JP2022178057A - System to detect obstacle around heavy machine - Google Patents

Abstract

To avoid the risk of contact with obstacles in a way that avoids to the greatest extent impeding workability of an operator by setting an appropriate detection area according to the postures of a boom and an arm.SOLUTION: Left and right vertical scanners are provided, which are positioned on the left and right sides of an upper revolving structure across a boom and an arm and can detect obstacles in a vertical plane by emitting laser into the vertical plane, including themselves. And left and right horizontal scanners are provided which are positioned on the left and right sides of the upper revolving structure across the boom and arm and can detect obstacles in a horizontal plane by emitting laser into the horizontal plane, including themselves. In a plane detectable by the vertical scanner, etc. a detection area BL around the boom and a detection area AL around the arm are set according to the attitudes of the boom and the arm detected by a tilt sensor. When an obstacle is detected within the detection area, a movement is performed to avoid contact with the obstacle.SELECTED DRAWING: Figure 5

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detection system around heavy equipment such as a hydraulic excavator (for example, a backhoe) having a boom and an arm on an upper revolving structure.

Backhoe work in narrow construction environments such as railway construction often relies on the installation of cameras and monitors and the operator's skill (attentiveness) as measures against contact with existing structures. However, especially in the evening, at night, or in a dark place, it is difficult to visually recognize obstacles even with a camera or the like, which increases the burden on the operator.

In addition, in Patent Document 1, when construction is performed using heavy machinery directly under an existing structure, a laser rangefinder (non-contact rangefinder) is arranged vertically upward on the side of the boom or arm of the heavy machinery. Then, the distance to the existing structure is measured when the heavy machinery is in operation, and control such as warning and stopping of the heavy machinery is described according to the measured distance.

Japanese Patent No. 6696841

However, the technique described in Patent Document 1 is based on the premise that the obstacle (existing structure) to be detected is above the heavy machinery, and there is an obstacle on the side of the boom and arm provided on the upper rotating body. If the obstacle cannot be specified, such as a case, it cannot be dealt with.

If the obstacle to be detected cannot be specified, it is effective to detect the obstacle using a two-dimensional laser scanner. However, when using a two-dimensional laser scanner, if the detection area is not set appropriately according to the posture of the boom and arm, it will fall into "excessive detection", and work stoppage due to "excessive detection" will occur frequently, resulting in poor operator workability. declines markedly.

In view of such actual circumstances, the present invention provides a detection area around heavy machinery that can avoid the risk of contact with obstacles while minimizing the workability of the operator by setting an appropriate detection area according to the posture of the boom and arm. An object of the present invention is to provide an obstacle detection system for

In order to solve the above problems, the obstacle detection system around heavy machinery according to the present invention includes:
Left and right vertical scanners arranged on the left and right sides of the upper rotating body with the boom and arm interposed therebetween, and capable of detecting obstacles in the vertical plane by irradiating a laser in the vertical plane including itself, and
Left and right horizontal scanners arranged on the left and right sides of the upper rotating body with the boom and the arm interposed therebetween, and capable of detecting obstacles in the horizontal plane by irradiating a laser onto the horizontal plane including the scanner itself;
an inclination sensor arranged on each of the boom and the arm for detecting an inclination angle of the boom and the arm;
detection area setting means for setting a detection area around the boom and arm within a plane detectable by each of the vertical scanner and the horizontal scanner, according to the orientation of the boom and arm detected by the tilt sensor; ,
contact avoidance operation means for performing an operation for avoiding contact with an obstacle when an obstacle is detected within the detection area;
characterized by comprising

According to the present invention, it is possible to set an appropriate detection range (dynamic detection area) according to the posture of the boom and the arm according to the construction environment, and the operator can detect obstacles in a manner that does not interfere with the operator's workability as much as possible. It is effective in being able to avoid contact.

