JP6859812B2 - Interference monitoring device - Google Patents

Description

The present invention relates to an interference monitoring device for construction machinery such as a hydraulic excavator.

Conventionally, a moving body such as a traveling body, a base mounted on the moving body and provided with a driver's seat, etc., and a working machine (for example, a working machine composed of a boom, an arm, a bucket, etc.) that is movable with respect to the base. ) Is a construction machine (hydraulic excavator, etc.).

In this type of construction machine, the motion state of the work machine is recognized by an ultrasonic sensor, and based on the recognized motion state, interference between obstacles existing in the work space of the construction machine and the construction machine is monitored. , A device equipped with an interference monitoring device that controls such as notification of a warning signal or restriction of driving of a work machine according to the monitoring result is known (see, for example, Patent Document 1).

Japanese Patent No. 5344117

By the way, the interference monitoring device described in Patent Document 1 is used for a construction machine that repeatedly performs a certain work in a specific work space (for example, a water area under an existing elevated object such as a floodgate or a bridge). Therefore, when this interference monitoring device is applied to a construction machine that performs various works in various work spaces, there is a possibility that the work machine and an obstacle may interfere with each other.

For example, this interference prevention device predicts the occurrence of interference using only the detection information of the boom motion state (specifically, based only on whether or not the boom motion state is within a predetermined range). doing. Therefore, when the arm or the bucket is moved, there is a possibility that interference may occur.

In order to prevent such interference due to the movement of the arm or bucket, it is conceivable to set a narrow range of the movement state of the boom for which it is determined that interference does not occur.

However, when such a setting is made, it is determined that there is a risk of interference with an obstacle that does not actually have a risk of interference, and there is a risk that notification or drive control that is not originally necessary may occur.

The present invention has been made in view of the above points, and even when applied to a construction machine that performs various works in various work spaces, it is possible to accurately monitor interference with obstacles. An object of the present invention is to provide an interference monitoring device capable of providing an interference monitoring device.

In order to achieve the above object, the interference monitoring device of the present invention is a construction machine including a moving body, a base rotatably mounted on the moving body, and a working machine movable with respect to the base. The movement state acquisition unit that acquires the detection information of the movement state of the moving body, and the movement state that acquires the detection information of the movement state including the turning state of the substrate and the posture state of the work machine. The acquisition unit, the path after the current time of the moving body calculated using the detection information of the moving state, the existing area of the construction machine on the path estimated using the detection information of the moving state, and the obstacle. The basic configuration is to include an interference prediction unit that predicts the occurrence of interference between the obstacle and the construction machine after the current time using the object detection information .
Then, in the present invention, the interference prediction unit is a plurality of paths on the path estimated by using the path after the current time of the moving body calculated by using the detection information of the moving state and the detection information of the moving state. The occurrence of interference between the obstacle and the construction machine after the current time is predicted by using the existing area of the construction machine and the detection information of the obstacle at the sampling position of.
Further, the moving state acquisition unit, the motion state acquisition unit, the obstacle detection unit, and the interference prediction unit are configured to sequentially execute their respective processes.

Here, "obstacle detection information" refers to information that can identify the relative positional relationship between the construction machine and the obstacles existing around the construction machine.

Further, here, the "existence area" in the basic configuration is an area in which the construction machine exists, and if an obstacle exists in the area, interference between the obstacle and the construction machine occurs. Refers to the area to be obtained. This "existing area" is, for example, an existing area at a plurality of times after the current time, an existing area at a plurality of points on the predicted movement path of the construction machine after the current time, or the plurality of times. It may be any of the regions in which the existing regions at a plurality of points are connected (in other words, the spatial passage region of the construction machine after the current time) . In the present invention, the existing regions at a plurality of sampling positions on the path are used as the “existing region”.

As described above, in the interference monitoring device of the present invention, the detection information of the moving state of the moving body, the detection information of the moving state of the upper swinging body and the working machine, and the detection information of the obstacle are used to identify the obstacle after the current time. It predicts the occurrence of interference with construction machinery . In this case, in the present invention, the path after the current time of the moving body is calculated using the detection information of the moving state, and the existing region of the construction machine at a plurality of sampling positions on the path detects the moving state. Estimated using information. Therefore, it is possible to predict the occurrence of interference between the obstacle and the construction machine by reflecting the expected operating state of the construction machine in the future while detecting the actual obstacles existing around the construction machine. it can.

Here, in the prediction, not only the calculation of the route of the moving body but also the estimation of the existing area of the construction machine on the route is performed. Further, when estimating the existing region, not only the posture state of the work machine but also the turning state of the substrate is taken into consideration. As a result, the space for determining the interference between the construction machine and the obstacle is clearly limited, so that the future occurrence of interference (after the current time) can be appropriately predicted.

Therefore, according to the interference monitoring device of the present invention, it is possible to accurately monitor interference with obstacles even when applied to a construction machine that performs various operations in various work spaces . Further, in the interference monitoring device of the present invention, the moving state acquisition unit, the motion state acquisition unit, the obstacle detection unit, and the interference prediction unit are configured to sequentially execute their respective processes. The detection information of the moving state of the moving body, the detection information of the moving state of the working machine, and the detection information of the obstacle are sequentially updated, and the occurrence of interference is predicted by using the updated detection information. In this case, the existing regions of the construction machine at a plurality of sampling positions on the path are estimated, and the occurrence of interference is predicted using the existing regions, which are sequentially executed. Therefore, it is possible to predict the occurrence of interference while reflecting changes in the situation of obstacles around the construction machine or changes in the operating state of the construction machine at any time. As a result, the reliability of the prediction of the occurrence of interference is increased, and the interference with obstacles can be monitored more accurately.

Further, in the interference monitoring device of the present invention, the interference prediction unit is at least on the front end side of two planes orthogonal to the traveling direction at the front end and the rearmost end of the construction machine in the traveling direction of the moving body. A region surrounded by a plane, a plane orthogonal to the height direction at the uppermost end in the height direction of the construction machine, and a plane orthogonal to the width direction at both ends of the construction machine in the width direction of the moving body. Is preferably configured to be estimated as the existing region.

