JP2022033592A - Contact prevention system of construction machine - Google Patents

Abstract

To provide a contact prevention system of construction machines which securely avoids contact of construction machines with each other at a construction site with a simple configuration.SOLUTION: A contact prevention system of construction machines comprises: first display means 2 for drawing images of a construction site G in a virtual space; positional information acquisition means 3 for acquiring positional information of construction machines K1 to K4; second display means 4 for drawing images of the construction machines K1 to K4 in the virtual space based on the positional information; measurement means 5 for measuring a first distance in the virtual space; and operation control means 6 controlling an operation of the construction machines K1 to K4 based on the first distance. The operation control means 6: when the first distance becomes a first approach distance meaning an approach of the construction machines K1 to K4 to each other, performs a control of issuing a warning to the construction machines K1 to K4; and when the first distance is smaller than the first approach distance and becomes a first contact distance meaning a possibility of contact of the construction machines K1 to K4 with each other, performs a control of changing an operation of the construction machines K1 to K4.SELECTED DRAWING: Figure 1

Description

The present invention relates to a construction machine contact prevention system.

In recent years, efforts to automate construction machinery have been promoted for the purpose of improving the productivity of construction sites.
On the other hand, as a technique related to construction machinery, those disclosed in Patent Documents 1 and 2 are known. Patent Document 1 discloses a technique for preventing a contact accident between a construction machine and a worker working in the vicinity of the construction machine by using infrared rays.
Further, Patent Document 2 discloses a technique for giving a warning around a construction machine and stopping the construction machine by using the acquired image.

Japanese Unexamined Patent Publication No. 2014-47607 Japanese Unexamined Patent Publication No. 2014-181508

By the way, in order to improve the productivity of construction sites, attempts are being made to automate a plurality of construction machines. In this case, in order to prevent the construction machines from coming into contact with each other, following the techniques of Patent Documents 1 and 2, a contact prevention sensor or the like is attached to each construction machine, and the construction machines approach each other to a predetermined distance. , It is conceivable to sound an alarm to call attention.
However, when installing sensors for contact prevention in each construction machine, for example, it is necessary to install at least four sensors for one construction machine, two on each side on the front and rear of the construction machine. Attempting to automate multiple construction machines raises the problem of increased costs.
An object of the present invention is to provide a construction machine contact prevention system capable of solving the above-mentioned problems and surely avoiding contact between construction machines at a construction site by a simple configuration.

In order to solve such a problem, the present invention is a construction machine contact prevention system that avoids contact between the construction machines based on the position information of a plurality of construction machines operating at the construction site. The construction machine contact prevention system includes a first display means for drawing an image of the construction site in a virtual space, a position information acquisition means for acquiring the position information of each construction machine, and the acquired position information of each construction machine. Based on the above, a second display means for drawing an image of each of the construction machines in the virtual space is provided. Further, the construction machine contact prevention system controls the operation of the construction machine based on the measuring means for measuring the first distance, which is the distance between the construction machines, in the virtual space and the measured first distance. It is equipped with an operation control means. The motion control means controls to issue a warning to the corresponding construction machine when the measured first distance becomes the first approach distance meaning the approach between the construction machines, and is measured. When the first distance is smaller than the first approach distance and becomes the first contact distance which means the possibility of contact between the construction machines, the control for changing the operation of the corresponding construction machines is performed. conduct.

In the construction machine contact prevention system of the present invention, it is possible to realize warning for approaching construction machines and control (including stop of operation) to change the operation only by acquiring the position information and the distance information between the construction machines. Since it is not necessary to install a plurality of sensors or the like for each construction machine as in the conventional case, the configuration is simple and the cost can be reduced.

Further, the motion control means constructs a virtual warning area as a reference for performing control for issuing a warning and a virtual contact area as a reference for performing control for changing the motion in the virtual space. It is preferable to set it around the machine. Then, when the virtual warning areas set in each of the construction machines interfere with each other, the operation control means determines that the first approach distance has been reached, and controls to issue a warning to the corresponding construction machine. When the virtual contact areas set in each of the construction machines interfere with each other, it is preferable to determine that the first contact distance has been reached and perform control to change the operation of the corresponding construction machine.
With such a configuration, it is possible to realize a simpler control of warning of approach between construction machines and change of operation. In addition, the approaching state of construction machines can be easily confirmed in the virtual space.