1 is a side view of a backhoe shown as one embodiment of the present invention; FIG. Plan view of the same backhoe Diagram showing specific installation examples of vertical scanners, horizontal scanners, etc. System configuration diagram of control system Explanatory drawing of the detection area of the vertical scanner set corresponding to FIG. Explanatory drawing of the detection area of the horizontal scanner set corresponding to FIG. A diagram showing an example of a monitor screen display

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail.
Here, a backhoe will be exemplified as a heavy machine, but the present invention is not limited to this, and can be applied to a heavy machine having a boom and an arm on an upper revolving structure.

FIG. 1 is a schematic side view of a backhoe shown as one embodiment of the present invention, and FIG. 2 is a schematic plan view of the same backhoe.
A backhoe 1 includes a crawler-type lower travel body 2 and an upper revolving body 3 that can be revolved thereon.

The upper swing body 3 has a boom 4, an arm 5, and a bucket 6 as working devices in the center of the front part, and a cabin (driver's seat) 7 on the left side of the front part. The rear portion of the upper swing body 3 forms a counterweight 8 for keeping the movement of the center of gravity of the backhoe 1 within an allowable range.

The boom 4 is provided so as to be able to stand up and fall down around the base end (4a) on the front central side of the upper rotating body 3 as the center of rotation.
The arm 5 is attached at its base end (5a) to the tip end (4b) of the boom 4 so as to be able to swing.
The bucket 6 is attached to the tip (5b) of the arm 5 so as to be able to swing.

Boom 4, arm 5 and bucket 6 are hydraulically driven by boom cylinder 10, arm cylinder 11 and bucket cylinder 12, respectively.

Here, vertical scanners 13L and 13R are provided on the front left and right sides of the upper rotating body 3 with the boom 4 and the arm 5 interposed therebetween.
The left and right vertical scanners 13L and 13R can detect the position of an obstacle in the vertical plane by irradiating a laser in the vertical plane including the center of the vertical scanner 13L and 13R.
Therefore, the left and right vertical scanners 13L and 13R can scan vertical surfaces on the sides of the boom 4 and the arm 5, and can detect obstacles approaching the boom 4 and the arm 5 from the sides.

Further, horizontal scanners 14L and 14R are provided on the left and right sides of the front portion of the upper rotating body 3 with the boom 4 and the arm 5 interposed therebetween, at a height position of about 1 m from the ground surface.
The left and right horizontal scanners 14L and 14R are capable of detecting the position of an obstacle in the horizontal plane by irradiating a laser within the horizontal plane including the center thereof.
Therefore, the left and right horizontal scanners 14L and 14R can scan a horizontal plane at a height of about 1 m in front of the upper rotating body 3 on the sides of the boom 4 and the arm 5, and can scan an obstacle in front of the upper rotating body 3. can be detected.

In addition, the front left and right horizontal scanners 14L and 14R are arranged at the left and right corners (both corners) of the front portion of the upper revolving body 3, so that not only the front of the upper revolving body 3 but also the left and right sides of the upper revolving body 3 can be scanned. The side can be scanned, and an obstacle on the side of the upper revolving body 3 can also be detected.

A rear horizontal scanner 15 is provided at a height position of about 1 m from the ground surface at the rear of the upper revolving body 3 (counterweight 8).
The rear horizontal scanner 15 can detect the position of an obstacle in the horizontal plane by irradiating a laser in the horizontal plane including itself.
Therefore, the rear horizontal scanner 15 can scan a horizontal surface at a height position of about 1 m behind the upper rotating body 3 and detect obstacles behind the upper rotating body 3 .

The laser scanner used here irradiates a laser beam in a direction perpendicular to the rotation axis while rotating the light emitting unit and the light receiving unit by 360° around a predetermined rotation axis, and receives the reflected light from the obstacle. is a two-dimensional LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) that measures the distance to obstacles at .

