JP2024044525A - Obstacle Detection Device - Google Patents

Abstract

[Problem] The object of the present invention is to solve the problems of the prior art, that is, to provide an obstacle detection device that allows easy work at height and can detect obstacles over a wider range than the prior art. [Solution] The obstacle detection device of the present invention is a device that detects obstacles above the lifting bucket of a vehicle for high-altitude work or the like during ascent, and is equipped with a laser distance measuring means, a coordinate calculation means, an output control means, and an output means. Of these, the laser distance measuring means measures the distance to the object to be measured by irradiating a laser radially within a substantially vertical plane. The output control means causes the output means to output a proximity alarm when the horizontal distance is within a predetermined horizontal range and the vertical distance is within a predetermined vertical approach range. [Selected Figure] Figure 1

Description

The present invention relates to a technology for ensuring the safety of people working inside the lifting bucket of an aerial work vehicle or a bridge inspection vehicle. This invention relates to an obstacle detection device that can protect people.

The Industrial Safety and Health Act defines "work at heights" as work performed at a height of 2m or more above the ground, and when performing work at heights, safety measures for workers, including fall prevention, must be taken. It is stipulated that Work at heights is frequently carried out at construction sites. For example, work at heights is unavoidable when constructing the main girder of a bridge or working near the top of a tunnel excavation, and when constructing a high-rise building, work at heights can be carried out at any location during construction. Work at heights is carried out. Work at heights is also carried out in a variety of situations, including not only the construction of structures, but also inspections and repair work of structures in service, erection of electric cables, and window cleaning of office buildings.

Among these, temporary scaffolding may be installed for high-altitude work and bridge inspections (hereinafter referred to as ``high-place work, etc.'') that are performed at relatively high positions. By setting up scaffolding, you can work at heights at any time and do so safely. On the other hand, it takes a considerable amount of effort and time to erect scaffolding, and the same amount of effort and time is required to dismantle the scaffolding, and considering the cost of scaffolding materials, it is necessary to secure a certain budget. It won't happen. Therefore, there is a tendency for scaffolding to be used when work at high places is to be carried out for a certain period of time.

On the other hand, when work at height is performed temporarily or for a very short period of time, aerial work vehicles are often used, and when bridge inspection is performed, bridge inspection vehicles are often used. Aerial work vehicles and bridge inspection vehicles (hereinafter referred to as "aerial work vehicles, etc.") are construction machines that push workers in lifting buckets up to high positions, and various models are used depending on the work purpose and work environment. Aerial work vehicles and other models are classified differently depending on the focus. For example, when focusing on the power source, they are classified into engine type, battery type, bi-energy type, etc., and when focusing on the driving, they are classified into track type, self-propelled type, crawler type, tire type, etc. In addition, when focusing on the lifting mechanism, they can be classified into scissors type that uses a pantograph structure to lift and lower, vertical mast type that lifts and lowers along a mast, straight boom type that lifts and lowers by extending and retracting several stages of the boom, and bending boom type that bends and rotates in addition to extending and retracting.

Incidentally, when a lifting bucket carrying a worker is lifted, unexpected obstacles (for example, structural beams, ducts, racks, etc.) may be placed above it. Of course, there is no problem if the obstacle can be recognized early, but if the operator continues to raise the lifting bucket without noticing its existence, the worker may collide with the obstacle, or the worker may run into the obstacle between the lifting bucket and the obstacle. This can lead to work-related accidents.

Therefore, various techniques have been proposed to detect obstacles around the elevating bucket as it ascends. Typical countermeasures include a distance sensor method and a physical sensor method proposed in Patent Document 1.

Japanese Patent Application Publication No. 2006-131370

The physical sensor method disclosed in Patent Document 1 involves attaching a pole-shaped sensor to the side of the lift bucket, which issues an alert when the sensor comes into contact with an obstacle. On the other hand, conventional distance sensors are installed on the handrails or control panel of the lift bucket, facing upward, and issue an alert when the distance measured by the distance sensor exceeds a certain level.

However, problems can be pointed out with both the conventional physical sensor method and the distance sensor method. The physical sensor method has the problem that the installed pole-shaped sensor becomes an obstacle when working at height, and while it can detect obstacles where the pole-shaped sensor is installed, it cannot detect obstacles that are in a position that is far from the pole-shaped sensor. Similarly, the distance sensor method has the problem that it can detect obstacles where the distance sensor is installed, but cannot detect obstacles that are in a position that is far from the distance sensor. Furthermore, both the physical sensor method and the distance sensor method are not equipped with a function to notify a worker that he or she has been caught between the lifting bucket and an obstacle, which may even delay rescue or treatment.

The objective of the present invention is to solve the problems of the conventional technology, that is, to provide an obstacle detection device that can easily perform work at height, and can detect obstacles over a wider range than conventional technology.

The present invention was made by focusing on the point that obstacles are detected in a so-called planar form using laser distance measuring means and radially irradiated laser, and is based on an unprecedented idea. This is an invention made.