Further, it is preferable that the second display means stereoscopically displays an image of each construction machine in the virtual space. With this configuration, the approaching state of construction machines can be confirmed more realistically in the virtual space.

Further, it is preferable that the position information acquisition means can acquire direction information together with the position information of the construction machine. With such a configuration, it is possible to more accurately realize a warning for approaching construction machines and a control for changing the operation.

Further, in addition to the measurement of the first distance, the measuring means measures the second distance between the construction machine and the worker, and the third distance between the construction machine and the no-entry area set at the construction site. It is preferable that it is possible. In this configuration, in the motion control means, the second distance is a second approach distance meaning that the construction machine and the worker are close to each other, or the third distance is the construction machine and the entry prohibited area. It is preferable to perform control to issue a warning to at least the corresponding construction machine when the third approach distance, which means the approach of the above, is reached. Further, in the motion control means, the second contact distance means the possibility of contact between the construction machine and the worker, or the third distance is the entry into the prohibited area. When the third contact distance, which means the possibility, is reached, it is preferable to control at least to change the operation of the corresponding construction machine.
With this configuration, it is possible to realize a control for warning the worker of the approach of the construction machine and changing the operation, and a control for warning the approach of the construction machine to the prohibited area and changing the operation.

According to the construction machine contact prevention system of the present invention, contact between construction machines at a construction site can be reliably avoided by a simple configuration.

It is a block diagram which shows the construction machine contact prevention system which concerns on embodiment of this invention. It is a top view schematically showing the construction site to which the construction machine contact prevention system which concerns on embodiment of this invention is applied. It is a figure which showed the virtual area set in the construction machine used in the construction machine contact prevention system which concerns on embodiment of this invention, (a) is the schematic plan view which showed the virtual area set in the crawler dump. (B) is a schematic plan view showing a virtual area set in the backhoe. It is a perspective view which shows the crawler dump as a construction machine used in the construction machine contact prevention system which concerns on embodiment of this invention. It is a control block diagram of a crawler dump as a construction machine used in the construction machine contact prevention system which concerns on embodiment of this invention. It is a schematic plan view which expanded and showed the work yard of the construction site to which the construction machine contact prevention system which concerns on embodiment of this invention is applied. It is a schematic perspective view which showed the loading work of earth and sand in the work yard of the construction site to which the construction machine contact prevention system which concerns on embodiment of this invention is applied, from a different viewpoint. It is a flowchart which showed the operation control processing of the construction machine contact prevention system which concerns on embodiment of this invention. It is a figure which shows the example of the case where the construction machines approach each other, (a) is a schematic plan view which showed the state which the virtual warning area set in the construction machine does not interfere with each other, (b) is the figure which shows the state where virtual warning areas interfere with each other. It is a schematic plan view which showed the state of doing, and (c) is a schematic plan view which showed the state which the virtual contact areas set in the construction machine interfere with each other.

Hereinafter, embodiments of the present invention will be described with reference to the drawings as appropriate.
The construction machine contact prevention system of the present embodiment is a system for avoiding contact between construction machines K1 to K4 based on the position information of a plurality of construction machines K1 to K4 operating at the construction site G as shown in FIG. ..
As shown in FIG. 1, the construction machine contact prevention system includes a central control unit 1 and a construction machine group K. The construction machine group K is composed of a plurality of construction machines controlled by the central control unit 1. In the following, an example in which the construction machine group K includes a crawler dump K1, a backhoe K2, a bulldozer K3, and a vibration roller K4 will be described, but the purpose is not to limit the types of construction machines operated at the construction site G. .. In the following description, the crawler dump K1, backhoe K2, bulldozer K3, and vibrating roller K4 may be collectively referred to as construction machines K1 to K4.

