JP2017179967A - Surrounding monitoring system for work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a surrounding monitoring system for a work machine capable of appropriately monitoring the work machine and a movable body contacting or approaching each other even under an environment where there is a position level difference between the work machine and another movable body.SOLUTION: The surrounding monitoring system includes: a work machine 1; a monitoring controller 40 configured to calculate a caution value showing a degree at which the work machine 1 needs to pay attention to an object movable body 101, on the basis of a horizontal distance and a vertical distance from the work machine to the object movable body 101 located around the work machine; and a display device 50 for issuing a warning according to the caution value calculated by the monitoring controller 40.SELECTED DRAWING: Figure 2

Description

The present invention relates to a surrounding monitoring system for preventing contact and approach between a work machine and a moving body.

  There is a work machine surrounding monitoring system as a technique for preventing contact between a work machine and a moving body (for example, another work machine, a construction vehicle, a person, or the like) around the work machine. For example, Japanese Patent Laid-Open No. 2008-303648 devised a system that calculates the degree of proximity between the work machine and the construction vehicle by obtaining the absolute coordinates of the work machine and the construction vehicle, and issues an alarm according to the degree. Has been.

JP 2008-303648 A

  In the technique described in Patent Document 1, the absolute coordinates of the work machine and the construction vehicle are acquired and the distance between them is calculated, and the distance is compared with the work radius on the horizontal plane to calculate the degree of proximity. A warning is issued. That is, the alarm based on the proximity degree in the horizontal direction is generated, but the alarm based on the proximity degree in the vertical direction is not considered. However, even if the degree of proximity between the machines in the horizontal direction is the same, the degree of necessity of notification may vary greatly depending on the degree of proximity in the vertical direction. Therefore, it is necessary to consider both the horizontal direction and the vertical direction in order to perform highly accurate notification according to the positional relationship between the two.

  For example, when work with a work machine is performed simultaneously on the upper and lower sides of a cliff, it falls from the top of the cliff due to work of the upper work machine, compared to when work with the upper work machine is not performed. The possibility of indirect contact via a fallen object increases, that is, the lower work machine comes into contact with the damaged object. Also, when there is a height difference, it is more likely that the other work machine will not enter the field of view of the operator of one work machine, so you can approach or work without being aware of the presence of the other party. The possibility of continuing is also increased.

  The present invention has been made in view of such problems, and appropriately monitors contact and approach between the work machine and the moving body even in an environment where there is a height difference between the position of the work machine and another moving body. An object of the present invention is to provide a work machine surrounding monitoring system.

  The present application includes a plurality of means for solving the above-described problems. To give an example, in a surrounding monitoring system for a working machine, the working machine and a moving body positioned around the working machine from the working machine are arranged. A control device configured to calculate a caution value indicating a degree to which the work machine requires attention to the moving body based on a horizontal distance and a vertical distance, and a warning corresponding to the caution value calculated by the control device It shall be provided with the alerting | reporting apparatus which emits.

  According to the present invention, when a work machine is used in an environment with a height difference, caution information is presented in consideration of the horizontal distance and the vertical distance between the work machine and another moving body. Therefore, more accurate warning is possible.

1 is an external view of a hydraulic excavator to which a surrounding monitoring system according to an embodiment of the present invention is applied. The block diagram which shows an example of the system configuration | structure of the circumference | surroundings monitoring system which concerns on embodiment of this invention. FIG. 10 is a first flowchart executed by the monitoring controller 40 when the own apparatus 1 and the target moving body 101 approach each other. FIG. A table showing an example of an attention value calculation table. The figure which showed the two working machines 1 and 101 which are arrangement | positioning with a height difference from a viewpoint parallel to the ground. The figure which showed the two working machines 1 and 101 which are arrangement | positioning with a height difference from a viewpoint parallel to the ground. The figure which showed the two working machines 1 and 101 which are arrangement | positioning with a height difference from a viewpoint parallel to the ground. The figure which showed the graph which determines the warning emitted from the display apparatus 50 from a vertical distance and a horizontal distance. The figure which showed a part of 2nd flowchart performed with the monitoring controller 40 at the time of the own apparatus 1 and the object moving body 101 approaching. FIG. 9 is a third flowchart executed by the monitoring controller 40 when the own device 1 and the target moving body 101 are approaching each other.

  Hereinafter, an embodiment of a work machine surrounding monitoring system according to the present invention will be described with reference to the drawings.

<Body structure>
FIG. 1 is an external view of a hydraulic excavator that is an example of a work machine to which the surrounding monitoring system according to the present embodiment is applied. The work machine (hydraulic excavator) 1 includes a multi-joint type front working unit 1A including a boom 1a, an arm 1b, and a bucket 1c that rotate in the vertical direction as a working device. Furthermore, the work machine 1 includes a vehicle body 1B including an upper swing body 1d and a lower traveling body 1e. The boom 1a, arm 1b, and bucket 1c are driven by the boom cylinder 3a, arm cylinder 3b, and bucket cylinder 3c, respectively.

