JP2020125672A - Safety device for construction machine - Google Patents

Abstract

To provide a safety device for construction machines that correctly detects the presence and removal of an obstacle in a predetermined region around a construction machine and correctly performs drive control of the construction machine in each condition, and that can correctly visualize and recognize predetermined image information using a monitor for a period of doing the above actions.SOLUTION: The safety device for construction machines includes: infrared cameras 6A to 6C that record videos for the inside of a predetermined region around a construction machine; obstacle detection units 10A to 10C that process video signals S1 to S3 that are output from the infrared cameras 6A to 6C, and that send obstacle signals S7 to S9 which increase when detecting the presence of an obstacle in predetermined regions A, B and decrease when detecting removal of the obstacle from the predetermined regions A, B; a control unit 12 that performs an emergency stop for driving the construction machine via a hydraulic system based on increases in the obstacle signals S7 to S9 and restarts driving the construction machine via the hydraulic system based on decreases in the obstacle signals S7 to S9; and a monitor 15 that regenerates and visualizes the video signals S1 to S3.SELECTED DRAWING: Figure 3

Description

The present invention relates to a safety device for a construction machine, and is particularly useful when applied to a safety device such as a backhoe or a bulldozer that involves rearward confirmation of a traveling construction machine.

Backhoes and bulldozers, which are a type of construction machinery, run as vehicles, so it is necessary to accurately grasp the surroundings, especially the situation behind them, and to prevent accidents due to contact with obstacles, especially people. Therefore, various safety devices have been conventionally proposed (see, for example, Patent Documents 1 to 3).

However, the safety device according to the related art including Patent Documents 1 to 3 has a complicated obstacle detection structure, and easily and accurately detects the presence of the obstacle to appropriately perform an emergency operation on the construction machine. It did not have a sufficient function from the viewpoint of making it perform. Further, in the related art, it is conceivable that safety will be secured again, that is, there will be no risk of interference with the obstacle when the obstacle itself moves. However, there is room for improvement, for example, the conventional technology does not provide a concrete measure regarding how to perform a recovery operation when an emergency situation is canceled.

JP, 2012-225111, A JP, 08-218310, A JP, 03-187423, A

In view of the above-mentioned conventional technology, the present invention accurately detects the existence and retreat of an obstacle in a predetermined area around the construction machine, accurately performs drive control of the construction machine in each situation, and also displays the surrounding image during this period. It is an object of the present invention to provide a safety device for a construction machine that can accurately visualize and grasp information on a monitor.

The first aspect of the present invention for achieving the above object is
An image pickup means for picking up an image in a predetermined area around the construction machine;
An obstacle that rises when the presence of an obstacle in the predetermined area is detected by processing the video signal output from the image pickup means and falls when the escape of the obstacle from the predetermined area is detected. An obstacle detecting means for transmitting an object signal,
Control means for performing an emergency stop of the drive of the construction machine or a preliminary operation for an emergency stop based on the rise of the obstacle signal, and restarting the drive of the construction machine based on the fall of the obstacle signal,
A monitor for reproducing and visualizing the video signal.

The second aspect of the present invention is
A safety device for a construction machine having a hydraulic system that drives each part by supplying pressure oil,
An image pickup means for picking up an image in a predetermined area around the construction machine;
An obstacle that rises when the presence of an obstacle in the predetermined area is detected by processing the video signal output from the image pickup means and falls when the escape of the obstacle from the predetermined area is detected. An obstacle detecting means for transmitting an object signal,
Control for performing an emergency stop of the drive of the construction machine via the hydraulic system based on the rise of the obstacle signal, and restarting the drive of the construction machine via the hydraulic system based on the fall of the obstacle signal Means and
A monitor for reproducing and visualizing the video signal.

A third aspect of the present invention is
In the safety device for a construction machine according to the first or second aspect,
The image pickup means is provided with a distance measuring means for measuring a distance from the image pickup means to the obstacle, and is configured to send a distance signal indicating the distance together with the video signal,
The predetermined area is divided into a first area and a second area according to the distance from the construction machine, and the obstacle detecting means represents the first area signal representing the first area and the second area. It is configured to send the second region signal, and
It has area identification means for detecting whether it is the first area signal or the second area signal, and when it is detected that it is the first area signal, the emergency stop is performed while the second area signal is provided. When the area signal is detected, the preliminary operation for the emergency stop is performed.