The central control unit 1 includes a first display means 2, a position information acquisition means 3, a second display means 4, a measurement means 5, and an operation control means 6. A virtual space display monitor 7, a control monitor 8, and a bird's-eye camera monitor 9 are connected to the central control unit 1.
The first display means 2 draws an image of the topographical surface of the construction site G (see FIG. 2) in the virtual space. The first display means 2 adds longitude and latitude coordinate information to the point cloud data obtained by surveying such as a drone, creates an image of the topographical surface of the construction site G, and creates an image of the topographical surface of the construction site G, and uses this as the construction site G in the real space. Draw in the virtual space according to the coordinates of. The drawn image of the construction site G is displayed on the virtual space display monitor 7. The drawn image of the construction site G can be enlarged or reduced on the virtual space display monitor 7 by operating an input device (not shown), and as shown in FIG. 7, from a virtual viewpoint. Display and stereoscopic display are also possible.
Although not shown, the central control unit 1 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an HDD (Hard Disk Drive), an I / F (interface), and the like. Be prepared for it. The central control unit 1 is embodied by the CPU executing a predetermined control program stored in a storage means such as a ROM or an HDD.

The position information acquisition means 3 acquires coordinate information including position information and direction information measured by construction machines K1 to K4 in real space.
The second display means 4 draws a stereoscopic image of each of the construction machines K1 to K4 in the virtual space based on the coordinate information acquired by the position information acquisition means 3. The drawn stereoscopic images of the construction machines K1 to K4 are displayed on the virtual space display monitor 7 together with the drawn images of the construction site G. In this case, the stereoscopic images of the construction machines K1 to K4 can be enlarged or reduced together with the image of the construction site G on the virtual space display monitor 7 by operating the input device or the like, and the virtual viewpoint can be displayed. It is also possible to display from or in 3D.

The measuring means 5 measures the first distance, which is the distance between the construction machines K1 to K4, in the virtual space. The first distance is the continuation of the ongoing operation of the construction machines K1 to K4, the issuance of an alarm indicating the approach of the construction machines K1 to K4, and the operation of avoiding the contact between the construction machines K1 to K4 (currently). It is a reference distance for determining the start of (including the stop of the ongoing operation and the change of direction).
Further, the measuring means 5 measures the second distance, which is the distance between any of the construction machines K1 to K4 and the worker, in the virtual space. The second distance is the continuation of the ongoing operation of the construction machines K1 to K4, the issuance of an alarm indicating the approach of any of the construction machines K1 to K4 to the worker, and the construction machines K1 to K4 and the worker. It is a reference distance for determining the start of an operation (including a stop of an ongoing operation, a change of direction, etc.) to avoid contact with each other.
Further, the measuring means 5 sets a third distance in the virtual space, which is the distance between any of the construction machines K1 to K4 and the no-entry area (for example, the area indicated by the reference numeral A4 in FIG. 6) set at the construction site G. measure. The third distance is the continuation of the ongoing operation of the construction machines K1 to K4, the issuance of an alarm indicating the approach of any of the construction machines K1 to K4 to the restricted area, and the prohibition of entry with the construction machines K1 to K4. It is a reference distance for determining the start of an operation (including a stop or a change of direction of an operation currently in progress) for avoiding contact with an area (entering a prohibited area).

The motion control means 6 controls the motion of the construction machines K1 to K4 based on these measured first to third distances. Then, in order to control the operation of the construction machines K1 to K4 based on the first distance to the third distance, the motion control means 6, for example, in the virtual space, for example, the outer frame S1 shown in FIG. 3A, the virtual The contact area R1 and the virtual warning area R2 are set.
The outer frame S1 is a rectangular frame formed so as to surround the outside of the crawler dump K1 in a plan view. The virtual contact area R1 is a square frame-shaped area formed so as to surround the outer frame S1. The virtual warning area R2 is a square frame-shaped area formed so as to surround the outside of the virtual contact area R1.
The operation control means 6 sets the outer frame S1, the virtual contact area R1 and the virtual warning area R2 in the same manner for the backhoe K2 shown in FIG. 3B. Further, although not shown, the operation control means 6 similarly sets the outer frame S1, the virtual contact area R1 and the virtual warning area R2 for the bulldozer K3 and the vibrating roller K4. The sizes of the outer frame S1, the virtual contact area R1 and the virtual warning area R2 can be appropriately set and changed.

