JPH03205296A - Danger preventing device of construction heavy machine and the like - Google Patents

Abstract

PURPOSE:To surely detect the presence of a person in a dangerous region and improve the effect for preventing danger by installing a sensor at a driver's seat for confirming the presence of a person and a detecting means for informing of the presence of the person. CONSTITUTION:In each person detecting sensor 2, a pyroelectric type ultrared ray sensor 3 as a sensor for confirming the presence of a person senses the ultrared ray which is irradiated from the human body by utilizing the pyroelectric effect and senses the presence of the person. When the presence of the person is detected, a supersonic wave sensor transmission part 4 and a supersonic wave receiving part 5 as a distance sensor from the person are started. The supersonic wave sensor calculates the distance to the place where the person exists by a detection part 13 and a CPU 17, from the reflection distance of the supersonic wave, and a constant close distance in danger is judged. In case of the dangerous distance, a buzzer 19 at driver's seat operators, or a lamp 18 lights, and the driver is informed of this fact.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention prevents heavy construction machinery such as cranes, shovels, and bulldozers, and heavy construction vehicles such as battery locos from posing a danger to surrounding people. Concerning hazard prevention devices.

[Conventional technology]

For cranes, etc., measures are often taken to prohibit entry with simple barricades or ropes around the cranes to prevent danger. However, if only such measures are taken to prohibit entry, the driver (operator) has no choice but to visually judge whether there is anyone inside.

[Problem to be solved by the invention]

In this way, the driver's visual judgment of the presence or absence of a person does not take blind spots into account at all, and is also unable to prevent accidents caused by the driver's carelessness.

It is also possible to make a sound to alert people around you, but many heavy construction machines make a lot of noise, and there is a risk that this danger warning sound may not be sufficiently transmitted to people nearby.

The purpose of the present invention is to eliminate the disadvantages of the conventional example, and to achieve the effect of preventing danger by reliably detecting the presence of a person in a dangerous area and notifying the driver directly or by forcibly stopping driving. The object of the present invention is to provide a danger prevention device for heavy construction machinery and the like.

[Means for Solving the Problem] In order to achieve the above-mentioned object, the present invention detects infrared rays of a specific wavelength emitted by a human body on the body or boom of heavy construction equipment, and outputs a voltage corresponding to the intensity of the infrared rays emitted by the human body. A human sensor including a human presence confirmation sensor and a human position detection sensor that uses ultrasonic waves to determine the distance to the human body detected by this sensor is provided, and the human presence confirmation sensor and the human position detection sensor of the human sensor are provided. A means for automatically stopping driving based on the output of the human presence confirmation sensor and the human position detection sensor of the human sensor is provided in the driver's seat to notify the presence of a human body based on the output of the human body. The main point is that it has been established.

[Effect]

According to the present invention as set forth in claims 1 to 3, when a person is near the body or boom of heavy construction equipment, the human presence confirmation sensor detects infrared rays of a specific wavelength emitted by the human body,
By outputting a voltage corresponding to this intensity, the presence of a person can be confirmed.

However, since this person confirmation sensor only determines whether a person is present or not, the person's position detection sensor also uses ultrasonic waves to determine the distance to the person and detects danger when the person is within a certain range of close range. The system determines this and notifies the driver directly using the notification means in the driver's seat, so the driver immediately stops driving when this notification is received.

Additionally, if a person is simply moving, such as a worker, the presence of the person is detected by the person confirmation sensor, but after a predetermined period of time, the person's position detection sensor does not output an output because the person has passed the dangerous area. No notification is given from the driver's seat.

According to the present invention as set forth in claim 4, instead of notifying the driver directly by the notifying means in the driver's seat, the driving is forcibly stopped automatically.

(Example) Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a front view showing one embodiment of the danger prevention device for heavy construction machinery, etc. of the present invention, and FIG. 2 is a block circuit diagram of the same, in which the heavy construction machinery is a crawler crane.

The human detection sensor 2 is attached to an appropriate location on the car body 1a or the boom 1b of the crawler crane 1.
and the rear counterweight part of B, and in the middle of the boom 1b and near the top sheave at the tip.

As shown in FIG. 2, this human detection sensor 2 consists of a human presence confirmation sensor and a human distance sensor.

The human presence confirmation sensor is a pyroelectric infrared sensor 3 that uses the pyroelectric effect to detect infrared rays emitted from the human body, and the human distance sensor converts electrical signals into ultrasonic vibrations (ultrasonic speakers). ) and consists of an ultrasonic sensor transmitting section 4 that emits into the air, and an ultrasonic sensor receiving section 5 (ultrasonic microphone) that receives ultrasonic vibrations in the air and converts them into electrical signals.

Among these, the infrared sensor 3, which is a sensor for confirming the presence of a person, is equipped with a filter so that it detects only the human body without being sensitive to sunlight or light from electric lights. is detected and outputs a voltage corresponding to this intensity.

