JP6824126B2 - Anti-collision device when moving backwards in construction machinery - Google Patents

Description

The present invention relates to a reverse collision prevention device for construction machinery.

Conventionally, obstacle detection means such as back cameras, ultrasonic sensors, optical sensors, and infrared sensors have been used in construction machines in order to prevent accidents in which workers come into contact with the construction machines when moving forward or backward. Installed to detect the presence of obstacles, workers, etc. within the moving range of the construction machine, and prevent collisions that call attention to the operator of the construction machine or workers who have entered the moving range of the construction machine. Equipment was attached to the construction machine.

For example, in Patent Document 1, as shown in FIGS. 13 (a) and 13 (b), an ultrasonic sensor and an infrared sensor are provided at the front and rear portions of the tire roller, and the ultrasonic sensor and the infrared sensor are provided. Based on the input signal from, an alarm is output to an approaching person to the tire roller, and the engine of the tire roller is automatically stopped, or the forward / backward lever is set to the neutral position to make an emergency stop of the tire roller. The invention is described.

Further, in Patent Document 2, as shown in FIG. 14A, a laser scanning device is provided at the front portion of the carriage 1 connected to the front of the battery locomotive used in a tunnel or the like to reach an obstacle. An invention is described in which an alarm is output stepwise according to the distance of the battery loco and the stop control of the battery loco is performed.

Japanese Unexamined Patent Publication No. 8-218310 Japanese Unexamined Patent Publication No. 2011-103084

However, the conventional obstacle detection device and stop control method described above have an obstacle detection range at a construction site where workers may frequently enter or at a construction site where there are a plurality of structures or obstacles in the vicinity. It was not something that could be flexibly set or temporarily canceled. Further, when the ground on which the construction vehicle travels has relatively large undulations, there is a problem that the undulations of the ground are erroneously detected as obstacles.

For example, as shown in FIG. 14B, when the undulations 4 of the ground are present in the detection range 3 of the obstacle detection device 2, an alarm is frequently issued by the conventional detection device and the detection method, and the alarm is issued. A situation occurs in which the stop control of the construction machine is executed and the construction machine is often stopped. That is, the conventional devices described in Patent Documents 1 and 2 described above are premised on removing obstacles detected in order to restart the operation of the construction machine, and FIG. 14 (b) shows. The only way to resume the operation of construction machinery with the undulations of the ground that cannot be removed as illustrated in the above is to disable the detection device itself.

Therefore, an object of the present invention is to provide a reverse collision prevention device for a construction machine, which can be suitably applied to a wide range of field environments and can be easily mounted on various construction machines.

(1) A range sensor (range sensor 10) capable of detecting the presence of an object in a predetermined range (detection range DR) around the construction machine (construction machine 1) and braking of the construction machine (construction machine 1). The detection range setting means (setting operation panel 17) capable of setting the detection range of the range sensor (range sensor 10) according to the distance, and the detection result of the range sensor (range sensor 10). a construction machine stop control means for stopping controlling the driving of (construction machine 1) (parking brake valve 20), wherein the stop control canceling means for canceling the stop control (emergency brake release switch B), at least have the said stop The control means (parking brake valve 20) is the construction machine (construction machine 1) when the parking brake valve (parking brake valve 20) is turned off based on the detection result of the range sensor (range sensor 10). ) Is stopped, and the stop control release means (emergency brake release switch B) is an emergency brake release switch (emergency brake release switch B) in a state where the range sensor (range sensor 10) detects an obstacle. By pressing the switch B), the parking brake valve (parking brake valve 20) can be energized and the construction machine (construction machine 1) can be driven. Prevention device.

According to the above configuration (1), together with the use of measuring range sensor 10, it is possible to reliably detect the presence or workers off-limits obstacle in the construction machine 1 behind the detection range DR, It is possible to suppress the situation where the undulations of the ground are falsely detected as obstacles. Further, by detecting the presence of an obstacle or the entry of a worker when moving backward, the running of the construction machine 1 can be automatically stopped to prevent a contact accident. Further, the detection range setting means (setting operation panel 17) capable of setting the detection range makes it possible to appropriately stop and control the construction machine 1 according to the braking ability of the construction machine 1 .