Then, in the virtual space, when the virtual warning areas R2 set in the construction machines K1 to K4 interfere with each other, the first distance means that the construction machines K1 to K4 approach each other. It is determined that one approach distance has been reached, and control is performed to issue a warning to the corresponding construction machines K1 to K4. The issued warning is displayed on the virtual space display monitor 7, the control monitor 8, and the operation screens of the target construction machines K1 to K4. As a result, the operators watching the monitors 7 and 8 and the workers on the construction machines K1 to K4 are alerted.
Further, in the motion control means 6, when the virtual contact areas R1 set in the construction machines K1 to K4 interfere with each other in the virtual space, the first distance may be the possibility of contact between the construction machines K1 to K4. It is determined that the meaning first contact distance has been reached, and control for changing the operation (for example, stopping the operation currently in progress) is performed on the corresponding construction machines K1 to K4. As a result, contact between the construction machines K1 to K4 is preferably avoided. It should be noted that it is possible to determine whether or not the virtual warning areas R2 are interfering with each other by detecting whether or not the outer portions R21 of the virtual warning area R2 are overlapped with each other based on the coordinates. Further, it is possible to determine whether or not the virtual contact regions R1 are interfering with each other by detecting whether or not the outer portions R11 of the virtual contact region R1 are overlapped with each other based on the coordinates.

Further, the motion control means 6 has a second distance when any one of the virtual warning areas R2 set in each of the construction machines K1 to K4 interferes with the position of the worker (not shown, the same applies hereinafter) in the virtual space. However, it is determined that the second approach distance means the approach between the construction machines K1 to K4 and the worker. Then, the operation control means 6 controls to issue a warning to the corresponding construction machines K1 to K4 and the operator. As a result, the operator and the operator who are watching the monitors 7 and 8 are alerted. The virtual warning area R2 is preferably set larger than the area set in the case of the construction machines K1 to K4 described above from the viewpoint of safety for the operator. The position information of the worker can be acquired via the position information acquisition means 3 by having the worker carry a device for transmitting the position information. The acquired position information of the worker can be drawn in the virtual space and can be displayed on the virtual space display monitor 7.
Further, when the motion control means 6 interferes with any of the virtual contact areas R1 of the construction machines K1 to K4 and the position of the worker in the virtual space, the second distance works with the construction machines K1 to K4. It is determined that the second contact distance means contact with a person. Then, the motion control means 6 controls the corresponding construction machines K1 to K4 to change the motion (for example, stop the currently ongoing motion). As a result, contact between the construction machines K1 to K4 and the worker is preferably avoided.

Further, when the operation control means 6 interferes with any of the virtual warning areas R2 set in the construction machines K1 to K4 and the entry prohibited area A4 in the virtual space, the third distance becomes the construction machines K1 to K4. It is determined that the third approach distance, which means the approach to the entry prohibited area A4, has been reached. Then, the operation control means 6 controls to issue a warning to the corresponding construction machines K1 to K4. As a result, the operator who is watching each of the monitors 7 and 8 is alerted.
Further, when the motion control means 6 interferes with any of the virtual contact areas R1 set in the construction machines K1 to K4 and the entry prohibited area A4 in the virtual space, the third distance to the entry prohibited area A4 is reached. It is determined that the third contact distance, which means approach, has been reached. Then, the motion control means 6 controls the corresponding construction machines K1 to K4 to change the motion (for example, stop the currently ongoing motion). As a result, it is preferably avoided that the construction machines K1 to K4 enter the entry prohibited area A4.
The operation control means 6 is set so as not to determine the interference between the virtual warning areas R2 and the interference between the virtual contact areas R1 in the earth and sand loading area A1. For the construction machine (crawler dump K1 and backhoe K2 in FIG. 6) in the earth and sand loading area A1, the operation control means 6 is, for example, the central portion of the crawler dump K1 and the backhoe K2 (outer frame S1). It is assumed that there is a possibility of contact between the central parts), and control for changing the movements of the two (for example, stopping the movement currently in progress) is performed.

