JPH04186500A - Alarm device for working machine - Google Patents

Abstract

PURPOSE:To more effectively execute prescribed alarm processing in accordance with real dangerousness by arranging a measuring range setting circuit part for optionally setting up the size of a measuring range on occasion in a signal processing part having a dangerousness deciding function. CONSTITUTION:The measuring range setting circuit part 40 is constituted of the 1st range setting circuit 40A for setting up a near distance range r1 and the 2nd range setting circuit 40B for setting up a range r2 to be a prescribed area on the outside of the range r1. The circuit part 40 inputs the output signal of a reference pulse output circuit 12a and sets up a measuring range corresponding to the input signal in a signal deciding circuit 33. Consequently, it is completely unnecessary for an operator to abort the operation of the device in working and an objective range of alarm can be changed in accordance with a working field by changing the range setting of a dangerous area and a semi- dangerous area.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a warning device for a working machine, and in particular, detects the position of a vulnerable person such as a worker using ultrasonic waves and issues an alarm as necessary. The present invention relates to a warning device for a work machine that takes such measures.

[Background Art] In construction work, construction vehicles such as crane trucks and hydraulic excavators and workers often work at the same time on a work site or within a certain defined area. For this reason, construction vehicles are equipped with back sonar, for example, at the front and rear of the vehicle to prevent danger. In many cases, the driver's seat is equipped with an alarm means that, when an abnormal object is detected, immediately issues an alarm or automatically activates the brakes to stop the construction work vehicle.

[Problem to be solved by the invention]

However, a detection means such as a back sonar reacts to all objects present within the detection area. For this reason,
This has the disadvantage that the work vehicle automatically stops after working on utility poles, fences, etc. that the driver has planned to avoid in advance, which hinders the progress of the work.

Furthermore, most of the conventional technologies, including back sonar, have directional properties and are installed only in locations deemed necessary. For this reason, in recent years, many accidents have occurred in blind areas around work equipment that cannot be covered by back-up sonar.

On the other hand, for safety reasons, there is a strong tendency for alarm means to be activated in areas that are not inherently dangerous, and therefore, in many cases, alarm operations occur in unnatural conditions. For this reason, there has been a situation in which the operator has to stop the operation of the alarm means at his own discretion and proceed with the work due to a trade-off with work efficiency.

Further, in conventional work machine alarm systems, the entire area around the work machine is uniformly treated as a dangerous area, so the dangerous area is fixed regardless of the working speed, for example. For this reason, depending on the moving speed of the working machine, there has been an inconvenience that the worker may be exposed to danger even though the working machine is originally outside the dangerous area.

[Purpose of the invention]

The purpose of the present invention is to improve the disadvantages of the conventional example, and in particular, to immediately detect a target object of a worker or the like when it enters a dangerous area, etc., and to detect the target object according to the actual degree of danger. It is an object of the present invention to provide an alarm device for a work machine that enables alarm measures to be taken more effectively.

[Means to solve the problem]

In the present invention, a plurality of search transmitters are installed on a work machine and output ultrasonic waves for searching a target over a wide range, and a plurality of search transmitters are installed on the work machine and receive ultrasonic waves returned from the target. It is equipped with a search receiver and a signal processing circuit that processes the ultrasonic waves received by each of the plurality of search receivers and drives and controls separately equipped alarm means as necessary. . The signal processing unit has a risk determination function that determines whether the received ultrasound is output from a dangerous area or a semi-dangerous area based on a preset measurement range, and a risk determination function that determines whether the received ultrasound is output from a dangerous area or a semi-hazardous area based on a preset measurement range. It has an alarm drive control 1 function that controls the alarm means using different methods depending on the situation. This signal processing section is also provided with a measurement range setting circuit section that freely sets the size of the measurement range as necessary. This aims to achieve the above-mentioned purpose.

[First Embodiment] Hereinafter, a first embodiment of the present invention will be described based on FIGS. 1 to 8.

First, in FIGS. 1 to 3, reference numeral 1 indicates a hydraulic excavator as a working machine. In this embodiment, the hydraulic excavator is equipped with a search ultrasonic transmitting means 2 that is equipped on the hydraulic sigibel 1 and outputs ultrasonic waves for searching the target object M, and a search ultrasonic wave transmitting means 2 that outputs ultrasonic waves for searching the target object M, and transmits ultrasonic waves of different frequencies output from the target object M to the hydraulic excavator. The ultrasonic wave receiving unit 4A received by the ultrasonic wave receiving unit 4A performs signal processing on the ultrasonic waves received by the ultrasonic wave receiving unit 4A, and, if necessary, drives and controls a buzzer circuit 34 as a warning means separately equipped in advance. It also includes a signal processing section 4B. The ultrasonic receiving section 4A and the signal processing section 4B form an ultrasonic receiving means 4.