(2) The emergency brake release switch (emergency brake release switch B) is provided on the forward / backward operation unit (forward / backward operation lever 50) of the construction machine (construction machine 1), and the forward / backward operation unit (forward / backward operation). The emergency brake release switch (emergency brake release switch B) can be pressed by the driver holding the forward / backward operation unit (forward / backward operation lever 50) while operating the lever 50). The detection range setting means (setting operation panel 17) can set a predetermined range (detection range DR) on the side of the construction machine (construction machine 1) as the detection range of the range sensor (range sensor 10). A reverse collision prevention device for a construction machine according to (1) above.

According to the configuration of the above (2), in addition to the effect obtained by the above (1), as shown in FIGS. 1 and 3, a predetermined range (detection range DR) on the side of the construction machine 1 is measured. Since it can be set as the detection range of the area sensor 10, it is possible to more reliably prevent contact accidents with obstacles .

(3) further comprises an alarm means for performing an alarm based on the detection result of the previous SL measuring range sensor (range sensor 10), before Symbol alarm means, by said stop control release means (emergency brake release switch B) The reverse collision prevention device for a construction machine according to the above (1) or (2), which gives an alarm based on the detection result of the range sensor (range sensor 10) even after the stop control is released.

According to the configuration of the above (3), in addition to the effect obtained by the above (1) or (2), the emergency brake release switch B that energizes the parking brake valve 20 to release the stop control to the construction machine 1 is provided. By providing it, it will be reconstructed when an obstacle or the like is detected, when the range sensor 20 is erroneously detected, or when the construction machine 1 is to be driven in a narrow place surrounded by structures or the like around the construction machine 1. It becomes possible to move the machine 1 .

(4) The detection range setting means comprises the measuring zone sensor (range sensor 10) of the detection range the angle adjustable angular adjustment means in a vertical direction (angle adjustment pedestal), the angle adjusting means (angle adjusting pedestal ) Is the reverse collision prevention device for the construction machine according to any one of (1) to (3) above, wherein the detection range can be tilted downward or upward .

According to the configuration of (4) above, in addition to the effects obtained by the above (1) to (3), the angle adjusting means (angle adjusting means capable of adjusting the angle of the detection range of the range sensor (range sensor 10) in the vertical direction ( by providing the angle adjusting pedestal), for example, as shown in FIG. 2 (a), if the installation location of the measuring area sensor 10 in the construction machine 1 is high, by setting the detection range DR obliquely downward, disorders It becomes possible to detect an object appropriately. Further, as shown in FIG. 2B, in a field environment where the ground has large undulations, a situation occurs in which the undulations of the ground are erroneously detected by setting the detection range DR diagonally upward. Can be further suppressed.

In the present invention, a side view and a plan view showing an example of the detection range of the measuring range the sensor. In another embodiment of the present invention, it is a side view showing an example of the detection range of the measuring range the sensor. In another embodiment of the present invention, it is a plan view showing an example of the detection range of the measuring range the sensor. In the present invention, a side view and a front view showing an example of the installation mode of the measuring range the sensor. In the present invention, it is a diagram illustrating an example of a manner of setting the detection range and the detection range of the measuring range the sensor. In the present invention, it is a front perspective view of an example of a detection distance of several selectable settings pendant measuring zone sensor. It is a circuit diagram explaining the control mode at the time of starting the engine of a construction machine in the control mode of the reverse collision prevention device of this invention. It is a circuit diagram explaining the control mode when the construction machine moves forward in the control mode of the reverse collision prevention device of this invention. It is a circuit diagram explaining the control mode at the time of reverse movement of a construction machine in the control mode of the collision prevention device at the time of reverse movement of this invention. FIG. 5 is a circuit diagram illustrating a control mode when an obstacle or the like is detected when the construction machine is moving backward in the control mode of the reverse collision prevention device of the present invention. It is a circuit diagram explaining the control mode when the braking state is released after detecting an obstacle or the like in the control mode of the reverse collision prevention device of this invention. It is a flowchart which shows an example of the control flow of the reverse collision prevention device of this invention. It is a figure explaining the prior art described in Patent Document 1. It is a figure explaining the prior art described in Patent Document 2.

Hereinafter, the reverse collision prevention device (hereinafter, may be simply referred to as “collision prevention device”) of the construction machine of the present invention will be described with reference to the drawings.

