JP2010112100A - Monitoring device for working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely inform operators around a machine body of an alarm state. <P>SOLUTION: This monitoring device for a working machine includes: obstacle detecting means 10a-10c for detecting obstacles around the machine body; a narrow-directional alarm means 19 (21b) for emitting an alarm sound at a predetermined directional angle; a narrow-directional alarm means 19 (21a) for irradiating illumination light at a predetermined directional angle; and alarm control means 22a, 22b, 60 for controlling the alarm means 19 to emit the alarm sound toward the obstacles and to irradiate the alarm illumination light toward the obstacles when the obstacles are detected by the obstacle detecting means 10a-10c. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an alarm device for a work machine that issues an alarm to workers around the work machine.

  2. Description of the Related Art Conventionally, there has been known an apparatus that issues an alarm toward the periphery of an aircraft when an obstacle is detected in a monitoring area around the aircraft (see, for example, Patent Document 1). In the apparatus described in Patent Document 1, display panels are provided on the right side, the left side, and the rear side of the machine body. When an obstacle is detected in the monitoring area, the display panel in the direction of the obstacle blinks, Call attention to.

Japanese Patent No. 2777534

  However, even if the display panel in the direction of the obstacle blinks like the apparatus described in Patent Document 1, the worker is not always viewing the display panel, and the worker cannot recognize the alarm state. There is a fear.

An alarm device for a work machine according to the present invention includes an obstacle detection means for detecting obstacles around the machine body, a narrow directivity alarm means for emitting an alarm sound at a predetermined directivity angle, and an obstacle detection means. And alarm control means for controlling the alarm means so as to emit an alarm sound toward the obstacle.
Further, the alarm device for a work machine according to the present invention includes obstacle detection for detecting obstacles around the aircraft, narrow directivity warning means for irradiating illumination light at a predetermined directivity angle, and obstacle detection means. And an alarm control means for controlling the alarm means so as to irradiate the alarm illumination light toward the obstacle when an object is detected.

  According to the present invention, since a narrow-directional warning sound is emitted toward an obstacle around the aircraft or a narrow-directional illumination light is irradiated, it is ensured that the workers around the aircraft are in an alarm state. Can be recognized.

Hereinafter, an embodiment of a monitoring device for a work machine according to the present invention will be described with reference to FIGS.
FIG. 1 is an external perspective view of a hydraulic excavator that is an example of a work machine to which an alarm device according to the present embodiment is applied. In the following, the front-rear and left-right directions of the aircraft are defined as shown in the figure. The hydraulic excavator has a front work machine 1A and a vehicle body 1B. The vehicle body 1B includes a pair of left and right lower traveling bodies 1e and an upper swinging body 1d that is turnably mounted above the lower traveling body 1e. The upper swinging body 1d is provided with a cab 1f.

  The front work machine 1A has a boom 1a that is pivotally supported at the front portion of the upper swing body 1d, an arm 1b that is pivotally supported at the tip of the boom, and is rotatable at the tip of the arm. The bucket 1c is pivotally supported. The boom 1a, the arm 1b, and the bucket 1c are supported by the boom cylinder 3a, the arm cylinder 3b, and the bucket cylinder 3c, respectively, and rotate in a vertical plane with respect to the vehicle width direction by expansion and contraction of the cylinders 3a to 3c. The left and right lower traveling bodies 1e travel by driving the traveling hydraulic motors 3d and 3e (FIG. 4), respectively, and the upper swing body 1d rotates by driving the turning hydraulic motor 3f (FIG. 4).

  FIG. 2 is a view of the excavator of FIG. 1 as viewed from above. As shown in FIGS. 1 and 2, obstacle detection sensors 10 a to 10 c are attached to the left and right side surfaces and the rear surface of the upper swing body 1 d, respectively. The sensors 10a to 10c are sensors that detect obstacles such as surrounding workers and structures and obtain the position (relative position) of the obstacle from the distance and direction, and are configured by, for example, a laser radar. 2 indicate the ranges (monitoring ranges) 11a to 11b that can be monitored by the sensors 10a to 10c. The sensor 10a monitors the left rear side of the aircraft, the sensor 10c monitors the rear of the aircraft, and the sensor 10c monitors the right rear side of the aircraft.