Here, the "front end" of the construction machine in the traveling direction of the moving body means the tip of the front side in the traveling direction of the moving body (the side facing the direction in which the moving body moves), and the construction machine in the traveling direction of the moving body. The "last end" of the above means the tip of the moving body on the rear side in the traveling direction (the side opposite to the direction in which the moving body moves). Further, the "width direction" refers to a direction orthogonal to the traveling direction and the height direction of the construction machine, or a direction substantially orthogonal to the traveling direction and the height direction.

In this way, the shape of the existence region recognized by the interference prediction unit is not a complicated shape like the actual shape of the construction machine itself, but a simple shape like a rectangular parallelepiped defined as described above. The computational load of the process of estimating the existing region and the process of predicting the occurrence of interference can be reduced, and the prediction of the occurrence of interference can be realized by a simple process.

Further, in the interference monitoring device of the present invention, the interference prediction unit determines the obstacle based on the distance from the existing area to the obstacle calculated by using the detection information of the existing area and the obstacle. It is preferable that it is configured to predict the occurrence of interference with the construction machine.

In this way, by predicting the occurrence of interference using the distance from the existing area calculated using the obstacle detection information to the obstacle, it becomes possible to improve the reliability of the prediction of the occurrence of interference. ..

Further, in the interference monitoring device of the present invention, when the occurrence of interference is predicted by the interference prediction unit, the movement of the working machine in a direction in which the possibility of interference between the obstacle and the construction machine increases. It is preferable to have an operation limiting unit that limits the movement of the moving body or the rotation of the substrate.

In this way, when the driver is not aware of the possibility of interference by limiting movements such as movement of the work machine, movement of the moving body, or rotation of the substrate based on the result predicted by the interference prediction unit. Alternatively, even if the driver is an unskilled person, it becomes easy to prevent interference.

Here, the "restriction" by the operation limiting unit is not only the limitation of the operation itself such as stopping the operation and reducing the speed of the operation, but also the operation for performing the operation (for example, the lever for instructing the operation). Operation) may be a limitation.

Further, in the interference monitoring device of the present invention, when the operation limiting unit is provided, the operation limiting unit increases the possibility of the interference in the direction in which the obstacle and the existing area approach each other. It is preferable that it is configured to be recognized as.

In this way, by using the direction in which the obstacle and the existing area approach each other as the "direction in which the possibility of interference increases", which is the standard for limiting the movement, it is possible to accurately prevent the interference due to the limitation of the movement. Will be.

Further, it is preferable that the interference monitoring device of the present invention includes a notification unit that notifies the driver of the construction machine when the occurrence of interference is predicted by the interference prediction unit.

In this way, by making the notification based on the result predicted by the interference prediction unit, the driver can easily recognize the possibility of interference. Therefore, the driver can take appropriate measures to prevent interference.

Here, the "notification" by the notification unit is any kind as long as the driver can recognize the possibility of interference through the five senses, such as notification by voice such as a buzzer or notification by a warning light or the like. May be good.

The side view which shows the hydraulic excavator provided with the interference monitoring apparatus which concerns on embodiment. The plan view which shows typically the hydraulic excavator of FIG. The block diagram which shows the main hydraulic circuit composition of the hydraulic excavator of FIG. The block diagram which shows the structure of the control device of the hydraulic excavator of FIG. Explanatory drawing for demonstrating the traveling direction of the hydraulic excavator of FIG. The explanatory view for demonstrating the operation of the hydraulic excavator of FIG. The flowchart which shows the interference prevention processing performed by the hydraulic excavator of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, the schematic configuration of the hydraulic excavator S, which is a construction machine, will be described with reference to FIGS. 1 to 3.

As shown in FIGS. 1 and 2, the hydraulic excavator S refers to the lower traveling body 1 (moving body), the upper swinging body 2 (base) mounted on the lower traveling body 1, and the upper swinging body 2. It includes a movable work machine 3 and a swivel mechanism 4 that rotatably supports the upper swivel body 2 with respect to the lower traveling body 1.

The lower traveling body 1 includes a lower frame 1a and a pair of crawlers 1b provided on both sides of the lower frame 1a. The crawler 1b is driven by a traveling hydraulic motor (left traveling hydraulic motor ML and right traveling hydraulic motor MR (see FIG. 3)) which is a hydraulic actuator.

The moving body is not limited to a traveling body composed of a lower frame and a crawler, and may be a movable body that can mount a substrate and a working machine. For example, the moving body may be a moving body that moves on wheels or a leg-type moving body. Further, when the construction machine is used on the water, the moving body may be a pontoon or the like.

Although not shown in FIGS. 1 and 2, the cab 2b of the upper swing body 2 includes an output device 2b1 (see FIG. 4) including a buzzer, a display terminal, and the like, and the driver moves the work machine 3 and the upper part. Various levers (not shown) for operating the turning operation of the rotating body 2 and the moving operation of the lower traveling body 1 are provided.

Although not shown in FIGS. 1 and 2, the machine room 2c of the upper swing body 2 is a hydraulic circuit HC that supplies hydraulic pressure to actuators such as the crawler 1b, the work machine 3, and the swing mechanism 4 of the lower traveling body 1. Is installed.

With reference to FIG. 3, the main configuration of the hydraulic circuit HC of the hydraulic excavator S will be schematically described.

Flood control is supplied to the hydraulic circuit HC from the first hydraulic pump P1 and the second hydraulic pump P2 driven by the engine (not shown) of the hydraulic excavator S.

The first hydraulic pump P1 has two discharge ports. The first discharge port P1a, which is one of the two discharge ports, is connected to the left travel direction switching valve V1, the boom direction switching valve V2, and the bucket direction switching valve V3 via the traveling straight-ahead valve V0. Has been done. Further, the second discharge port P1b, which is one of the two discharge ports, is connected to the right traveling direction switching valve V4 and the arm direction switching valve V5 via the traveling straight-ahead valve V0.

