JP6664622B2 - Anti-collision system for industrial vehicles - Google Patents

Description

  The present invention relates to a collision prevention system provided in an industrial vehicle including a compaction machine such as a road roller and a tire roller.

  In industrial vehicles, for example, compacting machines such as tire rollers, machines such as hydraulic shovels and bulldozers, the driver recognizes if a person accidentally enters the moving route while traveling. If possible, the operation of stopping such a vehicle can be performed without any problem. However, there are many areas that are invisible to the driver around such vehicles, and in particular, when the driver reverses, the driver has to take a posture that makes it difficult to see the traveling direction. People could not be seen, and there was a risk that the vehicle would move as it was and cause a collision. For this reason, when an obstacle including a person enters the working area of the vehicle, a system that detects such an obstacle and automatically stops the vehicle to prevent the vehicle from contacting and colliding with the obstacle before it occurs. Had been introduced.

  An example of such a conventional collision prevention system is a safety device that stops the operation of the machine when the presence of an obstacle is detected in the sensing area of the obstacle detection means mounted on the vehicle-based construction machine. It is disclosed in Japanese Unexamined Patent Publication No. 5-321304.

JP-A-5-321304

  The safety device for a conventional construction machine has a configuration disclosed in the above-mentioned patent document. When an obstacle (person) enters a sensing area in a moving direction, a sensing sensor detects the obstacle and outputs a signal, and outputs a signal. The input controller outputs a stop signal to the stop means, and the stop means stops the traveling of the machine.

  However, the stopping means receives a stop signal from a controller such as an electromagnetic switching valve provided in a hydraulic circuit for returning a hydraulic switching valve that operates a hydraulic actuator for traveling of a construction machine to a neutral state. For example, since it includes a component for controlling hydraulic pressure and is integrally incorporated into a traveling mechanism of a construction machine, it is extremely difficult to install it on an existing construction machine later.

  For this reason, the introduction of such conventional safety devices is practically limited to the incorporation into newly manufactured construction equipment, and there are many types of use of off-the-shelf machines in rental form. However, there has been a problem that the introduction of this technology to industrial vehicles has hardly progressed, and safety has still to be relied on the driver's own confirmation.

  The present invention has been made in order to solve the above-mentioned problem, and enables deceleration adjustment by limiting the operable range of an operation unit that adjusts the speed of progression, and can be installed on an existing industrial vehicle even after installation, thereby simplifying the operation. It is an object of the present invention to provide a collision prevention system capable of ensuring safety by adding a function to a vehicle.

  The collision prevention system according to the present invention is provided in an industrial vehicle that is capable of self-propelled movement at least in the front-rear direction by a driving operation of a driver, wherein the system prevents a collision between the vehicle and an obstacle including a person. An imaging device having a plurality of imaging units that captures a predetermined imaging target range in front or behind as a moving image, and an image captured by the imaging device is analyzed, and an obstacle existing in the imaging target range is analyzed. And an analysis processing unit that detects a distance of the obstacle from the vehicle and outputs at least a predetermined signal indicating detection of the obstacle, and an operation unit that can adjust at least a forward and backward traveling speed in the vehicle. An actuator disposed at a predetermined location of the vehicle, and an actuator connected to the actuator and disposed near the operation unit, and the operation of the actuator determines whether the operation unit is out of the movable range. An operation restriction unit having a restriction piece that can be moved within a predetermined range to a predetermined position where the operation unit can be in contact with the operation unit within the operation unit movable range, and an operation restriction unit based on the signal from the analysis processing unit. A speed control unit that controls the operation of the actuator, wherein the analysis processing unit divides the imaging target range into a processing area for detecting the presence of an obstacle and a non-processing area for not detecting the obstacle in the analysis of the captured image. Detecting the presence of an obstacle in the processing area together with the distance of the obstacle from the vehicle, and outputting a signal corresponding to the distance of the obstacle from the vehicle; However, when a signal is output from the analysis processing unit, the actuator of the operation restricting unit is actuated to move the restricting piece to reduce the operable range of the operation unit, and the vehicle set by the operation unit It is intended to limit the forward or reverse speed.

  Thus, according to the present invention, it is possible to detect an obstacle existing in the imaging target range by imaging the imaging target range in front of or behind the industrial vehicle with the imaging device and analyzing the captured image by the analysis processing unit. On the other hand, an operation restriction unit is provided near an operation unit that adjusts the speed of the vehicle, and the operation of the operation restriction unit is controlled by the speed control unit, and the presence of an obstacle is detected in the processing area of the imaging target range. In the case, a signal indicating detection is output from the analysis processing unit to the speed control unit, and the speed control unit operates the actuator of the operation restriction unit based on the signal, and moves the regulating piece to a predetermined position within the movable range of the operation unit. The vehicle and obstacles can be brought into contact with the operation unit by reducing the operable range of the operation unit and limiting the maximum traveling speed of the vehicle that can be set by the driver using the operation unit. Car based on location There deceleration or stopping, the collision between the vehicle and the obstacle can be prevented, thereby ensuring the safety entered human and vehicle accidentally moving range of the vehicle. In addition, the operation part for decelerating and stopping the vehicle for safety is assumed to directly limit the movement related to the operation of the operation unit of the vehicle, and it is necessary to incorporate it into internal mechanisms such as an electric circuit and a hydraulic circuit of the vehicle. Since the system is not provided, the system can be retrofitted to the vehicle, and can be easily and inexpensively introduced into the vehicle without significant modification of the vehicle. Further, the analysis processing section divides the imaging target range into a processing area and a non-processing area, and detects an obstacle only in the processing area, thereby reducing the processing amount of the analysis processing section related to the detection and the degree of occurrence of erroneous detection. Can be reduced.

  Further, in the collision prevention system according to the present invention, the imaging device, the analysis processing unit, the operation restriction unit, and the speed control unit are detachably provided to the vehicle as needed.

  As described above, according to the present invention, an imaging device that captures an imaging target range in front of or behind an industrial vehicle, an analysis processing unit that analyzes a captured image to detect an obstacle, and a vicinity of the operation unit The vehicle is provided with an operation restricting unit provided to limit the operable range of the operation unit, and a speed control unit controlling the operation of the operation restricting unit, which is detachable from the vehicle, so as to provide system components to the vehicle. By eliminating the need for special measures such as remodeling of the vehicle, the system can be installed without affecting the vehicle, and functions can be easily used. It can be removed without leaving it, and even if the vehicle cannot be modified with a rental product or the like, the system can be introduced without difficulty. Safety can be ensured regardless of the usage of the vehicle, and the burden on the driver can be reduced.

  Further, in the collision prevention system according to the present invention, the analysis processing unit may further divide the processing area into a plurality of areas based on the magnitude of the distance between each position in the area and the vehicle, if necessary. Detecting the presence of an obstacle in the area, outputting a signal corresponding to the detection state, and the speed control unit, based on a signal from the analysis processing unit, the area where the obstacle is detected is a vehicle The actuator is actuated so that the operable range of the operation unit by the restricting piece of the operation restriction unit is set smaller as the distance from the control unit increases.

