JPH0611567A - Assisting apparatus in backhoe - Google Patents

Abstract

PURPOSE:To allow an operator driving a backhoe to easily recognize existence of an external worker who has entered a keep-off area to have task efficiently performed. CONSTITUTION:A plurality of areas where external workers are made kept off are placed around a working backhoe, wherein searching supersonic signals having different characteristics are transmitted toward the respective areas and supersonic sensors S1, S2 for receiving return transmission from a transmitter/receiver 16 held by the external worker are provided on a main device. The transmitter/receiver 16 has functions for receiving and transmitting the searching supersonic signals, while the main device comprises a determining means for determining existence of invasion into each keep-off area by calculating a distance from the transmitter/receiver 16 which have returned the signals to the respective supersonic sensors S1, S2 and an informing mechanism 20 for informing an operator of the main device of the area which has been invaded if the invasion of the external worker has been determined.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention obviates the contact of an outside worker who comes into contact with the working area of a swivel base or an excavation front device during civil engineering work using a fully swivel type backhoe. It relates to an auxiliary device for avoiding.

[0002]

2. Description of the Related Art Conventionally, as a contact accident prevention means in a full-swivel type backhoe, as shown in, for example, Japanese Patent Publication No. 3-48524, an ultrasonic sensor is provided on the swivel base and the structure is provided on the swivel base. It is known that an object and a person are alerted when an object or a person approaches the area.

[0003]

However, in the above-mentioned conventional device, the swivel base is equipped with the swivel base, although it effectively functions for the swivel operation of the swivel base and the approach of a structure or a person when the machine moves. It does not work when operating the front device for excavation, and the operator of this machine needs to monitor the surroundings of the work site sufficiently during excavation work. I had to be careful not to get too close, and I was easily mentally tired. Particularly in the backhoe, the excavation operation and the swivel operation of the swivel base are often combined, so it is considerably tiring to monitor the external worker approaching the front device or the swivel base in all of these operations. However, this is one of the causes of lowering workability. The present invention has been made in view of such a point, and makes it easier for the operator operating the backhoe to confirm the location of an external worker who is approaching, thereby making it possible to reduce the labor for monitoring. It is an object of the present invention to reduce the work load and to enable light work without deteriorating the workability.

[0004]

In order to achieve the above object, the first invention of the present invention has the following configuration. That is, an area for preventing an intruder from entering when a front device for excavation and a swivel platform equipped with the excavation operation and a swivel operation is set to be divided into a plurality of areas and directed toward each intrusion prevention area. This machine is equipped with an ultrasonic sensor that transmits ultrasonic wave signals for investigation, each of which has different characteristics, and receives ultrasonic wave signals for reply from transmitters / receivers carried by external workers in the surrounding area. When receiving the ultrasonic signal for investigation from each ultrasonic sensor of this machine,
Equipped with transmitting means for transmitting reply ultrasonic signals having different characteristics from the received ultrasonic signals for investigation, the unit calculates the distance between each ultrasonic sensor and the transmitter / receiver transmitting the reply ultrasonic signals. If there is an intrusion prevention area in each of the intrusion prevention areas, and if it is determined that there is an intrusion of an external worker in any of the intrusion prevention areas, the Equipped with a notification mechanism that allows the operator of the machine to perceive.

The second aspect of the present invention has the following configuration.
That is, a region for preventing an external worker from entering when the excavating front device and the swivel base including the excavating operation and the swiveling operation are partitioned into a plurality of areas,
This machine is equipped with an ultrasonic sensor that emits ultrasonic wave signals for investigation with different characteristics toward each intrusion prevention area and receives ultrasonic wave signals for reply from a transceiver carried by an external worker in the surrounding area. The transmitter / receiver carried by an external worker, when receiving the ultrasonic wave signals for investigation from each ultrasonic sensor of this machine, transmits the ultrasonic wave signal for reply having a characteristic different from the received ultrasonic wave signals for investigation. This unit is equipped with a discriminating means for computing the distance between each ultrasonic sensor and the transmitter / receiver which has transmitted the return ultrasonic signal to discriminate presence / absence of invasion into each intrusion prevention area, and any of the intrusions. When it is determined that there is an intrusion of an external worker in the blocking area, an operation restraint means is provided to restrain and prevent only the work operation in the intrusion blocking area where the intrusion has occurred.