A fourth aspect of the present invention is
In the safety device for a construction machine according to any one of the first to third aspects,
The image pickup unit has a plurality of images for picking up images in a plurality of predetermined regions in the surroundings, respectively,
Based on the obstacle signal output from the obstacle detecting means, a time-preceding obstacle such that the rising edge of the obstacle signal is reproduced on the monitor in order from the video signal detected earlier in time. It is characterized by further comprising video switching means for switching the output of each of the image pickup means on the condition of the fall of the object signal.

A fifth aspect of the present invention is
In the safety device for a construction machine according to any one of the first to fourth aspects,
The imaging means is composed of an infrared camera,
The obstacle detecting means processes infrared information included in the video signal, and detects that the obstacle is a person based on a result of comparing information included in the video signal with a specific pattern, The obstacle signal is output as a signal representing a person.

A sixth aspect of the present invention is
In the safety device for a construction machine according to the first aspect,
The predetermined area is a vehicle passage area that is a passage area of the construction machine, and a person passage area that is provided in parallel with the vehicle passage area,
The obstacle detecting means is configured to send out a vehicle passage area signal indicating the vehicle passage area and a person passage area signal indicating the person passage area,
It has area identification means for detecting the vehicle traffic area signal and the human traffic area signal, and performs a predetermined emergency operation or a preliminary operation for an emergency stop only when the vehicle traffic area signal is detected. It is characterized by

According to the present invention, it is possible to easily and accurately detect the presence of an obstacle in a predetermined area around the construction machine based on predetermined image information output by the image pickup means. Also, at the rise of the obstacle signal that rises when the presence of the obstacle is detected, an emergency operation such as an emergency stop of the drive of the construction machine is performed via the hydraulic system, and at the fall of the obstacle signal. Since the normal operation can be restored, the emergency operation and the recovery operation can be smoothly and quickly executed. Further, since the operator can visually recognize the image acquired by the imaging means during this period on the operator's cab monitor, the operator can contribute to the safe and appropriate operation of the construction machine.

It is a side view which shows the backhoe which is the construction machine which concerns on the 1st Embodiment of this invention. It is a top view of the backhoe shown in FIG. It is a block diagram showing a safety device concerning an embodiment of the invention. It is a side view which shows the bulldozer which is the construction machine which concerns on the 2nd Embodiment of this invention. FIG. 5 is a plan view of the bulldozer shown in FIG. 4. It is a schematic plan view which shows the state which the dump truck which is the construction machine which concerns on the 3rd Embodiment of this invention runs in a tunnel. It is a schematic diagram showing a reproduction state of a monitor in a 3rd embodiment of the present invention. It is a block diagram showing a safety device concerning an embodiment of the invention. It is a schematic plan view which shows the state which the dump truck which is the construction machine which concerns on the 4th Embodiment of this invention turns left on a general road, and runs. It is a schematic plan view which shows the state in which the dump truck which is the construction machine which concerns on the 5th Embodiment of this invention is about to go out to the general road from the construction site.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a side view showing a backhoe that is a construction machine according to a first embodiment of the present invention, and FIG. 2 is a plan view thereof.

As shown in both figures, the backhoe I has a traveling device 1 having a crawler 1A, a vehicle body 2 having a driver's cab 2A, arms 3A and 3B, a bucket 5, and the like. The arm 3A is a hydraulic cylinder 4A whose base end is attached to the vehicle body 2 and is driven by pressure oil, and the arm 3B is a hydraulic cylinder 4B whose base end is attached to the arm 3A and is driven by pressure oil. Driven. That is, the arms 3A and 3B are bent and extended by driving the hydraulic cylinders 4A and 4B by a predetermined operation of the operator in the cab 2A. The bucket 5 is rotatably attached to the tip of the arm 3B, and is rotated by driving a hydraulic cylinder 4C having a base attached to the arm 3B. With such driving, work such as excavation of the ground is performed by the bucket 5. At this time, the vehicle body 2 travels with the crawler 1A as required and is capable of turning with respect to the traveling device 1.

Here, the traveling is performed by pushing and pulling the left and right traveling levers (not shown) provided in the cab 2A corresponding to the left and right crawlers 1A. That is, the left and right travel levers are simultaneously pushed forward to move straight ahead, and the rearward pull to move straight backward. Further, by operating only the traveling lever on one side, only the corresponding crawler 1A on one side can be selectively driven. As a result, the entire backhoe I can be turned to the left or right by pushing or pulling one of the travel levers.

The driving of each part including the driving for driving is started on condition that a safety lever (not shown) is closed. That is, the drive of the traveling engine and the drive of the hydraulic system for driving each part are started on condition that the safety lever is closed.