  As described above, according to the present invention, the processing area where the presence of an obstacle is detected by the analysis processing unit is divided into a plurality of sections based on the positional relationship with the vehicle, and the detection of the obstacle is performed for each of the plurality of sections. In the speed control unit that outputs a signal corresponding to the detection result of the area and receives the signal, as the area where the obstacle is detected is closer to the vehicle, the position of the restricting piece with respect to the operation unit is set to the vehicle speed of the operation unit. By operating the actuator so as to approach the position corresponding to 0, reducing the operable range of the operation unit and increasing the degree of deceleration, an obstacle is detected near the vehicle, and a collision between the vehicle and the obstacle may be detected. If the risk is high, the vehicle is greatly decelerated to a low-speed state or a stopped state to ensure that the collision of the vehicle with the obstacle can be avoided, while the obstacle is detected at a position relatively far from the vehicle. Is If there is room for the driver to avoid the collision, the vehicle can be decelerated without excessively increasing the load, such as impact on the vehicle due to sudden deceleration, and the distance between the vehicle and obstacles can be reduced. Can respond appropriately.

  Further, in the collision prevention system according to the present invention, the analysis processing unit may include, as necessary, the processing area in a basic area located in a traveling direction of the vehicle and an extended area adjacent to a side of the basic area. And detecting the presence of a moving obstacle in the extended area together with the moving direction of the obstacle.If the moving direction of the obstacle detected in the extended area is directed to the basic area, a signal is output. This is output to the speed control unit.

  As described above, according to the present invention, in the analysis of the analysis processing unit, the basic region and the extended region are set in the processing region, and in the extended region deviated from the traveling direction of the vehicle, the basic region and the extended region Those that are expected to shift to the area are recognized as substantial obstacles, and a signal corresponding to the detection result is output, and the vehicle speed related to collision prevention is adjusted to finally detect in the basic area. Among obstacles that are expected to move from the extended area to the basic area, a signal can be output from the analysis processing unit before the obstacle is detected in the basic area. For example, when trying to cross a vehicle, an obstacle that moves from a position deviating from the traveling direction of the vehicle and suddenly appears on the path of the vehicle is efficiently detected, and the vehicle is decelerated and stopped at a more appropriate timing. Can be Safe to avoid a collision with the obstacle without causing abrupt deceleration and abrupt stop of both the can be sufficiently secured. In addition, obstacles that do not move from within the extended area and have a low risk of collision with the vehicle are not effectively detected as obstacles even if they are present in the extended area. It is not necessary to increase the number of obstacles to be prevented, and it is possible to deal with obstacles moving on the path of the vehicle at an early stage. It can proceed efficiently.

  In the collision prevention system according to the present invention, if necessary, the analysis processing unit may analyze the captured image in accordance with the magnitude of the traveling speed of the vehicle in accordance with the magnitude of the processing area in the vehicle traveling direction. Is to adjust.

  As described above, according to the present invention, in the analysis of the analysis processing unit, by adjusting the size of the processing area according to the speed of the vehicle, when the vehicle speed is large and it takes time to decelerate, the processing area is increased. An obstacle can be detected at a stage away from the vehicle and a signal can be output, and the speed control unit moves the operation restriction unit early to regulate the operation unit so that measures such as deceleration of the vehicle can be taken. On the other hand, when the vehicle speed is small and it does not take a long time to decelerate, the processing area is reduced and the detection of an obstacle is performed near the vehicle, so that the vehicle can be decelerated at an appropriate timing, and Safety can be ensured by properly responding to obstacles regardless of speed.

  Further, the collision prevention system according to the present invention is installed, if necessary, at a predetermined location that can notify a driver in a state of driving the vehicle, connected to the analysis processing unit or the speed control unit, and performs the processing. When an obstacle is detected in the area, the vehicle is provided with a notification unit that notifies the driver of the detection.

  As described above, according to the present invention, in a state where the driver is driving the vehicle, the notification unit connected to the analysis processing unit or the speed control unit is provided at a predetermined location of the vehicle that can notify the driver. A situation in which the driver is performing, for example, driving the vehicle backward by enabling the notification unit to notify the driver of the state where the analysis processing unit detects that an obstacle is present in the processing area of the imaging target range. So, even when it is a timing to take a driving posture that cannot directly confirm the rear, it is possible to recognize the presence of the obstacle behind the vehicle by the notification from the notification unit, and apart from the fact that the vehicle moving backward is decelerated, The driver can recognize the presence of the obstacle by the notification and take necessary measures, and can smoothly and appropriately deal with the obstacle that the driver has not seen.

  Further, in the collision prevention system according to the present invention, if necessary, the notification unit is a display device that acquires image information captured by the imaging device and displays an image, and a driver of the vehicle drives the vehicle. When an obstacle is detected by the analysis processing unit, the notification unit displays the detection to the driver so that the detection can be visually recognized.

  As described above, according to the present invention, the display device serving as the notification unit is provided at a predetermined position of the vehicle within the driver's view while the driver is driving the vehicle. The captured image is displayed, and when the obstacle is detected by the analysis processing unit, the notification unit displays the fact so that the driver can visually recognize the obstacle, so that the driver performs, for example, driving to reverse the vehicle. In a situation where the driver is facing forward and cannot take a direct visual check of the rear, the driver can face the front to determine the general situation behind the vehicle and the presence of obstacles while looking forward. The driver is able to continuously pay attention to the rear of the vehicle by using a combination of direct rearward confirmation and display confirmation of the notification unit while the driver performs the driving operation to properly move the vehicle backward, and correct driving of the vehicle. Impossible to properly respond to obstacles It can be executed.

1 is a schematic side view of a tire roller to which a collision prevention system according to a first embodiment of the present invention is applied. 1 is a schematic rear view of a tire roller to which a collision prevention system according to a first embodiment of the present invention is applied. It is a block diagram of a collision prevention system concerning a 1st embodiment of the present invention. FIG. 2 is a perspective view of a state in which the operation restricting unit is mounted on the vehicle body in the collision prevention system according to the first embodiment of the present invention. FIG. 2 is a plan view of the operation restricting portion of the collision prevention system according to the first embodiment of the present invention, in which the operation restricting portion is mounted on the vehicle body. FIG. 2 is a side view of a state in which the operation restriction unit is mounted on the vehicle body in the collision prevention system according to the first embodiment of the present invention. FIG. 2 is an explanatory diagram of a captured image in the collision prevention system according to the first embodiment of the present invention. FIG. 4 is an explanatory view of a developed state of a captured image related to obstacle detection in a second area of the analysis processing unit in the collision prevention system according to the first embodiment of the present invention. FIG. 4 is an explanatory diagram illustrating a state in which the operation restricting unit starts pushing back the operation unit in the collision prevention system according to the first embodiment of the present invention. FIG. 5 is an explanatory diagram of a state in which the operation unit moved by the operation restriction unit in the collision prevention system according to the first embodiment of the present invention has reached a deceleration position. FIG. 4 is an explanatory diagram illustrating a developed state of a captured image related to obstacle detection in a first area of an analysis processing unit in the collision prevention system according to the first embodiment of the present invention. FIG. 5 is an explanatory diagram of a state of reaching a neutral position of the operation unit moved by the operation restriction unit in the collision prevention system according to the first embodiment of the present invention. It is an explanatory view of a captured image in a collision prevention system according to a second embodiment of the present invention. FIG. 13 is an explanatory diagram illustrating a developed state of a captured image related to obstacle detection in a second area of the analysis processing unit and its vicinity in the collision prevention system according to the second embodiment of the present invention. FIG. 10 is an explanatory diagram illustrating a developed state of a captured image related to obstacle detection in a first area of an analysis processing unit and its vicinity in a collision prevention system according to a second embodiment of the present invention. FIG. 14 is an explanatory diagram illustrating a developed state of a captured image in a plane when a processing area is set to correspond to a high speed in an analysis processing unit of a collision prevention system according to a third embodiment of the present invention. FIG. 14 is an explanatory diagram of a developed state of a captured image in a plane when a processing area is set to correspond to a low speed in an analysis processing unit of a collision prevention system according to a third embodiment of the present invention. It is a schematic side view of a tire roller to which a collision prevention system according to another embodiment of the present invention is applied. It is an explanatory view of a display screen at the time of obstacle detection of the display in the collision prevention system concerning other embodiments of the present invention.