The ultrasonic transmitting means 2 includes a plurality of search transmitters 111, 11□, 'lli installed at a plurality of locations on the hydraulic excavator 1.
,...11. and these search transmitters 11. ~11
．． The configuration includes an excitation circuit section 12 that drives and controls the two at the same frequency.

The signal processing unit 4B has a risk level determination function that determines whether the received ultrasonic wave is output from a predetermined dangerous area r1 or a semi-dangerous area r2, and whether the received ultrasonic wave is output from the semi-dangerous area. An alarm drive control function that immediately controls the alarm buzzer 34B when it is determined that the ultrasonic wave is coming from within r2, and a control that immediately stops the operation of the hydraulic excavator 1 when it is determined that the received ultrasonic wave is coming from within the dangerous area r1. It also has a stop control function. Reference numeral 3 indicates an ultrasonic response means to be attached to the target object M, such as a worker.

To explain this in more detail, the ultrasonic transmitting means 2 includes eight search transmitters 11..11 □, IIs, .
...11. and an excitation circuit section 12 that simultaneously excites each of the search transmitters 111 to 11g of the ultrasonic wave transmitter 11. The excitation circuit section 12' includes a basic pulse oscillation circuit 1 that outputs a basic signal for excitation.
Excitation timing setting circuit 12 for setting 2A and excitation period
The configuration includes B.

The basic pulse oscillation circuit 12A actually includes a reference pulse output circuit 12a that generates the reference timing of the system, and search transmitters 111 to 11. and a basic oscillation circuit 12b that outputs a signal with a frequency of 28 [K7] to excite. The basic pulse oscillation circuit 12A is connected to the search transmitter 11. It has a function of determining the repetition period, transmission pulse width, etc. of the ultrasonic signal output from ~11B.

Furthermore, the excitation timing setting circuit 12B actually
As shown in the figure, it is composed of a transmission control circuit 12e and an amplifier 12f. Of these, the transmission control circuit 12e functions to put the output signal of the basic oscillation circuit 12b into the transmission pulse width gate (output of the basic pulse output circuit 12a). As a result, the excitation signal of frequency 28(K)(z) for which the repetition period and transmission pulse width have been determined is transmitted to the search transmitter 11. ~ l1m, frequency 28 (K
)Iz] is outputted from the ultrasound transmitter 11 at a constant repetition period.

The ultrasonic reply means 3 operates immediately when the reply receiver 21 receives the ultrasonic waves from the above-mentioned search transmitters 111 to 11 itself. A return transmitter 22 that outputs an ultrasonic wave of a frequency (21 (KHz) in this embodiment) different from the −28 (K le) ultrasonic wave received by the wave transmitter 21, and this return transmitter 22, and a return side excitation circuit section 23 for driving and controlling 22.

Thereby, the ultrasonic reply means 3 can immediately send back the ultrasonic wave of 21' (KH2) to the hydraulic eye bell 1 side upon receiving the ultrasonic wave of 2B (KHz) sent out from the ultrasonic transmitting means 2 mentioned above. It is now possible to do so. This ultrasonic response means 3 is actually attached to a worker's helmet, vest, or the like as a target object.

The ultrasonic receiving unit 4 includes an ultrasonic receiving unit 4A on the hydraulic excavator 1 that receives the ultrasonic waves output from the ultrasonic replying unit 3 described above, and a signal for transmitting the ultrasonic waves received by the ultrasonic receiving unit 4A. It is provided with a signal processing section 4B that performs processing and outputs a predetermined alarm signal as necessary.

The ultrasonic receiving section 4A of the ultrasonic receiving means 4 includes eight search receivers 31t, 3tz, 313.31. .

It is composed of 31'S, 316.31y, and 31s.

Further, the signal processing unit 4B of the ultrasonic receiving means 4 includes the eight search receivers 311 to 31 . A signal selection circuit 32 selects only received signals by removing noise from signals received according to a certain standard, and a signal selection circuit 32 that selects only received signals by removing noise from signals received by It determines whether the received signal is in range r or range r! depending on its arrival time. (See FIG. 7); and an alarm control circuit 36 that drives and controls a buzzer circuit 34 and a danger display section 35 based on the signal output from the signal discrimination circuit 33. This alarm control circuit 36 is comprised of a control circuit 36A for dangerous areas and a control circuit 36B for semi-dangerous areas.

Correspondingly, the buzzer circuit 34 outputs an alarm buzzer 34A.
, 34B. In addition, the danger display section 35
is composed of danger indicators 35A and 35B.

Reference numeral 37 indicates a control circuit for an external device which controls the operation of a working vehicle such as a hydraulic excavator to be stopped as necessary.

