit 24 is drawn on the camera image 100c. In this example, as shown in FIG. 24, the name of the worker and the work contents in charge are drawn as worker-specific information in the vicinity of the worker 90.

  STEP 407: Generate an image 100d in which the monitoring range 11, the marks 101 and 102 for emphasizing the obstacle 90 intruding into the monitoring range 11 and the worker specific information are drawn on the camera image 100c and output to the display device 50 To do. Thereby, the image 100d of FIG. 24 is displayed on the display device 50. As described above, when the image 100d including the worker specific information is displayed on the display device 50, the name of the worker represented in the worker specific information and the work content in charge are the worker to be worked around the hydraulic excavator. If they match, the driver and the worker understand the contents of the work, so it can be judged that the danger is low even if the worker approaches the excavator. It can be determined that the degree of risk is high. Therefore, the driver can operate the hydraulic excavator more appropriately, and can more reliably prevent contact with workers and decrease in work efficiency.

  In the above-described embodiment, the case where an operator becomes an obstacle has been described as an example. However, other hydraulic excavators and structures can be prevented from contacting the hydraulic excavator in the same manner. Moreover, in the said embodiment, although the hydraulic excavator was illustrated as a working machine, of course, it can implement similarly about another working machine.

  The surrounding monitoring device of the working machine of this example does not measure the position of the obstacle by the obstacle position measuring means provided in the working machine, but is a GPS that is a self-position measuring means for both the working machine and the worker. Equipped with receivers 14, 91 and wireless transceivers 15, 92, from the self-position of the one work machine measured by the self-position measuring means provided in one work machine, and from other work machines and workers Since the obstacle determination in one work machine is performed based on the transmitted self-position of the other work machine and the self-position of the worker, the other work machine is used by the obstacle position measuring means provided in the one work machine. Compared with the case where the position of the worker is measured, the blind spot of the position measurement is less likely to occur, and the position information of the other work machines and the worker can be obtained with certainty. Therefore, the position of other work machines and workers can be measured more reliably, and the reliability of the surrounding monitoring system can be improved.

  In the second embodiment, a case where a worker equipped with a GPS receiver 91 and a wireless transceiver 92 has entered the monitoring range 11 has been described as an example. By installing the GPS receiver 91 and the wireless transmitter / receiver 92 to the related parties such as these, it is possible to prevent these related parties from entering the monitoring range 11. In this case, by recording information such as “foreigner! Attention” instead of the name and the work content in charge as the unique information, the driver can be strongly alerted.

  Below, the modification of above-mentioned 1st Embodiment is listed.

  (1) In the above embodiment, an example is shown in which the work machine wirelessly receives the position information of the worker 90 obtained by the GPS receiver 91 installed in the worker 90 and determines whether the worker enters the monitoring range 11. However, the gist of the present invention is not limited to this, and any position measuring means using ultrasonic or microwave transponders or a position using a wireless LAN can be used as long as a worker who has entered the monitoring range can be identified. Other means such as detection or image processing can also be used.

  (2) The mark display method may be changed according to the worker-specific information. For example, in the case of a worker or a visitor who is not related to the work of the work machine, a method of further raising the driver's attention by enlarging the mark or lighting it is also conceivable.

  (3) In the above-described embodiment, the monitoring range pattern stored in advance in the camera image is drawn. However, according to the driver's operation and work contents, the planned travel trajectory, the planned trajectory of the turn, the planned trajectory of the front work machine, etc. Can be drawn as a monitoring range. For example, during reverse travel, as shown in FIG. 25, the planned travel trajectory 111 can be drawn as a monitoring range, and the risk of contact with the worker 90 can be conveyed more accurately and effectively to the driver. Can do.

  (4) The camera image is converted into a bird's-eye view image from above the work machine by the display image generator 22, and a mark indicating the worker position and worker-specific information are drawn on the bird's-eye view image and output to the display device. You can also In this way, since the situation around the work machine can be grasped three-dimensionally, the operation of the work machine can be made more appropriate.

  (5) When a surveillance camera and a monitoring station are placed outside, the position information measured by the work machine and the worker with the GPS receiver is received by the monitoring station, and an intrusion determination process is performed. The image drawn by superimposing the worker position information and the worker specific information on the monitoring camera image may be transmitted to the work machine by communication and displayed on the display device in the cab 1f.