[0006]

According to the first aspect of the present invention, when a surrounding external worker carelessly approaches the machine, the portable transmitter / receiver receives the ultrasonic wave signal for investigation from the ultrasonic sensor of the machine and returns the ultrasonic wave signal. When the ultrasonic wave sensor of this unit receives this reply ultrasonic wave signal, it calculates the distance to the transceiver that sent the reply ultrasonic wave signal and determines which intrusion prevention area is inside. When it is determined that there is an intrusion in any of the intrusion prevention areas, the operator is made to perceive the intrusion prevention area in which the intrusion has occurred through the notification mechanism of the machine. The operator who perceives this determines whether the operation of the device to be performed is an operation in the intrusion prevention area where the outside worker is invading, and if it is an operation in an area not related to the intrusion prevention area where there is an intrusion. , Just continue working. If the operation to be performed is an operation in an intrusion prevention area where an external worker is invading, an operation for urging the intruding external operator to move out of the intrusion prevention area (for example, outside the machine) It is possible to move on to the required work after confirming the evacuation to the outside of the intrusion prevention area by issuing an alarm to and calling with a microphone.

Further, according to the second aspect of the present invention, when the intrusion of the external worker into the intrusion prevention area is detected as described above, only the operation of the device in the intrusion prevention area where the intrusion has occurred becomes impossible, and the operator Since the device does not operate even if the operation lever or the like is operated, the intrusion of an external worker is easily perceived, and the desired operation is performed after calling for the withdrawal from the intrusion prevention area. In addition, the operation in the intrusion prevention area where there is no intrusion can be performed freely.

[0008]

Therefore, according to the first aspect of the present invention, even if the outside worker does not always pay attention to the surroundings, the location of the intrusion prevention area can be easily located on the machine side when the outside worker enters the intrusion prevention area. Since it is possible to immediately perceive whether or not the work can be continued or whether or not it is necessary to give a recommendation to move out of the intrusion prevention area, it is possible to concentrate on the work with less mental fatigue and improve the workability.

Further, according to the second aspect of the present invention, the work device cannot be operated in the intrusion prevention area where an external worker has entered, so that the operation is performed without noticing the intrusion of the external worker. Will be eliminated and safety will be further enhanced. Moreover, since it is possible to operate in an intrusion prevention area where no outside worker is invading, the workability is lower than that in the case where all the operations are restrained and prevented by entering any of the intrusion prevention areas. It is small and practically effective.

[0010]

【Example】

[First Embodiment] As shown in FIG. 1, a full turn type backhoe is a traveling vehicle body 2 provided with a pair of left and right crawler traveling devices 1.
A swivel base 3 is mounted on the upper part of the car so that it can swivel fully.
A front device 4 for excavation is mounted on the front part of the vehicle so as to be swingable right and left, and a driving part 7 having a driving part 5 and a shade 6 is provided on the swivel base 2. As is well known, the front device 4 connects the boom 8, the arm 9, and the bucket 10 in order, and swings them by the boom cylinder 11, the arm cylinder 12, and the bucket cylinder 13, respectively. It is configured and is connected to the front part of the swivel base 3 via a swing bracket 15 which is swung left and right by a swing cylinder 14. The first ultrasonic sensor S ₁ is installed on the lower surface of the upper portion of the sunshade 6, which is a high place on the center side of the swivel base 3, and the swivel base 3 is installed.
Toward a predetermined area A ₁ including transmitting the ultrasonic signal investigation of a predetermined frequency f ₁ with a predetermined period T _1. A second ultrasonic sensor S ₂ is attached to the swing bracket 14. The second ultrasonic sensor S ₂ has a frequency f ₂ and a cycle different from the ultrasonic signal transmitted from the _first ultrasonic sensor S ₁ toward a predetermined area A ₂ including the front device 4. An ultrasonic signal for investigation is transmitted at T ₂ .