  In the front working unit 1A, the boom 1a has a base end rotatably supported on the front portion of the upper swing body 1d, and an end of the arm 1b rotatably supported on the tip. A bucket 1c is rotatably supported at the other end of the arm 1b. The boom 1a is driven to rotate in the vertical direction by the boom cylinder 3a. The arm 1b is driven to rotate in the vertical direction by the arm cylinder 3b. Bucket 1c is driven to rotate in the vertical direction by bucket cylinder 3c.

  In the vehicle body 1B, the upper turning body 1d having the operation chamber 1f is attached to the lower traveling body 1e so as to be turnable. When the turning motor 3d (see FIG. 2) is driven, the upper turning body 1d turns with respect to the lower traveling body 1e. The lower traveling body 1e is driven by a pair of left and right traveling motors 3e and 3f (see FIG. 2 for 3f). The lower traveling body 1e and the traveling motor 3e are also provided on the opposite side of the vehicle body 1B, and the pair of traveling motors 3e and 3f are independently driven. By driving the pair of travel motors 3e and 3f simultaneously or independently, the work machine 1 travels forward or backward, and the travel direction can be changed.

  A display device 50 (see FIG. 2), which is a notification device (attention information notification unit) that issues a warning according to a caution value calculated by the monitoring controller 40 (see FIG. 2), is mounted in the operation room 1f. . The display device 50 is a notification device of a type that displays / lights up characters, figures, and the like indicating a warning corresponding to a caution value on a display. Instead of or in addition to the display device 50, a notification device such as a device that emits a warning sound or a device that lights a warning light may be provided.

  The “caution value” is a numerical value indicating the degree to which the own machine (work machine 1) needs to pay attention to the surrounding moving body, and indicates that the larger the numerical value, the more attention is required. In the following, a mobile object for which an attention value is to be calculated (a mobile object around the aircraft to be noted) may be referred to as a “target mobile object”. For example, a working machine or a construction vehicle corresponds to the target moving body. In general, the target moving body is selected as the moving body having the closest horizontal distance from the work machine 1, but any moving body may be selected regardless of the horizontal distance. Hereinafter, for convenience, the working machine 101 in FIG. 5 will be described as an example of the target moving body.

  In the operation chamber 1f, there are a boom operation lever 4a for driving the boom cylinder 3a, an arm operation lever 4b for driving the arm cylinder 3b, a bucket operation lever 4c for driving the bucket cylinder 3c, and a swing motor 3d for driving the upper swing body 1d. A turning operation lever 4d for driving and a traveling motor operating lever 4e for driving the traveling motors 3e and 3f are provided (see FIG. 2). In this embodiment, the five operation levers 4a to 4e are provided. However, a plurality of operation objects can be controlled by one operation lever, and the number of operation levers may be four or less. There is no need to match the number of actuators.

  The devices indicated by reference numerals 8a, 8b, and 8c in FIG. 1 are angle detectors that detect the rotation angles provided at the rotation fulcrums of the boom 1a, the arm 1b, and the bucket 1c, respectively, and 8d is the upper rotation. It is a turning angle detector that detects the turning angle of the body 1d. Each detector 8a-8d is driven by a driver (not shown).

<System configuration>
FIG. 2 is a block diagram illustrating an example of a system configuration of the surrounding monitoring system according to the present embodiment. The surroundings monitoring system employed by the present embodiment includes a coordinate measuring unit 10, a wireless communication unit 20, a vehicle body controller 30, a monitoring controller 40, and a display device (attention information notification unit) 50. The vehicle body controller 30 and the monitoring controller 40 are composed of computers, and the functions realized by the computer executing programs in the vehicle body controller 30 and the monitoring controller 40 in FIG. 43, 44, 45, 46.

  In FIG. 2, the vehicle body controller 30 and the monitoring controller 40 are defined separately. However, both may be configured by one computer, and the functions of the vehicle body controller 30 and the monitoring controller 40 are distributedly communicated with each other. You may comprise with three or more possible computers. That is, as long as the computer can realize the functions of the vehicle body controller 30 and the monitoring controller 40, the number thereof does not matter. Moreover, it may replace with a program (software) and may provide the electronic circuit (hardware) which performs all or one part of the function of the vehicle body controller 30 and the monitoring controller 40. FIG.

  The coordinate measuring unit 10 acquires absolute coordinates of the work machine 1 using absolute position measuring means. Here, GPS (Global Positioning System) is used as an absolute position measuring means. The coordinate measuring unit 10 transmits the acquired absolute coordinates of the work machine 1 to the wireless communication unit 20 and the monitoring controller 40.

  The wireless communication unit 20 includes a reception unit 21 and a transmission unit 22. The receiving unit 21 receives various data related to the present system including the absolute coordinates of the target moving body wirelessly transmitted from the target moving body (work machine 101 in FIG. 5), and receives the various data from the monitoring controller 40. Send to. The transmission unit 22 transmits various data related to the present system including the absolute coordinates of the work machine 1 acquired by the coordinate measurement unit 10 and the monitoring controller 40 to the target moving body (work machine 101).