Here, the signal selection circuit 32 specifically uses a bandpass filter (BPF), and each search transmitter 311 to
A first selection is performed to select signals from the target M from among the signals received and amplified at 31[l.

Further, the signal discrimination circuit 33 is connected to the signal selection circuit 32 described above.
Among the selected signals, that level.

It has a function of checking one cycle of amplitude and extracting a signal from the target object M. At the same time, the emission position of this extracted signal is calculated from its reception time, and the range rl+rl
Determine which range the signal is from. For this range r (+ r 2), the range r, indicates a dangerous region, and the range r2 indicates a semi-dangerous region.

The signal discrimination circuit 33 further determines that the received ultrasonic wave is in the range r2.
There is an alarm drive control function that immediately controls the other alarm buzzer 34B when it is determined that the sound is coming from within the semi-dangerous area, and the received ultrasonic wave is in the range r.

The hydraulic excavator 1 is provided with a work machine operation stop control function that immediately drives one alarm buzzer 34A and controls the operation of the hydraulic excavator 1 to stop when it is determined that the work is coming from within the dangerous area.

Furthermore, in this embodiment, a measurement range setting circuit section 40 is provided which outputs a reference signal that serves as a judgment standard when the received signal is classified into range rl and range r2 performed by the signal discrimination circuit 33 described above. ing. This measurement range setting circuit section 40 is composed of a first range setting circuit 40A that sets a short range r1, and a second range setting circuit 40B that sets a range rt that is a predetermined area outside this range r1. There is. The measurement range setting circuit section 40 receives the output signal of the basic pulse output circuit 12a described above and sets a corresponding measurement range for the signal discrimination circuit 33. FIG. 7 illustrates the measurement range rl+r2.

The measurement range setting circuit section 40 has a setting range r2. r2
A set value input section 41 is also provided which can appropriately set the reference value of . In this embodiment, this set value input section 41 is operated by the operator as necessary, and is used for the above-mentioned measurement range rl+r! The value is now entered. Further, FIG. 8 shows an example of the danger display section 35 that operates together with the alarm buzzers 34A and 34B.

This danger display section 35 has a danger area (
A danger indicator 35A indicating range 1) is incorporated, and a danger indicator 35B indicating a semi-dangerous area (range 2) is incorporated in the outer annular display section.

The danger indicators 35A and 35B are individually energized to blink or the like by the danger control circuit 36 described above.

Furthermore, the above-mentioned search transmitters 11+ to 118 and search receivers 31. 3111, as shown in FIG.
As shown in Figs. 3 to 3, it is installed on a working machine. Other searching transducer section 50□ shown in FIG.
, 50ff, . . . 50 are similarly formed.

Specifically, this searching transducer section 50 has one searching transducer 111 and one searching receiver 311, and one searching transducer 111 and one searching receiver 311, respectively. Transducer/receiver support 50A that is installed side by side in the direction and fixedly supported
and a support frame 50B that supports the transducer support 50A so as to be rotatable up and down. In Figure 5,
This probe transducer section 50. FIG. 4 shows a side view of the device as viewed from the direction of arrow E in FIG. 4. Moreover, FIG. 6 shows a cross-sectional view including the search transmitter 111 and the search receiver 311 of FIG. 4. In FIG. 6, numerals 50E and 50F indicate fixing screws, and numerals 50G and 50G indicate connectors. The connectors 50G, 50G are fixed to the transducer support 50A via a plate. In addition, the fixing screw 50E,
50F is engaged with both side surfaces of the above-mentioned transducer support 50A via the rising portion of the support frame 50B. As a result, by appropriately operating the fixing screws 50E and 50F, the above-mentioned transducer support 50A is moved up and down in the direction of the arrows shown in FIGS. 4 and 5, and then the optimum setting angle is found. It is now possible to set the The code 50H indicates a protective horn, and the code 5ON
indicates a horn set screw.

The other searching transducers 50□ to 501 are formed in exactly the same manner and function in the same manner.

Note that the horn 50H can form an ultrasonic sound field in an appropriate area by appropriately setting its size, spread, length, etc.

The eight searching transducer sections 50 formed in this way,
50. As shown in Figures 2 and 3, they are installed on the outer periphery and arm part IA of the hydraulic excavator 1 as a working machine, covering a 360° circumference, and are distributed in consideration of dangerous areas. There is.

For this purpose, in this embodiment, eight sets of searching transducer sections 50. ~5011 are distributed around the work equipment in a 360° area, so if a worker approaches, the system immediately receives and detects the returned ultrasonic waves and issues an alarm. be able to. Furthermore, when a return signal from within the dangerous area is received, the operation of the working machine itself can be immediately controlled to stop.

In addition, since the search transmitter/receiver unit 501.50t is equipped on both sides of the arm of the hydraulic excavator, the transmitter can be transmitted without being affected by the vertical movement of the boom or by reflected waves from the poom or arm. It can output sound waves and receive return ultrasound waves.

