JP7183805B2 - Anti-interference device - Google Patents

Description

The present invention provides interference prevention in a construction machine comprising a lower traveling body, an upper revolving body configured to be able to turn with respect to the lower traveling body, and a work device configured to be able to change its posture with respect to the upper revolving body. It is related to the device.

Conventionally, when a person is detected in the vicinity of a construction machine, the operation of the construction machine is restricted or stopped, and the operator is notified of the danger of interference, thereby preventing interference between the machine and the surrounding person. It is equipped with a function to prevent However, if the operation of the construction machine is restricted, the operation is stopped, or the alarm is issued excessively, the work efficiency is rather reduced. Therefore, various techniques have been proposed to suppress such deterioration in work efficiency.

For example, in Patent Document 1, the circumference of a hydraulic power excavator is divided into a plurality of dangerous areas, and an area sensor for detecting an object is provided in each dangerous area. A technique is disclosed in which a signal is received from an area sensor installed in a dangerous area, and the operation of a working device is stopped when the signal indicates that an object has been detected.

Further, in Patent Document 2, when the arm is operated, if the distance between the person detected by the human detection device and the tip position of the attachment detected by the posture detection device is less than or equal to a predetermined distance, a technique for limiting the movement of the arm is disclosed. disclosed.

JP-A-5-59752 JP 2016-176289 A

By the way, when a person is positioned in front of the tip position of the working device, even if the working device operates so that the tip position moves backward, the possibility of interference between the person and the working device is low. In this way, the operation of the working device, in which there is a high possibility of interference between the person and the working device, differs according to the position of the person with respect to the tip position of the working device.

However, in Patent Literature 1, the plurality of dangerous areas are fixed in advance and are not dynamically set according to the tip position of the working device, so there is a problem that work efficiency is deteriorated.

Specifically, in Patent Document 1, a plurality of dangerous areas are defined as a front area of the upper rotating body, a left area of the upper rotating body, a right area of the upper rotating body, and a rear area of the upper rotating body. It is fixed in advance. Then, for example, when the operation lever of the working device is operated, if a person is in the dangerous area in front of the upper rotating body, the operation of the working device is uniformly restricted.

Therefore, in Patent Literature 1, even when the working device operates such that the tip position of the working device is separated from the person, the operation of the working device is uniformly restricted, resulting in deterioration of the operating efficiency.

Further, Patent Document 2 is a technique for limiting the movement of a construction machine according to the distance between the tip position of a working device and a person, and is not a technique for setting a plurality of areas around the construction machine. have different premises. Moreover, in Patent Document 2, when the distance between the tip position of the working device and the person is equal to or less than a predetermined value, the operation of the construction machine is uniformly restricted.

Further, in Patent Document 2, even if the distance between the tip position of the working device and the person is less than or equal to a predetermined value after the operation of the working device is restricted, the operation of the construction machine in the direction in which the distance increases. disclosed to be non-limiting.

However, since the case of detecting a person in a plurality of areas is not assumed, there is still the problem of deteriorating work efficiency. For example, assume a scene in which a plurality of persons are positioned to the left front and right front of the tip position of the working device. In this scene, even when turning right or left, both persons are positioned outside the turning radius of the work device and are unlikely to interfere with the work device. need not be restricted.

However, in Patent Document 2, when turning right or left in this scene, the distance between one of the two persons and the tip position of the working device becomes smaller, so the operation of the working device is restricted. and work efficiency deteriorates.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a technique capable of preventing interference between a person and a construction machine while suppressing a decrease in work efficiency of the construction machine.

An interference prevention device according to an aspect of the present invention includes a lower traveling body, an upper revolving body configured to be able to turn with respect to the lower traveling body, and a posture changeable with respect to the upper revolving body. An interference prevention device for a construction machine comprising a working device,
an operation unit that receives an operator's operation;
an operation execution unit that operates at least one of the work device and the upper rotating body according to the operation received by the operation unit;
a first sensor that detects the attitude of the working device;
a position calculation unit that calculates a tip position of the working device based on the orientation detected by the first sensor;
an area setting unit that sets a plurality of areas around the construction machine based on the tip position calculated by the position calculation unit;
a second sensor that detects objects positioned around the construction machine;
a person determination unit that determines the presence or absence of a person in each of the plurality of areas based on the object detected by the second sensor;
When the person determination unit determines that the person is present in at least one of the plurality of areas, the working device may interfere with the person in the area where the person is detected. limiting a restricted operation pattern, which is an operation pattern of the construction machine, and permitting a permitted operation pattern, which is a predetermined operation pattern of the construction machine with a low possibility that the work device will interfere with the person. and an operation restricting unit that controls the operation executing unit so as to control the operation executing unit.

According to this configuration, a plurality of areas are set around the construction machine based on the tip position of the working device calculated by the position calculation section. Then, when a person is detected in at least one of the plurality of areas, in the area where the person is detected, the restricted operation pattern in which the work device is highly likely to interfere with the person is restricted. Allowed motion patterns that are less likely to interfere with

As described above, in this configuration, since the plurality of areas are set based on the position of the tip of the working device, in each area, a restricted operation pattern in which the working device is highly likely to interfere with a person It is possible to clearly separate a permitted operation pattern that is unlikely to interfere with a permitted operation pattern. Therefore, when a person is present in a certain area, it is possible to restrict the restricted operation pattern and continue to operate the permitted operation pattern. As a result, it is possible to prevent interference between the person and the construction machine while suppressing a decrease in the work efficiency of the construction machine.

In the above configuration, further comprising a memory for storing operation pattern information in which the restricted operation pattern and the permitted operation pattern are registered for each of the plurality of areas,
Preferably, the operation restricting unit refers to the operation pattern information to determine the restricted operation pattern and the permitted operation pattern for each area.

According to this configuration, since the restricted motion pattern and the permitted motion pattern are registered in the motion pattern information for each region, the restricted motion pattern and the permitted motion pattern can be quickly determined.

In the above configuration, the working device includes: a first member attached to the upper revolving body so as to be rotatable in the vertical direction; a second member attached; and a third member attached to the second member so as to be rotatable in the longitudinal direction of the upper rotating body,
The restricted operation pattern is
a first operation pattern in which the second member rotates backward;
a second operation pattern in which the second member rotates forward;
a third movement pattern in which the third member excavates the ground;
a moving fourth movement pattern in which the first member rotates downward;
a fifth operation pattern in which the upper rotating body rotates to the left;
It is preferable to include at least one of a sixth operation pattern in which the upper rotating body rotates to the right.

According to this configuration, it is possible to limit the possible operation patterns of the working device.

In the above configuration, the plurality of regions include an inner region inside the tip position, and the limited motion pattern in the inner region includes at least one of the fifth motion pattern and the sixth motion pattern. is preferred.

According to this configuration, left turning (fifth operation pattern) or right turning (sixth operation pattern), in which there is a high possibility that the work device will come into contact with a person in the inner area, can be restricted.