  The vehicle body controller 30 has a vehicle body control unit 31. The vehicle body control unit 31 includes a signal from the angle detector 8a that detects the rotation angle of the boom cylinder 3a, a signal from the angle detector 8b that detects the rotation angle of the arm cylinder 3b, and a rotation angle of the bucket cylinder 3c. A signal from the angle detector 8c for detecting the turning angle, a signal from the turning angle detector 8d for detecting the turning angle of the upper turning body 1d, and a signal from the operation levers 4a to 4e provided in the operation chamber 1f are input. Is done. The operation levers 4a to 4e are constituted by electric levers, for example. The operation levers 4a to 4e in FIG. 2 are, in order, the boom operation lever, the arm operation lever, the bucket operation lever, the turning operation lever, and the traveling motor operation lever described above. In the case of a hydraulic operation lever, the operation signal corresponds to the pilot pressure.

  The front working unit driving cylinders 3a to 3c and the turning motor 3d are controlled according to the operation amount of the operation levers 4a to 4d. The travel motors 3e and 3f are controlled according to the operation amount of the operation lever 4e. The vehicle body control unit 31 stores geometric information such as the shape and dimensions of the work machine in advance. The vehicle body control unit 31 transmits vehicle body information such as signals from the operation levers 4 a to 4 e and signals from the detectors 8 a to 8 d to the monitoring controller 40.

  The monitoring controller 40 includes an information holding unit 41, a soil acquisition unit 42, a ground surface shape acquisition unit 43, a caution information determination unit 44, a distance acquisition unit 45, and a work state acquisition unit 46.

  The information holding unit 41 is a storage device such as a hard disk, a flash memory, etc., and soil data and ground surface shape data of a work site to which the own machine (work machine 1) belongs, a calculation table for calculating a caution value (see FIG. 4), Data related to the present system is stored, including shape data and work state data of all work machines and construction vehicles belonging to the work site. Of the data held by the information holding unit 41, the time-varying data is determined by input from the outside (wireless communication unit 20) or inside (coordinate measuring unit 10, monitoring controller 40, vehicle body controller 30, etc.) or at each control cycle. Has been updated.

  The absolute coordinate data of the own machine (work machine 1) is input from the coordinate measurement unit 10 to the soil acquisition unit 42, the ground surface shape acquisition unit 43, and the distance acquisition unit 45, and the absolute coordinate data of the target moving body (work machine 101). Is input from the wireless communication unit 20.

  The soil acquisition unit 42 searches the information holding unit 41 for soil data at a position corresponding to each absolute coordinate based on the input absolute coordinate data of the work machine 1 and the work machine 101, and based on the search result. The soil data around the work machine 1 and the soil data around the target mobile body (work machine 101) are acquired. The acquired soil data is output to the attention information determination unit 44.

  The ground shape acquisition unit 43 searches the information holding unit 41 for ground shape data straddling between the two absolute coordinates based on the input absolute coordinate data of the industrial machine 1 and the work machine 101, Based on the search result, ground surface shape data between the work machine 1 and the target moving body is acquired. The acquired ground surface shape data is output to the attention information determination unit 44.

  The distance acquisition unit 45 calculates a horizontal distance and a vertical distance from the work machine 1 to the target moving body (work machine 101) based on the input absolute coordinate data of the work machine 1 and the work machine 101. The horizontal distance and the vertical distance are output to the attention information determination unit 44.

  The work state acquisition unit 46 determines the work states of the own machine (work machine 1) and the target moving body (work machine 101) for each control cycle from the work state data of the work machine and the construction vehicle held in the information holding unit 41. Search and retrieve data. The acquired work state data is preferably the latest (when control is executed), and if it is not the latest, the vehicle state control unit 8 or the wireless communication unit 20 stores the work state data of the own machine or the target moving body. An output request may be made. The acquired work status data is output to the attention information determination unit 44.

  The work state data includes pressure data of the hydraulic cylinders 3a, 3b, 3c and the hydraulic motors 3d, 3e, 3f, output data of the operation levers 4a-4e, and output data of the angle detectors 8a-8d. From these data, the working state of the own machine (work machine 1) and the target moving body (work machine 101) can be estimated for each control cycle.

  The attention information determination unit 44 includes a horizontal distance and a vertical distance, soil data, ground shape data, and work state data output from the distance acquisition unit 45, the soil acquisition unit 42, the ground surface shape acquisition unit 43, and the work state acquisition unit 46. Based on the calculation table (FIG. 4) acquired from the information holding unit 41 and the shape data of the vehicle body, the degree (attention value) that the own machine (work machine 1) needs to pay attention to the target moving body (work machine 101) is calculated. Then, a warning issued by the display device 50 is selected according to the calculated attention value, and a command is output to the display device 50 so as to issue the warning.

  The attention information determination unit 44 sets the vertical distance (altitude difference) between the own machine (work machine 1) and the target moving body (work machine 101), the soil data around the own machine, and the soil data around the target mobile body. Based on at least one of the ground surface shape data between the subject aircraft and the target mobile unit, the work status data of the subject aircraft, and the work status data of the target mobile unit, the content is changed to a warning once selected according to the caution value. It is comprised so that the process which adds can be performed. Specifically, based on at least one of the above data, the reason why the target mobile unit should be noted (the work machine at a higher / lower position than the own machine exists, the soil around the own machine / other machine tends to collapse) , There is a working machine in the vicinity of the own machine, or the own machine / other machine is on the terrain where there is a risk of collapsing). In this case, the caution information determination unit 44 outputs a command to the display device 50 so as to issue a warning that the content change has been made.