  Surveillance cameras 13a to 13c are mounted above the sensors 10a to 10c, respectively. The monitoring cameras 13a to 13c are video cameras having an image sensor such as a CCD, for example, and always take a moving image around the hydraulic excavator when the power is turned on. Each of the monitoring cameras 13a to 13c is directed in the same direction as the detection direction of the sensors 10a to 10c. The imaging range of each of the monitoring cameras 13a to 13c is as indicated by 14a to 14c in FIG. 2, and substantially coincides with the monitoring range of the sensors 10a to 10c. Thereby, the images of the obstacles detected by the sensors 10a to 10c can be taken by the cameras 13a to 13c.

  Further, alarm devices 19a to 19c are mounted on the upper swing body 1d on the sides of the cameras 13a to 13c, respectively. FIG. 3 is a perspective view showing the configuration of the alarm devices 19a to 19c. The alarm devices 19 a to 19 c include a support column 20 erected on the swivel body 1 d and an alarm device body 21 mounted on the upper portion of the support column 20. The alarm device main body 21 has a substantially rectangular parallelepiped shape as a whole, and a narrow directivity lamp 21a that irradiates illumination light at a predetermined directivity angle on the front surface thereof and a narrow directivity speaker that emits an alarm sound at a predetermined directivity angle. 21b is provided up and down. The directivity angle (alarm range) of the illumination light and the alarm sound is preferably about 30 degrees in the horizontal direction and about 45 degrees in the vertical direction, for example.

  The alarm device main body 21 can be rotated in the horizontal direction (R1, R2 direction) and the vertical direction (R3, R4 direction) with the rotation axes L1, L2 as fulcrums by driving the actuators 22a, 22b. The range in which an alarm can be generated by the rotation of the alarm body 21, that is, the illumination light irradiating range and the alarm sound radiating range is substantially equal to the detection ranges 11a to 11c of the sensors 10a to 10c. If sound and light are emitted toward the worker by such alarm devices 19a to 19c, the worker can recognize whether or not an alarm has occurred even if he / she does not look at the alarm devices 19a to 19c.

  FIG. 4 is a block diagram showing a control system configuration of the alarm device according to the present embodiment. The alarm device includes a vehicle body controller 30, a monitoring controller 60, and a monitor device 50 disposed in the cab 1f. The vehicle body controller 30 includes a vehicle body control unit 31, the monitoring controller 60 includes a monitoring control unit 61, a display control unit 62, and an alarm control unit 63, and the monitor device 50 includes a display unit 51, an alarm unit 52, and the like. And an input unit 53. The controllers 30 and 60 include an arithmetic processing unit having a CPU, ROM, RAM, and other peripheral circuits.

  The vehicle body controller 31 includes an angle detector 8a that detects the rotation angle of the boom 1a, an angle detector 8b that detects the rotation angle of the arm 1b, and an angle detector 8c that detects the rotation angle of the bucket 1c. Then, signals from the turning angle detector 8d for detecting the turning angle of the upper turning body 1d with respect to the traveling body 1e and the operation levers 4a to 4d (for example, electric levers) for inputting drive commands to the hydraulic actuators 3a to 3f are respectively input. Is done. The vehicle body control unit 31 outputs a control signal to the actuators 3a to 3f such as a cylinder and a motor based on these input signals, and controls driving of the actuators 3a to 3f. Vehicle body information 39 including signals from the operation levers 4 a to 4 d and signals from the angle detectors 8 a to 8 d is transmitted to the monitoring controller 60.