In the above configuration, it is preferable that the plurality of regions include an outer region outside the tip position, and the restricted motion pattern in the outer region includes at least the second motion pattern.

According to this configuration, it is possible to limit arm pushing (second operation pattern) in which the working device is highly likely to come into contact with a person in the outer region. Note that the outer region is not set outside the position where the tip position of the working device has the maximum radius.

In the above configuration, it is preferable that the area setting section sets the plurality of areas based on the width of the working device at the tip position.

According to this configuration, it is possible to limit the operation pattern in consideration of the width of the working device at the tip position.

In the above configuration, the inner region includes a first region set inside the width of the working device including the tip position, and the restricted operation pattern in the first region is the first operation pattern, the It is preferable to include a third operation pattern and the fourth operation pattern.

According to this configuration, when there is a person inside the working device, the arm pulling (first operation pattern), bucket excavation (third operation pattern), and boom lowering (fourth operation), which are likely to come into contact with the person, are performed. pattern) can be restricted.

In the above configuration, the outer region includes a second region set outside the width of the working device including the tip position, and the restricted operation pattern in the second region is the second operation pattern. is preferred.

According to this configuration, when the person is positioned in front of the tip position of the working device, it is possible to limit the arm pushing (second operation pattern) that is highly likely to cause interference between the working device and the person.

In the above configuration, the inner region includes a third region set to the left of the left end of the width of the working device including the tip position, and the restricted operation pattern in the third region is the fifth operation pattern. Preferably.

According to this configuration, when the person is positioned on the left side of the work device, it is possible to limit the counterclockwise turn (fifth operation pattern) that is likely to cause interference between the work device and the person.

In the above configuration, the outer region includes a fourth region set to the left of the left end of the width of the working device including the tip position, and the restricted operation pattern in the fourth region is the fifth operation pattern. It is preferable that the second operation pattern is an operation pattern operated during operation.

According to this configuration, when the person is positioned diagonally to the left of the work device, the arm push (fifth operation pattern + second operation pattern) during left turning, which is highly likely to interfere with the work device, is performed. can be restricted.

In the above configuration, the inner region includes a fifth region set to the right of the right end of the width of the working device including the tip position, and the restricted operation pattern in the fifth region is the sixth operation pattern. Preferably.

According to this configuration, when the person is positioned on the right side of the work device, it is possible to limit the right turn (sixth operation pattern) that is likely to interfere with the work device and the person.

In the above configuration, the outer region includes a sixth region set to the right of the right end of the width of the working device including the tip position, and the restricted operation pattern in the sixth region is the sixth operation pattern. It is preferable that the second operation pattern is an operation pattern operated during operation.

According to this configuration, when a person is positioned obliquely to the right of the work device, the arm is pushed (sixth operation pattern + second operation pattern) when turning right when there is a high possibility of interference between the work device and the person. can be restricted.

In the above configuration, the restriction preferably includes deceleration or prohibition of the restricted operation pattern.

In this configuration, when deceleration is adopted as the limited operation pattern, the limited operation pattern is executed at a lower speed than the normal speed, but is not prohibited, so that it is possible to avoid a situation where the work does not progress at all. On the other hand, in this configuration, when prohibition is adopted as the restricted operation pattern, the restricted operation pattern is stopped, so safety can be ensured.

Advantageous Effects of Invention According to the present invention, interference between a person and a construction machine can be prevented while suppressing a decrease in work efficiency of the construction machine.

1 is an external view of a construction machine to which an interference prevention device according to an embodiment of the invention is applied; FIG. 2 is a block diagram showing the configuration of the construction machine shown in FIG. 1; FIG. FIG. 4 is a diagram showing an example of first to sixth areas set around a construction machine; It is a figure explaining an ATT maximum radius. It is a figure which shows an example of an operation pattern table. It is a block diagram showing a detailed configuration of a hydraulic circuit. 7 is a flowchart showing processing of the interference prevention device according to the embodiment; It is a figure when the 1st field, the 3rd field, and the 5th field concerning a modification of the present invention are seen from inside a cabin. It is a figure when the 4th field, the 2nd field, and the 6th field concerning the modification of the present invention are seen from inside a cabin.

Embodiments of the present invention will be described below with reference to the accompanying drawings. It should be noted that the following embodiments are specific examples of the present invention, and are not intended to limit the technical scope of the present invention.

FIG. 1 is an external view of a construction machine 1 to which an interference prevention device according to an embodiment of the invention is applied. The construction machine 1 is, for example, an excavator such as a hydraulic excavator or a hybrid excavator. However, this is only an example, and the construction machine 1 may be constructed by a construction machine such as a crane.

The construction machine 1 includes a crawler-type lower traveling body 2 , an upper revolving body 3 rotatably provided on the lower traveling body 2 , and a working device 4 attached to the upper revolving body 3 . In this specification, the direction in which the working device 4 extends from the upper revolving body 3 is described as forward, and the direction opposite to the front is described as rearward. A direction extending perpendicular to the ground is described as upward, and a direction opposite to the upward direction is described as downward. Also, the direction to the left when viewed from the rear to the front is described as left, and the direction opposite to the left is described as right. In addition, front and rear are collectively referred to as the front-rear direction, upward and downward are collectively referred to as the vertical direction, and left and right are collectively referred to as the left-right direction.

The work device 4 includes a boom 5 attached rotatably upward or downward to the upper revolving body 3, an arm 6 attached rotatable forward or backward to the tip of the boom 5, A bucket 7 is attached to the tip of the arm 6 so as to be rotatable forward or backward. Note that the bucket 7 is configured to be removable from the arm 6 . Therefore, a tip attachment such as a crusher or a breaker other than the bucket 7 may be attached to the tip of the arm 6 .

The work device 4 also includes a boom cylinder C1 for rotating the boom 5 with respect to the upper rotating body 3, an arm cylinder C2 for rotating the arm 6 with respect to the boom 5, and a bucket 7 with respect to the arm 6. and a bucket cylinder C3 for moving. The upper revolving body 3 has a cabin in which an operator boards. The boom 5, the arm 6, and the bucket 7 correspond to examples of the first member, the second member, and the third member, respectively.

FIG. 2 is a block diagram showing the configuration of the construction machine 1 shown in FIG. 1. As shown in FIG. The construction machine 1 includes an object sensor 11, a boom angle sensor 12, an arm angle sensor 13, an input section 14, a sub-controller 15, a main controller 16, a hydraulic circuit 17, an operation section 18, a turning motor M1, a boom cylinder C1, and an arm cylinder C2. , and a bucket cylinder C3. 2, the object sensor 11, boom angle sensor 12, arm angle sensor 13, input unit 14, sub-controller 15, main controller 16, hydraulic circuit 17, and operation unit 18 constitute an interference prevention device.