The virtual space display monitor 7 displays an image of the construction site G drawn by the first display means 2 and a stereoscopic image of each of the construction machines K1 to K4. Further, the virtual space display monitor 7 displays the outer frame S1, the virtual contact area R1 and the virtual warning area R2 of each of the construction machines K1 to K4. Then, the virtual space display monitor 7 displays the warning information issued as described above, and also displays the information indicating that the operations of the construction machines K1 to K4 have been changed.
The control monitor 8 displays the operating status, management tasks, and the like of the construction machines K1 to K4.
The monitor 9 for the bird's-eye view camera displays the real space of the construction site G. As shown in FIG. 2, the image of the real space is acquired by the central control unit 1 from the plurality of bird's-eye view cameras 12 installed at the construction site G via the camera repeater 11. The operator can confirm the operating status of the construction machines K1 to K4 in the real space of the construction site G through the monitor 9 for the bird's-eye view camera. In particular, when the construction machines K1 to K4 are automatically controlled by remote control, the construction machines K1 to K4 in the virtual space displayed on the virtual space display monitor 7 and the real space displayed on the bird's-eye view camera monitor 9 Since the lag with the construction machines K1 to K4 can be easily confirmed, the certainty of the work can be improved.

The control repeater 10 is a device that relays a control signal between the central control unit 1 side and the construction machine group K side. The control repeater 10 communicates a control signal with each of the construction machines K1 to K4 of the construction machine group K by using, for example, 5G (5th Generation: 5th generation mobile communication system) as a communication standard.

The camera repeater 11 is a device that relays a video signal between the central control unit 1 side and the construction machine group K side. The camera repeater 11 communicates a video signal with each of the construction machines K1 to K4 of the construction machine group K by using, for example, 5G. Further, a plurality of bird's-eye view cameras 12 installed at the construction site G are connected to the camera repeater 11 by wire. The camera repeater 11 transmits images from a plurality of bird's-eye view cameras 12 to the central control unit 1 side using a communication means such as an optical cable.

Next, the equipment mounted on the construction machines K1 to K4 will be described by taking the equipment mounted on the crawler dump K1 as an example.
As shown in FIG. 4, the crawler dump K1 includes a transmission / reception antenna 20, an in-vehicle control unit 21, a construction machine drive unit 22, an in-vehicle camera 23, a GPS directional meter 24, an obstacle detection device 25, and an inclinometer 26. The other construction machines K2 to K4 are also equipped with the same equipment as the equipment mounted on the crawler dump K1.

The transmission / reception antenna 20 is an antenna for transmitting / receiving a control signal to / from the central control unit 1 via the control repeater 10, and is attached to the upper part of the crawler dump K1. For example, the transmission / reception antenna 20 and the control repeater 10 communicate with each other using 5G as described above. Communication using 5G can significantly shorten the delay time compared to communication using 4G (4th Generation: 4th generation mobile communication system), so automatic control of construction machines K1 to K4 should be executed. Suitable for. In particular, by using 5G, it is possible to reliably perform warning notification and contact avoidance of construction machines K1 to K4. Since the control repeater 10 and the central control unit 1 are communicated with each other by an optical cable, warning notification and contact avoidance of construction machines K1 to K4 are ensured even when the construction machines K1 to K4 are automatically controlled remotely. Can be run on.
The communication between the central control unit 1 side and the construction machine group K side is not limited to the one using 5G, and LTE (Long Term Evolution) or 4G may be used.

The in-vehicle control unit 21 controls the amount of control for automatically traveling the crawler dump K1 and performing various operations based on the position information and direction information from the GPS azimuth meter 24, the obstacle detection information from the obstacle detection device 25, and the like. Is calculated.
The construction machine drive unit 22 executes automatic traveling and various operations of the crawler dump K1 based on the control amount calculated by the vehicle-mounted control unit 21. For example, the construction machine drive unit 22 drives the crawler dump K1 to a position where the loading of earth and sand by the backhoe K2 is optimally performed based on the control amount calculated by the vehicle-mounted control unit 21.
The in-vehicle camera 23 is a camera that captures an image of the real space around the crawler dump K1. For example, the in-vehicle camera 23 can capture a high-definition image and a nighttime infrared LED image, and can rotate 360 degrees in the horizontal direction and 180 degrees in the vertical direction to photograph the surroundings of the crawler dump K1. The image taken by the vehicle-mounted camera 23 is transmitted from the vehicle-mounted control unit 21 and the transmission / reception antenna 20 to the central control unit 1 side via the camera repeater 11. The image taken by the in-vehicle camera 23 contributes to grasping the working situation in the real space.
The GPS directional meter 24 acquires the position information and the directional information of the crawler dump K1 and outputs the coordinate information to the vehicle-mounted control unit 21. The acquired coordinate information is used for controlling the vehicle-mounted control unit 21, and is transmitted from the transmission / reception antenna 20 to the central control unit 1 side via the control repeater 10. The acquired coordinate information is used to draw a stereoscopic image of the crawler dump K1 in the virtual space.

