WO2019117268A1 - 作業機械 - Google Patents
作業機械 Download PDFInfo
- Publication number
- WO2019117268A1 WO2019117268A1 PCT/JP2018/045991 JP2018045991W WO2019117268A1 WO 2019117268 A1 WO2019117268 A1 WO 2019117268A1 JP 2018045991 W JP2018045991 W JP 2018045991W WO 2019117268 A1 WO2019117268 A1 WO 2019117268A1
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- WO
- WIPO (PCT)
- Prior art keywords
- worker
- tag
- information
- detection
- magnetic field
- Prior art date
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/22—Status alarms responsive to presence or absence of persons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
- B60Q5/006—Arrangement or adaptation of acoustic signal devices automatically actuated indicating risk of collision between vehicles or with pedestrians
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
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- 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
-
- 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
- E02F9/26—Indicating devices
-
- 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
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/51—Relative positioning
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Definitions
- the present invention relates to a work machine.
- Patent Document 1 makes the worker carry an RFID tag emitting radio waves of a predetermined communication distance to a receiver on a working machine
- a system is disclosed that detects an approach of a worker within a predetermined distance and issues an alarm by receiving a radio wave from an RFID tag by a mounted receiver.
- an RFID tag carried by a worker is provided with a function of changing the magnetic field detection sensitivity, the distance between the working machine and the worker is identified in several steps on the RFID tag side, and an alarm is issued by this distance.
- a system for changing levels is disclosed.
- Patent Documents 3 and 4 have a GNSS receiver for receiving signals from positioning satellites that make up the Global Navigation Satellite System (GNSS) and a GNSS reception function.
- the system which makes the worker carry the GNSS receiving terminal to have and detects the approach of the worker and the worker by acquiring the position information of the worker and the worker using the GNSS, and notifies the operator of the worker machine. It is disclosed.
- GNSS Global Navigation Satellite System
- Patent No. 5009139 gazette
- Patent No. 5520688 gazette
- Patent Document 1 whether or not the worker has entered within a specific distance from the working machine is detected, and in Patent Document 2, the distance of the worker from the working machine is detected, but the positions of the working machine and the worker Since it is not possible to obtain information on the relationship, ie, the distance and direction, accurate adjustment can not be made even if it is attempted to adjust the area for which detection and alarm are to be made.
- the present invention has been made in view of the above, and it is an object of the present invention to provide a working machine capable of accurately detecting the approach of a worker to a working machine and preventing an excessive warning. .
- the present application includes a plurality of means for solving the above problems, and an example thereof is a vehicle body provided with a traveling device, and a plurality of front members attached to the vehicle body and rotatably connected.
- a working machine provided with an articulated work machine comprising: and an operation device for outputting an operation signal for operating the work machine, the GNSS provided on the vehicle body and acquiring position information of the work machine
- a worker tag carried by an operator and a worker who performs work outside the work machine, the GNSS receiving unit acquiring position information of the worker tag, and generating the magnetic field
- the magnetic field signal generated by the device is received, at least the magnetic field ID included in the received magnetic field signal, the tag ID for identifying the worker tag that has received the magnetic field signal, and the tag
- a tag information receiving apparatus for receiving a radio wave
- FIG. 1 is a side view schematically showing the appearance of a hydraulic shovel that is an example of a working machine according to an embodiment of the present invention.
- FIG. 2 is a view schematically showing an example of a worker approach notification system mounted on a work machine
- FIG. 3 shows a detailed configuration of a tag detection device and a worker tag of the worker approach notification system.
- the hydraulic shovel 1 has a multi-joint type front working machine 6 (working machine) configured by connecting a plurality of front members (a boom 6A, an arm 6B, and a bucket 6C) which respectively rotate in the vertical direction.
- An upper swing body 3 and a lower traveling body 2 (traveling device) constituting a vehicle body are provided, and the upper swing body 3 is provided so as to be rotatable relative to the lower travel body 2.