An external worker who works around the backhoe is provided with the first ultrasonic sensor S ₁ mounted on the machine,
Also, the transmitter / receiver 16 that transmits the ultrasonic wave for reply when receiving the ultrasonic wave for investigation from the _second ultrasonic sensor S ₂ is carried. The reply ultrasonic signal from the transmitter / receiver 16 is the same as the ultrasonic signal for investigation (frequency f ₁ and period T ₁ ) from the _first ultrasonic sensor S _{1 at} the different frequency f ₃ . A reply ultrasonic signal having a cycle T ₁ is transmitted, and a different frequency f ₄ is applied to the ultrasonic wave signal for investigation (frequency f ₂ , cycle T ₂ ) from the _second ultrasonic sensor S _2. It is configured to transmit reply ultrasonic signals of the same cycle T ₂ . As shown in FIG. 3, the first
The ultrasonic sensor S ₁ and the second ultrasonic sensor S ₂ are connected to the intrusion detection mechanism 17. This intrusion detection device 17 transmits / receives signals from the first ultrasonic sensor S ₁ and the second ultrasonic sensor S ₂ based on the transmission time of the investigation ultrasonic signal and the reception time of the reply ultrasonic signal. The calculation circuit 18 for calculating the distance to 16 determines whether the calculated distance is included in the intrusion prevention area A ₁ set around the swivel base 3 or the intrusion prevention area A ₂ set around the front device 4. A notifying circuit 20 is provided, and the notifying mechanism 20 is activated when it is detected that there is an intrusion in the intrusion prevention area A ₁ or the intrusion prevention area A ₂ . This notification mechanism 20
It comprises an alarm mechanism 21 such as a buzzer, and a display mechanism 22 for notifying an operator of the operation unit 6 of an intrusion prevention area where an intrusion has occurred by means of a monitor lamp or the like. The first aspect of the present invention is configured as described above, and the operator of the operation unit 6 can concentrate on the work without paying attention to the surroundings while the alarm mechanism 21 does not operate, and the alarm mechanism 21 operates. Then, the operator checks the display mechanism 22 to see which of the intrusion prevention areas A ₁ and A _{2 the} intruder M has invaded, and if the operation to be performed is an intruder-free area, the work is performed as it is. If it is an operation in an intruding area, a desired operation is performed after taking measures to encourage the user to move out of the area (for example, calling out or issuing an exit alarm).

[Second Embodiment] FIG. 4 shows a characteristic structure of the second invention.
The main part of the composition is shown. In this case, intrusion of outside workers
The configuration for detecting is the same as that of the first invention,
Intrusion prevention area A where there was intrusion₁, Or intrusion prevention
Area A₂Restraint mechanism 2 that restrains restraint of device operation in
It has 3. The specific configuration of the operation restraint mechanism 23 is
It looks like this: Intrusion prevention area A₁If there is an intrusion
For, the hydraulic motor for driving the swivel 3 and the hydraulic pressure for traveling
The operation of the control valve that controls the operation of the motor is disabled and restrained,
A configuration such as shutting off pressure oil supply to these hydraulic motors
select. Also, intrusion prevention area A ₂If there is an intrusion
On the other hand, while controlling the turning operation of the swivel base 3,
The boom cylinder 11 for driving the front device 4 and the arm cylinder
Each control valve of the binder 12 and the bucket cylinder 13, and
And control the operation of the control valve of the swing cylinder 14 to be disabled.
To do. Control of these control valves is optional depending on the form of the control valve.
Can be set to, for example, if it is an electromagnetic control valve,
It can be processed on an electric circuit such as shutting off the control signal.
If it is a hydraulic pilot control valve,
It is sufficient to cut off the supply of ilot pressure. Also, with a mechanical control valve
Control valve using actuator such as electromagnetic solenoid if available
Do not operate the spool or operate the operating lever itself.
Noh lock, etc. may be arbitrarily selected.