In addition, although the case where eight search transmitting/receiving units were used was illustrated in the above embodiment, the number is not particularly limited as long as it is plural.

In addition, as for the ultrasonic waves that transmit and return signals, we have illustrated cases where frequencies of 28 (KHz) and 21 [K7] are used, respectively, but the configuration may also be configured to use other frequencies. good.

Furthermore, regarding the measurement range, the search transmitter/receiver 50. ~50. Although the case where the area is divided into two parts, a dangerous area and a semi-dangerous area, is shown as an example, it may be partially divided into three or more stages.

Further, the alarm buzzers 34A and 34B may be configured to change the volume of the alarm sound or the repetition period of the alarm sound in order to inform the worker of the degree of danger.

In this way, in this embodiment, when the target object, the worker, enters either measurement range r1 or measurement range r, it is possible to immediately activate the system to stop the work vehicle or issue an alarm to the outside. In particular, the warning area is divided into a dangerous area close to the work vehicle (measurement range rt) and a semi-dangerous area separated by a membrane from the work vehicle (measurement range r2), and countermeasures are taken for each area to ensure that there is no truly dangerous situation. Since the work vehicle is controlled to stop only when the work vehicle is stopped, there is no need for the operator to stop the operation of the device during work, and by changing the range settings for the hazardous area and semi-hazardous area, it is possible to stop the work vehicle at the work site. The target range of the warning can be changed accordingly.

[Second Embodiment] Next, a second embodiment will be described based on FIGS. 9 to 11. Here, the same reference numerals are used for the same constituent members as in the first embodiment described above.

The embodiment shown in FIGS. 9 to 11 is installed on the hydraulic excavator 1 and outputs ultrasonic waves for searching for a target M, similar to the embodiment shown in FIGS. 1 to 8 described above. an ultrasonic wave transmitting means 2 for searching, an ultrasonic receiving unit 4A that receives ultrasonic waves of different frequencies output from the target object M on the hydraulic excavator 1, and an ultrasonic wave receiving unit 4A that receives ultrasonic waves of different frequencies output from the target object M. It is equipped with a signal processing section 4B that processes the ultrasonic waves and drives and controls a danger display section and warning means that are separately installed as necessary.

The ultrasonic transmitting means 2 includes a plurality of search transmitters 11 mounted on the hydraulic excavator 1. ．． 11□, ... 11e, and these search transmitters 11. ~
118 at the same frequency.

The signal processing unit 4B has a risk level determination function that determines from which position of the predetermined dangerous region r1 or semi-dangerous region r2 the received ultrasound is output, and if the received ultrasound is output from the semi-dangerous region. An alarm drive control function that immediately controls the alarm buzzer 34B as an alarm means when it is determined that the ultrasonic wave is coming from within r2, and an alarm drive control function that immediately operates the hydraulic excavator 1 when it is determined that the received ultrasonic wave is coming from within the dangerous area. The system is equipped with a work equipment operation stop control function that controls the work equipment to stop.

Furthermore, the ultrasonic receiving section 4A includes the above-mentioned search transmitter 11.
．． ~11. Eight search receivers 311 to 31 corresponding to
．． It is made up of. Each of these search receivers 31. ~
Corresponding to the 31st, the signal processing unit 4B consists of eight sets of signal processing circuits 4B, 4B2°...4B, and the danger display unit 35 also includes eight sets of danger indicators 35. ．． 352. ...3
5. It is made up of.

Reference numeral 40S indicates a switch circuit installed between the ultrasonic receiving section 4A and the signal processing section 4B. In this embodiment, this switch circuit 40S is connected to eight search receivers 3, which will be described later.
Eight on-off switches 40S1 to 40S8 corresponding to 11 to 318 and eight signal processing circuits 4B, to 4B.
It is made up of.

The signal processing circuit 4B of the signal processing unit 4B is received by the search receiver 31, as shown in FIG. 10 (note that the switch circuit 405 is omitted in FIG. 10). A signal selection circuit 32 that selects only the received signal by removing noise from the signal according to a certain standard. Then, it is determined whether the received signal sent from this signal selection circuit 321 is from the ultrasonic reply means 3 mentioned above, and the received signal is selected from range r1 or range r (7th range) depending on its arrival time. signal discrimination circuit 33. and,
This signal discrimination circuit 33. An alarm buzzer 34A or 34B based on the signal output from the alarm buzzer 34A or 34B.

and danger indicator 35. Alarm control circuit 36 that drives and controls the
It is equipped with This alarm control circuit 361 includes a control circuit 36A1 for a dangerous area, a control circuit 36B for a semi-dangerous area,
It is composed of. Reference numeral 37 indicates a control circuit for an external device which controls the operation of a working vehicle such as a hydraulic excavator to be stopped as necessary.

