KR101276479B1 - Warning backward danger device and method - Google Patents

Abstract

The present invention relates to an apparatus and method for rear hazard notification, wherein the distance value between the upper swing structure and the obstacle located behind the upper swing structure is calculated through a sensor attached to the rear of the upper swing structure of the construction machine, and the calculated distance value is It is determined whether the distance is smaller than the preset distance value, and the distance value calculated according to the determination result is displayed on the screen. In addition, when the calculated distance value between the upper swing body and the obstacle located behind is gradually smaller than the preset distance value, the driver changes the size and color of the number corresponding to the distance value and displays it on the screen. To monitor.

Ultrasonic Sensor, Rear Distance Display, Lower Vehicle, Upper Swing Structure

Description

Warning backward danger device and method

1 is a diagram illustrating an exterior of an excavator equipped with a camera and an ultrasonic sensor in a rear danger alert device;

Figure 2 is a block diagram showing a rear danger notification device of the present invention.

Figure 3 is a flow chart illustrating a rear hazard notification method of the present invention.

4A is an exemplary view of a display unit showing a rear danger notification method of the present invention.

4B is an exemplary view of a display unit showing a rear danger notification method of the present invention when the distance is close to that of FIG. 4A.

DESCRIPTION OF THE REFERENCE NUMERALS

110: upper swing structure 112: cab

120: lower running body 200: driving operation means

212 (113, 114, 115): ultrasonic sensors

214: ultrasonic oscillator 216: ultrasonic receiver

222: camera driving unit 224: camera

230: OSD generator 240: synthesizer

250: display unit 262: buzzer driving unit

264: buzzer 270: command input unit

280: control unit

The present invention relates to a device and method for rear hazard notification in construction machinery.

Among the construction machinery, the excavator is composed of a lower running body equipped with a traveling device and an upper turning body provided with a working device such as a buoy and a bucket and a cab for a work efficiency and a user's convenience. The upper swinging body may pivot 360 ° with respect to the lower running body through the swinging device.

Construction equipment such as excavators cannot monitor the rear of the driver through rear view mirrors located in the construction machinery or rear view mirrors located on the left and right of the construction machinery.

Accordingly, by attaching a camera to the rear upper portion of the upper turning body to photograph the rear of the upper turning body so that the driver can see the photographed image, the rear of the upper turning body can be monitored as a whole. However, even when the rear image of the upper swing structure is displayed using a camera, it is difficult to accurately determine the distance between the upper swing structure and the obstacle behind the driver.

In addition, there is a method of generating a warning sound through the buzzer when the distance between the upper swing body and the obstacle located in the rear is closer than a preset interval, but this method does not know the driver's rear state, At places such as construction sites where the environment is noisy, the driver may not be able to hear the warning sound, which may cause an accident.

Therefore, an object of the present invention is to provide a rear hazard notification method for detecting an obstacle located behind the upper swing structure that is not visible to the driver and displaying a distance value with the obstacle on the screen.

Another object of the present invention is to provide a rear danger notification method for notifying a rear danger to a driver by changing a display method of a distance value displayed on a screen according to a distance value with an obstacle located behind.

Rear risk notification device of the present invention for achieving this object, the camera unit is mounted to the rear of the construction machine to photograph the rear of the construction machine; A display unit for outputting an image photographed through the camera unit; A distance measuring unit measuring a distance between the construction machine and the obstacle behind the construction machine; And a controller configured to gradually change the size of the number corresponding to the distance value with the obstacle so as to be displayed on the display unit when the distance value measured by the distance measuring unit is smaller than a preset distance value. Is done.

A rear monitoring mode setting unit including a camera switch for turning the camera on or off, a distance display switch for turning the distance display on or off, and a warning sound switch for turning the warning sound output on or off; And a warning sound generating unit for generating a warning sound, wherein the control unit is configured to display the distance with the obstacle when the distance display switch of the rear monitoring mode setting unit is smaller than a predetermined distance value. Change the color of the number corresponding to the distance value to be displayed on the display unit, and when the warning sound switch of the rear monitoring mode setting unit is turned on and the distance value with the obstacle is smaller than the predetermined distance value, the warning sound generating unit beeps It characterized in that to generate.