(First embodiment of the present invention)
Hereinafter, a collision prevention system according to a first embodiment of the present invention will be described with reference to FIGS. In the present embodiment, an example of a collision prevention system applied to a tire roller as an industrial vehicle will be described.

  In each of the drawings, the collision prevention system 10 according to the present embodiment includes a binocular imaging unit 11 as the imaging device that captures a predetermined imaging target range behind the tire roller 80 as an industrial vehicle, and the binocular imaging unit 11. The analysis processing unit 12 analyzes a captured image acquired by the above and outputs a predetermined signal when detecting the presence of an obstacle, and is disposed in the vicinity of an operation unit 86 that can adjust the forward and backward traveling speed of the tire roller 80. The operation control unit 13 includes an operation restriction unit 13 that can reduce the operable range of the operation unit 86, and a speed control unit 14 that controls the operation restriction unit 13 based on a signal from the analysis processing unit 12.

  The tire roller 80 to which the collision prevention system 10 according to the present embodiment is applied is a known device that performs self-running compaction of a road surface or the like, and is a roller unit that is rotatably disposed before and after a vehicle body 81. 82 and 83, and a driver's seat 85 provided at a position behind the center of the upper part of the vehicle body.

  In the tire roller 80, the front and rear rollers 82, 83 are driven by a traveling mechanism (not shown) such as a hydraulic circuit or an electric circuit built in the vehicle body 81, whereby the rollers 82, 83 rotate, This is a mechanism in which the tire roller 80 moves forward and backward.

  A lever-shaped operation unit 86 is provided at a predetermined position on the side of the driver's seat 85 in the tire roller 80 so as to adjust the forward / reverse speed of the tire roller 80. The operation of the operation unit 86 by the driver on the driver seat 85 allows the tire roller 80 to move in the front-rear direction.

  More specifically, the operation unit 86 is operated by tilting forward and backward from a predetermined neutral position, and when the operation unit 86 is moved forward from the neutral position, the circuit of the traveling mechanism causes the roller unit to rotate in one rotation direction. 1 (counterclockwise in FIG. 1), the tire roller 80 can be moved forward, and the larger the amount of forward movement of the operation unit 86, the higher the rotation speed of the roller unit. The speed of forward movement increases.

When the operation unit 86 is moved backward from the neutral position, the circuit of the traveling mechanism is connected to rotate the roller unit in another rotation direction (clockwise in FIG. 1), and the tire roller 80 can be moved backward. As the amount of movement of the operation unit 86 backward increases, the rotation speed of the roller unit increases, and the backward speed of the tire roller 80 increases.
When the operation unit 86 is set to the neutral position, the circuit of the traveling mechanism is cut off, the roller unit does not rotate due to the braking action of the circuit, and the tire roller 80 is stopped at a speed of 0.

  The binocular imaging section 11 is capable of capturing an image of the rear of the tire roller 80 with almost no blind spot caused by the vehicle body 81, for example, a support of a canopy 87 provided above the vehicle body of the tire roller 80, for example, above the tire roller 80. This is a so-called stereo camera which is detachably attached to the upper part or the like with a magnet, a clamp, or the like, captures a predetermined imaging target range behind the tire roller 80 as a moving image, and transmits the obtained image information to the analysis processing unit 12. Output.

  The binocular imaging unit 11 includes two imaging units arranged at a predetermined interval, similarly to a known stereo camera. The installation position of the binocular imaging unit 11 is set such that the planned course behind the tire roller 80 by the driver of the tire roller 80 falls within the imaging target range of the binocular imaging unit 11.

  Note that the binocular imaging unit 11 can be attached to a place other than the upper part such as the rear part of the vehicle body of the tire roller 80 as long as it can secure a view behind the driver and does not hinder the compaction operation by the tire roller 80. it can. Further, the binocular imaging unit 11 including two imaging units is used as the imaging device, but is not limited to this. For example, a set of a plurality of independent cameras (imaging units) may be used as one imaging device. It can also be treated as In addition, as long as image information can be output for each imaging unit, the number of imaging units to be used is not limited to two, and an imaging device having two or more sets of imaging units may be used.

  The analysis processing unit 12 is housed in the same housing as the binocular imaging unit 11, is disposed integrally with the binocular imaging unit 11, is electrically connected to the binocular imaging unit 11, and outputs information of a captured image from the binocular imaging unit 11. And analyzes the captured image. The analysis processing unit 12 detects an obstacle existing within an imaging target range of the binocular imaging unit 11 and a distance of the obstacle from the tire roller 80 by image analysis, and outputs a predetermined signal indicating detection of the obstacle. Is output.

  The detection of the distance of the obstacle from the tire roller 80 by the analysis processing unit 12 is performed by the two imaging units arranged at a predetermined interval of the binocular imaging unit 11 simultaneously capturing images, as in the case of a known stereo camera. From the two obtained images, the parallax between the images for a predetermined imaging target is obtained, and the magnitude of the parallax, the known focal length of each imaging unit, and the value of the distance between the imaging units are used to calculate the parallax. In the procedure for calculating the distance from to the imaging target, information on the distance from the imaging unit is acquired for each pixel in the image, and the information is converted into the distance from the tire roller 80 based on the mounting positional relationship of the binocular imaging unit 11. It is done by a mechanism.

  In the analysis processing unit 12, for example, the vibration based on the operation of the tire roller 80 and the traveling road surface condition, the weather in the imaging target range, the imaging time zone, and the lighting (the positional relationship between the sunlight and the illumination light source) are controlled by the installed artificial intelligence. ), Etc., to reduce the effect of environmental conditions, thereby improving the performance of detecting obstacles. Further, in the detection of an obstacle by the analysis processing unit 12, it is possible to distinguish whether the obstacle is a person or an object, and the obstacle to be detected is determined to be either a person or an object according to a use environment. Selective detection may be performed.

  In the analysis of the captured image, the analysis processing unit 12 specifically divides the imaging target range appearing as the captured image into a processing area 90 for detecting the presence of an obstacle and a non-processing area 98 for not detecting the obstacle. As for 90, the presence of an obstacle in the processing area is detected, the distance of the obstacle from the tire roller 80 is obtained from the distance information for each pixel, and a signal corresponding to the distance of the obstacle from the tire roller 80 is obtained. Output.

  The analysis processing unit 12 further divides the processing area 90 into a plurality of sections based on the distance between each position of the area and the tire roller 80. Then, for each of the plurality of sections, the analysis processing unit 12 detects the presence of an obstacle in the section and outputs a signal corresponding to the detection state.