The left traveling directional switching valve V1, the boom directional switching valve V2, the bucket directional switching valve V3, the right traveling directional switching valve V4, and the arm directional switching valve V5 are hydraulic actuators, respectively. It is connected to the traveling hydraulic motor ML, the boom cylinder 3d, the bucket cylinder 3f, the right traveling hydraulic motor MR, and the arm cylinder 3e. Each of these hydraulic actuators is adapted to supply pressure oil from the hydraulic pump P1 via a direction switching valve corresponding to each of these hydraulic actuators.

The traveling straight valve V0 is for equalizing the flow rates of the pressure oil supplied to the left traveling hydraulic motor ML and the right traveling hydraulic motor MR when the hydraulic excavator S travels straight.

The second hydraulic pump P2 has one discharge port. The third discharge port P2a, which is the discharge port, is connected to the turning direction switching valve V6.

The turning direction switching valve V6, which is a direction switching valve, is connected to the turning hydraulic motor MT, which is a hydraulic actuator. In the swivel hydraulic motor MT, pressure oil is supplied from the hydraulic pump P2 via the swivel direction switching valve V6.

Each direction switching valve is a spool valve for controlling the operating direction and operating speed of the corresponding hydraulic actuator, and is operated by a pilot pressure given from a pilot operator (not shown).

The hydraulic circuit HC described with reference to FIG. 3 is an example, and the hydraulic circuit may have a configuration different from the above.

Returning to FIGS. 1 and 2, the working machine 3 is rotated to the boom 3a rotatably connected to the upper swing body 2, the arm 3b rotatably connected to the boom 3a, and the arm 3b. It has a bucket 3c that is movably connected.

Further, the working machine 3 has a boom cylinder 3d having both ends attached to the upper swing body 2 and the boom 3a to operate the boom 3a, and an arm cylinder 3e having both ends attached to the boom 3a and the arm 3b to operate the arm 3b. , Both ends are attached to the arm 3b and the bucket 3c, and the bucket cylinder 3f for operating the bucket 3c is provided.

The boom 3a is rotatably connected to the upper swing body 2 by a first support shaft 3g, and rotates by the expansion / contraction operation of the boom cylinder 3d with the first support shaft 3g as a fulcrum. The arm 3b is rotatably connected to the boom 3a by a second support shaft 3h, and rotates by the expansion / contraction operation of the arm cylinder 3e with the second support shaft 3h as a fulcrum. The bucket 3c is rotatably connected to the arm 3b by a third support shaft 3i, and rotates by the expansion / contraction operation of the bucket cylinder 3f with the third support shaft 3i as a fulcrum.

The swivel mechanism 4 is arranged between the lower frame 1a of the lower traveling body 1 and the upper frame 2a of the upper swivel body 2. The swivel mechanism 4 connects the upper frame 2a to the lower frame 1a so as to be swivelable in the yaw direction with the swivel axis a as the axis.

With reference to FIG. 4, the hydraulic excavator S is further equipped with various sensors and a control device C.

The sensors include an obstacle sensor S1 for detecting an obstacle (external object) around the hydraulic excavator S, and the angular velocity and movement of the lower traveling body 1 in the yaw direction as information indicating the moving state of the lower traveling body 1. The angular speed detection sensor S2 and the moving speed detection sensor S3 for detecting the speed, the work machine state detection sensor S4 for detecting the posture state of the work machine 3, and the turning state of the upper swivel body 2 are detected. The sensor S5 for detecting the state of the swivel body is included.

In the present embodiment, the obstacle sensor S1 is composed of, for example, a plurality of infrared cameras 2d attached to the upper part of the cab 2b and the machine room 2c, as shown in FIG.

Each of the plurality of infrared cameras 2d is a camera that captures the environment around the hydraulic excavator S (specifically, front, side, and rear) as a distance image.

In the present embodiment, the plurality of infrared cameras 2d are installed on the first camera 2d1 which is installed on the upper part of the cab 2b and captures a distance image in front of the hydraulic excavator S, and is installed on the upper part of the machine room 2c and is installed on the hydraulic excavator S. A pair of left and right second cameras 2d2 that capture a distance image on the side of the excavator S, and a third camera 2d3 that is installed above the machine chamber 2c and captures a distance image behind the hydraulic excavator S are included.

The hydraulic excavator S is equipped with a total of four infrared cameras 2d, one for the front, two for the sides, and one for the rear. It may be changed as appropriate according to the angle of view and the like. Further, the mounting location of the infrared camera 2d may be different from the above.

Further, the obstacle sensor S1 may be a sensor other than the infrared camera 2d. For example, instead of the infrared camera, a laser range finder, a stereo camera that captures visible light, or the like can be used as the obstacle sensor S1.

The angular velocity detection sensor S2 is composed of, for example, a gyro sensor mounted on the lower traveling body 1.

As the movement speed detection sensor S3, in the present embodiment, for example, a lever operation amount detector that detects the operation amount of the lever for performing the movement operation of the lower traveling body 1 is used.

Here, since the moving speed of the lower traveling body 1 is adjusted according to the operating amount of the lever for moving the lower traveling body 1, the lever operating amount detector can be used as the moving speed detection sensor S3. .. However, instead of the lever operation amount detector, a sensor that outputs a detection signal according to the actual moving speed of the lower traveling body 1, such as a sensor that detects the rotation speed of the crawler 1b, is used as the moving speed detection sensor S3. You may use it.

In the present embodiment, the work equipment state detection sensor S4 is composed of an angle sensor that detects the rotation angles θ1, θ2, and θ3 of the boom 3a, the arm 3b, and the bucket 3c, respectively. The angle sensor may be composed of, for example, a potentiometer, a resolver, a rotary encoder, or the like.

The working machine state detection sensor S4 may be any as long as it can detect the posture state of the working machine 3. As the work equipment state detection sensor S4, for example, a displacement sensor that detects the stroke lengths of the boom cylinder 3d, the arm cylinder 3e, and the bucket cylinder 3f can also be used.