The obstacle detection device of the present invention is a device for detecting obstacles above the lifting bucket of a vehicle for high-altitude work (such as a vehicle for high-altitude work or a bridge inspection vehicle) during ascent, and is equipped with a laser distance measuring means, a coordinate calculation means, an output control means, and an output means. The laser distance measuring means measures the distance to the object by radiating a laser in a substantially vertical plane (including the vertical plane), and the coordinate calculation means calculates the horizontal distance (horizontal distance from the laser distance measuring means to the object) and the vertical distance (vertical distance from the laser distance measuring means to the object) based on the distance to the object and the direction of laser irradiation. The output control means outputs a proximity alarm (information notifying the approach of an obstacle) according to the calculation result by the coordinate calculation means, and the output means outputs the proximity alarm according to the control of the output control means. The output control means causes the output means to output a proximity alarm when the horizontal distance is within a predetermined horizontal range and the vertical distance is within a predetermined vertical approach range. The horizontal range is set by the lower limit horizontal distance and upper limit horizontal distance from the laser distance measuring means, and the approach vertical range is set by the lower limit vertical distance and upper limit vertical distance from the laser distance measuring means.

The obstacle detection device of the present invention may also be one in which a laser distance measuring means is installed on the handrail of the lifting bucket. In this case, the laser distance measuring means irradiates a laser within a substantially vertical plane (including the vertical plane) including the handrail. The output control means outputs a danger alarm (information notifying the operator that he or she is caught between the handrail and an obstacle) when the horizontal distance is within the horizontal range and the vertical distance is within a predetermined dangerous vertical range, and the output means outputs the danger alarm according to the control of the output control means. The dangerous vertical range is set by a lower limit vertical distance and an upper limit vertical distance from the laser distance measuring means, and the upper limit vertical distance of the dangerous vertical range is set to a value smaller than the lower limit vertical distance of the approach vertical range.

The obstacle detection device of the present invention detects when a predetermined situation (a situation where the horizontal separation is within the horizontal range and the vertical separation is within the predetermined dangerous vertical range) continues beyond a predetermined duration threshold. It is also possible to output a danger warning.

The obstacle detection device of the present invention can also be configured to output a danger alarm when a specified situation occurs (a situation in which the horizontal distance is within the horizontal range and the vertical distance is within the dangerous vertical range) before a predetermined elapsed time threshold has elapsed after a proximity alarm has been output by the output means.

The obstacle detection device of the present invention may further include a rise determination means. This rise determination means is a means for determining the rise of the elevating bucket based on the results of the repeated measurements by the laser distance measuring means. It is determined that the bucket is rising. In this case, the output control means outputs an approach warning while the rise determination means is determining whether the lifting bucket has risen.

The obstacle detection device of the present invention may also calculate the rising speed of the lifting bucket based on repeated measurements by the laser distance measuring means. In this case, the ascent determining means determines that the elevating bucket is ascending when the ascending speed of the elevating bucket exceeds a predetermined speed threshold.

The obstacle detection device of the present invention may further include floor condition setting means in a case where the floor surface of the lifting bucket expands by sliding a portion of the floor body. This floor state setting means is a means that can set either a normal state (a state before a part of the floor body slides) or an extended state (a state after a part of the floor body slides). be. In this case, when the expanded state is set by the floor surface state setting means, the horizontal range is set based on the upper limit horizontal distance that is set to a larger value than the upper limit horizontal distance related to the normal state.

The obstacle detection device of the present invention may also be one in which the laser distance measuring means is installed at a position where the lift bucket is lower than the topmost handrail.

The obstacle detection device of the present invention has the following effects.
(1) Since obstacles are detected in a planar manner using a radially irradiated laser, failure to detect obstacles can be reduced compared to conventional techniques.
(2) Unlike conventional pole-shaped sensors, a relatively compact laser distance measuring means is installed, so work within the lifting bucket can be easily carried out without any hindrance.
(3) By providing the elevation determination means, it is possible to detect only obstacles above the worker's head and issue an alert, that is, it is possible to suppress false alarms.
(4) By making it possible to output a danger warning in addition to an approach warning, an alert can be issued in the unlikely event that a worker is trapped, allowing for prompt rescue and treatment.

FIG. 2 is a perspective view showing a schematic state in which a laser distance measuring means attached to a lifting bucket of a vehicle for working at height irradiates a laser. 1 is a block diagram showing a main configuration of an obstacle detection device according to the present invention; FIG. 3 is a perspective view schematically showing a laser ranging means. FIG. 4 is a model diagram illustrating object coordinates based on a laser ranging means. A model diagram explaining approach areas and danger areas. FIG. 3 is a flow diagram showing basic processing when the output control means determines the approach situation. 11 is a flowchart showing a process in which the output control means uses the rise determination means to determine an approaching situation. FIG. 3 is a flow diagram showing basic processing when the output control means determines a dangerous situation. 6 is a flow diagram showing a process in which the output control means determines a dangerous situation when an obstacle in a danger area is continuously detected; FIG. 13 is a flow diagram showing a process in which an output control means determines a dangerous situation when an obstacle is detected in a danger area before an elapsed time threshold has elapsed. FIG. A model diagram schematically showing a terminal device that displays approach information, danger warnings, measurement results, target object coordinates, etc. 1A is a side view showing a schematic diagram of the lift bucket when a portion of the floor body is not slid, and FIG. 1B is a side view showing a schematic diagram of the lift bucket when a portion of the floor body is slid. 4 is a flowchart showing a process for outputting an approach warning or a danger warning using the obstacle detection device of the present invention.