The object sensor 11 is a sensor for detecting objects positioned around the construction machine 1 . Specifically, the object sensor 11 is composed of, for example, a distance image sensor such as a TOF sensor that detects the depth of an object located within the measurement range in units of pixels, or an image sensor such as a camera. The object sensor 11 is mounted at a position that minimizes blind spots with respect to the work device 4. For example, as shown in FIG. , or may be installed so that the line of sight faces forward of the upper revolving body 3 in the cabin provided in the upper revolving body 3 .

The object sensor 11 senses the front of the upper rotating body 3 at a predetermined frame rate, and outputs the obtained sensing data to the sub-controller 15 at a predetermined frame rate. Here, when the object sensor 11 is composed of a distance image sensor, the sensing data is composed of distance image data in which the depth of each pixel is arranged in a matrix with respect to two axes in the vertical direction and the horizontal direction. When the object sensor 11 is composed of an image sensor, the sensing data is composed of image data in which the luminance of each pixel is arranged in a matrix with respect to two axes in the vertical and horizontal directions.

The sub-controller 15 extracts a person from the sensing data output by the object sensor 11, specifies the position of the extracted person, and outputs the sensing data including the specified position of the person to the main controller 16 at a predetermined frame rate. .

Specifically, when the object sensor 11 is a range image sensor, the sub-controller 15 extracts a group of pixel data having a silhouette of a person from the range image data, and for example, depth is specified, and from the coordinates and depth of the pixel data, the position on the coordinate space 400 shown in FIG. 3 corresponding to the pixel data is calculated as the position of the person.

Further, when the object sensor 11 is composed of an image sensor, the sub-controller 15 extracts a group of pixel data having a person's silhouette from the image data, and among the extracted group of pixel data, for example, indicates the person's feet. The pixel data is identified, the position on the coordinate space 400 shown in FIG. 3 corresponding to the coordinates of the identified pixel data is obtained, and the obtained position is calculated as the position of the person. Note that the object sensor 11 and the sub-controller 15 constitute an example of a second sensor. As will be described later, since the coordinate space 400 is a coordinate space represented by two axes, the X axis and the Y axis, the position of each person in the coordinate space 400 is represented by two components, an X component and a Y component. It will be. The sub-controller 15 may calculate each position of the person on the coordinate space 400 using a predetermined conversion formula for converting the coordinate space of the object sensor 11 into the coordinate space 400 .

The boom angle sensor 12 is provided on a boom foot pin to which the boom 5 is attached with respect to the upper swing structure 3, and detects the angle of the boom 5 with respect to the upper swing structure 3 (hereinafter referred to as "boom angle"). , to the main controller 16 at a constant period or at timing when the angle changes.

The arm angle sensor 13 is provided at a position where the arm 6 is attached to the boom 5 and detects the angle of the arm 6 with respect to the boom 5 (hereinafter referred to as "arm angle"). is output at the timing when the period or angle of is changed. Note that the boom angle sensor 12 and the arm angle sensor 13 are examples of the first sensor.

The input unit 14 includes various operation buttons, various switches, and a touch panel display provided in the cabin. H") and the width of the tip attachment (hereinafter referred to as "ATT maximum width B"). Here, the ATT maximum radius H refers to the distance from the arm top pin at the tip of the arm 6 to the tip of the tip attachment. FIG. 4 is a diagram for explaining the ATT maximum radius H. FIG. In the example of FIG. 4, a bucket 7 is employed as the tip attachment. Therefore, the ATT maximum radius H corresponds to the distance from the arm top pin 901 to the tip 902 of the bucket 7 . The ATT maximum width B corresponds to the maximum lateral width of the tip attachment in top view as shown in FIG. Here, since the bucket 7 is adopted as the tip attachment, the maximum width of the bucket 7 is the ATT maximum width B. As shown in FIG.

The turning motor M1 is composed of, for example, a hydraulic motor, and drives the upper turning body 3 in both left and right directions with respect to the lower traveling body 10 at a turning speed according to the amount of operation received by the operation unit 18. do. The boom cylinder C<b>1 is configured by, for example, a hydraulic cylinder, and rotates the boom 5 at a raising/lowering speed or a lofting speed corresponding to the amount of operation received by the operation unit 18 . The arm cylinder C2 is configured by, for example, a hydraulic cylinder, and rotates the arm 6 at a raising/lowering speed or a laying down speed corresponding to the amount of operation received by the operation unit 18 . The bucket cylinder C3 is configured by, for example, a hydraulic cylinder, and rotates the bucket 7 at a lifting speed or a falling speed according to the amount of operation received by the operation unit 18 .

The hydraulic circuit 17 operates at least one of the work device 4 and the upper revolving body 3 according to the operation amount input to the operation unit 18 . The hydraulic circuit 17 corresponds to an example of an operation executing section.

FIG. 6 is a block diagram showing the detailed configuration of the hydraulic circuit 17. As shown in FIG. The hydraulic circuit 17 includes a right turn operation valve 171, a left turn operation valve 172, an upper boom operation valve 173, a lower boom operation valve 174, an upper arm operation valve 175, a lower arm operation valve 176, an upper bucket operation valve 177, and a lower bucket. An operation valve 178 , a swing control valve 191 , a boom control valve 192 , an arm control valve 193 and a bucket control valve 194 are provided. Further, the operation unit 18 includes a turning operation lever 181 that receives an operation for the upper swing body 3 , a boom operation lever 182 that receives an operation for the boom 5 , an arm operation lever 183 that receives an operation for the arm 6 , and a bucket for receiving an operation for the bucket 7 . An operating lever 184 is provided.

The turning operation lever 181 supplies a pilot pressure corresponding to the amount of operation to the turning control valve 191 through the pilot line L11 when receiving a right turning operation. Further, when receiving a left turn operation, the turn operation lever 181 supplies a pilot pressure corresponding to the amount of operation to the turn control valve 191 through the pilot line L12.

The swing control valve 191 is connected to each of the pilot line L11 and the pilot line L12, and controls a hydraulic pump (not shown) to the swing motor M1 according to the pilot pressure from the right swing operation valve 171 or the left swing operation valve 172. Controls the supply direction and flow rate of hydraulic oil.

The right turn operation valve 171 is composed of an electromagnetic control valve provided in the middle of the pilot line L11, and receives a limit signal output from the operation limiter 164 to reduce the pilot pressure input to the turn control valve 191. Reduce pressure. As a result, the right turn speed is reduced.

The left turn operation valve 172 is composed of an electromagnetic control valve provided in the middle of the pilot line L12, and receives a limit signal output from the operation limiter 164 to reduce the pilot pressure input to the turn control valve 191. do. As a result, the left turning speed is reduced.

When receiving an operation to rotate the boom 5 upward, the boom control lever 182 supplies a pilot pressure corresponding to the amount of operation to the boom control valve 192 through the pilot line L21. In addition, when the boom control lever 182 receives a left turn operation, the boom control valve 192 is supplied with a pilot pressure corresponding to the amount of operation through the pilot line L22.