In the present embodiment, the swivel body state detection sensor S5 is an angle sensor that detects, for example, the swivel angle φ of the upper swivel body 2 with respect to the lower traveling body 1 (specifically, the swivel angle of the upper frame 2a with respect to the lower frame 1a). Consists of. The angle sensor may be composed of, for example, a resolver, a potentiometer, a rotary encoder, or the like.

As the swivel body state detection sensor S5, a sensor other than the angle sensor can be used as long as it can detect the swivel state of the upper swivel body 2 (base).

The control device C is a control device including a function as an interference monitoring device. The control device C is composed of one or a plurality of electronic circuit units including a CPU, RAM, ROM, an interface circuit, and the like.

As shown in FIG. 4, the control device C has an obstacle detection unit C1 that acquires detection information of obstacles existing around the hydraulic excavator S as a function realized by the mounted hardware configuration or program. , The movement state acquisition unit C2 that acquires the detection information of the movement state of the hydraulic excavator S, the movement state acquisition unit C3 that acquires the detection information of the movement state of the hydraulic excavator S, and the occurrence of interference between the obstacle and the hydraulic excavator S. It is provided with an interference prediction unit C4 for predicting the above, a notification unit C5 for notifying the driver of the hydraulic excavator S, and an operation restriction unit C6 for restricting the movement of the work machine 3 or the movement of the lower traveling body 1. The processing of each of these functional units is executed sequentially.

Image data indicating a distance image taken by the obstacle sensor S1 is input to the obstacle detection unit C1. Then, the obstacle detection unit C1 acquires the distance image indicated by the input image data as the obstacle detection information.

Here, "obstacle detection information" refers to information that can identify the relative positional relationship between the hydraulic excavator S and obstacles existing around the hydraulic excavator S. Since the distance image is an image showing the distance to each part of the obstacle (external object) existing in the photographing region of the obstacle sensor S1, the distance image can be used as the detection information of the obstacle.

The detection signal of the angular velocity detection sensor S2 and the detection signal of the moving speed detection sensor S3 are input to the moving state acquisition unit C2. Then, the moving state acquisition unit C2 receives the angular velocity (detection value) in the yaw direction of the lower traveling body 1 indicated by the detection signal of the angular velocity detection sensor S2 and the lower traveling body indicated by the detection signal of the moving speed detection sensor S3. The moving speed (command value) of 1 is acquired as detection information of the moving state of the lower traveling body 1.

The detection signal of the work equipment state detection sensor S4 and the detection signal of the swivel body state detection sensor S5 are input to the motion state acquisition unit C3. Then, the motion state acquisition unit C3 acquires the detection values of the rotation angles θ1, θ2, and θ3 (see FIG. 1) indicated by the detection signal of the work machine state detection sensor S4 as the detection information of the posture state of the work machine 3. At the same time, the detection value of the swivel angle φ (see FIG. 2) indicated by the detection signal of the swivel body state detection sensor S5 is acquired as the swivel state detection information of the upper swivel body 2.

The interference prediction unit C4 has a route calculation unit C41 that calculates a route after the current time of the hydraulic excavator S, and an existence region estimation unit C42 that estimates the existence region of the hydraulic excavator S.

Here, the "existing area" is, in the present embodiment, an area in which the hydraulic excavator S exists, and when an obstacle exists in the area, the obstacle interferes with the hydraulic excavator S. Refers to the area where

The route calculation unit C41 calculates the route after the current time of the hydraulic excavator S using the detection information (angular velocity (detection value) and movement speed (command value) of the lower traveling body 1) acquired by the movement state acquisition unit C2. To do.

Specifically, in the present embodiment, the route calculation unit C41 assumes that the current moving state of the lower traveling body 1 recognized based on the acquired detection information continues, and the hydraulic excavator S is currently Calculate and recognize the route that is expected to travel after the time.

Here, as shown in FIG. 5, the traveling direction of the hydraulic excavator S on the path is a tangential direction with respect to the path at the position where the hydraulic excavator S is located. In the existence region described later, this tangential direction corresponds to the front-back direction.

In the present embodiment, the existing region estimation unit C42 determines the current motion state of the hydraulic excavator S (that is, the current posture state of the work machine 3 (rotation angles θ1, θ2, θ3) and the current rotation of the upper swivel body 2). Assuming that the state (turning angle φ)) continues after the current time, the existing region of the hydraulic excavator S at each position on the path of the lower traveling body 1 is estimated.

In this case, the existing region of the hydraulic excavator S at each position on the path of the lower traveling body 1 (the existing region of the hydraulic excavator S in the work space) is relative to the lower traveling body 1 in the current state of the upper body of the hydraulic excavator. It is uniquely defined according to the existing region, the position on the route, and the traveling direction (tangential direction of the route) of the lower traveling body 1 at that position.

Therefore, in the present embodiment, the existence region estimation unit C42 recognizes the total protrusion amount (protrusion amount as seen from the lower traveling body 1) of the upper swing body 2 and the working machine 3 in the current state of the hydraulic excavator S. It has a recognition unit C421. Hereinafter, for convenience of explanation, the entire upper swing body 2 and the working machine 3 (the entire portion of the hydraulic excavator S excluding the lower traveling body 1) will be referred to as a hydraulic excavator upper body.

The protrusion amount recognition unit C421 has known dimensions related to the upper swing body 2 and the working machine 3, the current rotation angles θ1, θ2, θ3 (see FIG. 1) acquired by the motion state acquisition unit C3, and the present. The amount of protrusion is calculated using the turning angle φ (see FIG. 2).

Here, as shown in FIG. 1, the protrusion amount L1 is from the reference point RP, which is a point fixed with respect to the lower traveling body 1 (a point in which the relative position with respect to the lower traveling body 1 is set in advance by design). , The distance from the front end of the upper body of the hydraulic excavator, the protrusion amount L2 is the distance from the reference point RP to the uppermost end of the upper body of the hydraulic excavator, and the protrusion amount L3 is the distance from the reference point RP to the end of the hydraulic excavator S. The distance to the edge.