The rear hazard notification method of the present invention includes calculating a distance value between the construction machine and the obstacle behind the construction machine through a distance detecting sensor mounted at the rear of the construction machine; Photographing the rear of the construction machine with a camera mounted to the rear of the construction machine and displaying the photographed rear image on a screen; And displaying a value calculated from the distance to the obstacle on the screen, and when the distance value with the obstacle becomes smaller than a preset distance value, increases the size of the number corresponding to the distance value with the obstacle. And indicating the rear danger by displaying.

The method may further include setting a rear surveillance mode for selecting the camera on or off, the distance indication on or off, and the warning sound on or off, wherein the notifying the rear danger may include; When the distance display is selected as ON in the rear surveillance mode and the distance value with the obstacle becomes smaller than a preset distance value, the color of the number corresponding to the distance value with the obstacle is displayed and displayed. In the mode, when the warning sound is selected as on and the distance value with the obstacle becomes smaller than the preset distance value, the warning sound is generated.

Hereinafter, with reference to the accompanying drawings will be described in detail the device and method of the rear hazard notification of the present invention.

However, in describing the present invention, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted.

FIG. 1 is a view illustrating an exterior of an excavator equipped with a camera and an ultrasonic sensor in a rear danger alert device, and FIG. 2 is a block diagram illustrating a rear danger alert device according to the present invention.

Referring to FIG. 1, the excavator may be rotated 360 ° with respect to the lower traveling body 120 and the lower traveling body 120 provided with a traveling device, and includes an upper swinging body 110 having a cab 112. Ultrasonic sensors 113, 114, and 115 are attached to the left, right, and center of the upper pivot 110 of the present invention, and a camera 116 is attached to the rear of the upper pivot 110.

Looking at the rear hazard notification device of the present invention in detail with reference to Figure 2, the start operation unit 200, the driver can operate the on or off of the start of the construction machine, the time when the ultrasonic wave generated, the generated ultrasonic wave upper Rear image of the upper measuring body 110 and the distance measuring unit 210 that calculates the distance value with the obstacle located in the rear by using the difference in time received reflected by the obstacle located in the rear of the 110 To synthesize the camera unit 220 for photographing the image, the OSD generator 230 generating the OSD signal, the rear image captured by the camera unit 220, and the OSD signal generated by the OSD generator 230. The unit 240, the display unit 250 for displaying the image synthesized by the synthesis unit 240, the warning sound generating unit 260 for generating a warning sound, and the rear monitor that the driver can operate the switch for rear monitoring A mode setting unit 270 and an agent controlling each unit; It comprises a portion (280).

The starting operation unit 200 is used by the driver to turn on or off the starting of the construction machine.

The distance measuring unit 210 includes an ultrasonic oscillator 212, an ultrasonic sensor 214, an ultrasonic receiver 216, and a distance calculator 218.

For example, as illustrated in FIG. 2, the ultrasonic sensor 214 is attached to the rear left 113, the right 115, and the center 114 of the upper swing body 110, respectively. The ultrasonic sensor 214 is attached to the rear of the upper swing body 110, as shown in the present embodiment, it is preferable to detect the obstacle located in the nearest place, but the number is increased due to the problem of cost or accuracy Can be less.

The ultrasonic wave generator 212 generates a frequency signal of 40 KHz when the start of the construction machine is turned on, and supplies the generated signal to the ultrasonic sensor 214 at a set interval.

The ultrasonic receiver 216 receives the ultrasonic wave received by the ultrasonic wave emitted from the ultrasonic sensor 214 reflected on the obstacle. The ultrasonic receiver 216 removes noise components from the ultrasonic waves received using the filter.

The distance calculator 218 calculates a distance between the construction machine and the rear obstacle of the construction machine by using the difference between the time when the ultrasonic wave oscillator 212 oscillates and the time received by the ultrasonic receiver 216.