  The display device 50 is mounted, for example, in the operation room 1f so that the operator can easily see the warning (caution information), and displays the warning (caution information) based on a command output from the monitoring controller 40.

  Although the description is omitted, it is assumed that the work machine 101 that is the target moving body is also equipped with the configuration shown in FIG. 2, and the process of the flowchart in FIG. .

<First flowchart>
FIG. 3 shows one of flowcharts of a warning providing process executed by the monitoring controller 40 when the own device 1 and the target moving body 101 are approaching. In the embodiment of the present invention, it is assumed that the two work machines 1 and 101 are performing work separately on a high side and a low side in an environment with a difference in height, such as near a cliff. Hereinafter, the working machine 1 that is the own machine may be called the working machine A, and the working machine (target moving body) 101 that is not the own machine may be called the working machine B.

  A series of processes in this flowchart is started when the monitoring controller 40 is activated, and is terminated when the monitoring controller 40 is stopped.

  When the monitoring controller 40 is activated, in step S10, the distance acquisition unit 45 acquires the absolute coordinates of the work machine A (own machine) from the coordinate measurement unit 10. In step S <b> 20, the distance acquisition unit 45 acquires the absolute coordinates of the work machine B (target moving body) from the reception unit 21.

  In step S <b> 30, the distance acquisition unit 45 calculates the horizontal distance and the vertical distance between the work machine A and the work machine B. In step S40, the attention value determination unit 44 calculates the attention value T from the horizontal distance and the vertical distance calculated in step S30 and the calculation table (FIG. 4) for calculating the attention value acquired from the information holding unit 41.

  FIG. 4 is a table showing an example of an attention value calculation table. The vertical axis of this table corresponds to the horizontal distance between work machine A and work machine B, and the horizontal axis corresponds to the vertical distance between work machine A and work machine B. The value referred to by the table is a caution value (T). This table is set so that the caution value increases as the horizontal distance decreases and the caution value increases as the vertical distance increases.

  In other words, when the vertical distance is the same value (or the same section in FIG. 4), the attention value is increased to a predetermined value (the maximum value (T = 10) in FIG. 4) according to the decrease in the horizontal distance. When the horizontal distance is the same value (or the same section in FIG. 4), the attention value is increased to a predetermined value (maximum value (T = 10 in FIG. 4)) as the vertical distance increases. Is set. However, the caution value is set to the maximum value (T = 10) regardless of the horizontal distance in the range where the vertical distance is 10 m or more, and the caution value is the maximum value regardless of the vertical distance in the range where the horizontal distance is less than 6 m (T = 10). T = 10).

  In the table of FIG. 4, for example, when the vertical distance between the work machines A and B is a value of 4 m or more and less than 6 m, and the horizontal distance between the work machines A and B is a value of 9 m or more and less than 12 m, each condition It is determined that the attention value T is 8 from the location where the two intersect.

  5 and 6 are views showing a state in which the two work machines 1 and 101 are arranged with a difference in height from a viewpoint parallel to the ground on which the work machines 1 and 101 are arranged. It is assumed that the ground on which the work machines 1 and 101 are arranged is horizontal.

  5 and 6, the horizontal distance between work machines is the same at L, but the vertical distance between work machines is such that the value of H1 in FIG. 5 is greater than the value of H2 in FIG. At this time, when a falling object is generated from the vicinity of the work machine 101, the falling object in the case of FIG. 5 has more potential energy than the falling object in the case of FIG. Falling objects are more likely to reach further. That is, the range that can be caught in a fallen object or the like changes due to a change in the vertical distance. In this embodiment, the table of FIG. 4 is set in consideration of this point.

  Returning to FIG. 3, in step S50, it is determined whether or not the attention value T calculated in step S40 is equal to or greater than a preset boundary value W1 (W1 = 10 here). When the attention value T is greater than or equal to the boundary value W1 (10 ≦ T), the process proceeds to step S52, and a strong warning (notification of warning information) is performed on the display device 50. On the other hand, when the attention value T is smaller than the boundary value W1, the process proceeds to step S51.

  In step S51, it is determined whether or not the attention value T calculated in step S40 is greater than or equal to a preset boundary value W2 (W2 = 5 here). Note that W2 is set to a value smaller than W1. When the caution value T is greater than or equal to the boundary value W2 (5 ≦ T <10), the process proceeds to step S53, and a weak warning (notification of caution information) is performed on the display device 50. On the other hand, when the attention value T is smaller than the boundary value W2 (0 ≦ T <5), the process proceeds to step S54, and returns to S10 without warning. When the monitoring controller 40 stops at an arbitrary timing, a series of processing ends regardless of whether the flow is in the middle of the flow.

  In the above description, “intensifying / weakening the warning” expresses a warning that is relatively easy for the operator to recognize as “strong” and a warning that is not so as “weak”. Specifically, a character “Warning attention to surrounding work machines, etc.” or a figure or symbol similar to that displayed on the entire display screen of the display device 50 is “Strong”, or a character “Warning” or Displaying similar figures or symbols on a part of the display screen is “weak”. In addition, a warning sound generator (not shown) is installed as a notification device in addition to the display device 50. A warning that combines a display by the display device and a sound by the warning sound generator is set to “strong”, and only the display (or The warning by the warning sound only) may be “weak”.