As described above, since the backhoe I travels in the front-rear direction and the vehicle body 2 turns, there is a problem that the field of view around the backhoe I, particularly the rear field of view, is likely to be a blind spot during the work accompanying the drive. In order to solve such a problem, the present embodiment has three infrared cameras (imaging means) 6A, 6B, 6C for capturing an image of the surroundings of the vehicle body 2, in particular, the rear side. Here, each of the infrared cameras 6A to 6C captures respective image information of the first area A1, A2, A3 and the second area B1, B2, B3 which are independent of each other with respect to the first area A and the second area B. As a result, when the presence of persons M1 and M2 as obstacles in the first areas A1 to A3 and the second areas B1 to B3 is detected, an emergency stop of the backhoe I or the like is determined in advance by shutting off the hydraulic system or the like. The specified emergency action is performed. Here, since the presence of the person M1 is more urgent when detected in the first area A than when detected in the area B, the content of the emergency operation is changed. Further, when the person M1 is detected in the first area A while the person M2 is detected in the second area B, the emergency operation when the person M1 is detected in the first area A is preferentially executed.

In FIG. 2, the first area A1 and the second area B1 are portions surrounded by two dashed lines on the left and right sides of the vehicle body 2, the first area A2 and the second area B2 are the first area A, A portion surrounded by a solid line showing the left end of the second region B and a right dotted line, the first region A3 and the second region B3 show the right end of the first region A and the second region B. It is a part surrounded by a solid line and a two-dot chain line on the left side. Therefore, blind spot regions D1 and D2 as shown in FIG. 2 are generated, but these are to be adjusted to a size that causes no practical problem by setting the first regions A1 to A3 and the second regions B1 to B3. You can It should be noted that the determination as to whether or not the obstacles are the persons M1 and M2 can be satisfactorily performed by using, for example, so-called AI (artificial intelligence, the same applies below) technology for processing the video signals S1 to S3. ..

Specific detection operations and control contents related to the safety device arranged on the backhoe I as described above will be described in detail with reference to FIG.

FIG. 3 is a block diagram showing a safety device in the backhoe I shown in FIGS. 1 and 2. As shown in FIG. 3, the imaging means in the present embodiment, as shown in FIGS. 1 and 2, includes three infrared cameras 6A, which are arranged at the rear of the backhoe 1 so as to image the surroundings of the backhoe I. It is composed of 6B and 6C. Each of the infrared cameras 6A to 6C in this embodiment can measure the distance to the object. As a result, from each of the infrared cameras 6A to 6C, the distance signals S4, S5, S6 representing the distance to each target are sent together with the video signals S1, S2, S3 representing the images respectively acquired.

As described above, the image pickup unit can be preferably configured by the infrared cameras 6A to 6C equipped with the rangefinder, but the function of the rangefinder is not always necessary. Further, the minimum functions of this embodiment can be ensured if only one infrared camera 6A to 6C is provided. This is because if at least the first area A1 is defined as the field of view of the infrared camera 6A, an obstacle in the field of view can be detected at least and a predetermined safe operation can be performed by the backhoe. However, in the case where a plurality of image pickup means are provided and the first area A and the second area B, which are wider by that amount, can be covered, there is no arguing that more suitable safety management can be achieved.

On the other hand, a Debth camera is known as an imaging unit that has a distance measuring function and can simultaneously obtain infrared information of an object. This depth camera recognizes a distance to an object by a depth sensor that acquires 3D information including depth, and realizes accurate spatial grasping. Therefore, it is the most suitable as the image pickup means in this embodiment.

The video signals S1 to S3 including the distance signals S4, S5 and S6 output from the infrared cameras 6A to 6C are supplied to the obstacle detection units 10A, 10B and 10C to perform predetermined processing. Here, in the present embodiment, three obstacle detection units 10A to 10C are provided corresponding to the respective video signals S1 to S3, and the respective video signals S1 to S3 are processed to predetermined predetermined areas. When the presence of obstacles (persons M1, M2 in the case of this embodiment; the same applies hereinafter) in A1 to A3 and B1 to B3 (see FIG. 2) is detected respectively, the robot stands up and the obstacle is evacuated Obstacle signals S7, S8, and S9 that fall when detected respectively are transmitted.

Although the obstacle detection units 10A to 10C in the present embodiment detect the persons M1 and M2 as obstacles, this can be realized by configuring the obstacle detection units 10A to 10C as follows, for example. That is, the infrared information included in the video signals S1 to S3 is processed, and the type of obstacle is specified based on the result of comparing the information included in the video signals S1 to S3 with a specific pattern. For example, it is possible to detect whether an obstacle is a person by detecting whether or not it is an animal including a person by detecting the body temperature with infrared information and detecting whether or not it has a characteristic pattern regarding the person by pattern recognition. Identify. This can be achieved well by introducing AI treatment.