- the upper swing body 3 is configured by arranging respective members on a swing frame 31 serving as a base, and the swing frame 31 constituting the upper swing body 3 can swing relative to the lower traveling body 2.
- the base end of the boom 6A of the front work machine 6 is vertically rotatably supported at the front of the upper swing body 3, and one end of the arm 6B is an end different from the base end of the boom 6A (tip , And the bucket 6C is vertically rotatably supported at the other end of the arm 6B.
- the lower traveling body 2 is a traveling hydraulic motor 13a (13b) (not shown) for driving a pair of crawlers 12a (12b) respectively wound around a pair of left and right crawler frames 11a (11b) and the crawlers 12a (12b). (Including the mechanism).
- a traveling hydraulic motor 13a 13b
- FIG. 1 about each structure of the lower traveling body 2, only one of the left and right pair of structures is illustrated and attached with a code, and the other structure is shown only by the code in parentheses. Illustration is omitted.
- the front members 6A to 6C are driven by the boom cylinder 16A, the arm cylinder 16B and the bucket cylinder 16C, which are hydraulic actuators, to perform a turning operation, and the lower traveling body 2 is driven by the left and right traveling hydraulic motors 13a (13b) It is done and run operation.
- the upper swing body 3 is driven by a swing hydraulic motor 32 which is a hydraulic actuator to perform a swing operation on the lower traveling body 2.
- attitude sensors 75A to 75C for acquiring respective posture information are disposed.
- the attitude sensors 75A to 75C are, for example, an inertial measurement unit (IMU: Inertial Measurement Unit) that measures the angular velocity and acceleration of the installed front member.
- the attitude sensors 75A to 75C output measured values of acceleration and angular velocity in the IMU coordinate system set in the attitude sensors 75A to 75C as attitude information.
- the front members 6A to 6C are obtained. You can know the attitude.
- a motor 33 such as an engine, a hydraulic pump 34 driven by the motor 33, and a hydraulic pump 34 discharge the boom cylinder 16A, the arm cylinder 16B, and the bucket cylinder 16C on the swing frame 31 constituting the upper swing body 3.
- a control circuit 35 for controlling the direction and flow rate of hydraulic fluid supplied to hydraulic actuators such as the swing hydraulic motor 32 and the left and right traveling hydraulic motors 13a and 13b is disposed, and a hydraulic circuit system is configured.
- an operation control device 9 for controlling the start and stop of the hydraulic shovel 1, overall operation and the like is disposed in the upper swing structure 3, and operation control of each of the hydraulic actuators 16A to 16C, 32, 13a, 13b is The control valve 35 is controlled based on the operation signal output from the operation lever device 5 corresponding to each operation.
- a driver's cab 4 for operating the hydraulic shovel 1 is disposed.
- a display device 81 as a notification device 80, an alarm device 82, and the like are arranged in the driver's cab 4, in addition to the engine key switch 7, the control lever device 5, and the lock lever 8, a display device 81 as a notification device 80, an alarm device 82, and the like are arranged in the driver's cab 4, in addition to the engine key switch 7, the control lever device 5, and the lock lever 8, a display device 81 as a notification device 80, an alarm device 82, and the like are arranged.
- the engine key switch 7 switches the start and stop of the hydraulic shovel 1.
- the hydraulic shovel 1 is stopped (that is, the engine 33 is stopped), and when the engine key switch 7 is switched to the "ON” position, the hydraulic shovel 1 is It is in the activated state (that is, the state in which the engine 33 and various systems are activated).
- the engine key switch 7 is provided with a key state detection sensor 77 (the reference numeral is shown in parentheses in FIG. 1) for detecting whether the position is switched to "ON” or "OFF". .
- the operating lever device 5 includes an operating lever for driving the front work machine 6, a traveling lever for operating the lower traveling body 2 and an operating lever for operating the upper swing body 3, etc.
- a plurality of operation levers (not shown) corresponding to the operation of the actuators 16A to 16C, 32, 13a, 13b are provided.