  According to the work machine surrounding monitoring system of the present embodiment configured as described above, the caution information is determined based on the horizontal distance and the vertical distance between the work machines. Appropriate warnings can be presented to the operator even when there is a difference (vertical distance).

  Further, by referring to the caution value table of FIG. 4 in the caution information determination unit 44, the caution value increases as the vertical distance between the work machines increases. Appropriate notification can be performed in accordance with the range involved. Specifically, assuming that the increase in the attention value accompanying the decrease in the horizontal distance when the vertical distance to the target moving body (work machine 101) in the table of FIG. When the vertical distance is 4m or more, it will be easier to issue warnings (stronger and weaker warnings) than the conventional method, and present to the operator that attention should be paid to other moving objects located at different heights. Can do.

  Note that the way of changing the attention value T according to the change of the vertical distance and the horizontal distance is not limited to that shown in FIG. For example, the attention value may increase discretely as shown in FIG. 4 or increase continuously as the horizontal distance decreases and / or the vertical distance increases. Further, the attention value T may be constant within a predetermined vertical distance and / or horizontal distance range.

  Further, as shown in the table of FIG. 8, the boundary values W1 and W2 related to the attention value T are determined by functions on a plane defined by the vertical distance and the horizontal distance (the linear function in the figure is only an example), and The plane is divided into three (the number of divisions may be different depending on the number of warnings), and a warning is determined according to which region the vertical distance and horizontal distance calculated by the distance acquisition unit 45 belong to are divided by the function. The direct calculation of the caution value T may be omitted when determining.

  Further, although the attention value is increased when there is a height difference, when only direct contact between work machines is simply a problem, the possibility of direct contact decreases as the height difference exists. For this reason, when it is possible to interpret that the difference in height is safe, the attention value T may be calculated using a table in which the attention value decreases as the vertical distance increases.

<Second flowchart>
Next, an example in which the attention value is corrected according to the soil data around the own device and the target moving body, the ground surface shape data between the own device and the target moving body, and the work state data of the own device and the target moving body is shown in FIG. Will be described. FIG. 9 shows a part of a flowchart of a warning providing process executed by the monitoring controller 40 when the own machine 1 (work machine A) and the target moving body 101 (work machine B) are approaching. Steps S10 to S40 in FIG. 9 are the same as those in the flowchart in FIG. Further, S310 of FIG. 9 is followed by S50 of FIG. 3, and subsequent processing (S50-S54) is the same as FIG.

  In step S100, soil data around the work machine A and the work machine B is acquired from the soil acquisition unit 42. In step S110, it is determined whether or not the ground around the working machine having a relatively high altitude among the working machines A and B is composed of soil that is likely to collapse. When it is determined that the soil is easily broken by this determination, there is an increased possibility that the working machine on the lower altitude side will be involved in a collapse or the like. Therefore, both the working machine A and the working machine B are calculated in S40. The caution value is corrected by adding 2 (predetermined value) to the caution value. Whether the soil is easy to collapse can be determined from the measurement results of the water content ratio and compaction degree using an RI meter, for example. The soil texture is easy to collapse when the water content ratio is not within the specified value range or the compaction level is less than the threshold value. There is a method of determining that it is.

  In step S <b> 200, the work state data of the work machine A and the work machine B is acquired from the work state acquisition unit 46. In step S210, it is determined whether or not the relatively high working machine has moved the front working unit (working apparatus) 1A for a predetermined number of seconds or more (whether or not work is performed using the working apparatus 1A). Determination). If it is determined that the work is performed in this determination, there is a high possibility that the work machine having a low altitude is caught in a fallen object or the like caused by the work. The attention value is corrected by adding 2 (predetermined value) to the value.

  In step S300, the ground surface shape data indicating the ground surface shape between the work machine A and the work machine B is acquired from the ground surface shape acquisition unit 43.

  Here, before the description of step S310, the concept of the process of step S310 will be described with reference to FIG. FIG. 7 illustrates a state in which the two work machines 1 and 101 are arranged with a difference in height in parallel with the ground on which each work machine is arranged in order to explain the change in the attention level due to the change in the gradient rate. It is the figure shown from various viewpoints. 7 and 5, the horizontal distance and the vertical distance between the work machines are the same at L and H1, respectively, but FIG. 7 has a higher slope ratio than FIG. 5 (in other words, FIG. The slope angle α2 of the slope is larger than the slope angle α1 of FIG. At this time, in the case of FIG. 5, the work machine 1 on the low altitude side is shorter than the base of the cliff B1 in comparison with the case of FIG. 7 (D1 (FIG. 5) <D2 (FIG. 7)). In the case of FIG. 5 where the fallen object falls and slides on the slope, the possibility of coming into contact with the fallen object is increased compared to the case of FIG. That is, even when the horizontal distance and the vertical distance of the work machine A and the work machine B are the same, the degree to which attention should be paid to the fallen object may vary depending on the surface shape.

  Accordingly, in step S310, it is determined whether or not the slope rate of the slope straddling between the work machine A and the work machine B is low based on the ground surface shape data acquired in S300. When it is determined that the slope ratio of the slope is low in this determination, the possibility that the work machine 1 on the low altitude side comes into contact with the fallen object from the cliff increases. The attention value is corrected by adding 2 (predetermined value) to the value.