In the present embodiment, when it is detected that the persons M1 and M2 are present, the signals representing the presence of the persons M1 and M2 are output as obstacle signals S7 to S9. Furthermore, when the obstacle detection units 10A to 10C in the present embodiment detect the presence of the persons M1 and M2, the obstacle detection units 10A to 10C specify in which of the first area A or the second area B the persons M1 and M2 exist. The first range signal (first area signal) S10 representing the first area A or the second range signal (second area signal) S11 representing the second area B is sent to the area identifying unit 11 and the video switching unit 14.

The area identification unit 11 identifies the first area A and the second area B in which the persons M1 and M2 exist based on the first area signal S10 or the second area signal S11, and identifies the first area A and the second area B. The area signal S12 indicating which is which is sent to the control unit 12.

The control unit 12 executes a preset emergency operation according to the type of the area signal S12 (either the first area signal S10 or the second area signal S11). For example, when the presence of the person M1 is detected in the first area A, the control unit 12 issues a warning by sound, light, etc., stops the running engine of the backhoe I, and shuts off the operation of the hydraulic system. Make an emergency stop on Backhoe I.

On the other hand, when the presence of the person M2 is detected in the second area B, the control unit 12 performs only an emergency stop preliminary operation, for example, a warning by sound, light, etc., and the work itself on the backhoe I can be continued. To do so. As a result, it is possible to prevent a stopped state that is not urgent from occurring and to improve the efficiency of the predetermined work by the backhoe I.

Three image generation units 13A, 13B, and 13C are also provided corresponding to the infrared cameras 6A to 6C, and perform predetermined processing such as superimposing the distance signals S4 to S6 on the input image signals S1 to S3, The video signals S13, S14, and S15 that can be visualized on the monitor 15 are sent to the video switching unit 14. The video switching unit 14 has a switching function and selects any one of the video signals S13 to S15 and sends it to the monitor 15. More specifically, the image switching unit 14 includes the first area signal S10 or the second area indicating the obstacle signals S7 to S9 and the first area A and the second area B from the respective obstacle detection units 10A to 10C. The signal S11 is supplied. As a result, one of the video signals S13 to S15 is selected by performing a logical operation under a predetermined condition based on the obstacle signals S7 to S9 and the first area signal S10 or the second area signal S11. Specifically, basically, the video signals S7 to S9 corresponding to the one that rises earliest in time among the obstacle signals S7 to S9 are selected preferentially, and the selected video signals S7 to S9 are selected. It switches to the next video signal S7 to S9 at the falling timing. Here, the video signals S7 to S9 corresponding to the first area signal S10 are selected in preference to the video signals S13 to S15 corresponding to the second area signal S11, and the video signal S13 corresponding to the second area signal S11 is selected. When the obstacle signals S7 to S9 corresponding to the first area signal S10 rise during the selection of to S15, the video signals S13 to S15 corresponding to the first area signal S10 at this time are preferentially selected. And interrupt.

As described above, since only one video signal S13 to S15 is reproduced on the monitor 15 in the present embodiment, the monitor 15 can be rationalized even in a narrow driver's cab 2A (see FIGS. 1 and 2). It can be occupied space. However, the images of the first areas A1 to A3 or the second areas B1 to B3 that are not selected as the main images may be displayed on the monitor 15 as a multi-screen of a small area.

FIG. 4 is a side view showing a bulldozer which is a construction machine according to a second embodiment of the present invention, and FIG. 5 is a plan view thereof. As shown in both figures, the bulldozer II includes a traveling device 31 provided with a crawler 31A, a vehicle body 32 provided with a driver's cab 32A and arranged on the traveling device 31, and a blade (excavation plate) 33. ing. Thus, the operator operates the crawler 31A in the cab 32A to drive the crawler 31A in the front-rear direction and perform predetermined work such as scraping of sand, embankment, and leveling. Here, the blade 33 pushes the blade 33 forward by appropriately driving the hydraulic cylinders 34A, 34B, 34C, 34D attached to the vehicle body 32 at the base end portion thereof, and rotates in a vertical plane. Can be done. Further, the traveling is stopped by depressing a brake pedal (not shown) arranged below the foot of the cab 32A.