The boom control valve 192 is connected to each of the pilot line L21 and the pilot line L22, and operates from a hydraulic pump (not shown) to the boom cylinder C1 according to the pilot pressure from the upper boom operation valve 173 or the lower boom operation valve 174. Controls the oil supply direction and flow rate.

The upper boom control valve 173 is composed of an electromagnetic control valve provided in the middle of the pilot line L21, and receives a limit signal output from the operation limiter 164 to reduce the pilot pressure input to the boom control valve 192. do. As a result, the upward rotation speed of the boom 5 is reduced.

The lower boom control valve 174 is composed of an electromagnetic control valve provided in the middle of the pilot line L22, and receives a limit signal output from the operation limiter 164 to reduce the pilot pressure input to the boom control valve 192. do. As a result, the downward rotation speed of the boom 5 is reduced.

When the arm operation lever 183 receives an operation to rotate the arm 6 forward of the upper rotating body 3, it supplies a pilot pressure corresponding to the operation amount to the arm control valve 193 through the pilot line L31. Further, when receiving an operation to rotate the arm 6 downward of the upper rotating body 3, the arm control lever 183 supplies a pilot pressure corresponding to the amount of operation to the arm control valve 193 through the pilot line L32.

The arm control valve 193 is connected to each of the pilot line L31 and the pilot line L32, and operates from a hydraulic pump (not shown) to the arm cylinder C2 according to the pilot pressure from the upper arm operation valve 175 or the lower arm operation valve 176. Controls the oil supply direction and flow rate.

The upper arm control valve 175 is composed of an electromagnetic control valve provided in the middle of the pilot line L31, and reduces the pilot pressure input to the arm control valve 193 by receiving a limit signal output from the operation limiter 164. do. As a result, the upward rotation speed of the arm 6 is reduced.

The lower arm control valve 176 is composed of an electromagnetic control valve provided in the middle of the pilot line L32, and reduces the pilot pressure input to the arm control valve 193 by receiving a limit signal output from the operation limiter 164. do. As a result, the downward rotation speed of the arm 6 is reduced.

The bucket control lever 184 supplies a pilot pressure corresponding to the amount of operation to the bucket control valve 194 through the pilot line L41 when receiving an operation to rotate the bucket 7 forward of the upper rotating body 3 . Further, when the bucket operation lever 184 receives an operation to rotate the bucket 7 rearward of the upper rotating body 3, the pilot pressure corresponding to the operation amount is supplied to the bucket control valve 194 through the pilot line L42.

The bucket control valve 194 is connected to the pilot line L41 and the pilot line L42, respectively, and operates from a hydraulic pump (not shown) to the bucket cylinder C3 according to the pilot pressure from the upper bucket operation valve 177 or the lower bucket operation valve 178. Controls the oil supply direction and flow rate.

The upper bucket control valve 177 is composed of an electromagnetic control valve provided in the middle of the pilot line L41. do. As a result, the upward rotation speed of the bucket 7 is reduced.

The lower bucket control valve 178 is composed of an electromagnetic control valve provided in the middle of the pilot line L42, and receives a limit signal output from the operation limiter 164 to reduce the pilot pressure input to the bucket control valve 194. do. As a result, the downward rotation speed of the bucket 7 is reduced.

The pilot pressure output from the right turn operation valve 171 to the lower bucket operation valve 178 is detected by a pilot pressure sensor (not shown) and input to the main controller 16 . Thereby, the main controller 16 can grasp the operation amount input to the operation unit 18 .

Refer back to FIG. The main controller 16 is composed of a computer including a CPU and memory or a dedicated electric circuit, and controls the construction machine 1 as a whole. The main controller 16 includes a position calculation unit 161 , an area setting unit 162 , a person determination unit 163 , an operation restriction unit 164 and an operation pattern storage unit 165 .

The position calculator 161 calculates the tip position of the work device 4 based on the boom angle detected by the boom angle sensor 12 and the arm angle detected by the arm angle sensor 13 . The tip position of the working device 4 is defined by the X component and the Y component in the coordinate space 400 shown in FIG.

Referring to FIG. 3, the X axis is a coordinate axis set in the horizontal direction passing through the turning center axis O in a top view. The Y-axis is a coordinate axis set in the front-rear direction passing through the turning center axis O in a top view.

Therefore, the value of the Y component of the tip position 401 of the working device 4 is calculated as follows. Referring to FIG. 4 , the position calculation unit 161 first performs a geometric operation using the boom angle, the arm angle, the known length of the boom 5 , and the known length of the known arm 6 , so that the upper turning A distance L from the turning center axis O of the body 3 to the arm top pin 901 is calculated. Next, the position calculation unit 161 calculates a value obtained by adding the maximum ATT radius H input to the input unit 14 to the distance L as the value of the Y component of the tip position 401 of the work device 4 .

On the other hand, referring to FIG. 3, the Y-axis is set on the center line CL1 of the work device 4 when viewed from above. A coordinate space 400 indicated by the X axis and the Y axis is set based on the upper revolving body 3 regardless of the revolving angle of the upper revolving body 3 . Therefore, the value of the X component of the tip position 401 of the work device 4 is 0 regardless of the posture of the work device 4 and the swing angle of the upper swing body 3 . However, this is only an example, and if the Y-axis is set at a position shifted in the X-axis direction with respect to the center line CL1 of the work device 4, the shift in the X-axis direction of the center line CL1 with respect to the Y-axis The amount becomes the value of the X component of tip position 401 .

Here, the Y component value of the tip position 401 of the working device 4 is a value obtained by adding the ATT maximum radius H to the distance L, but this is an example, and the Y component value of the arm top pin 901 is may be adopted. Also, referring to FIG. 4 , the value obtained by adding the ATT maximum radius H to the distance L does not accurately represent the Y component of the tip position 401 of the working device 4 . Therefore, the Y component value of the tip 902 of the bucket 7 may be used as the Y component value of the tip position 401 of the working device 4 . In this case, a bucket angle sensor for detecting the bucket angle indicating the angle of the bucket 7 with respect to the arm 6 is arranged on the arm top pin 901 . Then, the position calculator 161 calculates the distance H′ from the arm top pin 901 to the tip 902 of the bucket 7 using the bucket angle detected by the bucket angle sensor and the ATT maximum radius H. Then, the position calculation unit 161 may calculate a value obtained by adding the distance L to the distance H′ as the value of the Y component of the tip position 401 . As a result, the value of the Y component at the tip position 401 of the working device 4 can be calculated more accurately.

Refer back to FIG. The region setting unit 162 sets a plurality of regions around the construction machine 1 based on the width of the work device 4 at the tip position 401 of the work device 4 calculated by the position calculation unit 161 . Specifically, the region setting unit 162 sets six regions, a first region R1 to a sixth region R6, in the coordinate space 400 shown in FIG. A coordinate space 400 is a local coordinate space of the construction machine 1 managed by the main controller 16 .