Here, the "front end" of the construction machine in the traveling direction of the moving body means the tip of the front side in the traveling direction of the moving body (the side facing the direction in which the moving body moves), and the construction machine in the traveling direction of the moving body. The "last end" of the above means the tip of the moving body on the rear side in the traveling direction (the side opposite to the direction in which the moving body moves).

The front end of the upper body of the hydraulic excavator is more specifically the tip on the front side in the traveling direction of the lower traveling body 1, and the rearmost end of the upper body of the hydraulic excavator is more specifically rearward in the traveling direction of the lower traveling body 1. The tip of the side. Further, in the hydraulic excavator S, the traveling direction of the lower traveling body 1 is the front-rear direction of the crawler 1b.

Further, as shown in FIG. 2, the protrusion amount L4 is the distance from the reference point RP to the farthest end on the right side in the width direction of the hydraulic excavator upper body, and the protrusion amount L5 is from the reference point RP to the hydraulic excavator upper body. The distance to the farthest end on the left side in the width direction.

Here, the "width direction" refers to a direction orthogonal to the traveling direction and the height direction of the lower traveling body 1, or a direction substantially orthogonal to the traveling direction.

The protrusion amount L1 is the known dimensions of each component (boom 3a, arm 3b and bucket 3c) of the work machine 3 when the work machine 3 is projected toward the front side in the traveling direction of the lower traveling body 1, and the present It is calculated based on the rotation angles θ1, θ2, θ3 and the current rotation angle φ. Further, when the upper swivel body 2 is projected (for example, when the lower traveling body 1 is retracted), it is calculated based on the known dimensions of the upper swivel body 2 and the current swivel angle φ.

The protrusion amount L2 is calculated based on the known dimensions of each component of the working machine 3, the current rotation angles θ1, θ2, θ3, and the known height of the upper swing body 2. Specifically, after calculating the height of the uppermost end of the working machine 3 from the current rotation angles θ1, θ2, θ3, the height of the working machine 3 and the height of the upper swivel body 2 are compared, and the higher one is obtained. Is the protrusion amount L2.

The protrusion amount L3 is calculated based on the known dimensions of the upper swivel body 2 and the current swivel angle φ when the upper swivel body 2 protrudes to the rear side in the traveling direction of the lower traveling body 1. Further, when the working machine 3 is projected (for example, when the lower traveling body 1 is retracted), the known dimensions of each component (boom 3a, arm 3b, and bucket 3c) of the working machine 3 and the current dimensions are used. It is calculated based on the rotation angles θ1, θ2, θ3 and the current rotation angle φ.

When the work machine 3 protrudes to the right side in the width direction of the lower traveling body 1, the protrusion amount L4 includes the known dimensions of each component of the work machine 3 and the current rotation angles θ1, θ2, θ3. It is calculated based on the current turning angle φ. When the upper swivel body 2 is projected, it is calculated based on the known dimensions of the upper swivel body 2 and the current swivel angle φ.

When the work machine 3 protrudes to the left side in the width direction of the lower traveling body 1, the protrusion amount L5 includes the known dimensions of each component of the work machine 3 and the current rotation angles θ1, θ2, θ3. It is calculated based on the current turning angle φ. When the upper swivel body 2 is projected, it is calculated based on the known dimensions of the upper swivel body 2 and the current swivel angle φ.

The existing region estimation unit C42 compares the known dimensions of the lower traveling body 1 with the calculated protrusion amount of the upper body of the hydraulic excavator, and based on the comparison result, of the hydraulic excavator S in the traveling direction of the lower traveling body 1. Two planes orthogonal to the traveling direction at the foremost end and the rearmost end, a plane orthogonal to the height direction at the uppermost end in the height direction of the hydraulic excavator S, and a hydraulic excavator S in the width direction of the lower traveling body 1. A rectangular region (a region fixed to the lower traveling body 1) surrounded by a plane orthogonal to the width direction at both ends is a lower traveling body at an arbitrary position on the route calculated by the route calculation unit C41. It is estimated as a relative existence area seen from 1.

For example, when the current state of the hydraulic excavator S is the state shown in FIG. 1 and the hydraulic excavator S is advancing, when defining the frontmost surface in the traveling direction of the existing region, first, the reference point is defined. The dimension from the RP to the foremost end of the lower traveling body 1 on the front side in the traveling direction and the protrusion amount L1 which is the dimension to the foremost end of the upper body of the hydraulic excavator are compared. In the posture of FIG. 1, since the protrusion amount L1 is larger than the corresponding dimension of the lower traveling body 1, the plane orthogonal to the tip of the protrusion amount L1 is the frontmost surface of the existing region (see FIG. 1). ..

Further, when defining the surface to be the uppermost end of the existing region, the dimension from the reference point RP to the uppermost end of the lower traveling body 1 and the protrusion amount L2 which is the dimension to the uppermost end of the upper body of the hydraulic excavator are set. Compare. In the posture of FIG. 1, since the protrusion amount L2 is larger than the corresponding dimension of the lower traveling body 1, the surface orthogonal to the tip of the protrusion amount L2 is the rearmost surface of the existing region (see FIG. 1). ..

Further, when defining the surface to be the rearmost end in the traveling direction of the existing region, the dimensions from the reference point RP to the rearmost end of the lower traveling body 1 on the rear side in the traveling direction and the rearmost end of the upper body of the hydraulic excavator. Compare with the protrusion amount L3 which is a dimension. In the posture of FIG. 1, since the protrusion amount L3 is larger than the corresponding dimension of the lower traveling body 1, the surface orthogonal to the tip of the protrusion amount L3 is the rearmost surface of the existing region (see FIG. 1). ..