  Specifically, the processing area 90 is, for example, a first section 91 close to the tire roller where the distance to the tire roller 80 is within 2 m, and the distance to the tire roller 80 is, for example, in a range of 2 m to 5.5 m. , And a second section 92 far from the tire roller 80 and wider than the first section 91.

  Furthermore, the analysis processing unit 12 can output a signal indicating detection of an obstacle from each of the plurality of output ports. For example, the speed control unit 14 that receives a signal from the analysis processing unit performs control according to the type of the obstacle. The output can be performed so that the relationship between the obstacle detection position and the ON / OFF state of the signal is slightly different for each port.

  Specifically, the analysis processing unit 12 can output the first control signal and the second control signal from different ports, respectively, and does not detect an obstacle in any of the first area 91 and the second area 92. During this time, the output of the first control signal and the output of the second control signal are both OFF.

  Then, when an obstacle is detected only in the second section 92 far from the tire roller 80, the output of the first control signal is turned off and the second control signal is output as on. When an obstacle is detected in the first section 91 near the tire roller 80, both the first control signal and the second control signal are output as an ON state regardless of the detection result in the second section 92.

  That is, the first control signal is a signal that is output as an ON state for the first time when an obstacle is detected in the first area 91 near the tire roller 80, and decelerates when an obstacle is detected in the first area 91. If such measures are taken, obstacles that can ensure sufficient safety, for example, if the obstacles are objects, can be used for control corresponding to the obstacles. The second control signal is a signal that is output as an ON state when an obstacle is detected in both the first area 91 and the second area 92, and the obstacle is located in the second area far from the tire roller 80. At the stage detected at 92, it can be used for control corresponding to an obstacle that is desirable to cope with such as deceleration in terms of safety, for example, when the obstacle is a person.

  The operation restricting portion 13 is provided with an actuator 13a disposed on a side surface portion of the upper portion of the vehicle body 81 near the operation portion 86 of the tire roller 80, and is disposed near the operation portion 86 by being connected to the actuator 13a. The restricting piece 13b is configured to be movable within a predetermined range from the outside of the movable range of the operation unit 86 to a predetermined position where it can come into contact with the operation unit 86 within the movable range of the operation unit by the operation of 13a.

  A part of the actuator 13a is connected to the vehicle body 81 of the tire roller 80, and another part whose positional relationship is variable with respect to the part is connected to the regulating piece 13b. It is configured to operate so as to change the positional relationship with the part, and to move the restricting piece 13b within a predetermined range. Specifically, the actuator 13a is a known linear actuator such as a ball screw mechanism or a fluid pressure cylinder mechanism, and includes a base part 13d as the part and a movable part 13e as the other part that moves linearly with respect to the base part 13d. The restricting piece 13b is attached to the movable portion 13e.

  A fastening portion 13f is integrally attached to a base portion 13d of the actuator 13a, and the base portion 13d can be fixed to the vehicle body 81 by sandwiching and fastening a predetermined portion of a side surface portion of the vehicle body 81 with the fastening portion 13f. Then, the mounting direction of the fastening portion 13f of the actuator 13a is set such that the direction of the linear movement of the movable portion 13e is the front-back direction corresponding to the movement of the operation portion 86.

  Since the base 13d of the actuator 13a is fixed to the vehicle body 81 using the fastening portion 13f in this manner, the operation restricting unit 13 having the actuator 13a as a main part can be attached to and detached from the vehicle body 81, and a collision prevention system is used. Otherwise, the operation restricting unit 13 can be easily removed from the tire roller 80.

  The restricting piece 13b is formed in a substantially rod shape, is integrally attached to the movable portion 13e of the actuator 13a in such a manner as to protrude from the actuator 13a toward the operation portion 86, and is movable in the front-rear direction together with the movable portion 13e. It is. When the restriction piece 13b overlaps the movable range of the operation unit 86 as necessary, and is placed in a state where it can be brought into contact with the operation unit 86, the operable range of the operation unit 86 can be limited by the restriction piece 13b. It is.

  On the other hand, when the restricting piece 13b is located outside the movable range of the operation section 86, the operating section 86 does not come into contact with the restricting piece 13b and can be moved to the full movable range of the operating section 86, so that the reverse speed is limited. The reverse speed can be adjusted to the maximum (100%) by the operation unit 86.

  The actuator 13a of the operation restricting unit 13 is not limited to a direct-acting actuator such as a ball screw mechanism, a linear motor, and a fluid pressure cylinder. As long as the restricting piece can be moved to a position where it can come into contact with the operation unit 86, the restricting piece to which a part of the actuator is connected is connected to the other part of the actuator as a rotary actuator such as an electric motor or a hydraulic motor. By rotating and moving the restricting piece with respect to the vehicle body 81, a configuration in which the restricting piece can be moved is also possible.

The speed control unit 14 controls the operation of the actuator 13 a of the operation restriction unit 13 based on a signal from the analysis processing unit 12.
The speed control unit 14 is detachably attached to an upper front side different from the location of the binocular imaging unit 11, the analysis processing unit 12, and the operation restriction unit 13 in the vehicle body 81. It is connected to the actuator 13a of the operation restricting unit 13 through a cable or a tube, and can be supplied with electric power and fluid pressure necessary for the operation of the actuator 13a. Configuration.

  When the speed control unit 14 detects an obstacle in the processing area 90 (the first area 91 or the second area 92) as a result of the processing in the analysis processing unit 12, and outputs a signal from the analysis processing unit 12, By operating the actuator 13a of the operation restricting unit 13, the restricting piece 13b is positioned within the movable range of the operation unit 86.

  When the restricting piece 13b is positioned within the movable range of the operation unit 86 in this manner, the operating unit 86 is not moved rearward from a position where the restricting piece 13b is located due to the contact with the restricting piece 13b. Is regulated. Thus, the operable range of the operation unit 86 is adjusted to limit the backward speed of the tire roller 80 set by the operation unit 86.

  Specifically, when the analysis processing unit 12 detects an obstacle in the second area 92, turns off the output of the first control signal, and outputs the ON state of the second control signal, the speed control unit 14 When an obstacle is detected in the second section 92 far from the tire roller 80, the actuator 13a is operated. The restricting piece 13b is moved by the actuator 13a with respect to the operation unit 86 so as to have an arrangement corresponding to the operation unit position at which the reverse speed is 50% of the maximum speed. With the restriction of the movement of the operation unit 86 by the restriction piece 13b, the reverse speed is limited to 50% or less of the maximum speed.

  Assuming that the operation unit 86 is moved backward by a driver's operation to a position where the reverse speed is set to a range of 50% or more of the maximum speed, and the tire roller 80 reverses at a speed of 50% or more of the maximum speed. While the obstacle is being detected in the second area 92, the speed control unit 14 activates the actuator 13a and moves the regulation piece 13b. When the regulation piece 13b is moved, the operation unit 86 moves with the movement of the regulation piece 13b. It is pushed back to the neutral position to a position equivalent to 50% of the maximum speed. Due to the forcible movement of the operation unit 86 to the neutral position side, the operation unit 86 is brought into the same braking state as when decelerated by the driver, and as a result, the tire roller 80 is decelerated.