Further, the ultrasonic sensor transmitter 4 and the ultrasonic sensor receiver 5 of the human distance sensor are used as auxiliary devices for determining how far away the human body detected by the pyroelectric infrared sensor 3 is. play a role.

The following is a device installed in the driver's seat 1c. The electrical signal of the pyroelectric infrared sensor 3 is introduced into the amplifier 6, and the output signal of the amplifier 6 is sent to the CPU 17 which is the center of the control section 14 via the detection section 7. is input.

This amplifier 6 uses an OP amplifier in its circuit structure to amplify the input signal, and in this case, a voltage of several mV output from the infrared sensor 3 is input to produce a gain of 60 to 70 dB. Further, the detection section 7 uses a level detection IC to compare the reference voltage and the input voltage, and generates an output when a difference with respect to the reference voltage occurs.

8 in the figure is the sensitivity adjustment, which increases the gain created by the amplifier 6 by approximately 10 to 1000 times (20 to 70 dB) depending on the volume.
It is possible to adjust within the range of , and the sensing range (
distance).

Reference numeral 9 in the figure is an LED display that is mainly used during adjustment, and is used to visually confirm the signal output from the detection section 7 using the LED.

The output signal input to the CPU 17 is an electrical signal (40 KHz pulse signal) that causes ultrasonic vibration.
The signal generated by the pulse generator is introduced into the driver 11 that drives the ultrasonic speaker, and is fed back to the ultrasonic sensor transmitter 4 to prompt the transmission of ultrasonic waves.

The emitted ultrasonic waves are reflected by the human body and introduced into the ultrasonic sensor receiver 5, where the minute signal output from the ultrasonic microphone is amplified using a comparator, and the amplified signal is The pulse signal outputted from the amplification section 12 is inputted to the amplification section l2 that converts the level signal into a pulse signal, and the detection section 13 that judges the presence or absence of an object and the distance from the sensor to the object, and is then inputted to the CPU 17 again. .

In the control unit 14, the C:PU 17 controls each sensor 3.4.
, 5. Judgment is made according to each application (
whether there is a human body and whether the distance is within a predetermined range).

A ROM 15 that stores programs and data for each purpose, a RAM 16 that temporarily stores work data used by the CPU 17, and the like are connected to the CPυ 17.

Further, a buzzer 19 was connected to the CPU 17 as a notification means. In addition, instead of the buzzer 19 or the buzzer 1
A lamp 18 may also be used in conjunction with 9.

Next, usage and operation will be explained.

The danger prevention device of the present invention is such that the human detection sensor 2 is provided on the vehicle body 1a or the boom 1b (or more than one is possible),
Others are placed in the driver's seat 1C.

When the human detection sensor 2 is located at A in Figure 1, it detects human bodies on the left and right sides of the vehicle body 1a, when it is located at B, it detects human bodies at the rear, and when it is located at C, it detects human bodies at the bottom of the middle of the boom 1b. Human body detection is performed, and when it is in D, human body detection is performed at the bottom of the boom tip.

In the individual detection sensor 2, first, the pyroelectric infrared sensor 3, which is a sensor for confirming the presence of a person, detects the presence of a person by sensing infrared rays emitted from the human body using the non-electrical effect. When the presence of a human body is sensed in this way, the ultrasonic sensor transmitting section 4 and the ultrasonic sensor receiving section 5, which are human distance sensors, are activated. This ultrasonic sensor detects the distance to a place where a person is present by the detection unit 13 and CPU 17 based on the reflection distance of ultrasonic waves.
The calculation is performed to determine whether or not the distance is at a certain point-blank distance that is considered dangerous.

If the distance is dangerous, a buzzer 19 on the driver's seat IC will sound or a lamp 18 will light up to notify the driver of this fact.

In the embodiment described above, even if one of the plurality of human detection sensors 2 detects a person, the puzzer 19 is activated, making it difficult to determine in which part the person is present. Therefore, as another embodiment, notification can be made by voice.

As shown in FIG. 3, in the control section 14, the CPU 17
In addition to making judgments based on the signals taken in from each sensor 3, 4.5 according to each purpose (presence of a human body, judgment of distance, etc.), it also activates audio output and makes some speech content decisions. Settings etc. shall also be performed.

The audio recording/playback LSI 20 connected to the CPU 17 also includes an audio recording memory 2 for externally recording audio data.
By connecting 1 (S.RAM), it is possible to record and play back audio. This audio recording memory 2L
is for storing audio data for each channel, and can store audio data for a maximum of 64 seconds (total time of all channels).

This memory 21 is capable of backing up the stored audio data by using a battery 22 and utilizing low power consumption in a standby state.

Further, a speaker 27 is connected to the audio recording/reproducing LSI 20 via an audio amplifying section 24.

Reference numeral 25 in the figure indicates a volume adjustment for adjusting the volume using the volume.