As an embodiment of the reverse collision prevention device of the construction machine of the present invention, in FIGS. 1 (a) and 1 (b), collision prevention with the construction machine 1 (the illustrated embodiment is a wheel loader) is prevented. A side view and a plan view showing a mounting example of the device are shown. In this embodiment, the construction machine 1 of the measuring zone sensor 10 to the rear of the counter on the weight is installed, when the construction machine 1 moves backward, measuring detects an obstacle or workers or the like existing behind of the construction machine 1 The detection range DR of the area sensor 10 is set.

Measuring area sensor 10 used in this embodiment has an external appearance shape as shown in a front view and a side view of FIG. 4 (b) in FIG. 4 (a), the semiconductor laser is irradiated from the optical window 11 By scanning the detection range DR, obstacles, workers, etc. existing in the detection range DR are detected.

Further, the measuring area sensor 10, as shown in FIG. 5 (a), a measuring area sensor 10 of the one-axis scanning of the maximum detection angle DA is 270 degrees, setting a broad detection range DR Is possible. Further, as shown in FIG. 5 (b), the maximum detection distance L is 6 m, and for example, as in the detection range DR-A shown in FIG. 5 (b), an arbitrary two-dimensional shape can be formed. It can be set as the detection range DR.

Furthermore, the measuring area sensor 10 because the response time is very fast and 66 msec, abrupt workers during reverse travel of the construction machine 1 can be detected in real even when intrusive behind the construction machine 1 Is.

The installation mode of the construction machine 1 of the measuring range sensor 10, installed in the rear of the construction machine 1 as shown in FIG. 1 (b), the operator or the vehicle located behind the construction machine 1, structure to detect obstacles etc., detection height h is generally set up measuring area sensor 10 so that 1～1.5M.

Further, the detection width W can be appropriately set according to the width of the construction machine 1. Incidentally, measuring range the sensor 10 is capable of setting the detection range DR of arbitrary two-dimensional shape in the detection range as described above, the left and right from the installation position is the center position of the construction machine 1 of the measuring range sensor It is possible to set an appropriate detection range DR as shown in FIG. 1 (b) even if it deviates from.

Further, the detection distance L behind the construction machine 1 is set according to the braking ability of the construction machine 1 to which the collision prevention device of the present invention is mounted. That is, in the running speed region of the vehicle when backing up of the construction machine 1 is envisaged, the construction machine 1 from the measuring area sensor 10 detects the construction machine 1 behind the obstacle in accordance with the braking distance to stop automatically , The distance that can sufficiently avoid the collision with the obstacle is set as the detection distance L.

In this embodiment, as shown in FIG. 6, is provided in the driver's seat around the construction machine 1 selectable setting operation panel 17 from the detection distance L a plurality of detection distance L of measuring range sensor 10 There is.

A detection distance setting switch 18 provided for each set detection distance L (three types of 4m, 5m, and 6m in this embodiment) is arranged on the setting operation panel 17, and a lamp that lights up according to the setting state. 18a is arranged. As a result, the detection distance L can be easily set according to the braking ability (braking distance) of the construction machine 1 to which the collision prevention device is mounted.

Further, an operation lamp 19 indicating the operating state of the collision prevention device is arranged on the setting operation panel 17, and the collision prevention device is effectively operated by lighting the operation lamp 19, and an obstacle in the detection range DR is formed. The operator of the construction machine 1 can always confirm that the detection function is working.

(Control configuration)
Hereinafter, the control configuration of this embodiment will be described with reference to the control circuit diagrams 100 and 12 of FIGS. 7 to 11.

FIG. 7 shows a control circuit diagram when the engine of the construction machine 1 is started, and the energized state is shown by a thick line. When the forward / backward operation lever 50 is in the neutral state, the starter switch 40 is turned on by the engine starting operation, and the energized state is set as shown in the figure. When the parking brake switch PB is in the ON state, it is in the open state as shown in the drawing, and the parking brake valve 20 is not energized. Therefore, the wheels of the construction machine 1 are stopped while maintaining the braking state. (S200 in FIG. 12)

FIG. 8 shows a control circuit diagram when the construction machine 1 moves forward, and the energized state is shown by a thick line. The operator of the construction machine 1 presses the parking brake switch PB to turn it off (brake release) (S201 in FIG. 12), and further displaces the forward / backward operation lever 50 to the forward position to energize as shown in the figure. It becomes a state. In the control circuit of the measuring range the sensor 10, except when the detection of the obstacle, and the control switch SSW is a closed state as shown, since it is energized parking brake valve 20, the wheels of the construction machine 1 is braked The state is released and it becomes possible to move forward. (S202 in FIG. 12)