Further, when defining the surface to be the farthest end on the right side in the width direction of the existing region, the dimensions and the hydraulic excavator from the reference point RP to the farthest end on the right side in the width direction of the lower traveling body 1 on the rear side in the traveling direction. Compare with the protrusion amount L4, which is the dimension to the farthest end of the upper body. In the posture of FIG. 1 (that is, the posture of FIG. 2), the protrusion amount L4 is larger than the corresponding dimension of the lower traveling body 1, so that the plane orthogonal to the tip of the protrusion amount L4 is on the right side in the width direction of the existing region. It is the farthest surface of (see FIG. 2).

Further, when defining the surface to be the farthest end on the left side in the width direction of the existing region, the dimensions and the hydraulic excavator from the reference point RP to the farthest end on the left side in the width direction of the lower traveling body 1 on the rear side in the traveling direction. Compare with the protrusion amount L5, which is the dimension to the farthest end of the upper body. In the posture of FIG. 1 (that is, the posture of FIG. 2), the protrusion amount L5 is larger than the corresponding dimension of the lower traveling body 1, so that the plane orthogonal to the tip of the protrusion amount L5 is on the left side in the width direction of the existing region. It becomes the farthest surface of (see FIG. 2).

As described above, the existing region estimation unit C42 assumes that the current state of the hydraulic excavator S continues, and the existing region relative to the lower traveling body 1 after the current time (the existing region of the hydraulic excavator S as seen from the lower traveling body 1). Existence area) is estimated. In this case, the existing region of the hydraulic excavator S (existing region in the work space) at each position on the future route calculated by the route calculation unit C41 is a region relative to the lower traveling body 1 on the route. It is estimated as a region that is moved to each position and the front-back direction of the existing region coincides with the tangential direction of the path at that position.

In the hydraulic excavator S, the shape of the existing region recognized by the existing region estimation unit C42 is not a complicated shape like the actual shape of the hydraulic excavator S itself, but a simple shape like a rectangular parallelepiped defined as described above. There is. As a result, it is possible to reduce the computational load of the process of estimating the existence region of the lower traveling body 1 on the predicted route and the process of predicting the occurrence of interference, and the prediction of the occurrence of interference can be predicted by a simple process. It can be realized.

Then, the interference prediction unit C4 calculates the distance from the existing area to the obstacle by using the detection information of the existing area and the obstacle on the path of the lower traveling body 1, and based on the calculated distance, the obstacle is found. Predict the occurrence of interference with construction machinery.

Specifically, the interference prediction unit C4 first has an existing region at each position on the route (a plurality of sampling positions on the route) calculated by the route calculation unit C41 based on the distance image which is the detection information of the obstacle. Calculate the distance from to the obstacle. Next, the interference prediction unit C4 determines whether or not the distance from the existing region to the obstacle is equal to or less than a predetermined value at each position on the route calculated by the route calculation unit C41, and causes interference. Predict.

For example, as shown in FIG. 6, an obstacle O existing at a position where the hydraulic excavator S exists at a position where it can overlap with the existing region ER of the hydraulic excavator in the height direction is detected on the front side in the traveling direction of the hydraulic excavator S, and the lower traveling body It is determined that interference occurs when the distance from the existing area ER to the obstacle O is equal to or less than the predetermined distance D at a certain position on the path 1.

When the interference prediction unit C4 predicts the occurrence of interference, the notification unit C5 notifies the driver of the hydraulic excavator S.

Specifically, the driver is notified via the output device installed in the cab 2b of the upper swing body 2. Specifically, in addition to a voice notification such as a buzzer, a warning light is used for notification.

As described above, in the hydraulic excavator S, since the notification unit C5 notifies based on the result predicted by the interference prediction unit C4, the driver can easily recognize the possibility of interference. Therefore, the driver can take appropriate measures to prevent interference.

Here, the "notification" in the interference monitoring device of the present invention is not limited to the above-mentioned notification by voice such as a buzzer and notification by a warning light or the like, and the driver recognizes the possibility of interference through the five senses. Anything that can be done may be used.

When the interference prediction unit C4 predicts the occurrence of interference, the operation limiting unit C6 operates in a direction in which the possibility of interference between the obstacle and the hydraulic excavator S increases (in the present embodiment, the movement of the working machine 3). And the movement of the lower traveling body 1).

Specifically, the operation limiting unit C6 is from a detection signal from the moving speed detection sensor S3 for detecting the speed of the lower traveling body 1 and a lever (not shown) for operating the working machine 3. A hydraulic actuator corresponding to the work machine 3 or the lower traveling body 1 so as to detect a signal and stop the operation when the signal is in the direction in which the existing obstacle and the existing area approach each other (FIG. FIG. 3) is controlled.

Here, the "restriction" by the operation limiting unit C6 is not only the restriction such as stopping the operation as described above, but also the restriction of the operation itself such as reduction of the speed of the operation, or an operation for performing the operation (for example). , Operation of the lever to instruct the operation) may be restricted.

By limiting the operation in this way, the hydraulic excavator S can prevent the interference even when the driver is not aware of the possibility of the interference or the driver is an unskilled person. ing.

In the hydraulic excavator S, the operation limiting unit C6 recognizes the direction in which the obstacle and the existing area approach each other as "the direction in which the possibility of interference increases" in order to accurately prevent interference due to the operation restriction. It is configured as follows.

However, the "direction in which the possibility of interference increases" in the interference monitoring device of the present invention is not limited to such a direction. For example, even if there is a direction in which the possibility of interference is low in a certain section of the route, if there is a direction in which the possibility of interference is high as a whole of the route, that direction is set to "the direction in which the possibility of interference is high". May be specified as.

Further, as the restriction by the operation limiting unit C6, either the movement of the work machine 3 or the movement of the lower traveling body 1 (moving body) may be restricted. Further, since the hydraulic excavator S is configured so that the upper rotating body 2 (base) can rotate with respect to the lower traveling body 1 (moving body), there is a possibility of interference between the obstacle and the hydraulic excavator S. The turning of the upper swing body 2 in the rising direction may be restricted.

