KR20150012030A - Safety driving apparatus of construction equipment and control methods thereof - Google Patents

Safety driving apparatus of construction equipment and control methods thereof Download PDF

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Publication number
KR20150012030A
KR20150012030A KR1020130087344A KR20130087344A KR20150012030A KR 20150012030 A KR20150012030 A KR 20150012030A KR 1020130087344 A KR1020130087344 A KR 1020130087344A KR 20130087344 A KR20130087344 A KR 20130087344A KR 20150012030 A KR20150012030 A KR 20150012030A
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KR
South Korea
Prior art keywords
equipment
distance
sensed
sensing
control unit
Prior art date
Application number
KR1020130087344A
Other languages
Korean (ko)
Inventor
이문희
Original Assignee
현대중공업 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대중공업 주식회사 filed Critical 현대중공업 주식회사
Priority to KR1020130087344A priority Critical patent/KR20150012030A/en
Publication of KR20150012030A publication Critical patent/KR20150012030A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07509—Braking
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2083—Control of vehicle braking systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/15—Fork lift trucks, Industrial trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

The present invention relates to a safety driving system for a construction equipment, and its object is to forcibly block the operation of the equipment based on information received from the sensor, to set a multi-stage dangerous area for each distance based on the operating conditions of the equipment, Or safety operation system of construction equipment which can prevent a safety accident due to negligence of a surrounding worker in advance. The present invention for this purpose comprises a rear detection sensor (10) installed at the rear of the equipment for sensing the position and distance of a detection object located behind the equipment running backward; And outputs the detected result to the driver or the object to be sensed according to the position and distance information of the object to be sensed sensed by the rear sensing sensor 10. When the sensing object enters the predetermined distance region from the apparatus, 1), and a safety control unit 20 (SCU) for forcibly stopping the equipment running in the backward direction.

Description

Technical Field [0001] The present invention relates to a safety driving apparatus for a construction equipment,

The present invention relates to a traveling apparatus for a construction equipment, which forcibly blocks the operation of equipment based on information received from a sensor and sets a multi-stage hazardous area for each distance based on the operating conditions of the equipment, To a safe running system of a construction equipment capable of preventing a safety accident caused by carelessness in advance.

Generally, heavy equipment such as forklifts, excavators, dozers and loaders are equipped with working devices such as booms and arms with large turning radius in front of the cab, Since the engine or the weight is disposed, the driver is required to take a careful circumference while narrowing his or her field of view while driving or working. Further, since the driver watches the front working device in which the turning radius is large and the actual work is performed, Safety accidents such as collisions frequently occur.

In order to solve such a problem, there is a case where a safety work force is placed at the working site of the heavy equipment in order to prevent the external equipment or manpower from approaching the working equipment by placing a separate safety worker around the equipment Depending on the field work conditions, if a worker temporarily vacates his or her seat, safety accidents such as equipment collision or personal injury will occur.

As another means for solving the above problem, for example, in a specific operation of a heavy equipment or in a backward running process, a lamp or a warning sound is used to inform the surrounding workers of the danger. However, A worker who is performing a loud work such as a noise is always exposed to a dangerous work environment such as not being able to quickly recognize a warning sound generated from the equipment due to ambient noise.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a construction equipment sensor capable of forcibly blocking the operation of equipment based on information received from a sensor during a backward travel to prevent a safety accident caused by carelessness of a driver or a surrounding worker Based safety navigation apparatus.

Another problem to be solved by the present invention is to provide a method and apparatus for setting a multi-stage dangerous area for each distance according to a steering state or a traveling speed of the equipment, And to provide a safe running control method of the equipment.