FIG. 3 is a diagram showing an example of the first region R1 to sixth region R6 set around the construction machine 1. As shown in FIG. The first region R1 to the sixth region R6 are large, the inner region consisting of the first region R1, the third region R3, and the fifth region R5 located inside the inner circumference 430, and the inner region located outside the inner circumference 430. , a fourth region R4, a second region R2, and an outer region consisting of a sixth region. The inner circumference 430 is an arc whose radius is the value of the Y component of the tip position 401 . The outer circumference 440 is an arc whose radius is a distance RM obtained by extending the value of the Y component of the tip position 401 in the Y-axis direction. Here, as the distance RM, a predetermined maximum turning radius of the construction machine 1 or a distance obtained by adding a predetermined margin to the maximum turning radius is adopted.

The inner area is an area inside the construction machine 1 from the tip position 401 . Specifically, the inner area is an area surrounded by the inner circumference 430 and the X axis, and the outer area is an area located outside the tip position 401 with respect to the construction machine 1 . Specifically, the outer region is the region bounded by inner perimeter 430, outer perimeter 440, and the X-axis.

The first region R1 is a region set inside the width of the working device 4 at the tip position 401 in the inner region. The first region R<b>1 is a region directly below the working device 4 and closer to the upper revolving body 3 than the tip position 401 . Specifically, the first region R1 is a substantially quadrilateral region surrounded by the X-axis and the inner periphery 430 and having the same horizontal width as the ATT maximum width B. As shown in FIG.

The second region R2 is a region adjacent to the front of the first region R1. The second region R2 is a region set outside the width of the working device 4 at the tip position 401 in the outer region. Specifically, the second region R2 is a substantially rectangular region having a width equal to the ATT maximum width B and surrounded by an inner periphery 430 and an outer periphery 440 . The longitudinal direction of each of the first region R1 and the second region R2 is parallel to the Y-axis.

The third region R3 is a region adjacent to the left of the first region R1. The third region R3 is a region set to the left of the left end of the width of the working device 4 at the tip position 401 in the inner region. Specifically, the third region R3 is a region surrounded by the inner periphery 430, the X axis, and the left boundary line of the first region R1.

The fourth region R4 is a region provided in front of the third region R3. The fourth region R4 is a region set to the left of the left end of the width of the working device 4 at the tip position 401 in the outer region. Specifically, the fourth region R4 is a region surrounded by the outer periphery 440, the inner periphery 430, the X axis, and the left boundary line of the second region R2.

The fifth region R5 is a region adjacent to the right of the first region R1. The fifth region R5 is a region set to the right of the right end of the width of the working device at the tip position 401 in the inner region. Specifically, the fifth region R5 is a region surrounded by the inner circumference 430, the X axis, and the right boundary line of the first region R1.

The sixth region R6 is a region provided in front of the fifth region R5. The sixth region R6 is a region set to the right of the right end of the width of the working device 4 at the tip position 401 in the outer region. Specifically, the sixth region R6 is a region surrounded by the outer periphery 440, the inner periphery 430, the X-axis, and the right boundary line of the second region R2. Hereinafter, when the first region R1 to the sixth region R6 are collectively referred to, they will be referred to as region R.

Refer back to FIG. Based on the sensing data output from the sub-controller 15, the person determination unit 163 detects the presence or absence of a person in each of the first to sixth regions R1 to R6. As described above, the sensing data output from the sub-controller 15 includes the position on the coordinate space 400 of each person included in the sensing data detected by the object sensor 11 . Therefore, the person determination unit 163 determines to which of the first region R1 to sixth region R6 set on the coordinate space 400 the position of each person included in the sensing data output from the sub-controller 15 belongs. By doing so, it is possible to determine whether or not a person is present in any one of the first to sixth regions R1 to R6.

When the person determination unit 163 determines that a person is present in at least one region R among the first region R1 to the sixth region R6 set around the construction machine 1 by the region setting unit 162, the operation restriction unit 164 In a region R where a person is detected, a restricted operation pattern, which is a predetermined operation pattern of the construction machine 1 in which the work device 4 may interfere with the person, is restricted and the work device 4 interferes with the person. The hydraulic circuit 17 is controlled to permit the permitted operation pattern, which is a predetermined operation pattern of the construction machine 1 with low possibility.

Specifically, the motion restriction unit 164 includes a motion pattern table T5 (motion pattern table T5) in which restricted motion patterns and permitted motion patterns are registered in advance for each of the first to sixth regions R1 to R6 shown in FIG. example of pattern information), the restricted operation pattern and the permitted operation pattern for each of the first region R1 to the sixth region R6 are determined. The motion pattern storage unit 165 stores the motion pattern table T5.

FIG. 5 is a diagram showing an example of the operation pattern table T5. The motion pattern table T5 is a two-dimensional table in which motion patterns are assigned to the vertical axis and the first to sixth regions R1 to R6 are assigned to the horizontal axis. In the motion pattern table T5, one or more of the first to sixth motion patterns are assigned to each region R as motion patterns to be restricted. In FIG. 5, a cell described as "restricted" indicates that if a person is present in the corresponding area R, the motion of the corresponding motion pattern is restricted. Limitation refers to operating the working device 4 and the upper revolving body 3 at a speed lower than the normal speed. The operating speeds of the boom 5, the arm 6, the bucket 7, and the upper rotating body 3 at the time of restriction are predetermined speeds that do not injure a person even if the working device 4 interferes with the person.

A first motion pattern, a third motion pattern, a fourth motion pattern, a fifth motion pattern, and a sixth motion pattern are assigned to the first region R1 as restricted motion patterns. The first operation pattern is an operation pattern called arm pull, and is an operation pattern for laying down the arm 6 . The first motion pattern is assigned to the first region R1 because the tip position 401 may move backward and interfere with the person in the first region R1.

The third operation pattern is an operation pattern called bucket excavation, and is an operation pattern for excavating the ground with the bucket 7 . The third motion pattern is assigned to the first region R1 because the tip position 401 moves back and forth within the first region R1 and the work device 4 may interfere with the person within the first region R1. .

The fourth operation pattern is an operation pattern called boom lowering, and is an operation pattern in which the boom 5 is lowered with respect to the upper rotating body 3 . The fourth motion pattern is assigned to the first region R1 because the tip position 401 faces the inside of the first region R1 and the work device 4 may interfere with the person in the first region R1.

The fifth operation pattern is an operation pattern for turning the upper swing body 3 to the left. The fifth motion pattern is assigned to the first region R1 because there is a possibility that a person in the first region R1 will interfere with the left side surface of the work device 4. FIG.

The sixth operation pattern is an operation pattern for turning the upper swing body 3 to the right. The sixth motion pattern is assigned to the first region because there is a possibility that a person in the first region R1 will interfere with the right side surface of the working device 4. FIG.