The camera unit 220 includes a camera driver 222 and a camera 224, and the camera driver 222 turns the camera 224 on or off under the control of the controller 280.

For example, as shown in FIG. 2, the camera 224 is installed at the rear upper portion 116 of the upper swing structure 110 to photograph the rear of the upper swing structure 110. The camera 224 may be a CCD camera or other general photographing apparatus.

The on-screen display (OSD) generator 230 generates an OSD signal to display the distance value calculated by the controller on the display unit 250.

The synthesizing unit 240 synthesizes the rearward image signal captured by the camera 224 and the OSD signal generated by the OSD generating unit 230 and transmits the synthesized OSD signal to the display unit 250.

The display unit 250 displays the signal transmitted from the combiner 240 on the screen. As the display unit 250, a general LCD or the like is used.

The warning sound generator 260 includes a buzzer driver 262 and a buzzer 264, and the buzzer driver 262 supplies a driving signal for driving the buzzer 264 under the control of the controller 280. The buzzer 264 generates a warning sound according to the driving signal supplied from the buzzer driver 262. The warning sound generator 260 may generate a warning sound by varying the size of the warning sound or by changing a predetermined period of the warning sound generated according to a driving signal supplied by the buzzer driver 262. The control unit 280 divides the distance value with the obstacle in stages and inputs a control signal according to the corresponding step, and the buzzer driver 262 generates a different oscillation frequency according to the input control signal, and accordingly the buzzer ( 264 generates different beeps. In addition, when the oscillation frequency applied by the buzzer driver 262 is given at a predetermined cycle, the buzzer 264 generates a warning sound at a predetermined cycle.

The rear monitoring mode setting unit 270 includes a camera switch 272, a distance display switch 274, and an operation button of the warning sound switch 276, and the driver can operate the rear monitoring mode setting unit ( It is obvious that the camera can be turned on or off, the distance display can be turned on or off on the screen, and the warning sound can be turned on or off.

The control unit 280 controls each unit and operates according to the camera on or off, the warning sound generation on or off, and the distance display on or off set by the driver by operating the rear monitoring mode setting unit 270.

The controller 280 compares the distance value between the upper swing structure 110 and the obstacle located behind the upper swing structure 110 and the preset distance value calculated by the distance measuring unit 210, and then compares the preset distance value. Determine if it is small. In addition, the controller 280 divides the preset distance value in stages so that the size and color of the generated OSD signal is changed by controlling the OSD generator 230 according to the result of the determination of the calculated distance value. That is, the closer the distance to the obstacle is, the larger the size and color of the number corresponding to the distance value are displayed.

Looking at the operation of the excavator with reference to Figure 2, when the driver operates the start operation unit 200 to turn on the start, the ultrasonic wave oscillator 212 of the distance measuring unit 210 to the oscillation frequency at a set interval ultrasonic sensor 214 Ultrasonic waves supplied to and emitted by) are reflected by an obstacle and received by the ultrasonic receiver 216. The distance calculator 218 uses the time when the ultrasonic wave is radiated through the ultrasonic wave oscillator 212 and the time when the emitted ultrasonic wave is reflected by an obstacle and received by the ultrasonic receiver 216, and the upper turn body 110 and the upper turn. The distance value from the obstacle located behind the sieve 110 is calculated.

The controller 280 determines whether the distance value calculated by the distance calculator 218 of the distance measurer 210 is smaller than a preset distance value, and when the determined result is small, the calculated distance value is It is displayed on the screen through the OSD generator 230. In addition, the controller 280 determines whether the preset camera 224 is turned on or off, and when the camera 224 is set to on, the controller 280 controls the camera driver 222 so that the camera 224 has the upper pivot 110. The photographed image is displayed on the screen together with the calculated distance value through the synthesizer 240. In addition, the controller 280 controls the buzzer driver 262 according to a preset warning sound generation on or off to generate a warning sound through the buzzer 264.

On the other hand, when the distance value calculated by the determination result of the controller 280 is larger than the preset distance value, it determines the preset distance display on or off and the camera on or off. When the determination result is the distance display on, and the camera on, the camera 224 is turned on so that the rear image of the upper swing structure 110 is photographed, and the calculated distance value and the photographed rear surface are synthesized through the synthesis unit 240. Allows an image to be displayed on the screen. When the determination result of the controller 280 is the distance display is off, and the camera is on, only the rear image of the upper swing structure 110 taken by turning on the camera 224 is displayed on the screen. When the determination result of the control unit 280 is the distance display on, and the camera off, the calculated distance value is displayed on the screen.

3 is a flowchart illustrating a rear danger notification method of the present invention.

4A is an exemplary view of a display unit showing a rear danger notification method of the present invention, and FIG. 4B is an exemplary view of a display unit showing a rear danger notification method of the present invention when the distance is close in FIG. 4A.

When the start of the construction machine is turned on (S300), the distance calculation unit 218 is the upper turning body 110 and the upper turning body through the ultrasonic sensor 214 attached to the rear of the upper turning body 110 of the construction machine ( The distance value with respect to the obstacle located behind the 110 is calculated (S302).

In addition, the controller 280 determines the camera on or off setting of the rear surveillance mode, and when the determination result is the camera on (S304), the control unit 222 controls the camera driving unit 222 so that the camera 224 is the upper pivot 110. Take a picture of the rear of the camera.

The controller 280 determines whether or not the distance value calculated above is smaller than the preset distance value (S306). When the calculated distance value is smaller than the preset distance value, the calculated distance is determined. The value is generated as an OSD signal through the OSD generator 230 to be displayed on the screen, and the rear image of the upper swing body 110 photographed above is also displayed on the screen (S308). For example, as illustrated in FIG. 4A, the distance between the rear image of the upper swing body 110 and the obstacle located behind the upper swing body 110 is captured by the camera 224. Is displayed. The closest obstacle located behind the upper swing structure 110 displayed on the display unit 250 is a vehicle, and the distance value between the upper swing structure 110 and the vehicle located behind the upper swing structure 110 is ". 1.5m ".

The controller 280 uses the time at which the ultrasonic wave is emitted through the sensor unit 210 and the time at which the emitted ultrasonic wave is reflected by the obstacle to receive the distance value between the obstacle located behind the upper swing structure 110. If the calculated value is smaller than the calculated value (S312) and the calculated value is smaller than the calculated value (S312), the size and color of the number corresponding to the displayed distance value are changed and displayed on the screen together with the photographed rear image. (S314). For example, referring to FIG. 4B, a rear image of the upper swing structure 110 captured by the camera 224 is displayed on the display unit 250. The closest obstacle located behind the upper swing structure 110 displayed on the display unit 250 is a vehicle, and the distance value between the upper swing structure 110 and the vehicle located behind the upper swing structure 110 is ". 1.m ". The controller 280 is larger than the distance value indicated in FIG. 4A as the distance value of the vehicle located from the rear to the rear of the upper swing structure 110 is closer to 0.5m than the distance value “1.5m” shown in FIG. 4A. Change the color and change the color so that it is displayed as "1m". In addition, when the calculated value of the distance between the upper swing structure 110 and the rear obstacle becomes smaller than the calculated distance value, the controller 280 may indicate a danger to the driver by blinking the displayed distance value.

On the other hand, if the distance value calculated above is greater than the preset distance value, the controller 280 determines whether to set the distance display on or off in the rear surveillance mode (S316). When the determination result is the distance display on, the rear image and the calculated distance value of the upper swing body 110 photographed above are displayed on the screen. On the other hand, when the setting of the rear monitoring mode is off the distance display, the rear image of the upper swing body 110 taken by the camera 224 is displayed on the screen (S318).

On the other hand, the controller 280 determines whether or not the distance value calculated when the camera on or off setting of the rear surveillance mode is smaller than the preset distance value (S320), and as a result of the determination, the calculated distance If the value is smaller than the preset distance value, the calculated distance value is displayed on the screen (S322). On the other hand, if the calculated distance value is larger than the preset distance value, the distance display on or off setting of the rear-viewing mode is determined (S324) and the calculated distance value is displayed on the screen according to the determination result. Mark or unmark it.

When the driver stops the start of the construction machine (S326), the control unit 280 performs the operation according thereto.

On the other hand, while the invention has been shown and described with respect to specific preferred embodiments, those skilled in the art to which the present invention pertains without departing from the scope of the present invention with respect to the above-described embodiment It can be easily seen that it can be modified and changed. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by the claims below and equivalents thereof.

According to the present invention as described in detail above, the distance value with the obstacle located in the rear is calculated by the ultrasonic sensor attached to the rear of the upper swing body, and the calculated distance value is smaller than the preset distance value To judge. According to the determination result, the distance value is displayed on the screen, and as the distance between the upper swinging body and the obstacle located behind is gradually closer, there is an effect of notifying the driver of the danger by changing the size and color of the displayed number. .

In addition, according to the setting of the rear monitoring mode, the rear image of the construction machine photographed by the camera is displayed together with the distance value, so that the driver can effectively work without having to make a subjective judgment. That is, the driver is able to accurately check the rear of the driver that the driver can not see, so that the driver is out of danger of an accident.

In addition, depending on the setting of the rear surveillance mode, the calculated distance value may or may not be displayed on the screen.If the calculated distance value is smaller than the preset distance value, it is displayed on the screen regardless of the setting. It has the effect of alerting you of danger.

Claims (4)

A camera unit mounted to the rear of the upper swing structure of the construction machine having the upper swing structure to photograph the rear of the upper swing structure; A display unit for outputting an image photographed through the camera unit; A distance measuring unit configured to measure a distance between an upper swing structure of the construction machine and an obstacle behind the upper swing structure; And When the distance value measured by the distance measuring unit is smaller than the preset distance value, the size of the number corresponding to the distance value with the obstacle is gradually changed to be displayed on the display unit and measured by the distance measuring unit. A control unit which stops displaying the distance value with the obstacle in the display unit when a distance value is larger than a preset distance value Rear danger notification device of the construction machine made, including. The method of claim 1, A rear monitoring mode setting unit including a camera switch for turning the camera on or off, a distance display switch for turning the distance display on or off, and a warning sound switch for turning the warning sound output on or off; And Further comprising: a warning sound generating unit for generating a warning sound, The controller may be configured to change the color of the number corresponding to the distance value with the obstacle when the distance display switch of the rear monitoring mode setting unit is turned on and the distance value with the obstacle becomes smaller than a preset distance value. The warning sound generating unit generates a warning sound when the warning sound switch of the rear monitoring mode setting unit is turned on and the distance value with the obstacle becomes smaller than a preset distance value. Device. Calculating a distance value between the upper swing body and the upper swing rear obstacle through a distance sensing sensor mounted behind the upper swing structure of the construction machine having the upper swing structure; Photographing the rear of the upper pivot body with a camera mounted behind the upper pivot body of the construction machine and displaying the photographed rear image on a screen; And If the distance value with the obstacle becomes smaller than the preset distance value, the size of the number corresponding to the distance value with the obstacle is gradually increased to indicate a rear danger, and the distance value with the obstacle is preset. If the distance value is greater than the distance value, stopping displaying the distance value with the obstacle Rear hazard notification method of the construction machine made, including. The method of claim 3, And a rear surveillance mode setting step of selecting the camera on or off, the distance display on or off, and the warning sound on or off. Informing the rear danger; When the distance display is selected as ON in the rear surveillance mode and the distance value with the obstacle becomes smaller than a preset distance value, the color of the number corresponding to the distance value with the obstacle is displayed and displayed. And a warning sound is generated when the warning sound is selected to be on in the mode and the distance value with the obstacle becomes smaller than a preset distance value.

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