  When step S310 is completed, the process proceeds to step S50 in FIG. 3, and the processes of steps S50 to S54 are appropriately performed. When the process of step S52, S53 or S54 in FIG. 3 is completed, the process returns to the first process (step S10) of FIG. 9 and the series of processes described above is repeated until the monitoring controller 40 is stopped.

  According to the surrounding monitoring system of the working machine of the present embodiment configured as described above, whether or not there is a warning and the warning strength based on the horizontal and vertical distances between the working machines, the soil condition, the working condition, and the surface shape. Therefore, even when the work machines exist in an environment where there is a vertical distance between the work machines and the work content changes depending on the soil condition, work state, or surface shape, a more accurate warning is provided. Can output.

  Specifically, by correcting the attention value using the ground surface shape data acquired by the ground surface shape acquisition unit 43, it is possible to evaluate the influence of the ground surface shape around the subject aircraft and the target moving body. Appropriate notification can be performed even if the range involved is changed depending on the surface shape.

  Furthermore, by correcting the caution value using the soil data acquired by the soil acquisition unit 42, it is possible to evaluate the influence of the soil around the aircraft and the target mobile body, so the change in the possibility that the ground will collapse due to the soil Appropriate notification can be performed according to the above.

  Further, the attention value is corrected by using the work state data acquired by the work state acquisition unit 46 (the work state data of the own machine from the vehicle body controller 30 and the work state data of the target moving body from the receiving unit 21). Therefore, since the change of the possibility of the ground collapse caused by the work contents can be evaluated, appropriate notification can be performed according to the work contents.

  In addition, regarding the above step S110, the value (2) added to the caution value when it is determined that the soil is easily crushed is merely an example and may be another value. Further, the value to be added need not be a constant value, and the value to be added may be changed in accordance with a change in the water content ratio or the degree of compaction. Furthermore, in the above example, the case where the caution value is added has been described, but the caution value may be subtracted when it is determined that the soil is not easily broken from the soil data.

  Regarding the above step S210, the value (2) added to the caution value is merely an example and may be another value. Moreover, you may add the caution value according to the working condition data of the working machine A and the working machine B acquired at step S200. Furthermore, in the above example, the case where the caution value is added has been described, but the caution value may be subtracted when it is determined that attention is low from the work state data. The reference point for distance measurement by the distance acquisition unit 45 may be changed according to the position and state of the work device. For example, when the front working unit 1A of the hydraulic excavator is extended toward the target moving body, the front end of the front working unit 1A (the tip of the bucket 1c) is used as a reference point, and the vertical distance and horizontal distance from there to the target moving body. The distance may be measured.

  Regarding the above step S310, the value (2) added to the caution value is merely an example and may be another value. In the above description, the determination is made based on the slope rate of the slope, but the judgment may be made based on the slope angle or the distance from the base of the cliff instead of the slope rate. Moreover, you may make it add the caution value according to the gradient rate or the inclination angle which can be acquired from the surface shape data acquired by step S300, or the distance from the base of a cliff. Furthermore, in the above example, the case where the caution value is added has been described, but the caution value may be subtracted when it is determined from the ground surface shape data that the possibility of contact with the falling object is low.

  In the flowchart of FIG. 9, the soil data around the work machine 1, the soil data around the work machine 101, the surface shape data between the work machine 1 and the work machine 101, the work state data of the work machine 1, and the work machine Although the attention value is corrected in consideration of all the work state data 101, the attention value may be corrected according to at least one of them. In addition, there is no particular limitation on the order in which the attention value is corrected in consideration of soil data, ground surface shape data, and work state data, and the order is not limited to the order shown in FIG.

<Third flowchart>
Next, an example in which the warning is changed according to data (vertical position relationship data) indicating the vertical position relationship between the own machine (work machine 1) and the target moving body (work machine 101) will be described with reference to FIG. FIG. 10 shows one of the flowcharts of the warning providing process executed by the monitoring controller 40 when the own device 1 and the target moving body 101 are approaching. Steps S10 to S54 are the same as those in the flowchart of FIG. 3, and a description thereof may be omitted. However, with regard to the processing of S52 and S53, the warning is displayed until the warning is displayed on the display device 50 in the example of FIG. 3, but in the flowchart of FIG. This is performed in S63 and S64.

  In S60, whether the altitude (vertical position) of work machine A (work machine 1) is higher than the altitude of work machine B (work machine 101) by a predetermined threshold value Z1 (Z1 = 2 m in this case) or higher. Determine whether or not. When the work machine A is higher by 2 m or more (when the altitude of the work machine A is equal to or higher than the altitude of the work machine B plus Z1 [m]), the process proceeds to step S62, and the target mobile object 101 is the own machine (work Since it exists under the machine 1), a warning is displayed on the display device 50 indicating that it is necessary to be careful not to drop an object downward. At this time, the level of the warning is set to “strong” in the case of via S52, and “weak” in the case of via S53. In the situation where the process proceeds to S62, there is a possibility that the target moving body may be caught in a fallen object or the like by the work of its own machine, so a warning that “the work is interrupted because there is a moving body on the lower side” is issued. You can go.