The obstacle detection device 25 detects whether or not there is an obstacle in the automatic driving road or the like. The information detected by the obstacle detection device 25 is output to the in-vehicle control unit 21 and used for control when performing obstacle avoidance driving during automatic driving.
The inclinometer 26 detects whether or not the loading platform is tilted. The detection information of whether or not the loading platform is tilted is used for driving control of the loading platform at the time of loading the earth and sand and discharging the earth and sand.

Next, the operation control process of the construction machine contact prevention system of the present embodiment will be described.
FIG. 6 is a schematic plan view showing an enlarged work yard at the construction site of FIG. 2, and FIG. 7 is a schematic perspective view showing the work of loading earth and sand in the work yard from a different viewpoint. Further, FIG. 8 is a flowchart showing the operation control process, and each figure of FIG. 9 is a schematic diagram showing the interference state of the region set in the construction machine.

As shown in FIG. 6, the work yard A is provided with a sediment loading area A1, sediment discharge areas A2 and A2, and a traveling path A3 connecting these areas.
The crawler dump K1 is programmed to travel along the traveling path A3 and automatically control the transportation work of discharging the earth and sand loaded in the earth and sand loading area A1 to the earth and sand discharge areas A2 and A2.
In the earth and sand loading area A1, a plurality of backhoes K2 programmed to automatically control the work of loading earth and sand on the loading platform of the crawler dump truck K1 are arranged.
In the earth and sand loading area A1, as shown in FIG. 7, the crawler dump K1 and the backhoe K2 are close to each other to load the earth and sand. Based on the region interference determination is cancelled.

As shown in FIG. 8, when the operation control process is started, various settings are input in step ST1. In step ST1, the central control unit 1 inputs various settings related to the control processing of the construction machines K1 to K4, for example, point cloud data previously stored in a ROM or the like, a first approach distance to a third approach distance, and a first contact distance. -Accepts each data of the third contact distance.
In step ST2, the first display means 2 draws an image of the topographical surface of the construction site G (see FIG. 2) in the virtual space.
In step ST3, the position information acquisition means 3 acquires coordinate information including position information and direction information measured by the construction machines K1 to K4 in the real space.
In step ST4, the second display means 4 draws stereoscopic images of the construction machines K1 to K4 in the virtual space based on the coordinate information acquired by the position information acquisition means 3.

In step ST5, the measuring means 5 has a first distance, which is the distance between the construction machines K1 to K4, a second distance, which is the distance between any of the construction machines K1 to K4 and the worker, and the construction machine in the virtual space. The third distance, which is the distance between any of K1 to K4 and the entry prohibited area A4 of the construction site G, is measured.
Further, in step ST5, the operation control means 6 sets a virtual warning area R2 and a virtual contact area R1 in each of the construction machines K1 to K4, respectively.