1 is a perspective view of a hydraulic excavator equipped with a surrounding monitoring device according to a first embodiment. It is a top view of a hydraulic excavator showing the monitoring range of the obstacle detector according to the first embodiment. It is a block diagram which shows the control system structure of the surroundings monitoring apparatus which concerns on 1st Embodiment. It is explanatory drawing which shows the monitoring range of the obstacle detector which concerns on 1st Embodiment, and the imaging range of a camera. It is explanatory drawing which shows the monitoring range and obstacle detection position of an obstacle detector which concern on 1st Embodiment. It is a figure which shows the processing flow of the obstruction determination part which concerns on 1st Embodiment. It is a figure which shows the processing flow of the display image generation part which concerns on 1st Embodiment. It is a figure which shows an example of a camera image. It is a figure which shows an example of the camera image to which the monitoring range was added. It is explanatory drawing which shows the conversion system of obstacle detection information. It is a figure which shows an example of the image displayed on a display apparatus. It is explanatory drawing which shows the state in which a several obstruction exists around a working machine. It is a figure which shows an example of the image displayed on a display apparatus in case a some obstruction exists around a working machine. It is a perspective view of the hydraulic shovel equipped with the surroundings monitoring device concerning a 2nd embodiment. It is a block diagram which shows the control system structure of the surroundings monitoring apparatus which concerns on 2nd Embodiment. It is a figure which shows the monitoring pattern of the surroundings monitoring apparatus which concerns on 2nd Embodiment. It is explanatory drawing which shows the monitoring range and obstacle detection position of an obstacle detector which concern on 2nd Embodiment. It is explanatory drawing which shows the monitoring range of the obstruction detector which concerns on 2nd Embodiment, and the imaging range of a camera. It is a figure which shows the processing flow of the worker penetration | invasion determination part which concerns on 2nd Embodiment. It is a figure which shows the processing flow of the display image generation part which concerns on 2nd Embodiment. It is a figure which shows an example of the camera image which concerns on 2nd Embodiment. It is a figure which shows an example of the camera image to which the monitoring range was added. It is a figure which shows an example of the image to which the worker specific information was added. It is a figure which shows an example of the image displayed on a display apparatus. It is a figure which shows an example of the image to which the driving plan locus was added.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1A Front work machine 1B Car body 1f Driver's cab 10 Obstacle detector 11 Monitoring range 12 Camera (imaging means)
DESCRIPTION OF SYMBOLS 13 Camera visual field range 14 GPS receiver on work machine 15 Radio | wireless transmitter / receiver on work machine 17 Monitoring range pattern 20A, 20B Monitoring controller 21 Obstacle determination part 22 Display image generation part 24 Worker intrusion determination part 25 Monitoring range pattern preservation | save Memory 40 Alarm sound generating device 50 Display device 90 Worker entering the monitoring range 91 GPS receiver equipped with the worker 92 Wireless transceiver equipped with the worker 95 Worker 80a not entering the simple range ˜80d display image 100a˜100d display image 101 spot indicating obstacle position 102 arrow indicating obstacle position 103 information associated with intruder 111 scheduled travel locus

Claims (6)

Imaging means for imaging the surroundings of the work machine;
Obstacle position measuring means for detecting obstacles around the work machine and measuring their positions;
Obstacle determination means for determining whether or not the obstacle detected by the obstacle position measuring means is within a preset monitoring range;
Display image generation means for generating a display image by processing an image captured by the imaging means;
In a work machine surroundings monitoring device comprising display means for displaying an image processed by the display image generating means,
When the obstacle detected by the obstacle position measuring unit is determined to be within the monitoring range by the obstacle determining unit, the display image generating unit is included in the image captured by the imaging unit. An apparatus for monitoring the surroundings of a work machine, characterized in that a display image to which an image emphasizing an obstacle determined to be within a range is added and displayed on the display means. In the work machine surroundings monitoring device according to claim 1,
The display image generating means draws a mark indicating the position of the obstacle superimposed on the image taken by the imaging means as an image that emphasizes the obstacle. . In the work machine surroundings monitoring device according to claim 1,
The display image generation unit draws an image that emphasizes the obstacle by superimposing a mark indicating the position of the obstacle on the image captured by the imaging unit and information prepared in association with the obstacle. An apparatus for monitoring the surroundings of a work machine. In the work machine surroundings monitoring device according to claim 1,
The obstacle position measuring means includes a first self-position measuring means provided in the work machine, a second self-position measuring means provided in another work machine or a worker who can be an obstacle, and the work machine. Comprising a communication means for receiving the self-position of another work machine or a worker measured by the second self-position measurement means,
The obstacle determination unit is configured to determine the other position based on a self-position of the work machine measured by the first self-position measurement unit and a self-position of the other work machine or a worker obtained by the communication unit. A work machine surroundings monitoring device, characterized in that it is determined whether or not the work machine or the worker is within the monitoring range. In the work machine surroundings monitoring device according to claim 1,
The obstacle position measuring means is provided in the work machine, a first signal exchanging means provided in the work machine, a second signal exchange means provided in another work machine or an operator who can be an obstacle, and the work machine. And a relative position measuring means for measuring a relative position between the first and second signal exchanging means,
The obstacle determination unit determines whether the other work machine or a worker is within the monitoring range based on the relative position measured by the relative position measurement unit. Ambient monitoring device. In the surrounding monitoring apparatus of the working machine of any one of Claims 1 thru | or 5,
The working image surrounding monitoring apparatus according to claim 1, wherein the display image generating unit adds an image indicating the monitoring range to the image captured by the imaging unit.

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