On the other hand, a second operation pattern, an operation pattern of pushing the arm when turning left (hereinafter described as "fifth operation pattern + second operation pattern"), and an operation of pushing the arm when turning right. The patterns (hereinafter referred to as "sixth operation pattern + second operation pattern") are defined as follows: the tip position 401 of the working device 4 is positioned forward, obliquely forward left, and rightward with respect to the first region R1. It is less likely to interfere with a person in the first region R1 as it faces diagonally forward. Therefore, these motion patterns are assigned as permitted motion patterns in the first region R1.

A second motion pattern is assigned to the second region R2 as a restricted motion pattern. The second operation pattern is an operation pattern called arm push, and is an operation pattern for raising and lowering the arm 6 . The second motion pattern is assigned to the second region R2 because the tip position 401 may move forward to enter the second region R2 and interfere with the person in the second region R2. On the other hand, the tip position 401 does not enter the second region R2 in any of the first, third to sixth operation patterns other than the second operation pattern. Therefore, the first, third to sixth operation patterns are assigned as permitted operation patterns in the second region R2.

A fifth motion pattern is assigned to the third region R3 as a restricted motion pattern. Since the third region R3 is located on the left side of the work device 4, there is a possibility that a person in the third region R3 will interfere with the left side of the work device 4 when the vehicle is turned to the left. Therefore, the fifth motion pattern is assigned as the restricted motion pattern in the third region R3. On the other hand, the tip position 401 does not enter the third region R3 in any of the first to fourth and sixth operation patterns other than the fifth operation pattern. Therefore, the first to fourth and sixth operation patterns are assigned as permitted operation patterns in the third region R3.

"Fifth motion pattern+second motion pattern" is assigned to the fourth region R4 as a restricted motion pattern. “Fifth operation pattern+second operation pattern” is an operation pattern in which the upper rotating body 3 is rotated to the left while the arm is pushed. If the arm is pushed during left turning, the tip position 401 moves obliquely forward to the left, so there is a possibility that the work device 4 will interfere with a person in the fourth region R4. Therefore, "fifth motion pattern+second motion pattern" is assigned as a restricted motion pattern in the fourth region R4. On the other hand, the tip position 401 does not enter the fourth region R4 in any of the motion patterns other than the "fifth motion pattern+second motion pattern". Therefore, motion patterns other than "fifth motion pattern+second motion pattern" are assigned as permitted motion patterns in the fourth area.

The sixth motion pattern is assigned as the restricted motion pattern to the fifth region R5. Since the fifth region R5 is located on the right side of the work device 4, there is a possibility that a person in the fifth region R5 will interfere with the right side of the work device when the work device 4 turns to the right. Therefore, the sixth motion pattern is assigned as the restricted motion pattern in the fifth region R5. On the other hand, in any of the motion patterns other than the sixth motion pattern, the tip position 401 does not enter the fifth region R5. Therefore, motion patterns other than the sixth motion pattern are assigned as permitted motion patterns in the fifth region R5.

"Sixth motion pattern+second motion pattern" is assigned to the sixth region R6 as a restricted motion pattern. The “sixth operation pattern+second operation pattern” is an operation pattern in which the upper rotating body 3 is rotated to the right and the arm is pushed. If the arm is pushed during right turning, the tip position 401 may move obliquely forward to the right, and the work device 4 may interfere with a person in the sixth region R6. Therefore, "sixth motion pattern+second motion pattern" is assigned as a restricted motion pattern in the sixth region R6. On the other hand, the work device 4 does not enter the sixth area R6 in any of the operation patterns other than the "sixth operation pattern+second operation pattern". Therefore, motion patterns other than "sixth motion pattern+second motion pattern" are assigned as permitted motion patterns in the sixth region R6.

The operation unit 18 is composed of the swing operation lever 181, the boom operation lever 182, the arm operation lever 183, and the bucket operation lever 184 described in FIG.

The motion limiting section 164 outputs a limiting signal to the lower arm operation valve 176 when limiting the first motion pattern for laying down the arm 6 . In addition, the motion limiting section 164 outputs a limiting signal to the upper arm control valve 175 when limiting the second motion pattern for raising and lowering the arm.

Further, when restricting the third operation pattern for excavating the bucket 7, the operation restricting unit 164 operates the upper boom operation valve 173, the lower boom operation valve 174, the upper arm operation valve 175, the lower arm operation valve 176, the upper bucket operation valve 177 and lower bucket control valve 178.

In addition, the motion limiting section 164 outputs a limiting signal to the lower boom operation valve 174 when limiting the fourth motion pattern for laying down the boom 5 . In addition, when restricting the fifth operation pattern for turning the upper rotating body 3 to the left, the operation restricting section 164 outputs a restriction signal to the left-turning operation valve 172 .

In addition, the motion limiting section 164 outputs a limiting signal to the right turning operation valve 171 when limiting the sixth motion pattern for turning the upper swing body 3 to the right. In addition, when limiting the “fifth operation pattern + second operation pattern” in which the arm 6 is raised and lowered while turning left, the operation restricting unit 164 outputs a restriction signal to the left turn operation valve 172 and the upper arm operation valve 175 . .

In addition, when restricting the “sixth motion pattern + second motion pattern” for raising and lowering the arm 6 while rotating it to the right, the motion restricting unit 164 outputs a restriction signal to the right turn operation valve 171 and the upper arm operation valve 175 . Output.

FIG. 7 is a flow chart showing processing of the interference prevention device according to the embodiment. In S1, the input unit 14 acquires the ATT maximum radius H and ATT maximum width B, and stores them in the memory. Note that if the ATT maximum radius H and ATT maximum width B are already stored in the memory, the area setting unit 162 may read the ATT maximum radius H and ATT maximum width B from the memory.

In S<b>2 , the position calculator 161 acquires the boom angle detected by the boom angle sensor 12 and the arm angle detected by the arm angle sensor 13 . In S3, the tip position 401 of the working device 4 is calculated using the boom angle and the arm angle acquired in S2.

In S4, the region setting unit 162 sets the first region R1 to sixth region R6 in the coordinate space 400 based on the tip position 401 calculated in S3. As a result, six areas R are set around the construction machine 1 as shown in FIG.

At S<b>5 , the object sensor 11 acquires sensing data around the construction machine 1 . In S<b>6 , the sub-controller 15 detects a person from sensing data acquired by the object sensor 11 . If no person is detected in S6 (NO in S6), the process returns to S2. On the other hand, if a person is detected in S6 (YES in S6), the sub-controller 15 calculates the position of the detected person and outputs sensing data including the calculated position to the main controller 16 (S7). Here, when multiple persons are detected, the sensing data includes the respective positions of the multiple persons.

In S<b>8 , the person determination unit 163 uses the person's position included in the sensing data output from the sub-controller 15 to determine whether or not there is a person in the first region R<b>1 . When there is no person in the first region R1 (NO in S8), the motion restriction unit 164 cancels the restriction on the first, third, fourth, fifth, and sixth motion patterns (S9). On the other hand, if there is a person in the first region R1 (YES in S8), the motion restriction unit 164 restricts the first, third, fourth, fifth, and sixth motion patterns (S10).