  Further, when the analysis processing unit 12 detects an obstacle in the first area 91 and outputs both the first control signal and the second control signal in the ON state, the speed control unit 14 The actuator 13a is operated by identifying that an obstacle has been detected in the area 91. The restriction piece 13b is moved by the actuator 13a with respect to the operation unit 86 so as to be arranged corresponding to the neutral position of the operation unit 86. Along with the movement of the operation unit 86 by the restricting piece 13b, the operation unit 86 cannot move backward from the neutral position, and the reverse speed is regulated to 0, that is, the tire roller 80 cannot move backward.

  If the operation unit 86 is moved backward from the neutral position by the operation of the driver and the tire roller 80 moves backward at a predetermined speed, the actuator 13a operates by detecting the obstacle in the second area, When the regulating piece 13b is moved, the operation unit 86 is pushed back to the neutral position with the movement of the regulating piece 13b. Due to the forcible movement of the operation unit 86 to the neutral position, the operation unit 86 is brought into the same braking state as being returned to the neutral position by the driver's deceleration operation, and the tire roller 80 stops moving backward.

  When the speed control unit 14 controls the operation of the actuator 13a of the operation restriction unit 13, the neutral position and the movable range of the operation unit 86 are grasped in advance, and the control piece 13b is controlled to move accordingly. However, immediately after the operation control unit 13 is attached to the vehicle body 81, the speed control unit 14 determines whether the operation unit 86 is in the neutral position or in the case where the operation unit 86 is in the backward movable limit position. A function of storing the respective positions of the operation unit by moving the restricting piece 13b until it comes into contact with the operation unit 86 by the 13a is provided. Even if the positional relationship with the operation unit changes, or if the industrial vehicle to which the system is applied changes, it can respond without any problem.

  Along with such a speed control unit 14, the speed control unit 14 itself, a power switch that controls power supply to the binocular imaging unit 11 and the analysis processing unit 12, and power supply to the operation restriction unit 13, and operates under the control of the speed control unit 14. A switch box having a control release switch for stopping movement restriction and forced movement of the operation unit 86 by the operation restriction unit 13 is provided near the driver's seat 85.

Next, the use state of the collision prevention system based on the above configuration will be described.
Beforehand, each part constituting the collision prevention system is attached to each predetermined position of the tire roller 80 so as not to move easily and is connected to each other, and then the tire roller 80 is started to be able to run. It is assumed that the collision prevention system has also started rearward monitoring without any problem by turning on the power switch.

  As a premise, there is initially no obstacle behind the tire roller 80, and in the collision prevention system, no obstacle is detected in the processing area 90 of the imaging target range set by the analysis processing unit 12, It is assumed that the operation unit 86 of the tire roller 80 can be operated by the driver without any particular limitation.

First, when the driver operates the operation unit 86 to move backward for the purpose of moving or compacting the tire roller 80, the tire roller 80 moves backward.
When the tire roller 80 moves backward, the binocular imaging unit 11 continuously performs imaging of the imaging target range, and the analysis processing unit 12 performs image analysis processing.

  As long as the analysis processing unit 12 does not detect an obstacle, the restriction piece 13b of the operation restriction unit 13 is located outside the movable range of the operation unit 86. Therefore, there is no restriction on the operation unit 86, and the driver operates the operation unit 86. To set any reverse speed.

  Here, when the obstacle enters the imaging target range of the binocular imaging unit 11 with the movement of itself or the movement of the tire roller 80 and is captured by the binocular imaging unit 11, the analysis processing unit 12 In the analysis of the captured image, the presence of the obstacle is identified together with the distance from the tire roller 80. However, the obstacle exists greatly out of the traveling direction of the tire roller 80 or exists in the traveling direction of the tire roller 80. However, if it is recognized that the obstacle is in the non-processing area 98 (for example, about 5.5 m or more from the tire roller 80) (see FIG. 7), the presence of the obstacle is not detected.

  On the other hand, the analysis processing unit 12 determines that the obstacle corresponds to the second area 92 of the processing area 90, that is, the obstacle is located between the tire roller 80 and the tire roller 80 at a distance of about 2 m to about 5.5 m. (See FIG. 8), an obstacle is detected, and a second control signal, which is a signal corresponding to the distance of the obstacle from the tire roller 80, is output as an ON state. . In this case, the first control signal is turned off and is not output.

  In response to the output of the second control signal from the analysis processing unit 12, the speed control unit 14 operates the actuator 13a in response to the presence of an obstacle in the second area 92 with respect to the tire roller 80. Then, the regulating piece 13b is moved to within the movable range of the operation unit 86 (see FIGS. 9 and 10). Here, since the regulating piece 13b is arranged corresponding to the operation unit position where the reverse speed of the tire roller 80 is set to 50% of the maximum speed, the tire roller 80 moves backward at a speed of 50% or more of the maximum speed. In this case, the operating section 86 is forcibly pushed back to the neutral position side to a position corresponding to 50% of the maximum speed with the movement of the restricting piece 13b, similarly to the case where the operating section 86 is decelerated by the driver. The tire roller 80 decelerates, and the reverse speed of the tire roller 80 is suppressed to 50% or less of the maximum speed. When the tire roller 80 is slowly moving backward at a speed of less than 50% of the maximum speed, although the tire roller 80 does not decelerate due to the movement of the restricting piece 13b, the reverse speed of the tire roller 80 is equal to the aforementioned speed. Similarly, the regulating piece 13b regulates the reverse speed to 50% or less of the maximum speed, and the reverse speed cannot be made larger than 50% of the maximum speed by the driver's operation.

  By limiting the reverse speed of the tire roller 80, it is possible for the driver to check the rearward direction, recognize an obstacle, and generate enough time for the operation unit 86 to perform an operation of stopping the tire roller. Thus, it is possible to reliably avoid collision with an obstacle.

  In addition, the analysis processing unit 12 determines that the obstacle is in a range corresponding to the first area 91 in the processing area 90, that is, the obstacle is in a range where the distance between the tire roller 80 and the tire roller 80 is within about 2 m. If it is recognized (see FIG. 11), the obstacle is detected, the second control signal is output as an ON state, and the first control signal is output as an ON state.

  Upon receiving the output of the first control signal from the analysis processing unit 12, the speed control unit 14 operates the actuator 13a in response to the presence of an obstacle in the first area 91 with respect to the tire roller 80. The restricting piece 13b is located at a predetermined position corresponding to the neutral position of the operation unit 86 within the movable range of the operation unit 86, that is, the position where the operation unit 86 is in the neutral position and is in contact with the rear side of the operation unit 86. (See FIG. 12).

  Here, since the regulation piece 13b is arranged corresponding to the neutral position of the operation section 86, when the tire roller 80 is moving backward at a predetermined speed, the operation section 86 moves with the movement of the regulation piece 13b. When the driver is forcibly pushed back to the neutral position, and the operation unit 86 is decelerated and stopped by the driver, the tire roller 80 is decelerated and then stopped at a forward speed of 0, and the tire is further operated by the driver. The roller 80 cannot be moved backward.

  When the operating portion 86 is pushed back to the neutral position by the restricting piece 13b, the restricting piece 13b is actuated by the actuator 13a in order to prevent the pushed operating portion 86 from returning to the neutral position suddenly and the tire roller 80 from suddenly stopping. It is desirable to control the speed control unit 14 so as to move slowly within a possible range.

  By automatically stopping the tire roller 80 with respect to the obstacle detected near the tire roller 80, it is possible to prevent the collision between the tire roller 80 and the obstacle even when the driver is late to notice the obstacle, Safety can be ensured.