FIG. 9 shows a control circuit diagram when the construction machine 1 moves backward, and the energized state is shown by a thick line. The operator of the construction machine 1 presses the parking brake switch PB to turn it off (brake release) (S201 in FIG. 12), and further displaces the forward / backward operation lever 50 to the reverse position to energize as shown in the figure. It becomes a state. When the forward-reverse lever 50 is displaced in the reverse position, is energized to a power supply circuit of the measuring range the sensor 10, the measuring area sensor 10 becomes operation state, operation of detecting the obstacle in the detection range DR is started (FIG. 12 S203).

At the same time, on the setting operation panel 17 (see FIG. 6) provided in the driver's seat of the construction machine 1, the operation lamp 19 is turned on, and the operator of the construction machine 1 indicates that the collision prevention device is effectively operating. You can check. When an obstacle in the detection range DR is not detected, the control switch SSW of measuring range sensor 10 is energized to the parking brake valve 20 becomes closed state as illustrated, the wheels of the construction machine 1 The braking state is released and it becomes possible to move backward.

FIG 10, in the reverse of the construction machine 1, the control circuit diagram of when detecting an obstacle in the measuring zone sensor 10 is the construction machine 1 in the rear of the detection range DR is shown, energized state is shown by a bold line There is. Based on the measuring range the sensor 10 detects an obstacle in the detection range DR, the immediately open state so that the control switch SSW of the measuring range the sensor 10 is illustrated. As a result, the parking brake valve 20 is in a power-off state (S204 in FIG. 12), a braking force is applied to the wheels of the construction machine 1, and the construction machine 1 is stopped (S205 in FIG. 12).

11, after the construction machine 1 based on that detected the obstacle measurement zone sensor 10 is within the detection range DR is stopped, the control circuit diagram at the time of reverse again shown, shown energized state by a thick line Has been done. If the obstacle detected in the detection range DR is an obstacle that can be easily moved out of the detection range DR, such as a worker or other construction machine, it will not be detected when the obstacle leaves the detection range DR. in the state (S206 in FIG. 12), the control switch SSW of measuring range sensor 10 becomes closed, is energized in the parking brake valve 20. As a result, the wheels of the construction machine 1 are released from the braking state and can move backward again.

However, if the detected obstacle is an undulation of a structure or the ground, it cannot be easily moved from the detection range DR, so that the construction machine 1 cannot move backward at all after that. In this embodiment, in order to deal with such a situation, an emergency brake release switch B is provided around the driver's seat of the construction machine 1 as shown in FIG. The operator operates the emergency brake release switch B (S206 in FIG. 12) to energize the parking brake valve 20, and the braking state of the wheels of the construction machine 1 is released (S207 in FIG. 12) again. It is possible to move backward.

In this embodiment, the emergency brake release switch B is provided on the grip portion of the forward / backward operation lever 50, and the operation of the forward / backward operation lever 50 and the operation of the emergency brake release switch B can be performed without taking the hand off the grip portion. In this way, the operability is improved.

Even when the braking state of the wheel of the construction machine 1 by the operation of the emergency brake release switch B is released in this embodiment, since the detection function itself of the measuring range the sensor 10 is not released, subsequently the construction machine 1 Obstacles in the rear are detected, and the operator, peripheral workers, etc. are notified by an alarm sound or the like. As the notification mode, it is preferable to notify by voice or the like sequentially so that not only the existence of the obstacle but also the distance to the obstacle can be recognized.

(Other embodiments)
Examples of the reverse collision prevention device for construction machinery according to the present invention are as described above, but the embodiments of the present invention are not necessarily limited to the above examples.

For example, measurement area sensor 10 used in the above embodiment uses a measurement area sensor 10 of the one-axis scanning, although the detection range DR was to set a two-dimensional shape, the two-axis scanning it is also possible to use a measuring area sensor 10, sets a detection range DR in the three-dimensional shape. This makes it possible to further improve the detection accuracy of obstacles.

In the above embodiment, as shown in FIG. 1 (a), it had been set in parallel with the construction machine 1 in the detection range DR of measuring area sensor 10 in a horizontal state, limited to such a mode rather than shall, for example, as shown in FIG. 2 (a), it is also possible to set the detection range DR obliquely downward, by doing so, high construction machine 1 the measuring zone sensor 10 Even if it has to be installed in a place, it is possible to appropriately detect an obstacle.