  The monitor control unit 61 receives image signals from the cameras 13a to 13c and detection signals from the sensors 10a to 10c. The display control unit 62 generates an output image signal based on the image signal and the detection signal input from the monitoring control unit 61 and the vehicle body information 39 transmitted from the vehicle body control unit 31, and outputs the output image signal to the monitor device 50. Based on the output image signal from the display control unit 62, the monitor device 50 displays a display image corresponding to the operation of the input unit 53 on the display unit 51 as described later, and the sensors 10a to 10c detect an obstacle. When the alarm occurs, the alarm unit 52 generates an alarm.

  The alarm control unit 63 outputs a control signal to the actuators 22a and 22b inside the alarm device based on the detection signals of the sensors 10a to 10c input via the monitoring control unit 61, and the alarm devices 19a to 19c rotate. To control. Furthermore, a control signal is output to the alarm device main body 21 to control the operation of the alarm devices 19a to 19c, that is, the on / off of the illumination light and the on / off of the alarm sound.

  FIG. 5 is a view of the monitor device 50 as viewed from the front, and an input unit 53 is disposed below the display unit 51. The input unit 53 includes, for example, a touch panel, and includes an operation unit 53a that selects image display of the left and right cameras 13a and 13c, an operation unit 53b that selects image display of the rear camera 13b, and all the cameras 13a to 13c. It has the operation part 53c which selects image display, and the operation part 53d which selects the image display of vehicle body information. Reference numerals 53e and 53f are spare operation units. The display device 50 is provided at a position where the driver can visually recognize the display unit 51 and can easily operate the input unit 53. Although illustration is omitted, the alarm unit 52 is constituted by a speaker provided on the front surface of the monitor device 50, for example. The input unit 53 can be configured by a mouse, a trackball, a joystick, or the like other than the touch panel.

  An example of the display screen displayed on the display unit 51 is shown in FIGS. FIG. 6 is a diagram illustrating an example of a display screen when the operation unit 53a is operated, that is, a left and right side camera screen. The left side camera image 140c captured by the camera 13c and the camera 13a are captured on the display unit 51. The right side camera image 140a is displayed side by side. FIG. 7 is a diagram illustrating an example of a display screen when the operation unit 53b is operated, that is, a rear camera screen. The rear camera image 140b captured by the camera 13b is displayed on the display unit 51.

  FIG. 8 is a diagram showing an example of the display screen when the operation unit 53c is operated, that is, the entire camera screen. The left side camera image 140c photographed by the camera 13c and the camera 13a are photographed on the upper part of the display unit 51. The right camera image 140a is displayed side by side, and the rear camera image 140b captured by the camera 13b is displayed at the center of the lower row. FIG. 9 is a diagram showing an example of a display screen when the operation unit 53d is operated, that is, a vehicle body information screen. A vehicle body information image 130 such as the engine speed and the remaining amount of fuel is displayed on the display unit 51.

  A specific example of the display screen displayed on the display unit 51 will be described. For example, as shown in FIG. 10, it is assumed that a worker 90B exists in the visual field range 14b of the camera 13b behind the machine body and outside the monitoring range 11b of the sensor 10b. At this time, when the driver operates the operation unit 53b, the rear camera image 140b as shown in FIG. As a result, the driver can recognize the presence of the worker 90B.

  On the other hand, as shown in FIG. 11, when the worker 90B exists within the visual field range 14b and outside the monitoring range 11b of the camera 13b, and the worker 90A exists within the visual field range 14b and within the monitoring range 11b, the display For example, a rear camera image 140b as shown in FIG. That is, the mark 91A is added to the position of the worker 90A on the rear camera image 140b, and the worker 90A is highlighted. Thereby, it is notified that the worker 90A is present in the monitoring range 11b, and the driver can easily recognize the presence of the worker 90A approaching the aircraft.