  On the other hand, if the altitude difference between the work machines A and B is less than the threshold value Z1 in S60, the process proceeds to step S61. In S61, it is determined whether or not the altitude of the work machine A is lower than the altitude of the work machine B by a predetermined threshold value Z2 (here, Z2 = 2m) or more. When the work machine A is lower by 2 m or more (when the altitude of the work machine A is equal to or less than the value obtained by subtracting Z2 [m] from the altitude of the work machine B), the process proceeds to step S63, and the target mobile object 101 is the own machine (work Since it exists above the machine 1), a warning indicating that it is necessary to pay attention to the falling object from above is displayed on the display device 50. At this time, the level of the warning is set to “strong” in the case of via S52, and “weak” in the case of via S53.

  Note that, in the situation where the process has proceeded to S63, there is a possibility that the own machine may be caught in a fallen object or the like dropped by the upper target moving body, so that “the position of the own machine is changed because there is a moving body on the upper side”. A warning to that effect may be given. Further, the type of the upper target moving body may be input from the information holding unit 41 or the outside, and the warning content may be changed according to the type. For example, when the upper target mobile body is a person, it is considered that the lower mobile device has little influence on the lower mobile device. Therefore, even if the route passes through S52, a “weak” warning may be used.

  If the altitude difference between the work machines A and B is less than the threshold value Z2 in S61, the process proceeds to step S64. In S <b> 64, a warning is displayed on the display device 50 indicating that attention is necessary so as not to contact the target moving body 101 that exists at a position where there is almost no difference in altitude from the own machine (work machine 1). At this time, the level of the warning is set to “strong” in the case of via S52, and “weak” in the case of via S53.

  According to the work machine surrounding monitoring system of the present embodiment configured as described above, a warning is given in consideration of the vertical position relationship data of the own machine and the target moving body, so a caution suitable for the vertical position relationship data. To the operator. Thereby, it is possible to increase the possibility that direct or indirect contact with the target moving body can be avoided as compared with the first flowchart.

  In the above flow chart, one threshold is set for each of the case where the aircraft is higher and lower than the target moving body, and three warnings are prepared according to the altitude difference. You can set it finely.

<Fourth flowchart>
In the flowchart of FIG. 10, the content of the warning is changed only in accordance with the vertical position relationship between the own machine (work machine 1) and the target moving body (work machine 101). Processing for changing the content of the warning further according to soil data around 101, ground surface shape data between the work machine 1 and the target mobile body 101, work state data of the work machine 1, and work state data of the target mobile body 101 May be executed. In the flowchart of this processing, for example, the processing from step S10 to step S40 in FIG. 10 is executed, and then a series of processing from step S100 to S310 in FIG. 9 is executed. When step S310 is completed, the process returns to FIG. 10 to execute the processing after step S50. In any of steps S62, S63, and S64, the soil data around the work machine 1 and the soil around the target mobile body 101 are processed. There is one that executes a process of changing a warning further according to data, ground surface shape data between the work machine 1 and the target moving body 101, work state data of the work machine 1, and work state data of the target mobile body 101.

  In any one of steps S62, S63, and S64 in this flowchart, the following warning is given.

  First, in step S62 in which it is determined that the host vehicle is relatively above, if a caution value is added in step S110, the soil around the host vehicle is likely to collapse, so care must be taken. Add a warning on the display screen. If a caution value is added in step S210, a message prompting the temporary suspension of work is added to the warning on the display screen because another work machine exists below. In addition, if a caution value is added in step S310, it should be noted that if the fallen object is dropped downward, the fallen object may collide with another work machine that has a gentle slope and is present below. This is added to the warning on the display screen.

  In addition, in step S63 in which it is determined that the host vehicle is relatively located on the lower side, if a caution value is added in step S110, the soil around the other work machines located above is likely to collapse. Because there is, it is added to the warning on the display screen that attention is required in the upper part. If a caution value is added in step S210, a message prompting the temporary suspension of work is added to the warning on the display screen because another work machine exists above. In addition, if a caution value is added in step S310, it should be noted that if a fallen object falls or slides down from above, the fallen object may be loose and may collide with the vehicle. This is added to the warning on the display screen.

  In addition, in step S64 where it is determined that the own vehicle and other work machines are at the same height, if the caution value is added in step S110, the soil around the own vehicle is likely to collapse. Therefore, add a warning to the warning on the display screen. If a caution value is added in step S210, a message prompting to temporarily stop the work is added to the warning on the display screen because there is another work machine nearby. In this case, since the possibility that the caution value is added in step 310 is low, the warning when the caution value is added in step S310 is not considered.

  According to the surrounding monitoring system of the working machine of the present embodiment configured as described above, in addition to the vertical position relationship between the working machine and the target moving body, a warning can be given in consideration of soil quality, working state, and ground surface shape. As a result, it is easy for the operator to understand the reason why attention is required, and further attention to contact with a target moving body or contact with a falling object can be further promoted.

  The specific example of the warning described above is merely an example, and other warnings may be used as long as they provide the operator with a reason for caution. Further, in the above, the vertical positional relationship between the work machine 1 and the work machine 101, soil data around the work machine 1, soil data around the work machine 101, ground surface shape data between the work machine 1 and the work machine 101, work Although the case where the warning is appropriately arranged based on the work state data of the machine 1 and the work state data of the work machine 101 has been described, it goes without saying that the warning may be appropriately arranged based on at least one of these. .