In this manner, the bulldozer II drives hydraulic cylinders 34A to 34D, etc. through the hydraulic system by the supply of pressure oil while traveling in the front-rear direction to extrude and rotate the blade 33, and scrape soil and sand. And embankment and leveling. Therefore, similarly to the backhoe I shown in the first embodiment, even in the bulldozer II, the peripheral field of view, particularly the rear field of view, is likely to be a blind spot. Therefore, in this embodiment as well, in order to grasp the situation of the rear view, three infrared cameras 36A, 36B, 36C are attached to the rear part of the vehicle body 32 as in the first embodiment, and each of the infrared cameras 36A to 36C is A safety device similar to that shown in FIG. 3 is mounted to ensure the safety of work by performing a predetermined process based on video information. Also in this embodiment, it is not always necessary to provide three infrared cameras 36A to 36C as in the first embodiment relating to the backhoe. Depending on the range to be monitored, one unit may be enough. In particular, the bulldozer II, unlike the backhoe I, travels in a substantially straight line and rarely makes a turning motion when moving backward. Therefore, the monitoring area of the rear view may be narrower than that of the backhoe I. Therefore, in the bulldozer II according to the second embodiment, it is often the case that only one imaging unit (the infrared cameras 6A to 6C in the above embodiments) is enough.

As a result, the preset emergency operation is executed by the output signal of the control unit 12 (see FIG. 3; the same applies hereinafter). For example, when the presence of the person M1 in the first area A is detected, the control unit 12 gives a warning by sound, light, and the like, and suddenly brakes to bring the bulldozer II to an emergency stop.

On the other hand, when the presence of the person M2 is detected in the second area B, as in the first embodiment, the preliminary operation for the emergency stop, for example, only the warning by sound, light, etc. is issued, and the bulldozer II is operated. Allow the work itself to continue.

Here, especially in the case where the bulldozer II is increased in size, a potentiometer-synchronized method devised so that the operating force is reduced by using a potentiometer is adopted. This is because the amount of depression of the brake pedal is transmitted as angle information from the potentiometer on the transmitting side to the potentiometer on the receiving side, and the brake hydraulic mechanism is based on the rotation angle detected by the potentiometer on the receiving side (proportional to the amount of depression of the brake pedal). Is driven directly.

Therefore, as described above, when the presence of the person M1 is detected in the first area A, the emergency stop signal output by the control unit 12 is directly supplied to the potentiometer on the receiving side instead of the operator depressing the brake pedal. Emergency situations are dealt with by driving the brake mechanism.

Other configurations and operational effects are similar to those of the first embodiment.

FIG. 6 is a schematic plan view showing a state in which a dump truck III, which is a construction machine according to a third embodiment of the present invention, travels inside a tunnel in tunnel construction, and FIG. 7 shows a monitor of the third embodiment. It is a schematic diagram showing a reproduction state.

In the present embodiment, when the dump truck III travels on a site such as tunnel construction, when a person enters the vehicle passage area in the tunnel, the person is detected and a warning sound is generated (preliminary operation for emergency stop). Alternatively, safety is ensured by making an emergency stop.
Further, in the tunnel, in addition to a central vehicle passage area where vehicles such as dump trucks pass, there are cases where human passage areas through which workers and the like pass are provided at the left and right ends thereof.
Depending on the size of the inside of the tunnel, if the tunnel is not very wide, it may be possible to detect people who pass by in the traffic area.
If a passerby in the passerby area is detected each time, the movement of the vehicle will be hindered.
Therefore, in the present embodiment, a configuration is provided in which control is performed so as not to detect a person walking in the left and right human traffic areas in the tunnel.
Specifically, the following configuration is adopted.

In the present embodiment, the infrared camera 6A is provided on the upper outer surface of the cab 2A that occupies the front area of the vehicle body 2 of the dump truck III, and images the situation in front of the vehicle.
Here, the infrared camera 6A images the video information of the area A and the area B if the infrared camera 6A is not so wide, depending on the size of the tunnel T1. In the present embodiment, the area A indicates a central vehicle passage area in the tunnel, and the area B indicates a human passage area that is located on the left and right of the area A and is used by construction workers and the like. The area B may be provided only on one of the left side and the right side of the area A.
When the presence of a person M1 such as a construction worker who is an obstacle in the area A is detected, the drive system of the dump truck III is controlled to perform a predetermined predetermined emergency operation such as an emergency stop. Note that, as a preliminary operation for an emergency stop, for example, it is possible to issue only a warning by sound or light.
The presence of the person M1 in the area A may not be detected, but the presence of the person M2 such as a construction worker may be detected in the area B.
At this time, depending on the size of the tunnel, the distance to the person M2 existing in the area B may be short. In such a case, the person M2 existing in the area B is controlled so as not to be recognized as an obstacle. That is, even if the person M2 exists in the area B, this existence is ignored in signal processing.