  As described above, when the worker 90A exists within the monitoring range 11b of the sensor 10c, the position (distance and direction) of the worker 90A is specified by the signal from the sensor 11b, and the alarm 19b is directed toward the worker 90A. Generate an alarm from In this case, as shown in FIG. 13, the alarm 19b is rotated in the horizontal direction toward the worker 90A so that the worker 90A is positioned at the center in the alarm range 92A. Further, as shown in FIG. 14, the alarm device 19b is rotated in the vertical direction toward the worker 90 so that the worker 90A is positioned at the center in the alarm range 92A.

  The above operation can be realized by processing in the monitoring controller 60 (FIG. 4). FIG. 15 is a flowchart illustrating an example of processing in the monitoring controller 60. The process shown in this flowchart is started, for example, when an engine key switch is turned on. In step S1, signals from the cameras 13a to 13c, the sensors 10a to 10c, and the input unit 53 are read. In step S2, it is determined whether any of the operation units 53a to 53c is turned on. If the result is affirmative, the process proceeds to step S3.

  In step S3, it is determined whether or not an obstacle is detected in the monitoring ranges 11a to 11c by the sensors 10a to 10c. If the determination is affirmative, the process proceeds to step S5. If the determination is negative, the process proceeds to step S4. In step S <b> 4, output image signals of the cameras 13 a to 13 c corresponding to the operations of the operation units 53 a to 53 c are generated and output to the monitor device 50. As a result, one of the left and right side camera images (FIG. 6), the rear camera image (FIG. 7), and the entire camera image (FIG. 8) is displayed on the display unit 51.

  On the other hand, in step S5, an output image signal corresponding to the operation of the operation units 53a to 53c is generated, the position of the obstacle is specified by the signals from the sensors 10a to 10c, and a mark 91A is added to the position of the obstacle. The output image signal thus generated is generated and output to the monitor device 50. Thereby, for example, a camera image as shown in FIG. In step S <b> 7, a control signal is output to the monitor device 50 and an alarm is generated from the alarm unit 53.

  If step S2 is negative, that is, if any of the operation units 53a to 53d is not operated immediately after the engine is started, or if the operation unit 53d is operated, the process proceeds to step S6. In step S 6, an output image signal is generated based on the vehicle body information 39 and output to the monitor device 50. As a result, the vehicle information image of FIG. 9 is displayed on the display unit 51. In step S8, it is determined whether or not an obstacle has been detected in the monitoring ranges 11a to 11c. If the determination is affirmative, the process proceeds to step S7 to generate an alarm from the alarm unit 53. If step S8 is negative, the process proceeds to step S9.

  In step S9, it is determined whether or not an obstacle is detected in the monitoring ranges 11a to 11c. If the determination is affirmative, the process proceeds to step S10, and if the determination is negative, the process proceeds to step S12. In step S10, the position of the obstacle is specified by signals from the sensors 10a to 10c, a control signal is output to the actuators 22a and 22b of the alarm devices 19a to 19c, and the alarm devices 19a to 19c are horizontally directed toward the obstacle. Rotate in direction and vertical direction. In step S11, a control signal is output to the alarm devices 19a to 19c, and the alarm device is turned on. Thereby, the illumination light is emitted from the alarm devices 19a to 19c toward the obstacle, and an alarm sound is emitted. On the other hand, in step S12, a control signal is output to the alarm devices 19a to 19c, and the alarm device is turned off.

  The operation of the present embodiment is summarized as follows. As shown in FIG. 10, when the worker 90B is outside the monitoring ranges 11a to 11c, no obstacle is detected by the sensors 10a to 10c, and an alarm is issued from both the alarm unit 52 and the alarm devices 19a to 19c. Absent. On the other hand, when the worker 90A enters the monitoring range 11b as shown in FIG. 11, an alarm is issued from the alarm unit 52 and an alarm is also issued from the alarm device 19b (steps S7 and S11). At this time, the alarm device 19b rotates toward the worker 90A, and an alarm is issued to the worker 90A by illumination light and an alarm sound as shown in FIG.