<Various supplements>
In each of the embodiments described above, the case where the moving body is set as the work machine 101 and the work machines approach each other has been described. However, the object of the moving body is not limited to the work machine. For example, a moving object that may exist in an environment where the work machine is used, such as a worker or a passenger car, may be used as a target. Moreover, you may change each warning content with the classification of a moving body.

  In the above-described embodiment, the absolute coordinates are used by using the GPS for obtaining the position of the work machine. However, the present invention is not limited to the GPS as long as it is a means for understanding the relative positions of the work machines.

  In the embodiment described above, the attention value table of FIG. 4 is used for warning determination, but other means may be used as long as the surrounding situation can be evaluated. For example, a form using a calculation formula using a horizontal distance or a vertical distance between work machines as a parameter may be used.

  In the above-described embodiment, when the vertical distance is 10 m or more in the attention value table of FIG. 4, the attention value T takes a value of 10, but the vertical distance sufficiently exceeds 10 m, and the vertical distance between the work machine and the moving body. When it is determined that the distance is sufficiently large, the notification may not be performed by setting it outside the notification range.

  In the above embodiment, the case has been described where the display device 50 as a notification device is set in the operating room of a work machine and a warning is presented to the operator of the work machine. It is good also as a structure which installs an alerting | reporting apparatus and presents a warning to the manager who monitors a working machine in the said facility. That is, the installation location of the notification device is not limited to the cab of the work machine. The object to be notified of the warning may be an operator of the work machine, an operator of the moving body, a person who is the moving body itself, a system administrator, or a related person.

  In the present embodiment, absolute coordinates of the work machine 1 and the target moving body 101 are acquired by the coordinate measuring unit 10 and the wireless communication unit 20, and the horizontal distance and the vertical distance from the work machine 1 to the target moving body 101 are calculated. However, the relative coordinates between the work machine 1 and the target moving body 101 may be acquired by a distance sensor such as a laser sensor or an ultrasonic sensor, and the horizontal distance and the vertical distance may be calculated from the relative coordinates. That is, the realization means is not particularly limited as long as the horizontal distance and the vertical distance from the work machine 1 to the target moving body 101 can be calculated.

  The values of the boundary values W1 and W2 and the values of the threshold values Z1 and Z2 in the above are merely examples, and according to the type of the work machine, the work content, the environment in which the work machine is used, the preference for the warning of the site manager, etc. It can be changed as appropriate.

  The present invention is not limited to the above-described embodiment, and includes various modifications within the scope not departing from the gist of the present invention. For example, the present invention is not limited to the one having all the configurations described in the above embodiment, and includes a configuration in which a part of the configuration is deleted. In addition, part of the configuration according to one embodiment can be added to or replaced with the configuration according to another embodiment.

  In the present invention, the work machine 1 is a hydraulic excavator. However, the present invention is not limited to this and can be applied to other work machines such as a bulldozer and a wheel loader. Further, although the target moving body 101 is also a hydraulic excavator, it can be applied to a dump truck in addition to a bulldozer and a wheel loader.

  The configuration related to the vehicle body controller 30 and the monitoring controller 40 may be a program (software) that realizes each function related to the configuration of the control device by being read and executed by an arithmetic processing device (for example, a CPU). Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disc, etc.), and the like.

  DESCRIPTION OF SYMBOLS 1 ... Work machine (hydraulic excavator), 1A ... Front working part, 1B ... Vehicle body, 1d ... Upper turning body, 1e ... Lower traveling body, 4a-4e ... Operation lever, 10 ... Coordinate measuring part, 20 ... Wireless communication part, DESCRIPTION OF SYMBOLS 21 ... Reception part, 22 ... Transmission part, 30 ... Body controller, 40 ... Monitoring controller, 41 ... Information holding part, 42 ... Soil acquisition part, 43 ... Ground surface shape acquisition part, 44 ... Caution information determination part, 50 ... Display apparatus 101 ... Target moving body (hydraulic excavator)

Claims (4)

A work machine,
A control device configured to calculate a caution value indicating a degree to which the work machine requires attention to the mobile body based on a horizontal distance and a vertical distance from the work machine to the mobile body positioned around the work machine. When,
A work machine surrounding monitoring system, comprising: a notification device that issues a warning according to the caution value calculated by the control device. The work machine surrounding monitoring system according to claim 1,
The control device increases the caution value according to a decrease in the horizontal distance, and increases the caution value according to an increase in the vertical distance. The work machine surrounding monitoring system according to claim 1,
The moving body is another work machine,
The control device includes soil data around the work machine, soil data around the other work machine, shape data of the ground surface between the work machine and the other work machine, work state data of the work machine, And a work machine surrounding monitoring system that corrects the caution value according to at least one of work state data of the other work machines. The work machine ambient monitoring system according to claim 3,
The warning issued from the notification device includes vertical position relationship data between the work machine and the other work machine, soil data around the work machine, soil data around the other work machine, the work machine and the Surrounding monitoring of a work machine characterized by being changed according to at least one of shape data of a ground surface between other work machines, work state data of the work machine, and work state data of the other work machine system.

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