According to an aspect of the present invention, there is provided a vehicular drive system including a main control unit (2: MCU) that is connected to a traveling operation lever (1) provided in a cab and controls the travel of the equipment in accordance with an operation signal of the traveling operation lever ),

A rear detection sensor (10) installed at the rear of the equipment for sensing the position and distance of the object to be detected present behind the equipment in the backward running; And

And outputs a result sensed by the driver or the sensing object in accordance with the position and distance information of the sensing object sensed by the rear sensing sensor 10. When the sensing object enters the predetermined distance range from the equipment, And a safety control unit (SCU) (20) for forcibly stopping the equipment running in the backward direction regardless of the operation signal of the control unit (20).

The safety control unit 20 includes a position measurement module 21 for receiving information sensed by the rear sensing sensor 10 and measuring position and distance information of the sensing object; A risk determination module 22 for comparing the travel information of the equipment transmitted from the main control unit 2 with the position and distance information of the sensing object transmitted from the position measurement module 21 to determine whether there is a risk of collision; A first control module (23) for outputting a result to the driver or the object to be sensed when the risk judgment module (22) confirms the risk of collision; The second control module 24 for transmitting the stop signal of the equipment to the main control unit 2 regardless of the operation signal of the travel operation lever 1 when the danger judgment module 22 confirms the danger of collision ); ≪ / RTI >

The risk judgment module 22 is provided with a first attention area A in which the sensing object enters within a first distance d1 with respect to the traveling direction of the equipment and a second distance d2 with respect to the traveling direction of the equipment And the third emergency area C entering the third distance d3 with respect to the running direction of the equipment may be set.

In this case, the first distance d1, the second distance d2, and the third distance d3 may be set to variable values proportional to the traveling speed of the equipment.

In the meantime, the present invention includes a step S100 of detecting a sensing object existing behind the equipment through a rear sensing sensor 10 which is turned on according to an operation signal of a traveling operation lever 1 for backward traveling;

A step S200 of measuring the position and distance information of the object to be sensed from the information sensed by the rear sensor 10;

Comparing the steering and speed information of the backward equipment with the position and distance information of the measured object and subdividing and setting the distance area according to the risk (S300);

(S400) for outputting a result to the driver or the object to be sensed when the detection object enters the first distance (d1) with respect to the equipment being backed up;

A step S500 of outputting a result to the driver or the object to be sensed when the detection object enters the second distance d2 after S400;

After the step S500, when the object to be inspected reaches the third distance (d3), the apparatus is decelerated and forcedly stopped (S600).

At this time, of S600, the operation signal inputted from the operation indoor lever 1 may be configured to be off.

The present invention continuously recognizes the surrounding risk factors and when it is judged as a risk factor based on this, the engine or equipment driving mode of the equipment is forcibly interrupted regardless of the driving signal of the driver to prevent the occurrence of the safety accident .

In addition, according to the driving speed and safety distance of the equipment, stepwise safety mode such as driver notification of the engine or equipment operation mode of the equipment, alarm notification of the surrounding warning, engine or equipment deceleration mode and forced stop are sequentially subdivided, And has an effect of being able to control efficiently.

FIG. 1 is an example of a forklift to which the safety driving device according to the present invention is applied.
2 is a side view showing a sensing area of a rear detection sensor according to the present invention.
3 is a block diagram of a safety driving device according to the present invention;
FIG. 4 is a block flow diagram illustrating a safety driving stage of a rearward traveling equipment using a safety driving apparatus according to an embodiment of the present invention. FIG.

The features and advantages of the present invention described above or not described above will be more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings.

Generally, the construction equipment includes a main control unit 2 (MCU, Main Control Unit) for receiving operation signals of the operation interior operation lever 1 and controlling the hydraulic fluid supplied to the equipment driving unit 3 according to the operation signals thus received. . Here, the driving unit 3 of the construction equipment includes a traveling driving unit 4 for driving the equipment and a working driving unit 5 for driving the working equipment provided in the equipment.

The main control unit 3 controls driving of the equipment and driving of the working device. The main control unit 3 feeds back the driving conditions of the current equipment such as the steering state, the traveling direction, and the traveling speed of the equipment, To be output.