FIG. 8 is a block diagram showing a safety device in the dump truck III shown in FIG. As shown in FIG. 6, the imaging means in this embodiment is composed of one infrared camera 6A arranged so as to image the front side of the dump truck III. The infrared camera 6A in the present embodiment can measure the distance to the object. As a result, from the infrared camera 6A, the distance signal S4 indicating the distance to the object is sent together with the video signal S1 indicating the acquired image.

The video signal S1 including the distance signal S4 output from the infrared camera 6A is supplied to the obstacle detection unit 10A and subjected to predetermined processing. Here, the obstacle detection unit 10A processes the video signal S1 to detect the presence of an obstacle (a person M1 in the case of the present embodiment) within a predetermined area A (see FIGS. 6 and 7 ). An obstacle signal S7 is sent which rises when the obstacle is detected and falls when the obstacle is retracted.

Although the obstacle detection unit 10A in the present embodiment detects the person M1 existing in the area A as an obstacle, this can be realized by configuring the obstacle detection unit 10A as follows, for example. That is, the infrared information included in the video signal S1 is processed, and the type of obstacle is specified based on the result of comparing the information included in the video signal S1 with a specific pattern. For example, it is possible to detect whether an obstacle is a person by detecting whether or not it is an animal including a person by detecting the body temperature with infrared information and detecting whether or not it has a characteristic pattern regarding the person by pattern recognition. Identify. This can be achieved well by introducing AI treatment.

In the present embodiment, when the presence of the persons M1 and M2 is detected not only in the area A but also in the area B, a signal indicating the presence is output as the obstacle signal S7.

The area data generation unit 16 processes the input image signal S1 together with the distance signal S4 indicating the distance to the obstacle and irradiates the infrared camera 6A with infrared rays (the area of the halftone dot portion in FIG. 6; In (), data regarding the area A in which only the vehicle traffic area is extracted is generated, and the area signal S16 representing this data is transmitted. More specifically, as shown in FIG. 6, the values of the infrared radiation angles θ1 and θ2 are set as parameters in the area data generation unit 16, and the distances L1 and L2 are the infrared rays from the center of the infrared camera 6A. It is given as the distance to the boundary position between the vehicle traffic area and the human traffic area along the radial direction of. Therefore, the distances L1 and L2 are actually measured by a distance meter.
Further, when a curb is arranged at the boundary position between the vehicle passage area and the people passage area, the curb can be regarded as an obstacle, and in this case, the distance signal included in the image information of the infrared camera 6A. You can also use S4.

On the other hand, the distances L3 and L4 between the center line of the dump truck III in the traveling direction (the arrow direction in FIG. 6) and the boundary position between the vehicle traffic area and the human traffic area are:
L3=L1×sin θ1, L4=L2×sin θ2
It can be obtained by the relationship. That is, if the distances L1 and L2 are obtained, it is possible to generate data of a region A (region of a dark halftone dot portion in FIG. 6; the same applies hereinafter) included in the vehicle passage region in the infrared irradiation region.

By comparing the obstacle signal S7 and the area signal S16, the comparison unit 17 detects whether or not the persons M1 and M2, which are obstacles, are present in the area A. An alarm signal S17 indicating this is generated and sent to the alarm means 18. When the warning means 18 inputs the warning signal S17, for example, when the presence of the person M1 is detected in the area A, the warning engine is activated by sound, light, etc., and the running engine of the dump truck III is stopped and forced. Apply the brakes to stop the dump truck III in an emergency. On the other hand, when the person M2, which is an obstacle, exists in the area B, the warning signal S17 is not generated, so that the presence of the person M2 as an obstacle is ignored.

The video generation unit 13A performs predetermined processing such as superimposing the distance signal S4 on the input video signal S1 and generates the video signal S13 that can be visualized on the monitor 15.
The monitor 15 inputs the area signal S16 so that only the range related to the area A can be visualized, and the range related to the area B is displayed so that it cannot be visualized. For example, as shown in FIG. 7, the range related to the area B is shaded so that the area B cannot be visualized.

FIG. 9 is a schematic plan view showing a state in which a dump truck IV, which is a construction machine according to a fourth embodiment of the present invention, makes a left turn on a general road, travels, and makes a left turn.
In the present embodiment, it contributes to the prevention of entanglement when turning left in a vehicle such as a dump truck IV. The dump truck IV is a large vehicle, and it may be slow to notice a pedestrian crossing a sidewalk or a motorcycle running on a side road when turning left, which may cause a serious accident.
Therefore, in the present embodiment, a configuration is provided for preventing accidents involving a vehicle such as a dump truck IV when the vehicle turns left and ensuring safety.
Specifically, it is as follows.