Vertical scanners 13L and 13R are obtained by arranging such laser scanners so that their rotational axes are horizontal, and horizontal scanners 14L, 14R, 15.
Note that the terms "horizontal" and "vertical" as used in this specification are concepts in design when heavy equipment is used on a horizontal ground surface, and may differ in actual usage conditions.

Also, three tilt sensors 16-18 are provided.
The tilt sensor (boom tilt sensor) 16 is attached to the boom 4 parallel to a straight line L1 connecting the fulcrum 4a on the upper revolving structure 3 side of the boom 4 and the fulcrum 4b on the arm 5 side. can be detected.

The tilt sensor (arm tilt sensor) 17 is attached to the arm 5 parallel to a straight line L2 connecting the fulcrum 5a of the arm 5 on the boom 4 side and the fulcrum 5b on the bucket 6 side, and detects the tilt angle of the arm 5. It is possible.

An inclination sensor (upper revolving body inclination sensor) 18 is attached to the upper revolving body 3 in a horizontal state, and can detect the inclination angle (inclination angle in the front-rear direction) of the upper revolving body 3 caused by the inclination of the ground surface. be.

Cameras 19L and 19R for photographing the surroundings of the heavy machinery are provided on the front left and right sides of the upper rotating body 3 with the boom 4 and the arm 5 interposed therebetween.

FIG. 3 is a diagram showing a specific mounting example of a vertical scanner, a horizontal scanner, and the like. This figure is a view of the front right side of the backhoe, viewed obliquely from the front, and shows an example of installation of the vertical scanner 13R, horizontal scanner 14R, upper revolving body tilt sensor 18, and camera 19R.

The vertical scanner 13R is mounted on a mounting frame 31 arranged on the front right side of the upper rotating body 3 via a yaw direction, pitch direction and roll direction adjustment mechanism 32 . An upper revolving body tilt sensor 18 with a tilt adjustment mechanism is also attached to the mounting frame 31, and the vertical scanner 13R and the upper revolving body tilt sensor 18 are assembled.

The horizontal scanner 14R is mounted below the handrail pipe 33 at the front right corner of the upper rotating body 3 via a pipe mounting jig 34 and a yaw direction, pitch direction and roll direction adjustment mechanism 35. It is installed so that it projects diagonally (forward and sideways).
Although omitted from the drawing, the vertical scanner 13R and the horizontal scanner 14R may be protected by covering them with a protective case or the like except for the slits of the laser light emitting/receiving portions.

The camera 19R is mounted on the uppermost part of the handrail pipe 33 via a pipe mounting jig 36, and the imaging section faces forward.

The vertical scanner 13L, horizontal scanner 14L, and camera 19L, which are arranged on the front left side of the backhoe, can be attached as follows, although detailed examples are omitted.

For example, vertical scanner 13L and camera 19L may be assembled or otherwise mounted at the front edge of the roof of cabin 7, as can be seen in FIGS.
As can be seen from FIGS. 1 and 2, the horizontal scanner 14L may be attached to a corner of the cabin 7 or the like.
The rear horizontal scanner 15 is preferably attached to the rear portion of the upper rotating body 3 (counterweight 8) using a magnet or the like so that the position thereof can be adjusted.

When the front left and right horizontal scanners 14L and 14R and the rear horizontal scanner 15 are attached to the upper revolving body 3, they are attached to the bottom of the upper revolving body 3 so that the horizontal plane can be seen from the gap between the upper revolving body 3 and the lower traveling body 2. It can also be configured to scan

FIG. 4 is a system configuration diagram of a control system.
In the cabin 7 of the backhoe 1, a control PC 100 that executes obstacle detection control and a touch panel monitor 200 that realizes variable setting and visualization of the obstacle detection control are installed.

The control PC 100 is placed in a control box together with a power supply and the like, and installed near a seat in the cabin 7 . The touch panel monitor 200 is installed at a position in the cabin 7 that can be visually recognized by the operator and that can be touch-operated.