An example of an obstacle detection device according to the present invention will be described with reference to the drawings.

1. Overall Overview The present invention is capable of detecting obstacles located above the lifting bucket of an "upward working machine" in advance when the lifting bucket is rising. Here, the upward work machine is a construction machine that has a lifting bucket that can be lifted, such as an aerial work vehicle or a bridge inspection vehicle, and if it is movable, it can be a truck type, wheel type, or crawler type. However, it can also be a telescopic boom, a retractable boom, a mixed boom, a vertical lift type, an engine type, a battery type, a bi-energy type, etc. be able to. For convenience, the explanation will be given here using an example in which the machine for upward work is an aerial work vehicle. FIG. 1 is a perspective view schematically showing a situation in which a laser distance measuring means 101 attached to a lifting bucket BC of an aerial work vehicle HV (an overhead work machine) is irradiating a laser LS. As shown in this figure, the laser distance measuring means 101 irradiates the laser LS radially above the lifting bucket BC, that is, forms a measurement range on a substantially vertical plane (including the vertical plane) above the lifting bucket BC. As a result, obstacles above the lifting bucket BC are searched in a so-called planar manner. By performing a planar search in this manner, it is possible to detect all obstacles above the lifting bucket BC that is being raised.

In the example of FIG. 1, the laser distance measuring means 101 is attached to the second-highest horizontal member of the handrail HD that constitutes the lift bucket BC, and the laser is irradiated to the same (or close) approximately vertical plane as the approximately vertical plane (including the vertical plane) including the handrail HD. In this case, it is possible to detect obstacles located above the handrail HD in advance, and this can prevent the worker (e.g., arms, fingers, etc.) riding on the lift bucket BC from being pinched between the handrail HD and the obstacle. Note that the laser distance measuring means 101 can be attached to any position, not limited to the position in FIG. 1, as long as it can be irradiated above the lift bucket BC. In addition, the example of FIG. 1 shows a scissor-type high-altitude work vehicle HV, but the present invention can be implemented with various high-altitude work vehicles HV, such as vertical lift type high-altitude work vehicles HV, telescopic boom type high-altitude work vehicles HV, bending boom type high-altitude work vehicles HV, and mixed boom type high-altitude work vehicles HV.

2. Obstacle Detection Device The obstacle detection device of the present invention will now be described in detail. Fig. 2 is a block diagram showing the main components of the obstacle detection device 100 of the present invention. As shown in this figure, the obstacle detection device 100 of the present invention is configured to include a laser distance measuring means 101, a coordinate calculation means 102, an output control means 103, and an output means 104, and may further include an ascent determination means 105, a floor surface state setting means 106, a restricted area storage means 107, a display means to be described later, and the like.

Of the main elements constituting the obstacle detection device 100, the coordinate calculation means 102, output control means 103, rise determination means 105, and floor surface state setting means 106 can be manufactured as dedicated components, or a general-purpose computer device can be used. This computer device is equipped with a processor such as a CPU, memory such as ROM and RAM, input means such as a mouse and keyboard, and a display, and can be configured from a personal computer (PC), a server, a tablet PC such as an iPad (registered trademark), or a mobile terminal including a smartphone. When a computer device equipped with a display is used, the display can also be used as the output means 104.

Further, the restricted area storage means 107 can use a storage device of a general-purpose computer, or can be constructed in a database server. When building a database server, it can be placed on a local network (LAN: Local Area Network), or it can be a cloud server that stores it via the Internet.

Hereinafter, each main element constituting the obstacle detection device 100 of the present invention will be explained in detail.

(Laser distance measuring means)
The laser distance measuring means 101 is a distance measuring means that receives a reflected signal of a laser LS irradiated to a measurement object and measures the distance, and irradiates the laser LS while changing the irradiation direction (i.e., while shaking or rotating) within a substantially vertical plane (including a vertical plane). By irradiating the laser LS while changing the irradiation direction in this way, the laser LS is irradiated radially, that is, a measurement range can be formed on a substantially vertical plane. The irradiation direction of the laser LS (irradiation angle in three-dimensional space) is acquired by the laser distance measuring means 101. When the irradiated laser LS is reflected by the measurement object, the laser distance measuring means 101 receives the reflected signal, and can obtain the distance to the measurement object from the irradiation time and reception time of the laser LS (hereinafter referred to as the "measured distance").

FIG. 3 is a perspective view schematically showing the laser distance measuring means 101. The laser distance measuring means 101 shown in this figure is housed in a case, and a laser LS is irradiated with a slit provided at the top of the case as an opening. This case also accommodates an alarm buzzer as an output means 104, and also accommodates a small computer PC that includes a coordinate calculation means 102, an output control means 103, an elevation determination means 105, a floor condition setting means 106, etc. has been done. Therefore, when the case shown in this figure is attached to the lifting bucket BC, etc., the laser distance measuring means 101 is installed, as well as the output means 104, the coordinate calculation means 102, the output control means 103, the elevation determination means 105, and the floor condition setting. Means 106 is also installed.