In S<b>11 , the person determination unit 163 uses the position of the person included in the sensing data output from the sub-controller 15 to determine whether or not there is a person in the second region R<b>2 . When there is no person in the second region R2 (NO in S11), the motion restriction unit 164 cancels the restriction on the second motion pattern (S12). On the other hand, if there is a person in the second region R2 (YES in S11), the motion limiting unit 164 limits the second motion pattern (S13).

In S<b>14 , the person determination unit 163 uses the person's position included in the sensing data output from the sub-controller 15 to determine whether or not there is a person in the third region R<b>3 . When there is no person in the third region R3 (NO in S14), the motion restriction unit 164 cancels the restriction on the fifth motion pattern (S15). On the other hand, if there is a person in the second region R2 (YES in S14), the motion limiting unit 164 limits the fifth motion pattern (S16).

In S<b>17 , the person determination unit 163 uses the person's position included in the sensing data output from the sub-controller 15 to determine whether or not there is a person in the fourth region R<b>4 . If there is no person in the fourth region R4 (NO in S17), the motion restriction unit 164 cancels the restriction of "fifth motion pattern+second motion pattern" (S18). On the other hand, if there is a person in the fourth region R4 (YES in S17), the motion restriction unit 164 restricts the "fifth motion pattern+second motion pattern" (S19).

In S20, the person determination unit 163 uses the position of the person included in the sensing data output from the sub-controller 15 to determine whether or not there is a person in the fifth region R5. When there is no person in the fifth region R5 (NO in S20), the motion restriction unit 164 cancels the restriction on the sixth motion pattern (S21). On the other hand, if there is a person in the fifth region R5 (YES in S20), the motion restriction unit 164 limits the sixth motion pattern (S22).

In S23, the person determination unit 163 uses the position of the person included in the sensing data output from the sub-controller 15 to determine whether or not there is a person in the sixth region R6. When there is no person in the sixth region R6 (NO in S23), the motion restriction unit 164 cancels the restriction of "sixth motion pattern + second motion pattern" (S24). On the other hand, if there is a person in the sixth region R6 (YES in S23), the motion restriction unit 164 restricts "sixth motion pattern+second motion pattern" (S25). When the process of S24 or S25 ends, the process returns to S2, and the processes of S2 to S25 are repeatedly executed.

Thus, according to the present embodiment, since the first region R1 to sixth region R6 are set with reference to the tip position 401 of the working device 4, the working device 4 interferes with the person in each region R. It is possible to clearly separate a restricted operation pattern with a high possibility and a permitted operation pattern with a low possibility that the working device will interfere with the person. Then, when a person is present in a certain area, it is possible to restrict motion patterns that are highly likely to interfere with the person, and to allow the permitted motion pattern to continue to operate. As a result, it is possible to prevent interference between the person and the construction machine while suppressing a decrease in the work efficiency of the construction machine.

The present invention can employ the following modified examples.

(1) Although six regions R are set as shown in FIG. 3 in the above embodiment, the number of regions R to be set is not limited to six. The set number of regions R may be, for example, 2 or more and 5 or less, or 7 or more.

(2) In the above embodiment, the number of operation patterns is limited to six as shown in FIG. There may be.

(3) In the above embodiment, the case where the bucket is attached as the tip attachment has been mainly described. The ATT maximum width B changes according to the pinching angle of the claws. In this case, the working device 4 is provided with an angle sensor for detecting the rotation angle and the pinching angle of the rotating grapple. Then, the area setting unit 162 calculates the maximum ATT width B corresponding to the rotation angle and the pinch angle detected by these angle sensors, and the first area R1 and the second area R2 having the calculated maximum ATT width B are calculated. should be set.

(4) In the above embodiment, the object sensor 11 is provided in the cabin or on the front surface of the upper rotating body 3 , but may be provided in the work device 4 .

(5) In the example of FIG. 3, an arc having a radius equal to the value of the Y component of the tip position 401 is adopted as the inner circumference 430. This is an example, and a straight line parallel to the X axis passing through the tip position 401 is adopted. may be Alternatively, a straight line parallel to the X-axis separated from the X-axis by the distance RM may be employed as the outer circumference 440 . In this case, the horizontal width of the third region R3 and the fourth region R4 and the horizontal width of the fifth region R5 and the sixth region R6 are set to the same length, and each of the first region R1 to the sixth region R6 is a rectangular region. may be configured with

FIG. 8 is a diagram of the first region R1, the third region R3, and the fifth region R5 according to the modification of the present invention as seen from inside the cabin. In addition, in FIG. 8, illustration of the second region R2, the fourth region R4, and the sixth region R6 is omitted for convenience of explanation.

As shown in FIG. 8, the first region R1 is set directly below the working device 4, but differs from FIG. 3 in that one side on the front side is not arcuate but parallel to the left-right direction.

The third region R3 is a quadrangular region set to the left of the first region R1, and the front side thereof is continuous with the front side of the first region R1.

The fifth region R5 is a rectangular region that is set to the right of the first region R1, and has a front side that is continuous with a front side of the first region R1.

When the person 601 is positioned in the first region R1, the arm is pulled (first operation pattern), the bucket is excavated (third operation pattern), the boom is lowered (fourth operation pattern), and the left turn (fifth operation) is performed. pattern) and turning to the right (sixth operation pattern) are restricted. When the person 602 is positioned in the third region R3, the left turn (fifth motion pattern) is restricted according to the motion pattern table T5. When the person 603 is positioned in the fifth region R5, the right turn (sixth motion pattern) is restricted according to the motion pattern table T5.

As described above, it is possible to limit only the operation patterns in which the work device 4 has a high possibility of interfering with the persons 601, 602, and 603, and to continue the normal operation in the remaining operation patterns. In addition, even if the working device 4 interferes with the persons 601, 602, 603, the working device 4 operates at a significantly lower speed than the normal speed. Work can continue as long as possible.

FIG. 9 is a diagram of the fourth region R4, the second region R2, and the sixth region R6 according to the modification of the present invention as seen from inside the cabin. In addition, in FIG. 9, illustration of 1st area|region R1, 3rd area|region R3, and 5th area|region R5 is abbreviate|omitted for convenience of explanation.

As shown in FIG. 9, the second region R2 is set in front of the working device 4, but differs from FIG. there is

The fourth region R4 is a quadrangular region set to the left of the second region R2, and the front side thereof is continuous with the front side of the second region R2.

The sixth region R6 is a quadrangular region set to the right of the second region R2, and one front side thereof is continuous with one front side of the second region R2.