Information from the front left and right vertical scanners 13L and 13R, the front left and right horizontal scanners 14L and 14R, and the rear horizontal scanner 15 is input to the control PC 100 by wire (for example, Ethernet).

Information from the boom tilt sensor 16, the arm tilt sensor 17, and the upper rotating body tilt sensor 18 is also input to the control PC 100 by, for example, a CAN (Controller Area Network).

Image information from the cameras 19L and 19R is also input to the control PC 100 through, for example, a USB connection. The control PC 100 has a built-in or external storage device (not shown) capable of storing (temporary storage and selective storage) images (including moving images) captured by the cameras 19L and 19R. have.

In addition, from the front left and right vertical scanners 13L and 13R, the front left and right horizontal scanners 14L and 14R, the rear horizontal scanner 15, the boom tilt sensor 16, the arm tilt sensor 17, the upper revolving body tilt sensor 18, and the cameras 19L and 19R information may be input to the control PC 100 by wireless communication such as Bluetooth.

The control PC 100 incorporates a microcomputer (CPU) as an arithmetic processing unit, and the boom 4 and A detection area around the boom 4 and the arm 5 is set (generated) according to the posture of the arm 5, and when an obstacle is detected within the detection area, an action is taken to avoid contact with the obstacle. Let Therefore, the control PC 100 has software functions as detection area setting means and contact avoidance operation means.

The touch panel monitor 200 is connected to the control PC 100 via, for example, HDMI (registered trademark). Object detection control can be visualized.

Next, the setting of the detection areas of the front left and right vertical scanners 13L and 13R, the front left and right horizontal scanners 14L and 14R, and the rear horizontal scanner 15 will be described with reference to FIGS.

5 is an explanatory diagram of detection areas of the vertical scanners 13L and 13R set corresponding to the side view of FIG. 1, and FIG. 6 is an illustration of horizontal scanners 14L, 14R and 15 set corresponding to the plan view of FIG. FIG. 4 is an explanatory diagram of a detection area;

The "detection area" here refers to the range within which each scanner can detect an obstacle (the range within which the laser can detect obstacles within the detection plane (vertical or horizontal plane) of each scanner). It is a range set to detect an obstacle without falling into "detection", and it can also be said that it is a range in which a contact avoidance operation is performed at the time of detection.
Further, when setting the detection area, the detection area is set in a rectangular two-dimensional coordinate system in order to simplify the arithmetic processing.

(1) Setting the detection areas of the front left and right vertical scanners 13L and 13R (see FIG. 5)
For the detection areas of the vertical scanners 13L and 13R, (1-1) vertical surface detection areas BL and BR around the boom, and Set the vertical plane detection areas AL and AR around the arm.

(1-1) Vertical plane detection areas BL and BR around the boom
The vertical plane detection areas BL and BR around the boom are the long sides of the straight line L1 connecting the fulcrum 4a on the base end side (upper revolving structure 3 side) of the boom 4 and the fulcrum 4b on the tip side (arm 5 side). A rectangular area with parallel sides.

Specifically, a straight line L1 connecting the base end side fulcrum 4a and the tip side fulcrum 4b of the boom 4 is defined as the detection length direction (X axis), and the straight line L1 is perpendicular to the straight line L1 in the vertical plane including the straight line L1. Rectangular vertical surface detection areas BL and BR are set around the boom 4 as shown in FIG. BL and BR overlap in FIG.

Note that the position of the fulcrum 4b on the tip side of the boom 4 relative to the position of the fulcrum 4a on the base end side of the boom 4 is determined by the distance (eigenvalue) between the fulcrums 4a and 4b of the boom 4 and the boom detected by the boom tilt sensor 16. can be determined based on the tilt angle and taking into account the upper swing body tilt angle detected by the upper swing body tilt sensor 18 .