Here, the signal selection circuit 321 specifically uses a band pass filter (BPF), and is a filter for selecting signals from the target M from among the signals received and amplified by the search transmitter 311. 1. Perform screening.

Further, the signal discrimination circuit 33. is the signal selection circuit 3 described above.
2. It has a function of checking the level, two amplitude cycles, etc. of the signals selected in , and extracting the signal from the target object M. At the same time, the emission position of this extracted signal is calculated from its reception time, and it is determined which of the ranges rl+rl the signal is from.

The signal discrimination circuit 331 further determines that the received ultrasonic wave is in the range r.
The alarm drive control function immediately controls the other alarm buzzer 34B when it is determined that the received ultrasonic wave is coming from within the semi-dangerous area of range r1. It is provided with a work machine operation stop control function that drives one alarm buzzer 34A and controls the operation of the hydraulic excavator 1 to stop.

The other signal processing circuits 4Bz to 4B are also formed in exactly the same manner and can function in the same manner.

As a result, when a target object M such as a worker approaches the worker from behind, for example, the search transmitter 114 and the search receiver 314 immediately capture it, and first send a signal corresponding to range r2. The processing circuit 4B4 is activated and drives the alarm buzzer 34B. If a worker directly enters the area of range r1, the alarm buzzer 34A is activated under the control of the signal processing circuit 4B, and at the same time, the operation of the work equipment is controlled via the external device control circuit 37. Stop is controlled.

Furthermore, in this embodiment, the signal discrimination circuit 331 described above
A measurement range setting circuit section 40 is provided that outputs a reference signal that is used as a criterion when dividing the received signal into ranges rl+ and r2. This measurement range setting circuit section 40 is composed of a first range setting circuit 40A that sets a short range r1, and a second range setting circuit 40B that sets a range r2 that is a predetermined area outside this range r. ing. The measurement range setting circuit section 40 inputs the output signal of the basic pulse output circuit 12a described above and sets a measurement range corresponding to this to the signal discrimination circuit 33.

The output of this measurement range setting circuit section 40 is sent to each signal processing circuit 4B via a switch circuit 40S.

4B! , . . . or 4B, the signal discrimination circuit 33.
It is designed to be sent individually to. Reference numeral 41 indicates a set value input section for the range setting section. This set value input section 41 and the above-mentioned switch circuit 40S allow the range rl+r of each of the above-mentioned signal processing circuits 4B r to 4B8 to be
! The value of can be individually variably set to any size.

Further, in parallel to the set value input section 41, a set value variable manual section 4 is provided.
2 is equipped. This set value variable manual section 42 is configured such that either one of the set value input section 41 described above is connected to the measurement range setting circuit section 40 by a changeover switch 43.

The set value variable human power unit 42 is configured to constantly receive predetermined speed signals from a plurality of speedometers (not shown) installed in various parts of the working machine 1.

Depending on the operating direction and speed of the work equipment 1 or the arm length, etc.
The measurement ranges rl and r2 of the corresponding measurement points can be appropriately set variably. Specifically, for example, when the working machine 1 moves forward, the front measurement range rl+r! The set value variable manual unit 42 sets the set value to a large value.
is now functioning.

FIG. 10 shows an example of the danger display section 35. This danger display section 35 consists of eight sets of danger indicators 35°, 35!, which are incorporated in the same circle corresponding to the eight search receivers. ,353,3
54.35s, 356.35? , 351. Of these, the danger indicator 351 has inner display elements 353. and an outer display element 351g. Other danger indicators 35□~35. are formed in exactly the same way. And inner display element 35 II
When any one of the lamps 351 to 351 blinks, the central danger indicator lamp 35° also blinks at the same time.

Therefore, the operator can immediately read the direction of the worker's intrusion and the degree of danger from this danger display section 35, and take predetermined safety measures in response, such as temporarily stopping the operation of the work equipment. Can be taken quickly. The other configurations are the same as the embodiment shown in FIG. 1 described above.

Next, the overall operation of the embodiment shown in FIG. 9 will be described.

First, when the entire device is powered on and the ultrasonic transmitting means 2 is activated, the excitation circuit section 12 sends an excitation signal of 28 (KHz) at a constant repetition period to the ultrasonic transmitting section 11 for multiple searches. It is simultaneously applied to the entire transmitter 111-11°.

Therefore, from the working machine 1, the searching transducer section 50. ~
50. A search ultrasonic wave of 28 [KHz] is emitted outward from the part.

This searching ultrasonic wave is received by the reply receiver 21 of the ultrasonic reply means 3 provided to each worker.