  For this reason, the worker 90A can recognize that the alarm is issued to himself / herself without looking at the alarm device 19b, and can work safely. Since no warning is issued to the worker 90B outside the monitoring ranges 11a to 11c, the worker 90B can continue the operation with peace of mind without being affected by the alarm of the alarm device 19b. An alarm is issued from the alarm unit 52 to the driver, and the operator 90A is highlighted and displayed on the display unit 51 as shown in FIG. 12B (step S5), so the driver can monitor the monitoring range 11b. The presence of the worker 90A can be easily recognized, and attention can be drawn.

According to the present embodiment, the following operational effects can be achieved.
(1) A narrow-directional alarm device 19a to 19c that issues an alarm with sound and light is mounted on the swivel body 1d. When an obstacle is detected in the monitoring areas 11a to 11c, the alarm device is directed toward the obstacle. Since the alarm is issued by rotating 19a to 19c, the worker can recognize that the alarm has been issued even without looking at the alarm devices 19a to 19c. Moreover, since an alarm is not issued to the workers outside the monitoring areas 11a to 11c, other workers can continue their work with peace of mind.
(2) Since the position of the obstacle is specified by the sensors 11a to 11c and the mark 91A indicating the position of the obstacle is displayed on the display image of the display unit 51 in the driver's cab, the driver can display the obstacle. Can be easily recognized.

  In the above embodiment, the alarm devices 19a to 19c are configured to be rotatable in the horizontal direction and the vertical direction. However, the directivity angle of the illumination light in the vertical direction and the directivity angle of the alarm sound in the vertical direction are, for example, 90 degrees. The alarm devices 19a to 19c may be rotated only in the horizontal direction, and the configurations of the alarm devices 19a to 19c as alarm means are not limited to those described above. When an obstacle enters the monitoring ranges 11a to 11c, the warning illumination light may be flashed and irradiated.

  The alarm devices 19a to 19c may not be rotatable. An example is shown in FIG. FIG. 16A is an external view showing a modified example of the alarm devices 19a to 19c, and FIG. 16B is a diagram showing an internal configuration thereof. In FIG. 16, in each of the alarm devices 19a to 19c, a plurality of narrow directional lighting lamps 21a and narrow directional speakers 21b whose directions are changed little by little are arranged side by side. Alarms can be issued for obstacles. As a result, the time required for the rotating operation of the alarm devices 19a to 19c becomes unnecessary, and the responsiveness is improved.

  In the example of FIG. 16, even when there is no obstacle intrusion into the monitoring ranges 11a to 11c, the detection range is always irradiated with, for example, white by all the illumination lamps 21a, and there is an obstacle intrusion. Only in that direction, the illumination lamp may be irradiated with the illumination light by changing the color of the illumination lamp to, for example, red. In this way, when there is no obstacle intrusion, the alarm range can be clearly shown to the surrounding workers to call attention. In addition, if there is an obstacle intrusion, only the direction is emphasized. Alarm can be issued.

  In the above embodiment, the alarm sound and the alarm illumination are emitted simultaneously, but only one of them may be used. For example, when working around a residential area at night, it is possible to use only warning lighting instead of using a warning sound as noise.

  In the above embodiment, an alarm is issued toward the obstacle detected by the sensors 10a to 10c. For example, the display unit 51 is configured by a touch panel, and an alarm is displayed on the screen being displayed on the display unit 51. A location to be emitted may be designated by the driver pressing the screen, and an alarm may be issued in the designated direction. That is, the position specified by the touch panel may be detected as an obstacle. The direction of alarm generation may be specified by a method other than the pressing operation of the touch panel, and any designation means may be used.