Here, in the detection length direction, the decrement (b1; - value) of the detection length from the fulcrum 4a and the increase/decrease (b2; ± value) of the detection length from the fulcrum 4b can be variably set. be.
In addition, in the detection width direction, a detection width (b3; + value) from the straight line L1 to the boom back side and a detection width (b4; + value) from the straight line L1 to the boom side (b4; + value) can be variably set.

(1-2) Vertical plane detection areas AL and AR around the arm
The vertical surface detection areas AL and LR around the arm are parallel to a straight line L2 connecting the fulcrum 5a on the base end side (boom 4 side) of the arm 5 and the fulcrum 5b on the tip side (bucket 6 side). Let it be a rectangular area.

Specifically, a straight line L2 connecting the fulcrum 5a on the base end side of the arm 5 and the fulcrum 5b on the tip side of the arm 5 is defined as the detection length direction (X-axis), and a vertical plane including this straight line L2 is perpendicular to the straight line L2. Rectangular vertical detection areas AL and AR are set around the arm 5 as shown in FIG. AL and AR overlap in FIG.

The position of the fulcrum 5a on the base end side of the arm 5 is the same as the position of the fulcrum 4b on the tip side of the boom 4, and can be determined as described above.
With respect to the position of the fulcrum 5a on the base end side of the arm 5, the position of the fulcrum 5b on the distal end side is determined by the distance (eigenvalue) between the fulcrums 5a and 5b of the arm 5 and the arm tilt angle detected by the arm tilt sensor 17. can be determined based on

Here, in the detection length direction, it is possible to variably set the increase/decrease of the detection length from the fulcrum 5a (a1; ± value) and the increase/decrease of the detection length from the fulcrum 5b (a2; ± value). be.
In addition, in the detection width direction, a detection width (a3; +value) from the straight line L2 to the arm dorsal side and a detection width (a4; +value) to the arm ventral side from the straight line L2 can be variably set.

(2) Setting the detection areas of the front left and right horizontal scanners 14L and 14R (see FIG. 6)
The detection areas of the front left and right horizontal scanners 14L and 14R are (2-1) left and right horizontal plane detection areas FL and FR of the boom and arm, (2-2) left and right horizontal plane detection areas SL and SR of the upper rotating body, (2-3) Set left and right horizontal plane detection areas SL2 and SR2 in the front portion of the lower traveling body. That is, three horizontal plane detection areas are set on one side.

(2-1) Horizontal plane detection areas FL, FR on the left and right sides of the boom and arm
The horizontal plane detection areas FL and FR on the left and right sides of the boom and arm are the image areas of the left and right sides of the boom 4 and arm 5. The detection width can be variably set by the f1 and f2 values shown in the figure, and the orientation of the boom 5 and arm 6. It becomes a rectangle whose height and width are the detection length (offset possible) based on the changing projection length. That is, the detection range is changed (extended and contracted) in conjunction with the operation (movement) of the boom/arm.

(2-2) Horizontal plane detection areas SL, SR on the left and right sides of the upper rotating body
The horizontal plane detection areas SL and SR on the left and right sides of the upper swing structure are areas that represent the side surfaces of the upper swing structure 3, and are detection lengths that can be variably set by the illustrated value s1 to the rear side from the installation positions of the horizontal scanners 14L and 14R. , and a detection width that can be variably set according to the illustrated s2 value.

(2-3) Horizontal plane detection areas SL2 and SR2 on the left and right sides of the front portion of the lower traveling body
The left and right horizontal plane detection areas SL2 and SR2 of the front part of the lower traveling body are areas imagining the vicinity of the lower traveling body 2, and the detection length can be variably set by the illustrated s21 value and the detection width can be variably set by the illustrated s22 value. It becomes a rectangle with vertical and horizontal width. Unlike the detection areas SL and SR, the detection areas SL2 and SR2 follow the position of the lower traveling body 2 without changing when the upper rotating body 3 turns.