In this ultrasonic reply means 3, upon receiving the searching ultrasonic wave of 28 (KHz), the reply side receiving and transmitting circuit section 23 is activated immediately to output a reply signal of 21 (KHz:l) and transmit the reply transmitter 22. As a result, an ultrasonic wave of 21 [K) (Z) is output from the ultrasonic return means 3.

This 21 (KHz) return ultrasound is sent to the ultrasound receiver 4A.
It is captured by one of the search receivers 311 to 318. When the worker serving as the target object M is located behind the working machine 1 as shown in FIG. 4, the searching transducer 314 of the searching transducer section 504 captures it. The position of the returned ultrasonic wave captured by the search receiver 314 is immediately calculated by the signal processing circuit 4B. In this case, the above-mentioned searching transmitter 11. ~11. The transmission position (distance to the working machine 1) of the return ultrasonic wave is calculated based on the time of output of the search ultrasonic wave (not shown) output from the ultrasonic wave generator. If this position, that is, the position of the worker is outside the range r2 indicating the semi-dangerous area described above, the worker is in a safe position for the working machine 1, and the working machine 1 does not react at all.

On the other hand, if the worker's position is within the range r2 of the semi-dangerous area, the signal processing circuit 4B4 immediately activates the alarm buzzer 34.
B and the danger indicator 35 shown in FIG.
The outer display element 354□ of No. 4 is turned on. This allows the driver (operator) of the work vehicle to know that a worker is present in the rear semi-dangerous area (range r2).

Further, when the worker's position is within the range r1 of the dangerous area, the signal processing circuit 4B4 intermittently controls the operation of the alarm buzzer 34A, and also activates the inner display element 354. of the danger indicator 354. and the danger display character section 35o in the center is lit up. At the same time, the signal processing circuit 4B controls the operation of the working machine 1 to be stopped via the external device control circuit 37.

This ensures the safety of workers.

Even if a worker approaches other parts of the work equipment 1, each part operates in the same way as the robot, and the alarm buzzer 3 is activated in the same way.
4A and 34B are activated, and the location and direction of entry of the worker are displayed.

In this way, in this embodiment, the 8 m searching transducer section 50. ~50. Since the work equipment is equipped with 360 degrees of surrounding area, when a worker approaches, it immediately receives the returned ultrasonic waves and uses this to detect the direction and position of the worker. An alarm can be issued if necessary. Furthermore, when a return signal from within the dangerous area is received, the operation of the working machine itself can be immediately controlled to stop.

Also, located on both sides of the arm part of the hydraulic sigibel, there are search transmitting and receiving parts 50! , 50ff, it is possible to output transmitted ultrasonic waves and receive return ultrasonic waves without being affected by the vertical movement of the boom or by reflected waves from the boom or arm.

As described above, according to the other embodiments shown in FIGS. 9 to 11, when the target worker enters either the measurement range r1 or the measurement range r2, the system immediately operates to stop the work vehicle. In particular, the warning area can be divided into a dangerous area close to the work vehicle (measurement range r+) and a semi-dangerous area (measurement range r,) some distance from the work vehicle, and each By taking countermeasures that correspond to the area and controlling the work vehicle to stop only in cases of true danger, there is no need for the operator to stop the operation of the equipment during work. By changing the dangerous area range setting, the target range of the alarm can be changed depending on the work site.Furthermore, each search receiver is equipped with a signal processing circuit and a danger display, making it easier to operate the work vehicle. By looking at this danger display, the operator can immediately grasp the location of the hazardous situation (where it is around the work vehicle), and can therefore immediately take more effective safety measures, such as moving the work vehicle. Can be taken quickly.

[Third Embodiment] Next, a third embodiment will be described based on FIGS. 12 and 13. Here, the same reference numerals are used for the same constituent members as in the conventional example described above.

The embodiment shown in FIGS. 12 to 13 is installed on the hydraulic excavator 1 and outputs ultrasonic waves for searching for the target M, similar to the embodiment shown in FIGS. 9 to 11 described above. an ultrasonic wave transmitting means 2 for searching, an ultrasonic receiving unit 4A that receives ultrasonic waves of different frequencies output from the target object M on the hydraulic excavator 1, and an ultrasonic wave receiving unit 4A that receives ultrasonic waves of different frequencies output from the target object M. It is equipped with a signal processing section 4B that processes the ultrasonic waves and drives and controls the danger display section 35 and warning means 34, which are separately installed as necessary.

The ultrasonic transmitter 2 includes an ultrasonic transmitter 11 equipped with a plurality of search transmitters 111, 11□, . . . 11 mounted on the hydraulic excavator 1, and these search transmitters 11 ．． ~
117 at the same frequency.