In the construction equipment of the present invention, it is determined not to rely only on the operation of the driver in the driving room while driving the equipment but to detect the object such as the worker or the peripheral member existing in the vicinity of the construction equipment, Driving It is forcibly decelerating and stopping the driving of the equipment irrespective of the operation of the driver in the room, so that the safety accident caused by the collision can be prevented in advance.

1 to 3, the present invention includes a rear sensing sensor 10 and a safety control unit (SCU) 20.

The rear detection sensor 10 is fixed to the rear of the main body of the apparatus to measure the position of the object to be detected and the distance to the apparatus in the rear region of the apparatus.

As such a rear detection sensor 10, a sensor such as an ultrasonic wave which is widely applied in a vehicle or the like can be used.

The safety control unit 20 measures the position and distance information of the sensing object sensed by the rear sensing sensor 10 and transmits the measured position and distance information of the sensing object to the driver or the sensing object via the notifying means 25, Or when the risk of collision between the measured object and the equipment is judged, the safety function of the step of forcibly terminating the traveling of the equipment regardless of the equipment operation signal of the driver is performed.

The safety control unit 20 includes a position measurement module 21, a risk judgment module 22, a first control module 23, and a second control module 24.

The position measurement module 21 measures the position of the sensing object sensed by the rear sensing sensor 10 and the distance information between the sensing object and the equipment and outputs the measured position and distance information of the sensing object to the risk determination module 22 ).

The risk judgment module 22 compares the position and distance information of the detected object received from the position measurement module 21 with the steering state, the traveling direction, and the traveling speed information of the equipment received from the main control unit 2 The control module 23 determines whether the detected object is a collision risk element, and transmits the result to the first control module 23 when the measured object is determined to be a risk factor of collision.

In this case, the risk determination module 22 sets a detailed dangerous area based on the real-time distance information between the equipment in operation and the object to be sensed. According to the embodiment, the first attention area A, A warning area B, and a third emergency area C, respectively. (See Fig. 2)

The first attention area A is a case where the sensing object enters the first distance d1 from the equipment being backed up. If it is determined that the sensing object enters the first area A, And transmits an electrical signal to the first control module 23.

The second warning area B is a case where the sensing object enters the second distance d2 from the equipment due to the continuous backward travel of the equipment after the sensing object enters the first area A, And if it is determined that the detection object enters the second warning area B, the first control module 23 transmits an electrical signal corresponding thereto.

The third emergency area C is a case where the sensing object enters the third distance d3 from the equipment due to the continuous backward travel of the equipment after the sensing object enters the second warning area B, When it is determined that the detection object enters the third emergency area C, the first control module 23 transmits an electrical signal corresponding thereto.

Here, the first, second, and third distances d1, d2, and d3 for distinguishing the first attention area A, the second warning area B, and the third emergency area C may be fixed values, It is advisable to keep the setting value which changes in proportion to the running speed of the machine.

For example, when the traveling speed of the equipment is relatively fast, the first, second, and third distances d1, d2, and d3 are largely extended and set as a whole. When the traveling speed of the equipment is relatively slow, , And the three distances (d1, d2, d3) are generally reduced to be small.

The first control module 23 outputs a result to the driver or the object to be sensed according to the danger of the object to be sensed transmitted from the danger judgment module 22. For this, the first control module 23 is configured to include the notification means 25. The notification means may be one of a display, a lamp, and a buzzer installed in the cab or outside the apparatus main body, or a combination thereof .

According to the embodiment, depending on the area in which the sensing object enters the first attention area A, the second warning area B and the third emergency area C from the danger judgment module 23, It is advisable to output different results.

For example, when the object to be sensed enters the first region A, the driver of the operation room is primarily notified of the entry of the object into the first region A through the display disposed in the interior of the cab, When the object enters the second warning area (B) and the third emergency area (C), the display, the buzzer, and the lamp disposed in the cab are all operated to allow the driver to enter the second object And a lamp and a buzzer provided outside the apparatus main body are operated to pay attention to an external worker identified as a detection target or a peripheral worker around the detection target.