  In the above embodiment, the obstacles around the aircraft are detected by the sensors 10a to 10c. However, the obstacle detection means may have any configuration. An infrared camera may be provided to issue an alarm when an operator is detected. As long as the alarm devices 19a to 19c are controlled so that an alarm is generated by sound or illumination light when an obstacle is detected in the monitoring ranges 11a to 11c, the configuration of the controller 60 as the alarm control means may be any. . In the above embodiment, the moving body 1d is provided with the cameras 13a to 13c having an image sensor such as a CCD in the revolving body 1d. However, if the moving image around the work machine is to be shot, the configuration of the imaging means is as follows. Not limited to this. As long as the images obtained by the cameras 13a to 13c are displayed on the display unit 51 of the monitor device 50 in the cab, any configuration of the image display means may be used. Although the mark 91A is attached to the position of the obstacle and displayed, the configuration of the emphasis control means may be any as long as the obstacle is highlighted and displayed. A braking range may be provided in the alarm range, and the movement of the excavator may be forcibly stopped when an obstacle enters the braking range.

  Although the case where the present invention is applied to a hydraulic excavator has been described in the above embodiment, the present invention can be similarly applied to other work machines. That is, as long as the features and functions of the present invention can be realized, the present invention is not limited to the alarm device for the work machine according to the embodiment.

1 is a perspective view showing an example of a hydraulic excavator to which a monitoring device according to an embodiment of the present invention is applied. It is the external view which looked at the hydraulic excavator of FIG. 1 from upper direction, and is a figure which shows the imaging range of a camera, and the monitoring range of a sensor. The perspective view of the alarm device mounted in the hydraulic shovel of FIG. The block diagram which shows the structure of the alarm device which concerns on this Embodiment. The figure which shows the structure of the monitor apparatus of FIG. The figure which shows an example of the left-right side camera image displayed on the display part of FIG. The figure which shows an example of the back camera image displayed on the display part of FIG. The figure which shows an example of all the camera images displayed on the display part of FIG. The figure which shows an example of the vehicle information image displayed on the display part of FIG. The figure which shows the state which has an operator outside the monitoring range of a sensor. The figure which shows the state which has a worker outside the monitoring range of a sensor, and within the monitoring range. (A), (b) is a figure which shows the example of a screen in FIG. 10, 11, respectively. The figure which shows the alarm range of the horizontal direction by an alarm device. The figure which shows the alarm range of the perpendicular direction by an alarm device. The flowchart which shows an example of the process in the monitoring controller of FIG. The figure which shows the modification of FIG.

Explanation of symbols

10a to 10c Sensors 13a to 13c Cameras 19a to 19c Alarm 21a Illumination lamp 21b Speakers 22a and 22b Actuator 50 Monitor device 51 Display unit 53 Input unit 60 Monitoring controller 91A Mark

Claims (5)

Obstacle detection means for detecting obstacles around the aircraft,
Narrow directivity alarm means that emits an alarm sound at a predetermined directivity angle;
An alarm device for a working machine, comprising: an alarm control unit that controls the alarm unit to emit an alarm sound toward the obstacle when an obstacle is detected by the obstacle detection unit. Obstacle detection to detect obstacles around the aircraft,
Narrow directivity warning means for illuminating illumination light at a predetermined directivity angle;
An alarm for a work machine, comprising: an alarm control unit that controls the alarm unit so as to irradiate an alarm illumination light toward the obstacle when the obstacle is detected by the obstacle detection unit. apparatus. The alarm device for a work machine according to claim 1 or 2,
The alarm means is rotatable in the horizontal direction and / or the vertical direction,
An alarm device for a work machine, wherein the alarm control means rotates the alarm means in a direction in which an obstacle is detected by the obstacle detection means. In the alarm device of the working machine according to any one of claims 1 to 3,
Imaging means for imaging the periphery of the aircraft;
Image display means for displaying an image obtained by the imaging means on a display unit provided in a driver's cab;
An alarm device for a working machine, comprising: highlighting means for highlighting and displaying an obstacle detected by the obstacle detecting means on the display image. The alarm device for a work machine according to claim 4,
Further comprising designation means for designating a position on the image displayed by the image display means;
The obstacle detection means detects the position designated by the designation means as an obstacle,
The warning device for a work machine, wherein the warning control unit controls the warning unit to emit a warning sound or irradiate illumination light toward a position designated by the designation unit.

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