The signal processing unit 4B has a risk level determination function that determines from which position of the predetermined dangerous slope r1 or semi-dangerous region r2 the received ultrasonic wave is output, and a function that determines whether the received ultrasonic wave is output from the predetermined dangerous slope r1 or semi-dangerous region r2. Alarm drive control 1 function that immediately controls the alarm buzzer 34B as an alarm means when it is determined that the received ultrasonic wave is coming from within the dangerous area, and immediately controls the operation of the hydraulic excavator The structure includes a work machine operation stop control function that controls the operation of the work machine.

Furthermore, the ultrasonic receiving section 4A includes the above-mentioned search transmitter 11.
1-11. Seven search receivers 31. ~31
．． It is made up of. Each of these search receivers 31. ~
31. Corresponding to this, the signal processing section 4B includes three sets of signal processing circuits 4B, , 4B,.

4Bs, and the danger display section 35 is also composed of three sets of danger indicators 351, 351, and 35s.

Of these, the search receivers 31+ and 31g form part of search transducers 51+ and 51□, which will be described later, and are mounted on both sides of the arm member IA of the hydraulic excavator as a working machine, toward the tip. Equipped. In addition, the search transducer 313, 3
1. Search transducer 50.1.50. forms part of
It is installed on both sides of the arm member IA on the work vehicle. Furthermore, the search transducer 3 Is, 316
, 3 It is also for searching 50s, 50t,, 50'?
As shown in FIG. 13, they are installed facing toward the gazette and both sides of the work vehicle body.

Among these search receivers 311 to 317, a signal processing circuit 4B+ is provided corresponding to the search receivers 3i+ and slg, and the search receivers 31. ．． A signal processing circuit 4B3 is provided corresponding to the search receiver 31.314. ~31
．． A signal processing circuit 4Bs is provided correspondingly.

Here, the signal processing circuits 4B, 4B3.4B.

is the signal processing circuit 4B+ in the second embodiment described above.
, 4B3.4Bs, and has the same structure and function as the 4B3.4Bs.

Reference numeral 403 indicates a switch circuit installed between the ultrasonic receiving section 4A and the signal processing section 4B. In this embodiment, the switch circuit 403 is constituted by on-off switches 40S+ and 4033.40Ss respectively provided at the input stages of three signal processing circuits 4B, 4B, 4B, which will be described later.

Second on-off switch 40S, 40S3゜40SS
In setting the measurement range rl+"2 of the signal processing circuits 4B, 4B3.4B, described above, these can be selectively operated individually by a switch control means (not shown).

In this way, in the third embodiment, the target object M of the worker etc.
If the worker approaches the worker, for example from behind, the search transmitter 11. The search receiver 31f captures this, and first the signal processing circuit 4B operates corresponding to the range r2 and drives the alarm buzzer 34B. In addition, if a worker directly enters the range r, the alarm buzzer 34A is activated under the control of the signal processing circuit 4B, and at the same time, the work equipment is activated via the external device control circuit 37. is controlled to stop.

Furthermore, in this third embodiment, the above-mentioned signal processing circuit 4
B, signal discrimination circuit 33. A measurement range setting circuit section 4 outputs a reference signal that serves as a judgment standard when dividing the received signal into ranges rl+ and r2, which is performed at
0 is set. This measurement range setting circuit section 40 includes a first lunge setting circuit 4O that sets a short distance range r.
A and a range r that is a predetermined area outside this range r1
2, and a second range setting circuit 40B that sets the range. This measurement range setting circuit section 40 is
The signal discrimination circuit 3 inputs the output signal of the basic pulse output circuit 12a described above and determines the corresponding measurement range.
3. Set for.

The output of this measurement range setting circuit section 40 is sent to each signal processing circuit 4B1°4Bs or 4Bs via a switch circuit 403.
The signals are individually sent to the signal discrimination circuit 33 of s. Reference numeral 41 indicates a set value input section for the range setting section. This setting value input section 41 and the above-mentioned switch circuit 40S allow each of the above-mentioned signal processing circuits 4B, 4B to
3.4B, the value of the range rl+rZ can be individually variably set to any size.

For example, in the case of the third embodiment, the searching transducer 503.
50. For T, =71m], T4=4
[ml is set. Furthermore, a search transducer 5
For 01.50z, T5-3 [mi, T6
=6[ml].

Further, in parallel to the set value input section 41, a set value variable manual section 4 is provided.
2 is equipped. This set value variable manual section 42 is configured such that either one of the set value input section 41 described above is connected to the measurement range setting circuit section 40 by a changeover switch 43.

The set value variable human power unit 42 is configured to constantly receive predetermined speed signals from a plurality of speedometers (not shown) installed in various parts of the working machine 1.

According to the operating speed of the working machine 1, the measurement ranges r+ and r2 of the corresponding measurement points can be appropriately variably set. Specifically, for example, when the working machine 1 moves forward, the front measurement range rl+r! That is, T,
, T, is set to a large value by the set value variable manual unit 42.