The second control module 24 decelerates the driving speed of the equipment when the sensing object transmitted from the risk judging module 22 is located at a certain distance from the equipment. At this time, the second control module 24 forces the deceleration and running stop of the equipment toward the main control unit 2, and at the same time turns off the operation signal input from the running operation lever 1.

In other words, when the object to be sensed enters the third emergency area C continuously beyond the first caution area A and the second warning area B, the second control module 24 controls the driving collision lever 1 And transmits the deceleration and stop signals of the equipment to the main control unit 2. [

FIG. 4 is a block flow chart showing the safety driving stage of the equipment being backed up by using the safety driving apparatus according to the above embodiment, and the safety driving control process of the backing of the construction equipment will be described with reference to FIG.

First, the driver in the driving room operates the traveling operation lever 1, and the main control unit 2, which receives the backward travel signal of the traveling operation lever 1, causes the equipment to travel backward.

The rear detection sensor 10, which is turned on at the same time when the backward operation signal of the traveling operation lever 1 is generated, senses a detection object existing behind the equipment. (S100)

Next, the position measurement module 21 provided in the safety control unit 20 measures the position and distance information of the object to be detected with respect to the equipment being backed up from the detection information transmitted from the rear detection sensor 10. (S200)

Next, in the risk judgment module 21 provided in the safety control unit 20, the current steering state and running speed information of the equipment transmitted from the main control unit 2 and the position and distance information of the measured target object The distance area is segmented and set according to the risk. (S300)

For example, as shown in FIG. 2, until the first distance d1 from the equipment, the first warning area A, the second warning area B up to the second distance d2, the third warning area B up to the third distance d3, (C).

After the distance-dependent area is set, if it is confirmed that the object to be detected is entering the first region A, the first control module 23 provided in the safety control unit 20 is used And performs a first peripheral step of outputting results to the driver or the object to be sensed. (S400)

If it is confirmed whether or not the object to be inspected enters the second warning area B in spite of this primary attention step, the first control module 23 provided in the safety control unit 20 is used And outputs a result to the driver or the object to be sensed. (S500)

If it is confirmed whether or not the object to be inspected enters the third emergency region C in spite of the second warning step, the first control module 23 provided in the safety control unit 20 is used And outputs the result to the driver or the object to be sensed. At the same time, the second control module 24 provided in the safety control unit 20 is used to decelerate the traveling speed of the equipment toward the main control unit 2, . (S600)

During the forced stop of the equipment, the second control module 24 turns off the operation signal inputted from the operation indoors operation lever 1, thereby blocking the running and steering signals of the equipment.

As described above, the present invention accurately measures the position and distance information of a sensing object existing on a route during a backward travel of a construction equipment in which safety accidents occur frequently, and the sensing object thus measured measures the steering state and the traveling speed of the equipment In addition, it is possible to efficiently operate the equipment for each dangerous area according to the divided distance by dividing the dangerous area by the distance proportionally, and it is possible to predict the danger such as the collision from the running state of the equipment, It is possible to prevent a safety accident that may occur due to carelessness of the driver or the surrounding worker during the backward movement by forcibly stopping the driving of the equipment irrespective of the operation of the driver.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims and their equivalents. Of course, such modifications are within the scope of the claims.

1: Travel operation lever
2: Main Control Unit
3:
10: Rear detection sensor
20: Safety control unit
21: Position measurement module
22: Risk Judgment Module
23: first control module
24: second control module
25: Notification means

Claims (6)