As mentioned above, the laser distance measuring means 101 can be installed in any position as long as it can irradiate the laser LS toward the upper part of the lifting bucket BC. Also, only one laser distance measuring means 101 can be installed on the lifting bucket BC, or two laser distance measuring means 101 can be installed as a set as shown in Figures 1 and 3, or three or more laser distance measuring means 101 can be installed as a set. When installing two laser distance measuring means 101, it is recommended to install them on opposing handrails HD as shown in Figure 1. This forms a measurement range within two different approximately vertical planes, meaning that the areas above the opposing handrails HD can be measured in a planar manner.

(Coordinate calculation means)
The coordinate calculation means 102 calculates the position of the object to be measured, that is, the relative coordinates with respect to the laser distance measurement means 101 (in particular, the irradiation point) from the measurement results (measured distance and irradiation direction) obtained by the laser distance measurement means 101. (hereinafter referred to as "object coordinates"). As shown in FIG. 4, the object coordinates are the horizontal distance from the laser distance measuring means 101 (irradiation point) to the measuring object OJ (hereinafter referred to as "horizontal distance DH"), and the horizontal distance from the laser distance measuring means 101 to the measuring object OJ. It can be defined by the vertical distance to the object OJ (hereinafter referred to as "vertical distance DV"). The horizontal distance DH is determined as the cosine length of the measurement distance DS (distance from the irradiation point to the object to be measured OJ), and the vertical distance DV is determined as the sine length of the measurement distance DS. The radially irradiated laser LS forms a vertical plane, and therefore the measured object OJ should be located within the vertical plane. Therefore, the object coordinates can be defined as two-dimensional coordinates (horizontal distance DH, vertical distance DV) on the vertical plane by the laser LS.

(Output control means)
The output control means 103 is a means for determining whether or not the measurement object OJ corresponds to an obstacle for the ascending worker based on the object coordinates obtained by the coordinate calculation means 102, that is, a situation in which an obstacle is approaching the worker (hereinafter referred to as an "approaching situation"). If it is determined that the obstacle is approaching, the output control means 103 controls the output means 104 to output information notifying that an obstacle is approaching (hereinafter referred to as an "approaching warning"). The output control means 103 also determines a situation in which the worker is caught between the handrail HD and an obstacle (hereinafter referred to as a "dangerous situation"), and, if it is determined that the situation is dangerous, can also control the output means 104 to output information notifying that the worker is caught between the handrail HD and an obstacle (hereinafter referred to as a "dangerous warning").

The output control means 103 determines that it is an approaching situation when the measurement object OJ (object coordinates) is in the "approach area", and determines that it is a dangerous situation when the measurement object OJ (object coordinates) is in the "danger area". Determine it as a situation. FIG. 5 is a model diagram illustrating the approach area and the dangerous area. In this figure, the origin is the laser ranging means 101 (irradiation point), and the two-dimensional (on the vertical plane) coordinates are set so that the left side is positive in the horizontal axis direction and the upper side is positive in the vertical axis direction. The system is set. As shown in this figure, the approach area is set by a horizontal range WH and an approach vertical range WV1. The horizontal range WH is set by the lower limit horizontal distance HL and the upper limit horizontal distance HU from the laser distance measuring means 101 (irradiation point), and the approach vertical range WV1 is the lower limit vertical distance from the laser distance measuring means 101 (irradiation point). It is set by distance VL1 and approach upper limit vertical distance VU1. Although FIG. 5 shows an example in which the lower limit horizontal distance HL is a negative value, it is of course possible to set the lower limit horizontal distance HL to a value of 0 or more.

One danger area is set by a horizontal range WH and a danger vertical range WV2. The danger vertical range WV2 is set by the danger lower limit vertical distance VL2 and the danger upper limit vertical distance VU2 from the laser distance measuring means 101 (irradiation point). The lower limit horizontal distance HL and the upper limit horizontal distance HU (i.e., the horizontal range WH), the approach lower limit vertical distance VL1 and the approach upper limit vertical distance VU1 (i.e., the approach vertical range WV1), the danger lower limit vertical distance VL2 and the danger upper limit vertical distance VU2 (i.e., the danger vertical range WV2) should be set in advance. However, as shown in FIG. 5, the danger upper limit vertical distance VU2 is set at a value smaller than the approach lower limit vertical distance VL1 (i.e., a lower position). The horizontal range WH, approach vertical range WV1, and danger vertical range WV2 set in advance are stored in the restricted area storage means 107 (FIG. 2).

Below, referring to FIG. 6, the main steps by which the output control means 103 determines an approaching situation will be described. FIG. 6 is a flow diagram showing the basic processing by the output control means 103 when determining an approaching situation. As shown in this figure, when the object coordinates are calculated by the coordinate calculation means 102 (Step 201 in FIG. 6), the output control means 103 checks the horizontal distance DH against the horizontal range WH (Step 211 in FIG. 6). Then, when the horizontal distance DH is included in the horizontal range WH (Yes in Step 211 in FIG. 6), the process proceeds to the subsequent process (Step 212 in FIG. 6), and when the horizontal distance DH is not included in the horizontal range WH (No in Step 211 in FIG. 6), it is determined that there is no obstacle OB above the operator (lift bucket BC) (normal state) (Step 214 in FIG. 6).

When it is determined that the horizontal separation DH is included in the horizontal range WH, the output control means 103 checks the vertical separation DV against the approach vertical range WV1 (Step 212 in FIG. 6). Then, when the vertical separation DV is included in the approach vertical range WV1 (Yes in Step 212 in FIG. 6), it is determined that the situation is approaching (Step 213 in FIG. 6), and when the vertical separation DV is not included in the approach vertical range WV1 (No in Step 212 in FIG. 6), it is determined that the situation is normal (Step 214 in FIG. 6). When it is determined that the situation is approaching, the output control means 103 controls the output means 104 to output an approach alarm (Step 215 in FIG. 6). The output means 104 can be a buzzer or speaker that outputs sound, or various devices that output information that can be sensed by humans, such as a rotating light (patrol lamp), a display board, or a vibration device, can be used. Furthermore, if an approaching situation is determined, in addition to outputting an approach warning, the output control means 103 can also be configured to stop the lifting of the lift bucket BC by the aerial work vehicle HV.

In the procedure shown in FIG. 6, there are cases where the output means 104 outputs a proximity warning even when the lifting bucket BC is descending or stopping, and the proximity warning in such a case is considered to be a false alarm. It often happens. Therefore, the output control means 103 may determine the approaching situation only when the lifting bucket BC is rising, that is, the output means 104 may output an approach warning. In this case, a rise determination means 105 is used that determines that the lifting bucket BC is raised.

The laser distance measuring means 101 emits a laser LS at extremely short time intervals, i.e., the measured distance DS is repeatedly obtained. When the measured distance DS gradually decreases over time, it is considered that the lifting bucket BC is rising. Therefore, the ascent determination means 105 can be configured to obtain the measured distance DS repeatedly measured by the laser distance measuring means 101, and determine that the lifting bucket BC is rising when the measured distance DS gradually decreases. The ascent determination means 105 can also determine the ascent speed of the lifting bucket BC by obtaining the measured distance DS obtained by the laser distance measuring means 101 and the measurement time related to the measured distance DS. The ascent speed of the lifting bucket BC when there is an obstacle OB above it is the speed at which the worker riding on the lifting bucket BC approaches the obstacle OB, or in other words, the speed at which the obstacle OB approaches the worker.

Figure 7 is a flow diagram showing the process in which the output control means 103 uses the ascent determination means 105 to determine the approaching situation. As shown in this figure, in the case where the approaching situation is determined when the lift bucket BC is rising, the coordinate calculation means 102 determines the object coordinates (Step 201 in Figure 7) and the ascent determination means 105 determines the ascent speed of the lift bucket BC (Step 216 in Figure 7). Next, when the horizontal separation DH is included in the horizontal range WH (Yes in Step 211 in Figure 7) and the vertical separation DV is included in the approaching vertical range WV1 (Yes in Step 212 in Figure 7), the ascent determination means 105 evaluates the situation of the measured distance DS that is repeatedly acquired (Step 217 in Figure 7). If the measured distance DS is gradually decreasing (Yes in Step 217 in FIG. 7), the process proceeds to the subsequent process (Step 218 in FIG. 7); if the measured distance DS is not gradually decreasing (No in Step 217 in FIG. 7), the state is determined to be normal (Step 214 in FIG. 7).

When it is determined that the measured distance DS is gradually decreasing, the rise determination means 105 compares the rising speed of the lifting bucket BC with a predetermined threshold value (hereinafter referred to as "speed threshold value") (Step 218 in FIG. 7). When the rising speed of the lifting bucket BC exceeds (or exceeds) the speed threshold (Yes in Step 218 in FIG. 7), it is determined that the lifting bucket BC is rising, and the output control means 103 determines that the approaching situation is A determination is made (Step 213 in FIG. 6). On the other hand, when the rising speed of the lifting bucket BC is less than (or becomes less than) the speed threshold (No in Step 218 in FIG. 7), it is determined that the lifting bucket BC is not rising, and the output control means 103 is in a normal state. (Step 214 in FIG. 7). Note that without comparing the rising speed of the lifting bucket BC with the speed threshold value, that is, when the measured distance DS is gradually decreasing, it is determined that the lifting bucket BC is rising, and the output control means 103 determines it as an approaching situation. (Step 213 in FIG. 6). In this case, the process of calculating the rising speed of the lifting bucket BC (Step 216 in FIG. 7) and the process of comparing the rising speed of the lifting bucket BC with the speed threshold (Step 218 in FIG. 7) can be omitted.

Next, with reference to FIG. 8, the main procedures by which the output control means 103 determines a dangerous situation will be explained. FIG. 8 is a flowchart showing basic processing when the output control means 103 determines a dangerous situation. As shown in this figure, when the coordinates of the object are determined by the coordinate calculation means 102 (Step 201 in FIG. 8), the output control means 103 compares the horizontal distance DH with the horizontal range WH (Step 221 in FIG. 8). Then, when the horizontal distance DH is included in the horizontal range WH (Yes in Step 221 in FIG. 8), the process proceeds to the subsequent process (Step 222 in FIG. 8), and when the horizontal distance DH is not included in the horizontal range WH ( No in Step 221 of FIG. 8) is determined to be normal (Step 224 of FIG. 8).

When it is determined that the horizontal distance DH is included in the horizontal range WH, the output control means 103 compares the vertical distance DV with the dangerous vertical range WV2 (Step 222 in FIG. 8). Then, when the vertical distance DV is included in the dangerous vertical range WV2 (Yes in Step 222 in FIG. 8), it is determined that the situation is dangerous (Step 223 in FIG. 8), and when the vertical distance DV is not included in the dangerous vertical range WV2 (No in Step 222 in FIG. 8), it is determined that the situation is normal (Step 224 in FIG. 8). When it is determined that the situation is dangerous, the output control means 103 controls the output means 104 to output a danger alarm (Step 225 in FIG. 8). Note that the output means 104 can use a buzzer or speaker that outputs sound, as in the case of outputting a proximity alarm, or can use various devices that output information that can be sensed by humans, such as a rotating light (patrol lamp), a display board, or a vibration device. The output means 104 can also output different types of information so that the approach warning and the danger warning can be distinguished from each other, such as by changing the volume of the buzzer for the approach warning and the danger warning, or by outputting the approach warning with a rotating light and the danger warning with a buzzer. Furthermore, when a dangerous situation is determined, in addition to outputting a danger warning, the output control means 103 can also be designed to control the lifting bucket BC to stop being raised by the aerial work vehicle HV.

In the procedure shown in FIG. 8, there are cases where the output means 104 outputs a danger alarm even when an obstacle OB in the danger area is detected for an extremely short period of time, and the danger alarm in such cases is often a false alarm. Therefore, it is possible to configure the output control means 103 to determine that a dangerous situation exists, i.e., the output means 104 outputs a danger alarm, only when an obstacle OB in the danger area is continuously detected for a certain period of time.

FIG. 9 is a flowchart showing a process in which the output control means 103 determines a dangerous situation when an obstacle OB in a dangerous area is continuously detected. As shown in this figure, in the case where continuous detection of the obstacle OB is considered, the horizontal distance DH is included in the horizontal range WH (Yes in Step 221 in FIG. 9), and the vertical distance DV is included in the dangerous vertical range WV2. (Yes in Step 222 in FIG. 9), the output control means 103 temporarily determines that the situation is dangerous. Then, when the temporary dangerous situation continues beyond a predetermined threshold (hereinafter referred to as "duration threshold") (or more than the duration threshold) (Yes in Step 226 in FIG. 9), the output control means 103 is ultimately determined to be a dangerous situation. On the other hand, when the temporary dangerous situation does not exceed (or becomes less than) the duration threshold (No in Step 226 in FIG. 9), it is determined that the output control means 103 is in a normal state (Step 224 in FIG. 9).

As explained so far, it is possible to determine a dangerous situation and output a danger alarm regardless of the output of a proximity alarm, in other words, independently of the determination of the approach situation. On the other hand, a dangerous situation in which a worker is trapped between the handrail HD and an obstacle OB often occurs after an obstacle OB is detected in the approach area. Therefore, it is also possible to have the output control means 103 determine that a dangerous situation exists, i.e., the output means 104 outputs a danger alarm, only when various conditions are met before a certain period of time (hereinafter referred to as the "elapsed time threshold") has elapsed after the output of the proximity alarm.

Figure 10 is a flow diagram showing the process in which the output control means 103 judges a dangerous situation when an obstacle OB in the danger area is detected before the elapse of the elapsed time threshold. As shown in this figure, in the case where the elapsed time after the approach warning output is taken into consideration, after the approach warning is output (Step 215 in Figure 10), when the horizontal distance DH is included in the horizontal range WH (Yes in Step 221 in Figure 10) and the vertical distance DV is included in the dangerous vertical range WV2 (Yes in Step 222 in Figure 10), the output control means 103 provisionally judges that the situation is dangerous. Then, when the provisional judgment of the dangerous situation is before the elapse of the elapsed time threshold after the output of the approach warning (Yes in Step 227 in Figure 10), the output control means 103 finally judges that the situation is dangerous. On the other hand, if the provisional dangerous situation determination has exceeded the elapsed time threshold after the output of the approach warning (No in Step 227 of FIG. 10), the output control means 103 determines that the situation is normal (Step 224 of FIG. 10).

The obstacle detection device 100 may also include a terminal device TE that outputs information in a manner different from that of the output means 104. This terminal device TE is a means for displaying, as visual information, measurement results obtained by the laser ranging means 101, object coordinates obtained by the coordinate calculating means 102, etc., in addition to approach information and danger warnings. For example, as shown in FIG. As shown, a tablet PC or the like can be used as the terminal device TE. Of course, not only a tablet PC but also a smartphone, a personal computer, a display device called a monitor or a display, etc. can be used as the terminal device TE. In this case, the computer PC, which is configured with the coordinate calculation means 102, the output control means 103, the elevation determination means 105, the floor condition setting means 106, etc., is configured to be able to communicate with the terminal equipment TE, and the computer PC acquires the information. It is preferable that the calculated (or calculated) information can also be displayed on the terminal device TE. This makes it possible for workers waiting on the ground to grasp the status of the lifting bucket BC through the terminal device TE, and also to monitor the status of the lifting bucket BC in locations far away from the site, such as the management office or supervisor's office. can be grasped.

(Floor condition setting means)
As shown in FIG. 12, in some aerial work vehicles HV, the floor surface of the lifting bucket BC is expanded by sliding a portion of the floor body FL of the lifting bucket BC (sliding to the left in the figure). FIG. 12 is a side view schematically showing the lifting bucket BC in which a part of the floor body FL slides, and (a) shows a state in which a part of the floor body FL does not slide (hereinafter referred to as "normal state"). ), and (b) shows a state in which a part of the floor body FL is slid (hereinafter referred to as the "expanded state").

When using a high-altitude work vehicle HV in which part of the floor body FL slides, it is desirable to change the horizontal range WH in the normal state and the expanded state, that is, it is desirable to set the approach area and the danger area as different areas in the normal state and the expanded state. In other words, it is advisable to set the horizontal range WH in the normal state and the horizontal range WH in the expanded state as separate areas. More specifically, the lower limit horizontal distance HL is set to a common value in the normal state and the expanded state, but the upper limit horizontal distance HU is set to a different value in the normal state and the expanded state, thereby setting the horizontal range WH in the normal state and the horizontal range WH in the expanded state separately. However, the upper limit horizontal distance HU in the expanded state is set to a value larger (longer) than the upper limit horizontal distance HU in the normal state. The horizontal range WH in the normal state (upper limit horizontal distance HU in the normal state) and the horizontal range WH in the expanded state (upper limit horizontal distance HU in the expanded state) that are set in advance are stored in the restricted area storage means 107 (Figure 2).

The floor condition setting means 106 is a means for receiving the state (normal state/expanded state) of the lifting bucket BC and transmitting the state to the output control means 103. For example, the floor condition setting means 106 can be configured to accept the condition of the lifting bucket BC through an operation by an operator. In other words, the operator who visually observes the state of the lifting bucket BC determines whether it is in the normal state or the extended state, and inputs the result of the determination into the floor state setting means 106. Alternatively, it is also possible to use a sensor that detects that a part of the floor body FL has slid. In this case, when a signal detected by the sensor is transmitted, the floor condition setting means 106 determines the expanded state, and when no sensor signal is transmitted, the floor state setting means 106 determines the state to be the normal state. Can be done.

When the obstacle detection device 100 includes the floor condition setting means 106, the output control means 103 executes the determination process according to the following procedure. That is, when the floor condition setting means 106 transmits that the lifting bucket BC is in the normal state, the output control means 103 reads the horizontal range WH of the normal state from the restricted area storage means 107, and then adjusts the horizontal separation. Compare DH with horizontal range WH. On the other hand, when it is transmitted from the floor condition setting means 106 that the lifting bucket BC is in the expanded state, the output control means 103 reads the horizontal range WH of the expanded state from the restricted area storage means 107, and then Compare DH with horizontal range WH.

(Example of use)
An example of using the obstacle detection device 100 of the present invention will be described with reference to Fig. 13. Fig. 13 is a flow diagram showing the flow of main processes for outputting an approach warning or a danger warning using the obstacle detection device 100 of the present invention. In this figure, the central column shows the processes to be performed, the left column shows information necessary for the processes, and the right column shows information resulting from the processes.

In order to output an approach warning or a danger warning, first, as shown in FIG. 13, measurement by the laser distance measuring means 101 is started (Step 301 in FIG. 13). Along with this, the laser distance measuring means 101 continues to irradiate the laser LS at extremely short time intervals, that is, the measured distance DS is repeatedly acquired. When the measured distance DS is acquired, the coordinate calculating means 102 calculates the object coordinates (horizontal distance DH, vertical distance DV) each time (or while thinning out as appropriate) (Step 302 in FIG. 13).

Meanwhile, the ascent determination means 105 obtains the ascent speed of the lift bucket BC (Step 303 in FIG. 13) and determines whether the lift bucket BC is rising or not (Step 304 in FIG. 13). Specifically, when the measured distance DS is gradually decreasing and the ascent speed of the lift bucket BC exceeds a speed threshold, it is determined that the lift bucket BC is rising.

When the rise determination means 105 determines that the lifting bucket BC has risen, the output control means 103 executes an approach situation determination process (Step 305 in FIG. 13). Specifically, when the measurement object OJ (object coordinates) is in the approach area, it is determined as an approaching situation, and when the measurement object OJ is not in the approach area, it is determined as a normal situation (an obstacle OB is above the lifting bucket BC). It is judged as a situation where there is no situation). Then, when the output control means 103 determines the approach situation, the output means 104 outputs an approach warning (Step 306 in FIG. 13).

When the approach situation determination process is performed by the output control means 103, the output control means 103 executes the dangerous situation determination process (Step 307 in FIG. 13). Specifically, when the object to be measured OJ (object coordinates) is in the dangerous area, it is determined as a dangerous situation, and when the object to be measured OJ is not in the dangerous area, it is determined to be in a normal state. When the dangerous situation is determined by the output control means 103, a danger warning is outputted by the output means 104 (Step 308 in FIG. 13).

The obstacle detection device of the present invention can be used effectively in a variety of high-altitude work, including the construction of bridge girders, work near the top of tunnels, construction of high-rise buildings, inspection and repair of structures in service, installation of electric wires, and cleaning of office building windows. The present invention allows high-altitude work to be performed safely, which in turn contributes to reducing industrial accidents, making it an invention that can be expected to not only be used industrially, but also to make a significant contribution to society.

100 Obstacle detection device of the present invention 101 Laser ranging means (of the obstacle detection device) 102 Coordinate calculation means (of the obstacle detection device) 103 Output control means (of the obstacle detection device) 104 (of the obstacle detection device) Output means 105 Elevation determination means (of the obstacle detection device) 106 Floor condition setting means (of the obstacle detection device) 107 Restricted area storage means (of the obstacle detection device) BC Lifting bucket (of the aerial work vehicle) FL ( Floor body (of the lifting bucket) HD Handrail (of the lifting bucket) HV Aerial work vehicle LS Laser OB Obstacle OJ Measurement object PC Computer (of the obstacle detection device) TE Terminal equipment (of the obstacle detection device)

Claims (7)

A device for detecting an obstacle above a lifting bucket while it is rising,
A laser distance measuring means that measures the distance to a measurement target by irradiating a laser radially in a vertical plane or a substantially vertical plane;
Coordinates for calculating a horizontal distance, which is a horizontal distance, and a vertical distance, which is a vertical distance, from the laser distance measuring means to the measurement object based on the distance to the measurement object and the laser irradiation direction. calculation means,
output control means for outputting an approach warning to notify that the obstacle has approached, according to the calculation result by the coordinate calculation means;
output means for outputting the approach warning according to control of the output control means;
The output control means causes the output means to output the approach warning when the horizontal separation is within a predetermined horizontal range and the vertical separation is within a predetermined approach vertical range;
The horizontal range is set by a lower limit horizontal distance and an upper limit horizontal distance from the laser ranging means, and the approach vertical range is set by a lower limit vertical distance and an upper limit vertical distance from the laser ranging means.
An obstacle detection device characterized by: The laser distance measuring means is installed on a handrail of the lifting bucket, and irradiates a laser within a vertical plane or a substantially vertical plane including the handrail,
the output control means outputs a danger alarm notifying a worker that he or she is caught between the handrail and the obstacle when the horizontal distance is within the horizontal range and the vertical distance is within a predetermined dangerous vertical range,
The output means outputs the danger alarm in response to control by the output control means,
the danger vertical range is set by a lower limit vertical distance and an upper limit vertical distance from the laser distance measuring means, and the upper limit vertical distance of the danger vertical range is set to a value smaller than the lower limit vertical distance of the approach vertical range;
2. The obstacle detection device according to claim 1. the output control means outputs the danger alarm when a state in which the horizontal distance is within the horizontal range and the vertical distance is within a predetermined danger vertical range continues for a period of time exceeding a predetermined duration threshold.
3. The obstacle detection device according to claim 2. the output control means outputs the danger warning when the horizontal distance is within the horizontal range and the vertical distance is within the danger vertical range before a predetermined elapsed time threshold elapses after the output of the proximity warning by the output means.
4. The obstacle detection device according to claim 2 or 3. The apparatus further includes an ascent determination means for determining ascent of the lift bucket based on the results of the laser distance measurement means which are repeatedly measured,
the ascent determination means determines ascent of the lift bucket when the vertical separation is decreasing as a result of repeated measurements by the laser distance measuring means,
The output control means outputs the approach warning when the ascent determination means determines that the lift bucket is ascent.
2. The obstacle detection device according to claim 1. The ascent determination means calculates the ascent speed of the elevating bucket based on repeated measurements by the laser distance measuring means, and calculates the ascent speed of the elevating bucket when the ascent speed of the elevating bucket exceeds a predetermined speed threshold. determine the rise,
The obstacle detection device according to claim 5, characterized in that: By sliding a part of the floor body of the lifting bucket, the floor surface of the lifting bucket expands,
further comprising a floor state setting means for setting either a normal state before the part of the floor body slides or an expanded state after the part of the floor body slides,
When the extended state is set by the floor state setting means, the horizontal range is set based on an upper limit horizontal distance that is set to a larger value than the upper limit horizontal distance related to the normal state.
The obstacle detection device according to claim 1 or 2, characterized in that:

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