  After stopping the tire roller 80, if the obstacle is not present in each area of the processing area 90 and the analysis processing unit 12 does not detect the obstacle, for example, by moving an obstacle close to the tire roller 80. As the signal is no longer output from the analysis processing unit 12, the speed control unit 14 operates the actuator 13a to return to the initial state, and moves the restricting piece 13b out of the movable range of the operation unit 86. As a result, the regulation of the operation section 86 by the regulation piece 13b is released, and the driver can operate the operation section 86 to move the tire roller 80 backward.

  If the tire roller 80 has not reached the end position of the reverse, the driver checks the safety again and moves the operation unit 86 backward to restart the reverse. The anti-collision system prevents collision in response to obstacles in the same manner as described above while the tire roller 80 continues to move backward. When the tire roller reaches the end point of the reverse movement and is brought into a stopped state or starts moving forward by switching the moving direction, the rearward monitoring by the system ends.

  As described above, in the collision prevention system according to the present embodiment, the imaging target range behind the tire roller 80 as the industrial vehicle is imaged by the binocular imaging unit 11, and the captured image is analyzed by the analysis processing unit 12, and the imaging target is analyzed. While an obstacle present in the range can be detected, an operation restriction unit 13 is provided near an operation unit 86 that adjusts the speed of the tire roller 80, and the operation of the operation restriction unit 13 is controlled by a speed control unit 14. As described above, when the presence of an obstacle is detected in the processing area 90 of the imaging target range, a signal indicating the detection is output from the analysis processing unit 12 to the speed control unit 14, and the speed control unit 14 operates based on the signal, By operating the actuator 13a of the control unit 13 to move the regulating piece 13b to a predetermined position within the movable range of the operation unit 86 so as to be in contact with the operation unit 86, the operable range of the operation unit 86 is restricted. Then, since the maximum traveling speed of the tire roller 80 that can be set by the driver using the operation unit 86 is limited, the tire roller 80 is decelerated or stopped based on the positional relationship between the tire roller 80 and the obstacle. Thus, collision between the tire roller 80 and an obstacle can be prevented beforehand, and the safety of the person who accidentally enters the moving range of the tire roller 80 and the tire roller 80 can be secured. Further, an operation part for decelerating and stopping the tire roller 80 for safety restricts a movement related to an operation of the operation part 86 of the tire roller 80 from outside, and an electric circuit and a hydraulic pressure of the tire roller 80 are controlled. Since there is no need to incorporate it into an internal mechanism such as a circuit, the system can be retrofitted to the tire roller 80, and the system can be easily and inexpensively introduced into the tire roller 80. Furthermore, the imaging target range is divided into a processing area 90 and a non-processing area 98, and an obstacle is detected only in the processing area 90, so that the processing amount of the analysis processing unit 12 related to detection is suppressed, and the degree of occurrence of false detection is reduced. Can be reduced.

  In the collision prevention system according to the embodiment, the analysis processing unit 12 sets the processing area 90 for detecting an obstacle in the analysis of the captured image to the first area 91 near the tire roller 80 and the tire roller 80. Is divided into two sections with the second section 92 on the far side, and the presence of an obstacle in each section is detected, and a signal corresponding to the detection state of each section is output. However, the configuration is not limited to this. Alternatively, the analysis processing unit 12 may be configured to set the area dividing the processing area 90 to three or more.

  In this case, the analysis processing unit 12 detects the presence of an obstacle in each of the three or more sections, outputs a signal corresponding to the detection state, and the speed control unit 14 that has received the signal is divided. The operation restricting unit 13 is operated so as to perform the deceleration at a degree corresponding to the area where the obstacle is detected, among the plurality of stages of deceleration corresponding to the number of the depressed areas, and restricts the movement of the operation unit 86. In this way, the backward speed of the tire roller 80 is reduced corresponding to the area where the obstacle is detected, and the separated state between the tire roller 80 and the obstacle can be secured.

  In the collision prevention system according to the embodiment, the analysis processing unit 12 analyzes an image obtained by imaging the rear of the tire roller 80 with the binocular imaging unit 11 to detect an obstacle. Although the configuration is not particularly used except for the use in the above, the present invention is not limited to this, and the recording of the captured image or the image analyzed by the analysis processing unit 12 is performed using the analysis processing unit 12 or a separately provided recording unit. It is also possible to save and utilize it, and an image from which the state in which the vehicle has decelerated and stopped with respect to the obstacle can be discriminated is recorded, so that the state in which the system is actually operating can be confirmed later. Also, if an obstacle, which is a moving object, comes into contact with and hits a vehicle that has stopped properly to prevent collision, the collision is based on the movement of the obstacle. Can be shown from the recorded image.

(Second embodiment of the present invention)
In the collision prevention system according to the first embodiment, when analyzing the image captured by the binocular imaging unit 11, the analysis processing unit 12 divides an imaging target range into a processing area 90 and a non-processing area 98, The processing area 90 is further divided into a first area 91 and a second area 92 based on the distance from the tire roller 80, and the correspondence such as signal output when an obstacle is recognized by image analysis is determined for each area or each area. Each of the tire rollers is set to be different so that obstacles can be detected quickly and comfortably, and the tire roller 80 can be appropriately decelerated and stopped to ensure safety. In addition, as shown in FIG. 13 to FIG. As described above, as the second embodiment, the analysis processing unit 12 divides the imaging target range into the processing area 93 and the non-processing area 99, and then positions the processing area 93 in the traveling direction of the tire roller 80. It is further divided into a basic area 94 and an extended area 95 adjacent to the basic area 94 in the lateral direction. Among them, the presence of a moving obstacle in the extended area 95 is detected together with the moving direction of the obstacle, If the detected moving direction of the obstacle is toward the basic region 94, a signal is output to the speed control unit 14, and the speed control unit 14 controls the operation limiting unit 13 to decelerate or reduce the tire roller 80. It can be configured to stop.

  In this case, the processing region 93 is set as a region that extends laterally from the processing region 90 in the first embodiment, but the extended region 95 that is laterally displaced from the traveling direction of the tire roller 80 is within this region. Of the obstacles that move, only those that are expected to move to the basic area 94 are recognized as substantial obstacles by the analysis processing unit 12 and output a signal according to the detection result. Since the speed of the tire roller 80 according to the present invention is adjusted, the number of obstacles that reach the vicinity of the rearward traveling tire roller 80 to prevent collision hardly changes, and the deceleration or stoppage of the rearward traveling tire roller 80 is excessive. Will not occur.

  Then, an obstacle that is expected to shift to the basic area 94 is detected in the extended area 95, and a signal is output from the analysis processing unit 12 to the speed control unit 14 before this obstacle is detected in the basic area 94. By doing so, for example, when a person tries to cross the path of the tire roller 80, an obstacle that moves from a place deviated from the traveling direction of the tire roller 80 and suddenly appears on the path of the tire roller 80 can be removed. It is possible to efficiently detect and decelerate and stop the tire roller 80 at more appropriate timing, avoid collision with an obstacle without causing sudden deceleration or sudden stop of the tire roller 80, and sufficiently secure safety. Can be secured.