And a main control unit (2) (MCU) connected to a traveling operation lever (1) provided in the cab and controlling the travel of the equipment in accordance with an operation signal of the traveling operation lever (1)
A rear detection sensor (10) installed at the rear of the equipment for sensing the position and distance of the object to be detected present behind the equipment in the backward running; And
And outputs a result sensed by the driver or the sensing object in accordance with the position and distance information of the sensing object sensed by the rear sensing sensor 10. When the sensing object enters the predetermined distance range from the equipment, And a safety control unit (20) (SCU) for forcibly stopping the equipment in the backward traveling regardless of the operation signal of the safety control unit (20). The method according to claim 1,
The safety control unit (20)
A position measurement module (21) for receiving the information sensed by the rear sensing sensor (10) and measuring the position and distance information of the sensing object;
A risk determination module 22 for comparing the travel information of the equipment transmitted from the main control unit 2 with the position and distance information of the sensing object transmitted from the position measurement module 21 to determine whether there is a risk of collision;
A first control module (23) for outputting a result to the driver or the object to be sensed when the risk judgment module (22) confirms the risk of collision; And
The second control module 24 for transmitting the stop signal of the equipment to the main control unit 2 regardless of the operation signal of the travel operation lever 1 when the danger judgment module 22 confirms the danger of collision And a control unit for controlling the safety of the construction equipment. 3. The method of claim 2,
In the risk judgment module 22,
A first warning zone A in which the detection object enters within a first distance d1 with respect to the running direction of the equipment and a second warning zone B within a second distance d2 with respect to the running direction of the equipment, And a third emergency region (C) entering within a third distance (d3) with respect to the direction of travel of the equipment. The method of claim 3,
Wherein the first distance d1, the second distance d2, and the third distance d3 are set to variable values that are proportional to the traveling speed of the equipment. A step S100 of detecting a detection object existing behind the equipment through a rear detection sensor 10 which is turned on in accordance with an operation signal of the traveling operation lever 1 for backward travel;
A step S200 of measuring the position and distance information of the object to be sensed from the information sensed by the rear sensor 10;
Comparing the steering and speed information of the backward equipment with the position and distance information of the measured object and subdividing and setting the distance area according to the risk (S300);
(S400) for outputting a result to the driver or the object to be sensed when the detection object enters the first distance (d1) with respect to the equipment being backed up;
A step S500 of outputting a result to the driver or the object to be sensed when the detection object enters the second distance d2 after S400; And
And a step (S600) of decelerating and stopping the equipment when the object to be inspected reaches the third distance (d3) after the step S500 (S600). 6. The method of claim 5,
(S600), the operation signal input from the operation interior operation lever (1) is turned off.
KR1020130087344A 2013-07-24 2013-07-24 Safety driving apparatus of construction equipment and control methods thereof KR20150012030A (en)

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Application Number Priority Date Filing Date Title
KR1020130087344A KR20150012030A (en) 2013-07-24 2013-07-24 Safety driving apparatus of construction equipment and control methods thereof

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Application Number Priority Date Filing Date Title
KR1020130087344A KR20150012030A (en) 2013-07-24 2013-07-24 Safety driving apparatus of construction equipment and control methods thereof

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KR20150012030A true KR20150012030A (en) 2015-02-03

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180085213A (en) * 2017-01-18 2018-07-26 두산인프라코어 주식회사 Construction machine and method of controlling warning alarm thereof
KR20180131417A (en) * 2017-05-30 2018-12-10 코벨코 겐키 가부시키가이샤 Work machine
KR20210063004A (en) * 2019-11-22 2021-06-01 주식회사 에프아이시스 Accident Prevention System Using Deep Learning
KR102618232B1 (en) * 2022-07-21 2023-12-27 양지숙 Safety device for fork crane work site

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180085213A (en) * 2017-01-18 2018-07-26 두산인프라코어 주식회사 Construction machine and method of controlling warning alarm thereof
KR20180131417A (en) * 2017-05-30 2018-12-10 코벨코 겐키 가부시키가이샤 Work machine
KR20210063004A (en) * 2019-11-22 2021-06-01 주식회사 에프아이시스 Accident Prevention System Using Deep Learning
KR102618232B1 (en) * 2022-07-21 2023-12-27 양지숙 Safety device for fork crane work site

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