Therefore, the operator can read the direction of the worker's intrusion and the degree of danger from the danger display section 35 with relative ease. The other configurations are the same as those of the second embodiment described above.

In this way, in this embodiment, there are seven sets of searching transducers 50. ~ 507 are distributed around the work equipment in a 360° direction, so when a worker approaches, the return ultrasonic waves are immediately received and the direction and position of the worker are detected. At the same time, an alarm can be issued if necessary.

Further, when a return signal is received from within the dangerous area, the operation of the working machine itself can be immediately controlled to stop. Furthermore, seven sets of search receivers 501~
50. For 3Mi signal processing circuit 4B,,4B3.4
By supporting this in B, the circuit configuration of the signal processing system can be simplified, and depending on the equipment location on the work machine, it is possible to divide it into multiple systems and freely set different measurement ranges. There is an advantage.

〔Effect of the invention〕

As described above, according to the present invention, when a target object, that is, a worker, enters either measurement range r or measurement range r2, it is possible to immediately activate the operation to stop the work vehicle or issue an alarm to the outside. In particular, the warning area is divided into a dangerous area close to the work vehicle (measurement range R+) and a semi-dangerous area somewhat distant from the work vehicle (measurement range R2), and countermeasures corresponding to each area are taken to ensure that there is no truly dangerous situation. Since the work vehicle is controlled to stop only when
The operator no longer has to stop the operation of the device during work, and can also change the measuring range of the hazardous and semi-hazardous areas with respect to one or more search transducers as required. Therefore, it is possible to provide an unprecedented and excellent warning device for work equipment that can freely change and set the target range of the warning according to the work site or the operating speed of the work vehicle. can.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a front view showing a hydraulic excavator equipped with the searching transducer section shown in FIG. 1, and FIG. 3 is a block diagram showing an embodiment of the present invention. 4 is a perspective view showing the search transducer section in FIG. 1, and FIG. 5 is a side view seen from the direction of arrow E in FIG. 4. , FIG. 6 shows Vl-Vl in FIG.
A sectional view taken along the line, FIG. 7, shows the first and second measurement ranges rlir! in the search transducer section. FIG. 8 is an explanatory diagram showing an example of the danger display section in FIG. 1, FIGS. 9 to 10 are block diagrams showing the second embodiment, and FIG. FIG. 12 is an explanatory diagram showing an example of the danger display section; FIG. 12 is an explanatory diagram showing the third embodiment;
The figure is an explanatory diagram showing the measurement range setting range of FIG. 12. 2...Ultrasonic transmitting means, 3...Ultrasonic replying means, 4...Ultrasonic receiving means, 4A...
...Ultrasonic receiving section, 4B...Signal processing section, 4
B, ~4Bg...Signal processing circuit, 11...
...Ultrasonic sending unit, 11. ~11°...Searching transmitter, 12...Excitation circuit section, 311-318
...Search receiver, 34A, 34B...
・Alarm buzzer, 35A, 53B, 351-358...
...Danger indicator, 403...Switch circuit,
41... Set value input section, 42... Set value variable setting section, 43... Changeover switch, 50.
~50.・・・・・・Search transducer section. Applicant Tokimetre Co., Ltd. Agent Patent Attorney Isamu Takahashi Figure 4 1 ? Figure 5 Figure 6 Figure 8 (r4! tilting Figure 11 Figure 13 Figure 73 74 "rD7

Claims (4)

[Claims] (1) A plurality of search transmitters installed on a working machine and outputting ultrasonic waves for searching a target over a wide range; and receiving ultrasonic waves returned from the target on the working machine. It is equipped with a plurality of search receivers and a signal processing unit that processes the ultrasonic waves received by each of the plurality of search receivers and drives and controls separately equipped alarm means as necessary. , a risk level determination function in which the signal processing unit determines whether the received ultrasonic wave is output from a dangerous area or a semi-dangerous area based on a preset measurement range; It has an alarm drive control function that drives and controls the alarm means using different methods depending on the output range of the sound wave, and also has a measurement function that freely sets the size of the measurement range as necessary in this signal processing section. A work machine alarm device characterized by being equipped with a range setting circuit section. (2) The working machine alarm device according to claim 1, wherein the measurement range setting circuit section sets the size of the measurement range for the plurality of search receivers. (3) The signal processing section is separately equipped corresponding to the plurality of search receivers, and the measurement range setting circuit section is configured to have a different size for each of the plurality of search receivers. 2. The work machine alarm device according to claim 1, further comprising a variable range setting function for variably setting a measurement range. (4) The measurement range setting circuit section has a range variable setting function that automatically and variably sets a measurement range of a necessary size for each of the plurality of search receivers according to the dynamics of the work equipment. 4. The working machine alarm device according to claim 3, wherein: