JPH07102596A - Monitoring device of construction machinery - Google Patents

Abstract

PURPOSE:To inform an operator of a construction machinery of the existence of sideways and/or backward obstacles or the approaches of persons by means of a monitoring device of the construction machinery and, at the same time, to also warn a backward person of the incursion on a monitoring area of the construction machinery to inform the person of a risk. CONSTITUTION:A left side sensor 5, a right side sensor 6 and a central backward sensor 7 are mounted to the rearmost counter-weight 4 of a hydraulic shovel 1. A left side indication panel 8a, a right side indication panel 8b, a backward indication panel 8c and a forward indication panel 8d corresponding to the sensors are provided to an engine hood 3 or an operation room, an outside speaker 8e is provided, and a left backward indication lamp 9a, a right backward indication lamp 9b, a central backward indication lamp 9c and an inside speaker 9d are provided to the inside of the operation room. In correspondence with distance and directions of obstacles detected by the sensors 5-7, the panels 8a-8d, lamps 9a-9c and speakers 8a and 9d are alarmed at a specific pattern to inform an operator of abnormalities.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring device capable of issuing an alarm both inside a driver's cab and outside a construction machine when an obstacle or a person approaches the construction machine.

[0002]

2. Description of the Related Art In a conventional construction machine, since a monitoring device is provided in a driver's cab, an operator in the driver's cab can know that there is an obstacle or an intruder in the vicinity, but a person outside the driver's cab can know the obstacle. , I cannot know how close it is to danger. In particular, when the operator enters a blind spot or the like on the left and right sides or the rear of the construction machine, the operator may not be aware of it and there is a risk of an accident. In addition, even when the operator remotely controls outside the construction machine, obstacles and intruders cannot be seen,
It is a danger.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and its main problem is that the operator of the construction machine has left and right lateral and / or rear obstacles and a human approach. And inform the people around you
It is an object of the present invention to provide a monitoring device that can warn of intrusion of a construction machine into a monitoring area and can notify a danger.

[0004]

In order to solve the above-mentioned problems, the present invention provides (a) as shown in the block diagram of FIG.
The construction machine is provided with a sensor S for detecting an obstacle in the monitoring area near the left and right sides and / or the rear side, (b). An obstacle for judging the distance and the direction between the detected obstacle and the construction machine. The determination means 11 is provided, (c). The display pattern determination means 12 that is determined according to the distance and direction of the obstacle is provided, (d). At least the left and right sides and / or the rear of the construction machine are directed, A panel-shaped external alarm display unit 8 for displaying the determined display pattern is provided. (E) An internal alarm display unit 9 is provided in the operator's cab of the construction machine for displaying the determined display pattern. , Is taken as a technical means.

In addition to the above configuration, (f). An abnormality detecting sensor S1 for detecting the operating condition of the engine and other components of the construction machine is provided. (G). The abnormal position is detected from the detected operating condition. An abnormality determination means 13 for determining is provided, (h). A traveling operation detection sensor S2 for detecting an operation for turning or moving forward and backward of the construction machine is provided, and (i). A traveling direction determination means 14 for determining the turning direction of the revolving structure is provided. (j). The display pattern determination means 12 together with the result of the obstacle determination means 11 together with the abnormality determination means 13 or the traveling direction determination means 14
The technical measure is also adopted to determine the display pattern based on the result determined in (1).

[0006]

Since the above-mentioned configuration is adopted, the monitoring sensor S
Detects an obstacle (or a person) in the monitoring area near the left and right sides and / or the rear of the construction machine, the obstacle determination means 11 provided in the monitoring controller 10 causes the distance and direction between the obstacle and the construction machine. And measure. Then, the display pattern determining means 12 determines the display pattern corresponding to the distance and direction of the obstacle. Based on the determined display pattern, the external alarm display unit 8 directed to the left and right sides and / or rearward of the construction machine issues an alarm. At the same time, the internal alarm display section 9 in the cab of the construction machine also gives an alarm to the operator. Here, the external alarm display unit 8 and the internal alarm display unit 9 can use light, sound, or the like, and the display can be changed according to the degree of danger. This allows
Not only the operator in the cab but also the outside can be informed of the danger. Furthermore, the abnormality detection sensor S
1 and the progress operation detection sensor S2 are provided, and the abnormality determination means 1
If the abnormal point is determined in 3, and the traveling direction determination unit 14 determines the turning direction or the forward / backward direction of the construction machine, the display pattern determination unit 12 determines the display pattern corresponding to these and the external alarm display unit 8 It is also possible to issue an alarm to the outside.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment in which the present invention is applied to a hydraulic excavator monitoring device will be described below with reference to the drawings. As shown in FIGS. 1 and 2, the hydraulic excavator 1 has a driver's cab 2 on one side of a front part of an upper revolving structure, a front attachment is attached to the center, and a box-type engine protruding upward on a rear part. It has a hood 3 and a counterweight 4 at the end. Then, a monitoring sensor S for monitoring from the rear side to the left and right sides is attached to the upper swing body of the hydraulic excavator 1.

The monitoring sensor S is composed of an ultrasonic sensor. In this embodiment, as shown in FIG. 2, a pair of front and rear left side sensors 5 for monitoring the left side and a pair of front and rear sides for monitoring the right side are provided. A right side sensor 6 and a center rear sensor 7 for monitoring the center rear are provided. In the illustrated example, the left rear sensor 5 and the right rear sensor 6 and the central rear sensor 7 are attached to the peripheral wall surface of the counterweight 4. The sensors 5 to 7 serve as monitoring areas on the left and right sides and the vicinity of the rear of the hydraulic excavator 1.

This monitoring sensor is only required to be capable of detecting an obstacle (object or person) invading a predetermined monitoring area. Further, the monitoring sensor is of a swing type so that the number of attached sensors can be increased. It can be reduced or the surveillance area can be increased. In the case of the present embodiment, this monitoring area is composed of a danger area E1 in which a first margin area is added to the range in which the revolving structure of the hydraulic excavator turns, and a work area E2 in which a second margin area is added to the danger area E1. ing.

The sensors 5 to 7 are connected to the input side of the monitor controller 10, and the external alarm display section 8 and the internal alarm display section 9 are connected to the output side. The external alarm display unit 8 includes LED panels 8a to 8d capable of emitting red, yellow, and green, and an external speaker 8e directed to the outside to generate an alarm sound. And the above LED
The panel is composed of a plurality of (10) LED lamps arranged in a row laterally to form one panel, and a front display panel 8d and a left side display are provided on the outer peripheral wall of the engine hood 3 facing the four front, rear, left and right directions. A panel 8a, a right side display panel 8b, and a rear display panel 8c are attached respectively, and a speaker 8e is attached to the rear side of the vehicle body. Next, the internal alarm display unit 9 is composed of LED lamps 9a to 9c capable of emitting red, yellow, and green, and an internal speaker 9d for generating an alarm sound to the operator. There is. The LED lamps are arranged on an operation panel (not shown) that is easy for the operator to see from the left side display lamp 9a, the right side display lamp 9b, and the center rear display lamp 9c.

Next, the monitor controller 10 has an obstacle determining means 11 and a display pattern determining means 12. In the obstacle determination means 11, the sensors 5 to 7 are used.
The distance and the direction between the obstacle O detected in step 1 and the hydraulic excavator 1 are measured. In this embodiment, the sensors 5-7
Since each has a separate monitoring area, the direction of the obstacle (either left side, right side, or center rear) can be known by the sensor that detected the obstacle, and ultrasonic waves are reflected to the obstacle. The distance can be calculated by measuring the time.

In the display pattern determining means 12, the obstacle is located in which stage of the monitoring region (in this embodiment, the dangerous region and the work region) depending on the obtained distance and direction of the obstacle. Is determined and a predetermined display pattern is determined from the determination result, and the monitoring controller 10 controls the external alarm display unit 8 and the internal alarm display unit 9 based on the determined display pattern.

In this embodiment, when the obstacle O enters the working area E2 as shown in FIG. 3A, the left side display lamp 9a, the right side display lamp 9b, and the center rear display are displayed in the driver's cab. The lamp 9c and the left sensor 5,
The pattern is set so as to interlock with the detection results of the right side sensor 6 and the center rear sensor 7, and the indicator lamp at the location corresponding to the monitoring sensor that has detected the obstacle O blinks yellow (FIG. 3 (b)). reference). Further, the blinking cycle becomes shorter in proportion to the approaching distance of the obstacle O.

Outside the hydraulic excavator, as shown in FIG. 3C, the left side display panel 8a, the right side display panel 8b, and the rear display panel 8c are respectively a left side sensor 5, a right side sensor 6, and a central rear sensor 7. The pattern is set so as to interlock with the detection result of, and the display panel at the location corresponding to the monitoring sensor that has detected the obstacle O blinks in yellow. Therefore, the blinking interval of the display panel is shortened in proportion to the approach distance of the obstacle O, and the approaching person can be alerted. At this stage, the internal speaker 9d in the cab and the external speaker 8e directed to the outside do not operate.

Next, as shown in FIG. 4 (a), when the obstacle O enters the dangerous area E1, the left display lamp 9a, the right display lamp 9b or the central rear display lamp in the driver's cab is the same as above. Although 9c blinks, the color is red and the blinking period is proportional to the distance. Further, at the same time, the internal speaker 9d in the cab emits an alarm sound (Fig. 4).
(See (b)). Outside the hydraulic excavator, as shown in FIG. 4C, all the display panels 8a to 8d blink in red regardless of the intrusion direction of the obstacle O, and the blinking period is proportional to the distance. Further, at the same time, an external speaker 8e provided on the vehicle sounds an alarm sound.

In the above configuration, for example, the sensors 5-7
For the obstacle O detected in 1., the monitoring controller 10
So, if the obstacle is a person or a moving object (other vehicle, animal, etc.),
Alternatively, a means for determining whether the object is an object is provided, and in the case of the former, the external alarm display unit 8 and the external alarm display unit 8 are activated, and in the case of the latter, a display pattern for activating only the internal alarm display unit 9 is set. Good. In this way, in the hydraulic excavator of the present embodiment, as shown in FIG. 2, even when the side mirrors 21 and 22 are provided on the left and right sides and the surveillance camera 23 is provided at the rearmost side, these blind spots are formed. It is possible to reliably monitor the rear including the.

Further, in the present invention, the external alarm display section 8 is
The display is not limited to the display for obstacle monitoring, but can also be used as a display for the driving status of the vehicle. For example, as shown in FIG. 1, the monitoring controller 10 is provided with both an abnormality determination means 13 for detecting an abnormality of a component or a traveling direction determination means 14 for displaying the drive status of the hydraulic excavator, and the display pattern determination means 11 is used. The output side may be connected to the external alarm display unit 8. In the abnormality determination means 13, as the sensor S1 for detecting the operating status of the engine or the components of the hydraulic drive system on the input side, for example,
An engine speed sensor, an engine cooling water temperature sensor, a hydraulic oil temperature sensor, an engine oil pressure sensor, a hydraulic oil pressure sensor, a fuel sensor, etc. are connected.

When the abnormality determining means 13 determines that there is an abnormality on the basis of the detected value from each sensor S1, the display pattern determining means 12 determines in advance the corresponding failure mode (abnormal point). It is possible to determine the displayed pattern (for example, a combination of a blinking place, a coloring color, a blinking interval, an alarm sound, etc.) and inform the person outside by using the external alarm display unit 8. Accordingly, even when the operator is remotely controlling the hydraulic excavator 1 from a remote location, it is possible to know whether or not there is an abnormality such as an engine condition of the hydraulic excavator. Similarly, for example, at the time of remote control, whether or not a signal from the transmitter is received is detected, and a display for changing the color of the color of the external alarm display unit 8 depending on whether the signal is received or not. By using the pattern, it is also possible to monitor the presence / absence of reception on the construction machine side by the external alarm display unit 8.

Further, in the advancing direction judging means 14, a sensor S2 for detecting the turning of the upper revolving superstructure of the hydraulic excavator and the movement of the operating lever for traveling is connected to the input side so as to detect the revolving direction of the upper revolving superstructure or the vehicle. The display pattern determining means 12 can determine the display pattern indicating the turning direction, the traveling direction of the vehicle, etc., and display it using the external alarm display unit 8. In this case, as the display pattern, for example, a display pattern is used in which the LED lamps in the LED panel sequentially blink in a circular shape so as to move in the turning direction when turning, and in the case of forward / backward movement, the display pattern moves in the forward / backward traveling direction. If a display pattern that sequentially flashes is used, an external person who does not know the combination of the display patterns can be notified of the moving direction of the hydraulic excavator, and safety is improved.

In this embodiment, the external alarm display is provided on the front, rear, left and right sides.
Although the side wall surface of the box-shaped engine hood is used so as to correspond to the surface, the peripheral wall surface of the driver's cab may be used. The present invention is not limited to the above embodiment as long as it is possible, and it does not matter that the existing structure of the vehicle body is provided for display. Also, the direction that can be seen from the outside is 1
Even if the external alarm display section is formed on one surface to be connected, a structure that can be rotated in the alarm issuing direction when the alarm is issued may be used.

[0021]

According to the present invention, in a construction machine such as a hydraulic excavator or the like, a display portion is provided outside the vehicle as well as in the driver's cab. Can announce the existence. Also, by changing the display mode,
It is possible to notify a person outside the vehicle of the degree of danger, and it is also possible to notify the engine status and driving operation status.

[Brief description of drawings]

FIG. 1 is a block diagram of a monitoring device for a construction machine.

FIG. 2 is a plan view of a monitoring device for the hydraulic excavator.

3A and 3B are explanatory diagrams when an obstacle (person) is present in the work area, where (a) is the work area, (b) is the operation of the internal alarm display unit, and (c) is the external alarm display unit. Indicates operation.

FIG. 4 is an explanatory diagram when an obstacle (person) is present in the dangerous area, where (a) is a dangerous area, (b) is an operation of an internal alarm display unit, and (c) is an external alarm display unit. Indicates operation.

[Explanation of symbols]

 1 Hydraulic excavator 2 Driver's cab 3 Engine hood 5 Left side sensor 6 Right side sensor 7 Central rear sensor 8 External alarm display 9 Internal alarm display 10 Monitoring controller 11 Obstacle deciding means 12 Display pattern deciding means 13 Abnormality deciding means 14 Progress Direction determining means E1 Danger area E2 Working area

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Teru Hayashi 7-1 Hattomichi Chichi, Matsudo City, Chiba Prefecture, Kanto Technical Office, Ministry of Construction (72) Inventor Akihiko Taya 7-1 Hattomi Chichi, Matsudo City, Chiba Kanto Technical Office, Ministry of Construction In-house (72) Inventor Kisaburo Odabe 3700 Tana, Sagamihara-shi, Kanagawa New Caterpillar Mitsubishi Co., Ltd. (72) Inventor Akiaki, Sagamihara-shi, Kanagawa 3700 Tana, Shin Caterpillar Mitsubishi (72) Invention Shinya Hirose, 3700 Tana, Sagamihara-shi, Kanagawa, New Caterpillar Mitsubishi Corp. (72) Inventor Tatsuya Murase, 3700, Tana, Sagamihara-shi, Kanagawa, New Caterpillar Mitsubishi, Ltd.

Claims (5)

[Claims] 1. A sensor provided on a construction machine for detecting an obstacle in a monitoring area on the left, right, left and right sides, and a distance and a direction between the detected obstacle (or person) and the construction machine. Obstacle determination means for determination, display pattern determination means determined according to the distance and direction of the obstacle, and at least left and right sides and / or rearward of the construction machine for displaying the determined display pattern A construction machine monitoring device, comprising: a panel-shaped external alarm display section that is configured to operate; and an internal alarm display section that is provided inside the operator's cab of the construction machine and that displays the determined display pattern. 2. The construction machine comprises a hydraulic excavator, and the external alarm display is arranged in four directions along an engine hood protruding above the hydraulic excavator or an outer peripheral wall of the operator's cab. The construction machine monitoring device according to claim 1. 3. The monitoring apparatus for a construction machine according to claim 2, wherein the sensors are arranged on the left and right sides and / or on the rear side of the hydraulic excavator. 4. The construction according to claim 2, wherein the external alarm display section provided on each surface of the engine hood or the outer peripheral wall of the cab is formed by arranging a plurality of blinking elements in series. Machine monitoring equipment. 5. A monitoring sensor provided on the construction machine for detecting an obstacle in a left and right lateral and / or rear monitoring area, and a distance between the detected obstacle (or person) and the construction machine, and Obstacle determination means for measuring the direction, an abnormality detection sensor for detecting the operating status of the engine and other components of the construction machine, abnormality determination means for determining an abnormal location from the detected operating status, and turning of the construction machine Alternatively, a traveling operation detection sensor that detects an operation for forward and backward movement, a traveling direction determination means that determines the traveling direction of the construction machine or a swing direction of the revolving structure from the detected operation, and the obstacle determination means, the abnormality determination means, or The display pattern determination means determined based on the result determined by the traveling direction determination means, and the above-mentioned determination by being directed in the front, rear, left, and right directions on the construction machine. A construction machine characterized by comprising a panel-shaped external alarm display section for displaying a display pattern, and an internal alarm display section provided in the operator's cab of the construction machine for displaying the determined display pattern. Monitoring equipment.