(3) Setting the detection area of the rear horizontal scanner 15 (see FIG. 6)
The rear horizontal scanner 15 is provided to avoid contact with an obstacle behind the upper swing body 3 , and a horizontal plane detection area R of the horizontal scanner 15 is set behind the upper swing body 3 .

The horizontal plane detection area R behind the horizontal scanner 15 is a rectangle having a detection length variably settable by the illustrated r1 value behind the horizontal scanner 15 and a left and right detection width variably settable by the illustrated r2 and r3 values. .

FIG. 7 is a diagram showing a display example of the monitor screen of the touch panel monitor 200. As shown in FIG.
On the upper part of the monitor screen, images captured by the left and right cameras 19L and 19R are displayed, and on the lower part, a plane image (view 1) of the backhoe including the display of the detection area and left and right side images (view 2) are displayed. Schematically displayed. Obstacles detected in the detection area are displayed as icons, for example, as a point group (see point group in view 1).

The settings of the detection length, detection width, offset amount, and the like in setting the detection area can be performed by using the touch panel monitor 200 and switching to the setting screen using the setting tab.

Next, obstacle detection control (contact avoidance operation) will be described.
When any of the vertical scanners 13L, 13R, horizontal scanners 14L, 14R and 15 detects an obstacle within its detection area (when the position of the obstacle detected by the scanner is within the detection area set), An action is taken to avoid contact with the obstacle.

As the contact avoidance operation, an appropriate display on the touch panel monitor 200, a warning by sound or light to the operator, or the like can be given.
In addition, when the backhoe can be controlled by the output of the control PC 100, a stop signal is output to stop the operation of the boom 4, the arm 5 and the bucket 6, stop the swinging operation of the upper swing structure 3, and stop the lower traveling structure 2. You may make it stop driving|running|working. Alternatively, a lock signal may be intervened in the electrical circuit of the safety lock lever. Also, instead of immediate stop, deceleration, stepwise deceleration and stop, etc. may be performed.

According to this embodiment, it is possible to finely set an appropriate detection range (dynamic detection area) according to the construction environment. Risk can be controlled.

Especially in the evening and at night, when heavy equipment is used near overhead lines, this system is effective in preventing accidents in which the boom or arm comes into contact with the overhead lines.
Also, by setting a function to forcibly (automatically) stop the system, the risk of a serious accident occurring can be greatly reduced.

Obstacles such as workers, overhead lines, tools, fences, structures (pillars, walls), and cables can be detected.
Since the soil to be excavated is not an obstacle, if it can be determined from the brightness or the like, overdetection can be further reduced. In particular, the two-dimensional LiDAR used in this embodiment can obtain not only ranging information but also luminance (RSSI 1 to 255) information of an object. Therefore, for example, it is conceivable to classify and learn the brightness of the detected obstacles as data, and perform processing such that the brightness peculiar to earth and sand is not subject to detection.

In addition, since this system can basically be attached externally, it can be easily applied to existing heavy machinery.

Further, in obstacle detection, a storage device for storing images (moving images) taken by the cameras 19L and 19R is provided for later verification, and the images (moving images) taken by the cameras 19L and 19R are stored temporarily. The control PC 100 is preferably provided with a function as image storage means for storing images before and after an obstacle is detected in the detection area (overwritten at regular time intervals).

For the same reason, it is preferable to store screenshots of the monitor screen of the touch panel monitor 200 in chronological order, for example, at intervals of 1 second, so that screenshots before and after an obstacle is detected are saved.

If the obstacle to be detected is a thin overhead wire, a reflector having a width (for example, 20 cm or more) that allows detection by the vertical scanners 13L and 13R should be installed on the overhead wire. This is because thin overhead wires are difficult to detect with a laser scanner. In the case of two-dimensional LiDAR, it is a necessary condition that the reflectance of the obstacle to be detected is at least 10% or more, and if it is less than that, it cannot be detected. In this case as well, detection is possible by attaching a reflector to the obstacle to be detected.