In step ST6, the motion control means 6 determines whether or not the first distance is equal to or less than the first approach distance. When the first distance is larger than the first approach distance, that is, when the virtual warning areas R2 do not interfere with each other (see FIG. 9A), it is determined as Nо in step ST6, and the process proceeds to step ST7. do. In step ST6, when the first distance is equal to or less than the first approach distance, that is, when the virtual warning regions R2 interfere with each other (see FIG. 9B), it is determined to be Yes in step ST6. Move to step ST9.
In step ST7, the motion control means 6 determines whether or not the second distance is equal to or less than the second approach distance. When the second distance is larger than the second approach distance, that is, when the virtual warning area R2 and the position of the operator do not interfere with each other, it is determined as Nо in step ST7, and the process proceeds to step ST8. In step ST7, when the second distance is equal to or less than the second approach distance, that is, when the virtual warning area R2 and the position of the operator interfere with each other, Yes is determined in step ST7, and step ST9 is performed. Transition.
In step ST8, the motion control means 6 determines whether or not the third distance is equal to or less than the third approach distance. When the third distance is larger than the third approach distance, that is, when the virtual warning area R2 and the entry prohibited area A4 do not interfere with each other, it is determined as Nо in step ST8 and the process proceeds to step ST5. Then, the following step ST6 is repeated. In step ST8, when the third distance is equal to or less than the third approach distance, that is, when the virtual warning area R2 and the entry prohibition area A4 interfere with each other, Yes is determined in step ST8, and step ST9 is performed. Transition.
In step ST9, the motion control means 6 issues an alarm to the corresponding construction machines K1 to K4.

In step ST10, the motion control means 6 determines whether or not the first distance is equal to or less than the first contact distance. When the first distance is larger than the first contact distance, that is, when the virtual contact regions R1 do not interfere with each other (see FIGS. 9A and 9B), it is determined as Nо in step ST10, and the step is taken. Move to ST11. In step ST10, when the first distance is equal to or less than the first contact distance, that is, when the virtual contact regions R1 interfere with each other (see FIG. 9C), it is determined to be Yes in step ST10. The process proceeds to step ST13.

In step ST11, the motion control means 6 determines whether or not the second distance is equal to or less than the second contact distance. When the second distance is larger than the second contact distance, that is, when the virtual contact area R1 and the position of the operator do not interfere with each other, it is determined as Nо in step ST11, and the process proceeds to step ST12. In step ST11, when the second distance is equal to or less than the second contact distance, that is, when the virtual contact area R1 and the position of the operator interfere with each other, Yes is determined in step ST11, and step ST13 is performed. Transition.
In step ST12, the motion control means 6 determines whether or not the third distance is equal to or less than the third contact distance. When the third distance is larger than the third contact distance, that is, when the virtual contact area R1 and the entry prohibited area A4 do not interfere with each other, it is determined as Nо in step ST12 and the process proceeds to step ST5. Then, the following step ST6 is repeated. In step ST12, when the third distance is equal to or less than the third contact distance, that is, when the virtual contact area R1 has entered the entry prohibited area A4, it is determined to be Yes in step ST12, and the process proceeds to step ST13. do.
In step ST13, the motion control means 6 controls to change the motion of the corresponding construction machines K1 to K4 (for example, stop control). As a result, the operation control process is completed.
When the control for stopping the operation is executed in step ST13, the construction machines K1 to K4 whose operation has been stopped are moved to the retracted position for avoiding contact by manual control.

In the construction machine contact prevention system of the present embodiment described above, only by acquiring the position information and the distance information between the construction machines K1 to K4, the control for changing the warning and the operation for the approach between the construction machines K1 to K4 (control (Including stop of operation) can be realized. Since it is not necessary to install a plurality of sensors or the like for each of the construction machines K1 to K4 as in the conventional case, the configuration is simple and the cost can be reduced.

Further, the motion control means 6 constructs a virtual warning area R2 as a reference for performing control for issuing a warning and a virtual contact area R1 as a reference for performing control for changing the motion in the virtual space. Set around machines K1 to K4. Then, a warning is issued based on the interference between the virtual warning areas R2, and control is performed to change the operation of the corresponding construction machines K1 to K4 based on the interference between the virtual contact areas R1. The control to change (including the stop of operation) can be realized more simply. In addition, the approaching state of the construction machines K1 to K4 can be easily confirmed in the virtual space.

Further, since the second display means 4 displays the images of the construction machines K1 to K4 in three dimensions in the virtual space, the approaching state of the construction machines K1 to K4 can be confirmed more realistically in the virtual space.
Further, since the position information acquisition means 3 can acquire the direction information together with the position information of the construction machines K1 to K4, the warning for the approach between the construction machines K1 to K4 and the control to change the operation (including the stop of the operation) Can be realized more accurately.