An infrared camera (imaging means) 6A is provided on the side of a vehicle such as a dump truck IV, and when a person M1 is detected near the intersection of the general road 40, a warning by sound, light or the like is issued. If an emergency stop is made, it not only hinders running, but also may cause a rear-end collision accident of a following vehicle. Therefore, in this embodiment, the emergency stop is not performed.
As shown in FIG. 9, the imaging means in the present embodiment is configured by one infrared camera 6A arranged at a predetermined position on the left side surface of the dump truck IV so as to capture an image of the side of the dump truck IV. is there. The infrared camera 6A in the present embodiment can measure the distance to the object. As a result, from the infrared camera 6A, the distance signal S4 indicating the distance to the object is sent together with the video signal S1 indicating the acquired image.

The present embodiment can be realized with a configuration basically similar to the configuration shown in the block diagram of the third embodiment shown in FIG. That is, the video signal S1 including the distance signal S4 output from the infrared camera 6A is supplied to the obstacle detection unit 10A and subjected to predetermined processing. Here, the obstacle detection unit 10A processes the video signal S1 and rises when it detects the presence of an obstacle (the person M1 in the case of this embodiment) and rises when it detects evacuation of the obstacle. A falling obstacle signal S7 is transmitted.

Although the obstacle detection unit 10A in the present embodiment detects the persons M1 and M2 as obstacles, this can be realized by configuring the obstacle detection unit 10A as follows, for example. That is, it is possible to process the infrared information included in the video signal S1 and identify the type of obstacle based on the result of comparing the information included in the video signal S1 with a specific pattern. For example, it is possible to detect whether an obstacle is a person by detecting whether or not it is an animal including a person by detecting the body temperature with infrared information and detecting whether or not it has a characteristic pattern regarding the person by pattern recognition. Identify. This can be achieved well by introducing AI treatment.

In the present embodiment, the area data in the area data generation unit 16 is the data of the area indicated by the halftone dots in FIG. This is given as an arbitrary fan-shaped range and becomes the area signal S16. After that, as in the third embodiment, after the comparison operation by the comparison unit 17, only when the presence of the person M1 in the area A is detected, a predetermined warning operation by the alarm unit 18 is executed.

The video generation unit 13A performs predetermined processing such as superimposing the distance signal S4 on the input video signal S1 and sends it to the video switching unit 14 as a video signal S13 that can be visualized on the monitor 15. On the monitor 15, the operator can confirm the presence or absence of the person M1 in the range related to the area A.

FIG. 10 is a schematic plan view showing a state where a dump truck V, which is a construction machine according to a fifth embodiment of the present invention, is about to leave the construction site 30 on the general road 40.
For example, as shown in FIG. 10, a construction site 30 or the like surrounds the site surrounding area with a temporary enclosure 20, etc., and the visibility outside the site is often poor.
In the present embodiment, for example, when a vehicle such as a dump truck V is unloaded from the construction site 30, when a person M1 passing by on the sidewalk 50 or the like is detected, a predetermined operation such as an emergency stop is performed on the dump truck V for safety. To secure the sex.
Specifically, it is as follows and will be described with reference to the block diagram of the third embodiment shown in FIG.

In the present embodiment, the infrared camera (imaging means) 6A is provided at a predetermined position of the temporary enclosure 20 of the site entrance/exit 30A, and when a person M1 is detected near the site entrance/exit 30A, a warning by sound, light or the like is issued. To It is also possible to make an emergency stop on the vehicle.
The infrared camera 6A in the present embodiment can measure the distance to the object. As a result, from the infrared camera 6A, the distance signal S4 indicating the distance to the object is sent together with the video signal S1 indicating the acquired image.

The video signal S1 including the distance signal S4 output from the infrared camera 6A is supplied to the obstacle detection unit 10A and subjected to predetermined processing. Here, the obstacle detection unit 10A processes the video signal S1 to detect the presence of an obstacle (a person M1 in the case of the present embodiment) in a predetermined area A (see FIG. 10) that is set in advance. In this case, an obstacle signal S7 which rises and which falls when the escape of the obstacle is detected is transmitted.

Although the obstacle detection unit 10A in the present embodiment detects the person M1 existing in the area A as an obstacle, this can be realized by configuring the obstacle detection unit 10A as follows, for example. That is, the infrared information included in the video signal S1 is processed, and the type of obstacle is specified based on the result of comparing the information included in the video signal S1 with a specific pattern. For example, it is possible to detect whether an obstacle is a person by detecting whether or not it is an animal including a person by detecting the body temperature with infrared information and detecting whether or not it has a characteristic pattern regarding the person by pattern recognition. Identify. This can be achieved well by introducing AI treatment.