Laser scanners and the like are preferably provided with a self-diagnostic function so that failures can be detected from the signal level and the like and reported on the monitor. In addition, since it is conceivable that the sensor may be covered with mud and the like and cannot be detected, it is preferable to diagnose dirt on the light emitting/receiving part from a drop in the signal level and notify the user. In any case, periodic cleaning of laser scanners and the like is necessary.

It should be noted that the illustrated embodiments are only schematic illustrations of the present invention, and that the present invention, in addition to what is directly indicated by the described embodiments, may also include various modifications made by those skilled in the art within the scope of the claims. Needless to say, it includes the improvement and change of

1 Backhoe 2 Undercarriage 3 Upper Revolving Body 4 Boom 5 Arm 6 Bucket 7 Cabin 8 Counterweight 10 Boom Cylinder 11 Arm Cylinder 12 Bucket Cylinder 13L, 13R Front Left and Right Vertical Scanners 14L, 14R Front Left and Right Horizontal Scanner 15 Rear Horizontal Scanner 16 boom tilt sensor 17 arm tilt sensor 18 upper revolving body tilt sensor 19L, 19R camera 100 control PC
200 touch panel monitor

Claims (8)

An obstacle detection system around heavy machinery having a boom and an arm on an upper rotating body,
Left and right vertical scanners arranged on the left and right sides of the upper rotating body with the boom and arm interposed therebetween, and capable of detecting obstacles in the vertical plane by irradiating a laser onto the vertical plane including the scanner itself;
Left and right horizontal scanners arranged on the left and right sides of the upper rotating body with the boom and the arm interposed therebetween, and capable of detecting obstacles in the horizontal plane by irradiating a laser onto the horizontal plane including the scanner itself;
an inclination sensor arranged on each of the boom and the arm for detecting an inclination angle of the boom and the arm;
detection area setting means for setting a detection area around the boom and arm within a plane detectable by each of the vertical scanner and the horizontal scanner, according to the orientation of the boom and arm detected by the tilt sensor; ,
contact avoidance operation means for performing an operation for avoiding contact with an obstacle when an obstacle is detected within the detection area;
An obstacle detection system around heavy machinery, comprising: The left and right horizontal scanners are arranged at both corners of the front side of the upper revolving body, and are capable of scanning the left, right, front and side of the upper revolving body to detect obstacles in front of and to the sides of the upper revolving body. The obstacle detection system around heavy machinery according to claim 1, characterized in that it is detectable. Further comprising a rear horizontal scanner arranged behind the upper rotating body and capable of detecting an obstacle in the horizontal plane by irradiating a laser in a horizontal plane including itself, and detecting an obstacle behind the upper rotating body. 3. The obstacle detection system around heavy machinery according to claim 1 or 2, characterized in that it is capable of detecting obstacles. The obstacle detection around heavy machinery according to any one of claims 1 to 3, further comprising an inclination sensor arranged on the upper revolving body and detecting an inclination angle of the upper revolving body. system. 5. The obstacle detection system around heavy machinery according to claim 1, wherein said detection area setting means sets said detection area in a rectangular two-dimensional coordinate system. Further comprising image storage means for storing images before and after an obstacle is detected in the detection area, the image storage device having a camera for photographing the surroundings of the heavy machinery and a storage device for storing the photographed images. The obstacle detection system around heavy machinery according to any one of claims 1 to 5. When the obstacle to be detected is an overhead wire, a reflector having a width that enables detection by the vertical scanner is installed on the overhead wire. Obstacle detection system around heavy equipment described in 1. further comprising a display for operator viewing located within the heavy equipment cabin;
The display device displays a side image and a plane image of the heavy machinery including the display of the detection area, and has a function of displaying icons of obstacles detected in the detection area. The obstacle detection system around heavy machinery according to any one of claims 1 to 7.

Images