[Other Embodiments] In the above embodiment, as shown in FIG.
Ultrasonic sensor S ₂ and third ultrasonic sensor S ₃
It is also possible to set _two intrusion prevention areas A ₂ and A ₃ with respect to the front device 4. in this case,
Check the turning to the invading area A ₂ or A ₃ side,
Turning to the area A ₂ or A ₃ side without intrusion can be enabled.

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

1] Overall side view of backhoe

[Fig. 2] Overall plan view of backhoe

FIG. 3 is a block diagram showing a main configuration of the first invention.

FIG. 4 is a block diagram showing a main configuration of a second invention.

FIG. 5 is a plan view showing another embodiment of the ultrasonic sensor mounting structure.

[Explanation of symbols]

3 Revolving platform 4 Front device 16 Transceiver 20 Notification mechanism 23 Acting restraint mechanism S ₁ ultrasonic sensor S ₂ ultrasonic sensor

Claims (2)

[Claims] 1. A plurality of areas (A ₁ ) are provided to prevent an intruder from entering when a front device (4) for excavation and a swivel base (3) including the front device (3) are excavated and swiveled. , (A ₂ ) are divided into sections, and ultrasonic wave signals for investigation having different characteristics are transmitted to the respective intrusion prevention areas (A ₁ ) and (A ₂ ) and transmission / reception carried by surrounding external workers. This machine is equipped with ultrasonic sensors (S ₁ ) and (S ₂ ) for receiving the ultrasonic wave for reply from the device (16), and the transceiver (16) carried by the external worker has When the ultrasonic wave signals for investigation from the ultrasonic sensors (S ₁ ) and (S ₂ ) are received, a transmitting means for transmitting a reply ultrasonic wave signal having a characteristic different from the received ultrasonic wave signal for investigation is provided, , each ultrasonic sensor (S _1), sends a reply ultrasonic signal (S ₂₎ By calculating the distance between the transceiver (16) each Prevention area (A _1), (A ₂₎ and determining means for determining the presence or absence of entry into the external operator intrusion to any intrusion blocking area The auxiliary device in the backhoe, which is equipped with a notification mechanism (20) for allowing the operator of the machine to perceive the intrusion prevention area in which the intrusion has occurred when it is determined that there is an intrusion. 2. A front area (4) for excavation and a swivel base (3) having the front apparatus (4) and a plurality of areas (A ₁ ) for preventing an intruder from entering when excavating and swiveling. , (A ₂ ) are divided into sections, and ultrasonic wave signals for investigation having different characteristics are transmitted to the respective intrusion prevention areas (A ₁ ) and (A ₂ ) and transmission / reception carried by surrounding external workers. This machine is equipped with ultrasonic sensors (S ₁ ) and (S ₂ ) for receiving the ultrasonic wave for reply from the device (16), and the transceiver (16) carried by the external worker has When the ultrasonic wave signals for investigation from the ultrasonic sensors (S ₁ ) and (S ₂ ) are received, there is provided a transmitting means for transmitting a reply ultrasonic wave signal having a characteristic different from the received ultrasonic wave signal for investigation, the respective ultrasonic sensor (S _1), feeding the the return ultrasonic signal (S ₂₎ The transceiver (16) the distance calculated by the intrusion prevention area of (A _1), (A ₂₎ and determining means for determining whether the entry into, or within the external operator's intrusion prevention area An auxiliary device in a backhoe, which is equipped with an operation check mechanism (23) for checking and restraining only a work operation in an intrusion prevention area where there is an intrusion when it is determined that there is an intrusion.