  In the analysis of the captured image by the analysis processing unit 12, the same processing as that of the processing area 90 in the first embodiment is performed on the basic area 94. That is, the analysis processing unit 12 sets the basic area 94 based on the magnitude of the distance from the tire roller 80 between the first area 96 closer to the tire roller 80 and the second area 97 farther from the tire roller 80. It is further divided into two sections, and for each section, the presence of an obstacle in the section is detected, and a signal corresponding to the detection state is output.

(Third embodiment of the present invention)
In the collision prevention system according to the first embodiment, the analysis processing unit 12 divides the processing area 90 for detecting an obstacle into a first area 91 near the tire roller 80 and a tire roller 80 when analyzing the captured image. A second processing area 90 and a first processing area 91 are detected while detecting the presence of an obstacle in each processing area and outputting a signal corresponding to the detection state. And the relative position of the second section 92 with respect to the tire roller 80 is not changed even when the tire roller 80 moves, and is kept constant. In addition, as shown in FIG. 16 and FIG. As an embodiment, while the analysis processing unit 12 analyzes the captured image, the magnitude of the size of the processing area 90 in the tire roller traveling direction is adjusted in accordance with the magnitude of the traveling speed of the tire roller 80. Adjusted to match the number of each size or area of a plurality of areas to separate processing region 90 can also be configured to adjust.

  Specifically, the speed at which the tire roller 80 travels backward is detected using a known speed sensor or the like, and the analysis processing unit 12 determines the detected speed, the speed set in advance, and the size of the processing area. , The size of the processing area is determined. Then, the sizes of the first area 91 and the second area 92 are set in accordance with the determined size of the processing area.

  During the progress of the tire roller 80, the tire roller 80 is controlled to decelerate or stop to a speed that does not cause any problem in response to an obstacle being detected in the processing area 90, but the tire roller 80 is decelerated. Until completion or stop, the vehicle continues to travel a predetermined distance in the traveling direction. Since the distance traveled by the tire roller before the deceleration is completed or stopped depends on the original speed, when the traveling speed of the tire roller 80 is high, the processing area 90 is enlarged to detect the obstacle earlier, and at the time of detection, By sufficiently securing the distance between the obstacle and the tire roller 80, it is possible to avoid a situation in which the tire roller 80 collides with the obstacle before the deceleration is completed or stopped. On the other hand, when the traveling speed of the tire roller 80 is low, the distance that the tire roller 80 travels before the deceleration is completed or stopped after the obstacle is detected becomes small. Collisions with can be avoided sufficiently.

  For example, when the speed of the rearward movement of the tire roller 80 is as high as 8 to 10 km / h, the analysis processing unit 12 determines the size of the processing region 90 in the tire roller traveling direction from this speed. The distance from is determined to be within 5.5m. The processing area 90 is further divided into a first section 91 in which the distance to the tire roller 80 is within 2 m and a second section 92 in which the distance to the tire roller 80 is in the range of 2 m to 5.5 m. (See FIG. 16).

  On the other hand, when the speed of the rearward movement of the tire roller 80 is as low as 5 km / h, the analysis processing unit 12 determines the size of the processing area 90 in the tire roller traveling direction from this speed. And the processing area 90 is defined as a first area 91 where the distance to the tire roller 80 is within 1.1 m, and the distance between the first area 91 and the tire roller 80 is 1.1 m. The space secured for deceleration and stoppage of the tire roller 80 can be reduced, for example, by setting it to be divided into a second area 92 having a range of 3 m from the rear of the tire roller 80 (see FIG. 17). Even when the work space is small, collision with an obstacle can be prevented.

If the rearward traveling speed of the tire roller 80 is further increased from the high speed (for example, about 20 km / h, which is about twice), the deceleration is completed or stopped after the tire roller 80 starts decelerating. from proceeds distance (braking distance) is proportional to the square of the speed up to the analysis processing unit 12, from the traveling speed of the tired roller 80, the size of the processing area 90, 2 ² times that of the high-speed That is, it is determined that the distance from the tire roller 80 is within a predetermined distance of 22 m or more.

  As described above, in the analysis of the analysis processing unit 12, by adjusting the size of the processing area 90 according to the speed of the tire roller 80, when the backward traveling speed is large and it takes time to decelerate, the processing area 90 Is increased so that an obstacle can be detected at a stage away from the tire roller 80 and a signal can be output. The speed control unit 14 moves the operation restricting unit 13 early to regulate the operation unit 86, and the tire roller 80 When the tire roller 80 has a low traveling speed and does not take much time to decelerate, the processing area 90 may be reduced to detect an obstacle near the tire roller 80. Thus, the tire roller 80 can be decelerated at an appropriate timing, and appropriately responding to an obstacle regardless of the speed of the traveling tire roller 80, 0 and the separated state of the obstacle may be maintained, it is possible to ensure safety.

  In the collision prevention system according to each of the above-described embodiments, the industrial vehicle to which the present invention is applied is the tire roller 80. However, the present invention is not limited to this. For example, a load roller, a pressure roller, a vibration roller, and the like. A compaction vehicle (compacting machine) may be used. Further, if the forward / backward traveling speed is adjusted by an amount of movement of an operation unit such as a lever or a pedal from a position corresponding to a speed of 0 (stop), it can be applied to other industrial vehicles such as construction machines and transportation machines. Can also be applied.

  Further, in the collision prevention system according to each of the above embodiments, the binocular imaging unit 11 captures an image of the rear of the tire roller 80 to detect an obstacle, and the collision between the backward traveling tire roller 80 and the obstacle is prevented. However, in addition to this, an imaging device such as another binocular imaging unit that captures an image in front of the tire roller is provided, an obstacle is also detected in front of the tire roller, and the obstacle between the tire roller 80 and the obstacle when the tire roller moves forward is provided. To prevent collision or provide another imaging device that images the side of the tire roller, an obstacle can be detected on the side of the tire roller when changing the traveling direction of the tire roller, so that the side of the tire roller and the obstacle can be detected. It can also be configured to prevent collision with objects, and the driver who drives the tire roller in the driver's seat can check the front and side of the tire roller for reasons such as blind spots Even if already there and thus capable of ensuring safety by avoiding collisions with similarly obstacle in the case of the rear.

  In addition, in the collision prevention system according to the embodiment, when an obstacle is detected, the movement related to the operation of the operation unit 86 is restricted and restricted to decelerate and stop the tire roller 80 moving backward. Except for the case of directly observing the obstacle, the detection of the obstacle can be known only from the shift of the tire roller 80 to the deceleration state without the operation of the driver itself. When an obstacle is detected, a notification unit 16 that can notify the driver of the detection state by voice, light emission, video display, or the like may be provided (see FIG. 18).

  In this case, the notification unit 16 is installed at a predetermined location that can notify the driver who is driving the tire roller 80, for example, at the driver's seat 85, and is connected to the analysis processing unit 12 or the speed control unit 14. When an obstacle is detected by the analysis processing unit 12, the notification unit 16 shifts to a state of executing a sound or a display output based on the detection, and notifies the driver of the detection. The notification indicating the detection of such an obstacle is different when the obstacle is detected in the first area of the processing area and when the obstacle is detected in the second area, for example, the pitch of the sound, It is desirable to change the length and combination of intermittent sounds, change the color of light, and switch between lighting and blinking.

  Regarding this notification, when an obstacle is detected, it is desirable that the notification related to the detection of the obstacle from the notification unit 16 be performed before the speed control unit 14 activates the actuator 13a of the operation restriction unit 13. The driver who knows the existence of the object moves the operation unit 86 prior to the operation restriction unit 13 to execute the deceleration and stop operations, and can quickly shift the tire roller 80 to the deceleration and stop state. In addition, the driver who has received the notification can operate braking means other than the braking based on the operation of the operation unit 86, for example, a disk brake or a drum brake that applies a brake to the roller by operating a brake pedal, and thus can be operated more reliably and more. Quick deceleration and stopping can be expected. Further, by the notification, the driver can know in advance that the tire roller 80 will shift to the deceleration and stop state after that, so that it is possible to sufficiently cope with the recoil due to the deceleration and to ensure the safety of the driver. Become.

  The notification by the notification unit 16 is such that when the obstacle is detected, the operation control of the operation restriction unit 13 by the speed control unit 14 is forcibly stopped by operating the control release switch, and the automatic deceleration and stop of the tire roller 80 are temporarily stopped. Even in a situation where the operation is not performed, the state is maintained in a continuously executable state, and the driver operates the operation unit or the like based on the notification, decelerates and stops the tire roller 80, and performs a collision with an obstacle. It is possible to avoid.

  Further, as an example of the notification unit, a configuration is provided in which a display device that displays a captured image behind the tire roller 80 is provided at a predetermined position within a driver's view in a normal driving state in which the driver faces the front of the tire roller 80. It can also be. In this case, the display device acquires the image information captured by the binocular imaging unit 11, displays the captured image on the display screen 18, and when the analysis processing unit 12 detects an obstacle, the analysis processing unit 12 The information related to the detection is obtained from, and based on this, a display that allows the driver to visually recognize the state in which the obstacle is detected, for example, a frame 18a surrounding the obstacle is superimposed on the captured image and displayed. (See FIG. 19). It is desirable that the display indicating the detection of such an obstacle be different in color and shape between the case where the obstacle is detected in the first area and the case where the obstacle is detected in the second area.

  By using the display device, in a situation where the driver is performing the operation of moving the tire roller 80 backward, while the driver takes a driving posture in which the driver faces the front and the rear cannot be directly visually confirmed, the driver may move forward. It is possible to confirm the general situation behind the tire roller 80 and the presence of obstacles from the display content of the display device while facing, and while the driver performs a driving operation to properly move the tire roller 80 backward, directly confirms the rear and displays the display device. By using this together with the display confirmation, it is possible to continuously pay attention to the rear of the tire roller 80, so that correct operation of the tire roller 80 and appropriate handling of obstacles can be executed without difficulty.

DESCRIPTION OF SYMBOLS 10 Collision prevention system 11 Binocular imaging part 12 Analysis processing part 13 Operation restriction part 13a Actuator 13b Restriction piece 13d Base part 13e Movable part 13f Fastening part 14 Speed control part 16 Notification part 18 Display screen 18a Frame 80 Tire roller 81 Body 82, 83 Roller 85 Driver's seat 86 Operation unit 87 Canopy 90, 93 Processing area 91, 96 First area 92, 97 Second area 94 Basic area 95 Extended area 98, 99 Non-processing area

Claims (7)

In a system provided in an industrial vehicle capable of self-propelled movement at least in the front-rear direction by a driving operation of a driver, a system for preventing a collision between the vehicle and an obstacle including a person,
An imaging device having a plurality of imaging units that captures a predetermined imaging target range in front or behind the vehicle as a moving image,
The captured image obtained by the imaging device is analyzed to detect an obstacle present in the imaging target range and a distance of the obstacle from the vehicle, and to output at least a predetermined signal indicating detection of the obstacle. An analysis processing unit for outputting,
An actuator disposed at a predetermined position of the vehicle near an operation unit capable of adjusting at least a forward / reverse speed of the vehicle, and an operation unit connected to the actuator and disposed near the operation unit, the operation unit being operated by the actuator An operation restriction unit having a restriction piece that is movable within a predetermined range from a position outside the movable range to a predetermined position at which the operation unit can be in contact with the operation unit within the operation unit movable range,
A speed control unit that controls the operation of the actuator of the operation restriction unit based on the signal from the analysis processing unit,
The operation unit of the vehicle is operated by moving from a predetermined neutral position, and the forward and backward traveling speed of the vehicle increases as the amount of movement from the neutral position increases, while the vehicle speed becomes 0 at the neutral position. State
The operation restricting unit is disposed so that a direction in which the restricting piece moves is a direction corresponding to a movement related to an operation of the operating unit, and moves the restricting piece to a position in contact with the operating unit in a neutral position. Possible,
In the analysis of the captured image, the analysis processing unit divides the imaging target range into a processing area in which the presence of an obstacle is detected and a non-processing area in which the detection is not performed. To detect the presence of the obstacle together with the distance from the vehicle, and to output a signal corresponding to the distance of the obstacle from the vehicle,
When a signal is output from the analysis processing unit, the speed control unit operates the actuator of the operation restriction unit to move the restriction piece, and reduces the operable range of the operation unit with the restriction piece. A collision prevention system for an industrial vehicle , wherein the vehicle is decelerated or stopped by restricting the forward or backward speed of the vehicle set by (1) , or by pushing the operating portion back to the neutral position side with the regulating piece . The collision prevention system for an industrial vehicle according to claim 1,
The collision prevention system for an industrial vehicle, wherein the imaging device, the analysis processing unit, the operation restriction unit, and the speed control unit are detachably provided to the vehicle. The collision prevention system for an industrial vehicle according to claim 1 or 2,
The analysis processing unit further divides the processing area into a plurality of sections based on the distance between each position in the area and the vehicle, and for each of the sections, detects the presence of an obstacle in the section, and detects Outputs a signal corresponding to the state,
The speed control unit, based on a signal from the analysis processing unit, sets a smaller operable range of the operation unit by the restriction piece of the operation restriction unit as the area where the obstacle is detected is closer to the vehicle. And a system for activating an actuator. The collision prevention system for an industrial vehicle according to any one of claims 1 to 3,
The analysis processing unit divides the processing area into a basic area located in the traveling direction of the vehicle and an extended area adjacent to the side of the basic area, and determines whether there is a moving obstacle in the extended area. An industrial vehicle, which detects an obstacle along with the moving direction of the obstacle and outputs a signal to the speed control unit when the moving direction of the obstacle detected in the extended area is toward the basic area. Anti-collision system. The collision prevention system for an industrial vehicle according to any one of claims 1 to 4,
The analysis processing unit adjusts the size of the processing area in the vehicle traveling direction in accordance with the magnitude of the traveling speed of the vehicle in the analysis of the captured image. . The collision prevention system for an industrial vehicle according to any one of claims 1 to 5,
It is installed at a predetermined location that can notify the driver in the state of driving the vehicle, is connected to the analysis processing unit or the speed control unit, and when an obstacle is detected in the processing area, the effect of the detection is detected. A collision prevention system for an industrial vehicle, comprising: a notification unit that notifies a driver of the collision. The collision prevention system for an industrial vehicle according to claim 6,
The notification unit is a display device that obtains image information captured by the imaging device and displays an image, and is installed at a predetermined position in a field of view of a driver of the vehicle when the driver is driving the vehicle. ,
When an obstacle is detected by the analysis processing unit, the notification unit displays the detection to the driver so as to be visually recognized by the driver.

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