Further, as shown in FIG. 2B, it is also possible to set the detection range DR diagonally upward, and by doing so, the ground undulations in a field environment where the ground has large undulations. It is possible to further suppress the occurrence of a situation in which the above is erroneously detected as an obstacle.

In the above embodiment, as shown in FIG. 1 (b), but sets the detection range DR is provided one measuring area sensor 10 to the rear of the construction machine 1, a plurality of measuring ranges sensor 10 may be installed in a construction machine 1, for example, as shown in FIG. 3, established the two measuring zone sensors 10a and 10b in the construction machine 1 rear lateral, set each detection ranges DR1 and DR2 By doing so, it becomes possible to detect a wide range of obstacles including the side of the construction machine 1.

In the above embodiment, as shown in FIG. 1 (a), but it has placed the measuring area sensor 10 on the rear of the counterweight of the construction machine 1, always measuring range sensor depending on the model of the construction machine 1 The installation surface of 10 is not always a horizontal surface. Further, as described in the preceding paragraph 0041,0042, when tilting the detection range DR downward or upward, it may be necessary to angle adjustment of the installation surface of the measuring range the sensor 10. To accommodate this situation, for example, it may be provided between the construction machine 1 and measuring area sensor 10 of angle adjustment pedestal shown in FIG.

The angle adjusting pedestal shown in FIG. 4 has a fixing plate 13 and a sensor mounting plate 12 on the installation surface of the construction machine 1. One of the sensor mounting plates 12 is configured to be rotatable by a hinge pin 14, and the other nut. It is configured so that the angle can be adjusted within the range of the sliding groove 16 by loosening 15. With such a configuration, it is possible to appropriately adjust the irradiation direction (angle) ID of the laser beam emitted from the optical window 11.

In this embodiment, the emergency brake release switch B is provided on the grip portion of the forward / backward operation lever 50, but as an operation method of the emergency brake release switch B, parking is performed only while the operator continues the pressing operation. The brake valve 20 may be energized so that the braking state of the wheels of the construction machine 1 is released. With this configuration, it is possible to prevent the operator from easily operating the construction machine 1 while releasing the braking state.

Although various embodiments of the present invention have been described above with reference to the drawings, the specific configuration is not limited to these embodiments. The scope of the present invention is shown by the scope of claims rather than the description of the above-described embodiment, and further includes all modifications within the meaning and scope equivalent to the scope of claims. In addition, the specific dimensions and shapes described in the above examples can be changed within the range of solving the problems of the present invention.

1 construction machine 10 measuring area sensor 20 parking brake valve DR detection range B emergency brake release switch

Claims (4)

A range sensor that can detect the presence of an object in a predetermined range around a construction machine,
A detection range setting means capable of setting the detection range of the range sensor according to the braking distance of the construction machine, and
A stop control means for stopping and controlling the running of the construction machine based on the detection result of the range sensor, and
A stop control canceling means for canceling the stop control, and at least have a,
The stop control means stops the running of the construction machine when the parking brake valve is turned off based on the detection result of the range sensor.
The stop control release means can run the construction machine with the parking brake valve energized by pressing the emergency brake release switch in a state where the range sensor detects an obstacle. A reverse collision prevention device for construction machinery, which is characterized by being able to do so. The emergency brake release switch is provided on the forward / backward operation unit of the construction machine, and the driver who holds the forward / backward operation unit presses the emergency brake release switch while operating the forward / backward operation unit. Is possible,
The detection range setting means
The reverse collision prevention device for a construction machine according to claim 1, wherein a predetermined range on the side of the construction machine can be set as a detection range of the range sensor. Further comprising a warning means for performing warning based on the detection result of the previous SL measuring area sensor,
Before Symbol alarm means,
The reverse collision prevention device for a construction machine according to claim 1 or 2, wherein an alarm is issued based on the detection result of the range sensor even after the stop control is released by the stop control release means. The detection range setting means
Any of claims 1 to 3, which includes an angle adjusting means capable of adjusting the detection range of the range sensor in the vertical direction, and the angle adjusting means can tilt the detection range downward or upward. The reverse collision prevention device for construction machinery described in Crab.

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