In addition, the warning of the approach of the construction machines K1 to K4 to the worker and the control to change the operation (including the stop of the operation) and the warning of the approach of the construction machines K1 to K4 to the entry prohibited area A4 and the control to change the operation (including the stop of the operation). (Including stop of operation) can be easily realized.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and each component can be appropriately modified without departing from the spirit of the present invention.
For example, in the above-described embodiment, a warning is issued based on the interference between the virtual warning areas R2, and the operation of the corresponding construction machines K1 to K4 is changed based on the interference between the virtual contact areas R1. However, it is not limited to this. For example, the first to third approach distances and the first to third contact distances are set numerically, respectively, and these are compared with the first to third distances to perform control to issue an alarm or change the operation. It may be configured.

Further, the virtual contact area R1 and the virtual warning area R2 both have a square frame shape, but are not limited to these, and have various shapes such as a circular frame shape and an elliptical frame shape. Can be adopted. In the case of a circular frame-shaped area, the distance between the center of one construction machine and the center of the other (center of the outer frame S1) is the total value of the radius of the area set for each construction machine. Whether or not there is interference can be determined based on whether or not the value is below.
Further, the control for changing the operation of the construction machines K1 to K4 may be configured to be performed by the change command transmitted by the operation of the operator.
Further, the construction machines K1 to K4 are not limited to those that operate unmanned, and may be combined with those that operate by manned.

1 Central control unit 2 1st display means 3 Position information acquisition means 4 2nd display means 5 Measuring means 6 Operation control means A4 No entry area G Construction site K1 Crawler dump K2 Backhoe K3 Bulldozer K4 Vibration roller R1 Virtual contact area R2 Virtual warning Area R11 outer part R21 outer part

Claims (5)

It is a construction machine contact prevention system that avoids contact between the construction machines based on the position information of a plurality of construction machines operating at the construction site.
The first display means for drawing an image of the construction site in the virtual space,
The position information acquisition means for acquiring the position information of each construction machine and
A second display means for drawing an image of each construction machine in the virtual space based on the position information of each construction machine acquired by the position information acquisition means.
A measuring means for measuring the first distance, which is the distance between the construction machines, in the virtual space,
A motion control means for controlling the motion of the construction machine based on the measured first distance is provided.
The motion control means controls to issue a warning to the corresponding construction machine when the measured first distance becomes the first approach distance meaning the approach between the construction machines, and the first. When the distance is smaller than the first approach distance and becomes the first contact distance which means the possibility of contact between the construction machines, the control is performed to change the operation of the corresponding construction machines. Construction machinery contact prevention system. The operation control means is
A virtual warning area, which is a reference for controlling to issue a warning, and a virtual contact area, which is a reference for controlling to change the operation, are set around each construction machine in the virtual space.
When the virtual warning areas set for each construction machine interfere with each other, it is determined that the first approach distance has been reached, and a warning is issued to the corresponding construction machine.
Claim 1 is characterized in that when the virtual contact areas set in each of the construction machines interfere with each other, it is determined that the first contact distance has been reached, and control is performed to change the operation of the corresponding construction machine. Construction machinery contact prevention system described in. The construction machine contact prevention system according to claim 1 or 2, wherein the second display means displays an image of each construction machine in a three-dimensional manner in the virtual space. The construction machine contact prevention system according to any one of claims 1 to 3, wherein the position information acquisition means can acquire direction information together with the position information of the construction machine. In addition to the measurement of the first distance, the measuring means is a second distance, which is the distance between the construction machine and the worker, and a second distance between the construction machine and the no-entry area set at the construction site. It is possible to measure three distances,
The operation control means is
The second distance is the second approach distance which means the approach between the construction machine and the worker, or the third distance is the third approach distance which means the approach between the construction machine and the no-entry area. In the event of such a situation, at least control is performed to issue a warning to the relevant construction machine, and at the same time.
The second distance means the possibility of contact between the construction machine and the worker, or the third distance means the possibility of entry into the prohibited area. The construction machine contact prevention system according to any one of claims 1 to 4, wherein control is performed to change at least the operation of the construction machine when the distance is reached.

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