In this embodiment, when the presence of the person M1 is detected in the arbitrarily set area A, a signal indicating the presence of the person M1 is output as the obstacle signal S7. The alarm means 18 is driven by the obstacle signal S7 output when the obstacle detection unit 10A detects the presence of the person M1 and notifies that the dump truck III is in the vicinity.

The video generation unit 13A performs predetermined processing such as superimposing the distance signal S4 on the input video signal S1 and sends it to the video switching unit 14 as a video signal S13 that can be visualized on the monitor 15. On the monitor 15, the operator can confirm the presence or absence of the person M1 in the range related to the area A.

The above-described embodiments are merely embodiments of the present invention and should not be construed as being limited thereto, and the design can be changed within the scope of the present invention.

The present invention is not limited to the safety device for a construction machine having the configuration shown in this embodiment, but can be applied to the safety device having another configuration. The construction machine to which the present invention is applied is not particularly limited and can be widely used for general construction machines.

I backhoe
II Bulldozer A, A1 to A3 area,
M1, M2 person S1 to S3, S13 to S15 video signal S4 to S6 distance signal S7 to S9 obstacle signal S10 first range signal S11 second range signal S12 area signal 10A to 10C obstacle detection section 11 area identification section 12 control Parts 13A to 13C Video generation unit 14 Video switching unit 15 Monitor 16 Area data generation unit 17 Comparison unit

Claims (6)

An image pickup means for picking up an image in a predetermined area around the construction machine;
An obstacle that rises when the presence of an obstacle in the predetermined area is detected by processing the video signal output from the image pickup means and falls when the escape of the obstacle from the predetermined area is detected. An obstacle detecting means for transmitting an object signal,
Control means for performing an emergency stop of the drive of the construction machine or a preliminary operation for an emergency stop based on the rise of the obstacle signal, and restarting the drive of the construction machine based on the fall of the obstacle signal,
A safety device for a construction machine, comprising: a monitor for reproducing and visualizing the video signal. A safety device for a construction machine having a hydraulic system that drives each part by supplying pressure oil,
An image pickup means for picking up an image in a predetermined area around the construction machine;
An obstacle that rises when the presence of an obstacle in the predetermined area is detected by processing the video signal output from the image pickup means and falls when the escape of the obstacle from the predetermined area is detected. An obstacle detecting means for transmitting an object signal,
Control for performing an emergency stop of the drive of the construction machine via the hydraulic system based on the rise of the obstacle signal, and restarting the drive of the construction machine via the hydraulic system based on the fall of the obstacle signal Means and
A safety device for a construction machine, comprising: a monitor for reproducing and visualizing the video signal. In the safety device for a construction machine according to claim 1 or 2,
The image pickup means is provided with a distance measuring means for measuring a distance from the image pickup means to the obstacle, and is configured to send a distance signal indicating the distance together with the video signal,
The predetermined area is divided into a first area and a second area according to the distance from the construction machine, and the obstacle detecting means represents the first area signal representing the first area and the second area. It is configured to send the second region signal, and
It has area identification means for detecting whether it is the first area signal or the second area signal, and when it is detected that it is the first area signal, the emergency stop is performed while the second area signal is provided. A safety device for a construction machine, which performs a preliminary operation for the emergency stop when a region signal is detected. The safety device for a construction machine according to any one of claims 1 to 3,
The image pickup unit has a plurality of images for picking up images in a plurality of predetermined regions in the surroundings, respectively,
Based on the obstacle signal output from the obstacle detecting means, a time-preceding obstacle such that the rising edge of the obstacle signal is reproduced on the monitor in order from the video signal detected earlier in time. A safety device for a construction machine, comprising video switching means for switching the output of each of the image pickup means on the condition of the fall of the object signal. The safety device for a construction machine according to any one of claims 1 to 4,
The imaging means is composed of an infrared camera,
The obstacle detecting means processes infrared information included in the video signal, and detects that the obstacle is a person based on a result of comparing information included in the video signal with a specific pattern, A safety device for a construction machine, which outputs the obstacle signal as a signal representing a person. The safety device for a construction machine according to claim 1,
The predetermined area is a vehicle passage area that is a passage area of the construction machine, and a person passage area that is provided in parallel with the vehicle passage area,
The obstacle detecting means is configured to send out a vehicle passage area signal indicating the vehicle passage area and a person passage area signal indicating the person passage area,
It has area identification means for detecting the vehicle traffic area signal and the human traffic area signal, and performs a predetermined emergency operation or a preliminary operation for an emergency stop only when the vehicle traffic area signal is detected. A safety device for construction machinery.

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