In the hydraulic excavator S, the control device C is provided with the notification unit C5 and the operation restriction unit C6, but the interference monitoring device of the present invention is not limited to such a configuration, and the notification unit C5 and the operation restriction are not limited to such a configuration. Either one or both of parts C6 may be omitted.

Next, with reference to FIGS. 4, 5 and 7, the interference prevention process performed when the interference monitoring device monitors the interference between the hydraulic excavator S and the obstacle will be described. FIG. 7 is a flowchart showing the interference prevention process performed by the control device C.

First, the obstacle detection unit C1 acquires a distance image as obstacle detection information taken by the infrared camera 2d, which is the obstacle sensor S1 (FIG. 7 / STEP01).

Next, the moving state acquisition unit C2 receives the angular velocity of the lower traveling body 1 in the yaw direction indicated by the detection signal of the angular velocity detecting sensor S2 and the movement of the lower traveling body 1 indicated by the detection signal of the moving speed detecting sensor S3. The speed is acquired and surrounding obstacles are detected (Fig. 7 / STEP02).

Next, the motion state acquisition unit C3 is based on the rotation angles θ1, θ2, θ3 (see FIG. 1) indicated by the detection signal of the work equipment state detection sensor S4, and the detection signal of the swivel body state detection sensor S5. The indicated turning angle φ (see FIG. 2) is acquired (FIG. 7 / STEP03).

Next, the route calculation unit C41 of the interference prediction unit C4 calculates the route after the current time of the hydraulic excavator S by using the angular velocity and the movement speed of the lower traveling body 1 acquired by the movement state acquisition unit C2 ( FIG. 7 / STEP04).

Next, the existence region estimation unit C42 of the interference prediction unit C4 uses the protrusion amount of the upper body of the hydraulic excavator, the known dimensions of the lower traveling body 1, and the calculated path to each position on the path (a plurality of positions on the path). The existing region at the sampling position) is estimated (Fig. 7 / STEP05).

Specifically, first, the protrusion amount recognition unit C421 of the existence area estimation unit C42 of the interference prediction unit C4 has the known dimensions related to the upper swing body 2 and the work equipment 3, and the times acquired by the motion state acquisition unit C3. The protrusion amounts L1 to L5 of the upper body of the hydraulic excavator are calculated using the moving angles θ1, θ2, θ3 (see FIG. 1) and the turning angle φ (see FIG. 2). Next, the existence region estimation unit C42 of the interference prediction unit C4 compares the known dimensions of the lower traveling body 1 with the calculated protrusion amount of the upper body of the hydraulic excavator, and estimates the existence region based on the comparison result. To do.

Next, the interference prediction unit C4 calculates the distance from the existing region to the obstacle at each position on the route (FIG. 7 / STEP06).

Next, in the interference prediction unit C4, the calculated distance is a predetermined distance (for example, FIG. 6) at a position within a predetermined range from the current position of the hydraulic excavator S or a position where the hydraulic excavator S reaches within a predetermined time. It is determined whether or not there is an obstacle having a distance D) or less (FIG. 7 / STEP07).

When an obstacle exists (YES in STEP07), it means that the occurrence of interference is predicted, so the notification unit C5 notifies the driver (FIG. 7 / STEP08).

Next, the operation limiting unit C6 detects a signal for operating the lower traveling body 1 and the working machine 3 (for example, a detection signal from the moving speed detection sensor S3), and an instruction based on the signal can interfere. It is determined whether or not the property is in the direction of increasing (FIG. 7 / STEP09).

When the instruction is in the direction in which the possibility of interference increases (YES in STEP09), it corresponds to the working machine 3 or the lower running body 1 so as to limit the operation of the lower traveling body 1 or the working machine 3. The hydraulic pressure supplied to the hydraulic actuator (see FIG. 3) is controlled (FIG. 7 / STEP10).

After the operation is restricted by the operation limiting unit C6, or when there is no obstacle (NO in STEP07) or when the instruction is not in the direction to increase the possibility of interference (NO in SYSTEM09). The control device C ends the interference prevention process this time.

The above-mentioned interference prevention process is sequentially executed every time a predetermined time elapses or a predetermined distance is moved. Therefore, in the control device C of the hydraulic excavator S, the detection information of the moving state of the lower traveling body 1, the detecting information of the moving state including the turning state of the upper turning body 2 and the posture state of the working machine 3, and the detection information of the obstacle are obtained. It is updated sequentially, and the occurrence of interference is predicted using the updated detection information.

With this configuration, the detection information of the moving state of the lower traveling body 1, the detecting information of the moving state including the turning state of the upper turning body 2 and the posture state of the working machine 3, and the detection information of the obstacle are sequentially updated. The updated detection information is used to predict the occurrence of interference. Therefore, it is possible to predict the occurrence of interference while reflecting the change in the condition of obstacles around the hydraulic excavator S or the change in the operating state of the hydraulic excavator S at any time.

It should be noted that all the processes performed in the interference prevention process may not be executed sequentially, but only necessary processes may be performed as appropriate. For example, in the recognition of the route and the existing area (STEP02 to STEP05 in FIG. 7), the movement state including the turning state of the upper swinging body 2 and the posture state of the working machine 3 or the moving state of the lower traveling body 1 is changed. It may be done only in some cases.

As described above, in the control device C of the hydraulic excavator S, the detection information of the moving state of the lower traveling body 1, the detecting information of the moving state including the turning state of the upper turning body 2 and the posture state of the working machine 3, and obstacles. The detection information of is used to predict the occurrence of interference between the obstacle and the hydraulic excavator S after the current time. Therefore, in a state where an actual obstacle existing around the hydraulic excavator S is detected, the occurrence of interference between the obstacle and the hydraulic excavator S is predicted by reflecting the expected operating state of the hydraulic excavator S in the future. can do.

Therefore, according to the control device C, even when the hydraulic excavator S performs various operations in various environmental work spaces, it is possible to accurately monitor the interference with obstacles.