In the second embodiment shown in FIG. 3, when a person is present at a dangerous distance, the human detection sensor 2 activates the control section 14, and the control section 14 stores the transmission information stored in advance in the storage means. The language data to be expressed is extracted and announced by voice from the speaker 27.

This notification corresponds to the detected large detection sensor 2, and for example, ``There is a person on the right side, please stop driving.''
It's something like, "There's someone behind you, please stop driving."

FIG. 4 shows a third embodiment of the present invention, in which instead of notifying the presence of a person as described above, the output of the control unit l4 is introduced into the driving circuit 23, and the driving is forced into automatic mode. I tried to stop it.

That is, in the control unit 14, the CPU 17 makes judgments based on the signals taken in from each sensor 3, 4.5 according to each purpose (the presence or absence of a human body and whether the distance thereto is within a predetermined range). The output of this control section 14 drives the engine,
Make sure to stop the motor drive.

As an example, as shown in FIG. 5, as a normal engine drive circuit, a series connection circuit of an ignition key 31 and a starter motor 32 is connected to a DC power source 30 using a battery, and a fuel supply pump 33 is connected to the DC power source 30. However, a relay 34 may be interposed in such a drive circuit, and drive control may be performed by turning the relay 34 on and off based on the output of the control section 14.

In addition, in order to control the turning and raising and lowering operations of the boom 1b,
The motor drive circuit for this will be controlled on and off, and since automatic stopping is required as an emergency, it may be possible to operate the existing brake mechanism.

Although the above embodiments have been described using a crawler crane as heavy construction equipment, it can also be used for various types of heavy construction equipment and vehicles, including truck cranes and other cranes, as well as backhoe bulldozers, dump trucks, battery locomotives, and excavators. In addition, the location where the human detection sensor 2 is installed can be selected as appropriate.

〔Effect of the invention〕

As described above, the danger prevention device for heavy construction machinery, etc. of the present invention automatically and reliably detects the presence of people in the dangerous area.
By notifying the driver directly or forcibly stopping the vehicle, it is possible to prevent danger to people.

[Brief explanation of drawings]

FIG. 1 is a side view showing one embodiment of the danger prevention device for heavy construction machinery, etc. of the present invention, FIG. 2 is a block circuit diagram showing the first embodiment of the same, and FIG. 3 is a second embodiment of the same. FIG. 4 is a block circuit diagram showing the third embodiment of the same as above, and FIG. 5 is an explanatory diagram showing an example of the driving circuit. l... Crawler crane 1a... Vehicle body lb... Boom IC... Driver's seat 2... Human detection sensor 3... Pyroelectric infrared sensor 4... Ultrasonic sensor transmitter 5...・Ultrasonic sensor receiver 6...Amplifier 7...Detector 8...Sensitivity adjustment 9...LED display 10...Pulse transmitter 11...Driver 12...Amplifier
l3...Detection unit 14...Control unit 15...ROM (program) 16...RAM (program) 17...CPU 18...Lamp 1
9... Buzzer 20... Audio recording/playback LSI 21... Audio recording memory 2
2... Battery 23... Operation drive circuit 24
...Audio amplifier 25...Volume adjustment 27...
Speaker 30...DC power supply 32...Cell motor 34...Relay 31...Ignition key 33...Fuel supply pump

Claims (4)

[Claims] (1) A human presence confirmation sensor that detects infrared rays of a specific wavelength emitted by the human body and outputs a voltage corresponding to the intensity of the infrared rays emitted by the human body is installed on the body or boom of heavy construction equipment, and the distance to the human body detected by this sensor is installed. A human sensor consisting of a human position detection sensor that detects the human body using ultrasonic waves is provided, and a notification means that notifies the presence of a human body based on the output of the human presence confirmation sensor and the human position detection sensor of the human sensor is installed in the driver's seat. A danger prevention device for heavy construction machinery, etc., which is characterized by being provided with. (2) The danger prevention device for heavy construction machinery, etc. according to claim 1, wherein the notification means is a buzzer or a lamp. (3) The notification means includes a storage means for storing linguistic data representing the transmission information, and based on the output of the human detection sensor, retrieves the linguistic data stored in the storage means and makes a sound notification from a speaker. The danger prevention device for heavy construction machinery, etc. according to claim 1, comprising an audio notification control section and a speaker. (4) A human presence confirmation sensor that detects infrared rays of a specific wavelength emitted by the human body and outputs a voltage corresponding to the intensity of the infrared rays emitted by the human body is installed on the body or boom of heavy construction equipment, and the distance to the human body detected by this sensor is installed. A human sensor consisting of a human position detection sensor that is detected by ultrasonic waves is provided, and a means is provided to automatically stop driving based on the output of the human presence confirmation sensor and the human position detection sensor of the human sensor. Features: Hazard prevention equipment for heavy construction machinery, etc.