When the person 701 is positioned in the second region R2, arm pressing (second operation pattern) is restricted. When the person 702 is positioned in the fourth region R4, the motion pattern (“fifth motion pattern+second motion pattern”) of pushing the arm while turning left is restricted. When the person 703 is positioned in the sixth region R6, the motion pattern (“sixth motion pattern+second motion pattern”) of pushing the arm while turning to the right is restricted. As described above, it is possible to limit only the operation patterns in which the work device 4 has a high possibility of interfering with the persons 701, 702, and 703, and to continue the normal operation in the remaining operation patterns. Moreover, even if the working device 4 interferes with the persons 701, 702, and 703, the working device 4 operates at a significantly lower speed than the normal speed. Work can continue as long as possible.

(6) In the above embodiment, "restriction" means deceleration, but the present invention is not limited to this, and may mean "stop". In this case, the motion limiter 164 appropriately outputs a limit signal for stopping the operation to the right swing operation valve 171 to the lower bucket operation valve 178, and stops the swing motor M1 and the boom cylinder C1 to bucket cylinder C3. Let it be.

(7) In the above-described embodiment, the turning operation lever 181 employs a configuration in which the pilot pressure is output according to the amount of operation, but the present invention is not limited to this. For example, the main controller 16 outputs a control signal to the right turn operation valve 171 and the left turn operation valve 172 to cause the right turn operation valve 171 and the left turn operation valve 172 to generate a pilot pressure corresponding to the amount of operation from the turn operation lever 181 . 172 may be employed. In this case, the operation restriction unit 164 may output a control signal with a reduced operation amount to the right turn operation valve 171 and the left turn operation valve 172 when restricting the operation. The same is true for boom 5 , arm 6 and bucket 7 .

(8) In the example of FIG. 5, the first, third, fourth, fifth, and sixth operation patterns are assigned to the first region R1 as restricted operation patterns, but this is just an example. In the first region R1, the fifth motion pattern and the sixth motion pattern may be omitted from the restricted motion patterns. Further, when the excavation motion is frequently performed, the third motion pattern may be omitted from the restricted motion patterns in the first region R1.

(9) Although the first to sixth regions R1 to R6 are set in the above embodiment, the present invention is not limited to this, and two regions, an outer region and an inner region, may be set. In this modified example, when there is a person in the inner region, at least one of the fifth motion pattern (left turn) and the sixth motion pattern (right turn) should be set as the restricted motion pattern. Also, in this modification, if there is a person in the outer area, at least the second motion pattern should be set as the restricted motion pattern.

Reference Signs List 1: construction machine 2: lower running body 3: upper rotating body 4: working device 5: boom 6: arm 7: bucket 11: object sensor 12: boom angle sensor 13: arm angle sensor 14: input section 15: sub-controller 16 : Main controller 17 : Hydraulic circuit 18 : Operation unit 161 : Position calculation unit 162 : Area setting unit 163 : Person determination unit 164 : Operation restriction unit 165 : Operation pattern storage unit 401 : Tip position R1 : First area R2 : Second Region R3: Third region R4: Fourth region R5: Fifth region R6: Sixth region T5: Operation pattern table

Claims (13)

An interference prevention device for a construction machine comprising a lower traveling body, an upper revolving body configured to be able to turn with respect to the lower traveling body, and a working device configured to be able to change its posture with respect to the upper revolving body. There is
an operation unit that receives an operator's operation;
an operation execution unit that operates at least one of the work device and the upper rotating body according to the operation received by the operation unit;
a first sensor that detects the attitude of the working device;
a position calculation unit that calculates a tip position of the working device based on the orientation detected by the first sensor;
an area setting unit that sets a plurality of areas around the construction machine based on the tip position calculated by the position calculation unit;
a second sensor that detects objects positioned around the construction machine;
a person determination unit that determines the presence or absence of a person in each of the plurality of areas based on the object detected by the second sensor;
When the person determination unit determines that the person is present in at least one of the plurality of areas, the working device may interfere with the person in the area where the person is detected. limiting a restricted operation pattern, which is an operation pattern of the construction machine, and permitting a permitted operation pattern, which is a predetermined operation pattern of the construction machine with a low possibility that the work device will interfere with the person. and an operation restricting unit that controls the operation executing unit as follows. further comprising a memory for storing operation pattern information in which the restricted operation pattern and the permitted operation pattern are registered for each of the plurality of areas;
2. The interference prevention device according to claim 1, wherein the operation restriction unit refers to the operation pattern information to determine the restricted operation pattern and the permitted operation pattern for each area. The working device includes a first member attached to the upper revolving body so as to be rotatable in the vertical direction, and a second member attached to the upper revolving body to be rotatable in the front-rear direction with respect to the first member. and a third member rotatably attached to the second member in the longitudinal direction of the upper rotating body,
The restricted operation pattern is
a first operation pattern in which the second member rotates backward;
a second operation pattern in which the second member rotates forward;
a third movement pattern in which the third member excavates the ground;
a moving fourth movement pattern in which the first member rotates downward;
a fifth operation pattern in which the upper rotating body rotates to the left;
3. The interference prevention device according to claim 1 or 2, comprising at least one of a sixth operation pattern in which the upper rotating body rotates to the right. 4. The method according to claim 3, wherein the plurality of regions include an inner region inside the tip position, and the limited motion pattern in the inner region includes at least one of the fifth motion pattern and the sixth motion pattern. An anti-interference device as described. 5. The interference prevention device according to claim 3, wherein the plurality of areas include an outer area outside the tip position, and the limited operation pattern in the outer area includes at least the second operation pattern. The interference prevention device according to any one of claims 1 to 5, wherein the region setting section sets the plurality of regions based on the width of the working device at the tip position. The inner area includes a first area set inside the width of the working device including the tip position, and the limited operation pattern in the first area is the first operation pattern and the third operation pattern. , and the fourth operation pattern. 6. The outer region includes a second region set outside a width of the working device including the tip position, and the restricted operation pattern in the second region is the second operation pattern. An anti-interference device as described. 5. The inner area includes a third area set to the left of the left end of the width of the working device including the tip position, and the limited operation pattern in the third area is the fifth operation pattern. Or the interference prevention device according to 7. The outer region includes a fourth region set on the left side of the left end of the width of the working device including the tip position, and the restricted operation pattern in the fourth region is the fifth operation pattern during operation of the fifth operation pattern. 9. An interference prevention device according to claim 5 or 8, wherein two operation patterns are operated operation patterns. 5. The inner area includes a fifth area set to the right of the right end of the width of the working device including the tip position, and the restricted operation pattern in the fifth area is the sixth operation pattern. , 7, 9. The outer region includes a sixth region set to the right of the right end of the width of the working device including the tip position, and the restricted operation pattern in the sixth region is the sixth operation pattern when the sixth operation pattern is operated. 11. An interference prevention device according to any one of claims 5, 8 and 10, wherein two operation patterns are operated operation patterns. 12. The motion limiting unit limits the restricted motion pattern by a restriction including decelerating the motion speed when the restricted motion pattern is executed or stopping the motion when the restricted motion pattern is executed. An anti-interference device according to any one of

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