Although the illustrated embodiment has been described above, the present invention is not limited to such an embodiment.

For example, in the above embodiment, the existence region estimated by the existence region estimation unit C42 is a hydraulic excavator inside the existence region at a predetermined time at a plurality of sampling positions on the predicted path of the hydraulic excavator S after the current time. It is a region where S exists, and when an obstacle exists in the region, it refers to a region where interference between the obstacle and the work equipment 3 can occur. However, the region of existence of the present invention is not limited to such a region.

For example, an area existing at a plurality of times after the current time, or an area formed by connecting the existing areas at the plurality of times or at a plurality of points (in other words, spatially of a construction machine after the current time). It may be any of the passing areas).

Further, in the above embodiment, the route calculation unit C41 predicts that the hydraulic excavator S will travel after the current time, assuming that the current motion state recognized based on the acquired detection information continues. The route is calculated and recognized. However, the method of calculating the route of the present invention is not limited to the method of assuming that the current state of motion recognized based on the acquired detection information continues.

For example, a method of predicting a future route by an extrapolation method may be used with reference to the detection information of the movement state of the moving body acquired in the past predetermined period (that is, the history of the detection information). ..

Further, in the above embodiment, the protrusion amount recognition unit C421 of the existence area estimation unit C42 is a hydraulic excavator as a whole of the upper swing body 2 (base) and the working machine 3 as the protrusion amount used when estimating the existence area. The amount of protrusion of the upper body is used. However, the interference monitoring device of the present invention is not limited to such a configuration. For example, the protrusion amount of the substrate and the protrusion amount of the working machine may be calculated individually, and each of them may be compared with the known dimensions of the moving body to estimate the existence region.

Further, in the above embodiment, the shape of the existing region does not necessarily have to be a rectangular parallelepiped as long as it can be used for predicting the occurrence of interference between the construction machine and the obstacle. For example, the estimated existence region may be a shape such as the actual shape of the construction machine itself or a shape close thereto.

Further, since the moving body moves toward the front in the traveling direction, there is generally no possibility or almost no interference between the construction machine and the obstacle on the rear side in the traveling direction of the moving body. Therefore, the existing region is estimated without considering the boundary on the rear side in the traveling direction of the existing region of the construction machine (in the hydraulic excavator S of the above embodiment, the protrusion amount L3 on the rear side of the upper swing body 2). May be good.

Further, in the above embodiment, the route calculation unit C41 and the existence area estimation unit C42 estimate the existence area and calculate the route, and cause interference between the obstacle and the hydraulic excavator S which is a construction machine after the current time. The outbreak is predicted. However, the interference monitoring device of the present invention may predict the occurrence of interference without estimating the existing region or calculating the route.

For example, only the height of the construction machine at the current time is recognized from the detection information of the motion state of the substrate and the work machine, and the height of the construction machine is higher than the height of the construction machine on the path calculated based on the detection information of the movement state of the moving body. It may be determined whether or not there is a low obstacle.

1 ... Lower traveling body (moving body), 2 ... Upper rotating body (base), 3 ... Working machine, C ... Control device (interference monitoring device), C1 ... Obstacle detection unit, C2 ... Moving state acquisition unit, C3 ... Motion state acquisition unit, C4 ... interference prediction unit, C5 ... notification unit, C6 ... motion restriction unit, D ... predetermined distance, ER ... existence area, O ... obstacle, S ... hydraulic excavator (construction machine).

Claims (6)

An interference monitoring device for a construction machine including a moving body, a base rotatably mounted on the moving body, and a working machine movable with respect to the base.
A moving state acquisition unit that acquires detection information of the moving state of the moving body, and a moving state acquisition unit.
A motion state acquisition unit that acquires detection information of a motion state including a swivel state of the substrate and a posture state of the work machine, and a motion state acquisition unit.
An obstacle detection unit that detects obstacles around the construction machine,
After the current time of the path of the moving body calculated by using the detected information of the moving state, said estimated using information detected motion state, the presence area of the construction machine definitive multiple sampling positions of該経path and It is provided with an interference prediction unit that predicts the occurrence of interference between the obstacle and the construction machine after the current time using the obstacle detection information.
The interference monitoring device is characterized in that the moving state acquisition unit, the motion state acquisition unit, the obstacle detection unit, and the interference prediction unit are configured to sequentially execute their respective processes. In the interference monitoring device according to claim 1,
At a plurality of sampling positions on the path, the interference prediction unit is at least the front end side plane of two planes orthogonal to the traveling direction at the front end and the rearmost end of the construction machine in the traveling direction of the moving body. A region surrounded by a plane orthogonal to the height direction at the uppermost end in the height direction of the construction machine and a plane orthogonal to the width direction at both ends of the construction machine in the width direction of the moving body. An interference monitoring device characterized in that it is configured to be estimated as the existing region. In the interference monitoring device according to claim 1 or 2.
The interference prediction unit predicts the occurrence of interference between the obstacle and the construction machine based on the distance from the existing area to the obstacle calculated by using the detection information of the existing area and the obstacle. An interference monitoring device characterized in that it is configured to do so. In the interference monitoring device according to any one of claims 1 to 3.
When the occurrence of interference is predicted by the interference prediction unit, the movement of the work machine, the movement of the moving body, or the rotation of the substrate in a direction in which the possibility of interference between the obstacle and the construction machine increases. An interference monitoring device characterized by having an operation limiting unit for limiting. In the interference monitoring device according to claim 4,
The interference prediction unit is configured to predict the path of subsequent current time of the moving body using the detection information of the moving state, the presence of the construction machine definitive multiple sampling positions of該経path using the motion state Estimate the area and
The operation limiting unit is an interference monitoring device characterized in that the direction in which the obstacle and the existing area approach each other is recognized as a direction in which the possibility of interference increases. In the interference monitoring device according to any one of claims 1 to 5.
An interference monitoring device including a notification unit that notifies the driver of the construction machine when the occurrence of interference is predicted by the interference prediction unit.

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