- the operation lever device 5 is provided with a lever operation amount sensor 79 (symbols in parentheses are shown in FIG. 1) for detecting the operation amount of the operation lever corresponding to the operation of each of the hydraulic actuators 16A to 16C, 32, 13a, 13b. It is done.
- the lock lever 8 switches between interruption and connection of an operation signal output from the operation lever device 5.
- the lock lever 8 is switched to the "lock” position, the operation signal output from the operation lever device 5 is blocked and invalidated, and the hydraulic actuators 16A to 16C, 32, 13a, and 13b are not driven.
- the lock lever 8 is switched to the “lock release” position, the interruption of the operation signal output from the operation lever device 5 is released and becomes effective, and the respective hydraulic actuators 16A to 16C, 32, It is possible to drive 13a and 13b.
- the lock lever 8 is provided with a lock state detection sensor 78 (symbols in FIG. 1 are shown in parentheses) for detecting whether the position is switched to “lock” or “unlock”. .
- the attitude sensors 75A to 75C constitute an attitude detection device 71 that detects information (attitude information) on the attitudes of the plurality of front members 6A to 6C that constitute the front work machine 6.
- the key state detection sensor 77 of the engine key switch 7, the lock state detection sensor 78 of the lock lever 8, and the lever operation amount sensor 79 of the operation lever device 5 detect the operation state of the hydraulic shovel.
- the posture detection device 71 and the machine operation state detection device 72 constitute a work state detection device 70 that detects the work state of the hydraulic shovel 1 (see FIG. 4 and the like described later).
- GNSS Global Navigation Satellite System: Global Navigation Satellite System
- a GNSS receiver 50 is provided.
- the GNSS receiver 50 receives a radio wave from a positioning satellite, and demodulates the radio wave received from the positioning satellite to extract a positioning signal, and the hydraulic excavator 1 based on the positioning signals from a plurality of positioning satellites.
- a GNSS position information generation unit 52 that calculates a three-dimensional position of The GNSS position information generation unit 52 outputs GNSS reception data including the three-dimensional position calculation value (position information) of the hydraulic shovel 1 and GNSS positioning quality information serving as a measure of accuracy and reliability of the three-dimensional position calculation value.
- the GNSS positioning quality information is, for example, the number of satellites and satellite arrangement used for calculation of position information, Fix, Float, positioning state such as single positioning, position estimation error estimation value in latitude direction and longitude direction, and the like.
- the GNSS receiver 50 When the GNSS receiver 50 can not receive a signal necessary for calculation of the three-dimensional position calculation value (position information), the GNSS receiver 50 outputs "impossible to measure” as the positioning state in the GNSS positioning quality information, and calculates the three-dimensional position. “N / A (impossible to calculate)” is output as a value (position information).
- the worker approach notification system 10 is mounted on such a hydraulic shovel 1, and detects workers according to the following operation principle.
- the worker tag 40 is carried by a worker (including the operator of the hydraulic shovel 1) to be detected.
- the worker tag 40 has a function of acquiring a three-dimensional position calculation value (position information) by a GNSS (Global Navigation Satellite System: Global Navigation Satellite System) and an induction magnetic field generated by the magnetic field generator 21 installed in the hydraulic shovel 1 And a function of detecting (a magnetic field signal 120 described later).
- GNSS Global Navigation Satellite System: Global Navigation Satellite System
- the tag ID identifying the worker tag 40 itself When the worker tag 40 detects the induced magnetic field generated by the magnetic field generator 21, the tag ID identifying the worker tag 40 itself, the magnetic field ID (received value) of the induced magnetic field, and the three-dimensional position calculation value (position information ) Is transmitted to the tag detection device 20.
- the tag detection apparatus 20 when the radio wave signal 140 is received, the worker tag 40 exists in the area where the magnetic field signal 120 can be detected, and when not received, the worker tag 40 is the magnetic field signal 120. It can be seen that it exists outside the detectable area.
- the hydraulic shovel 1 also has a function of acquiring a three-dimensional position calculation value (position information) by GNSS, and the detailed information of the hydraulic shovel 1 and the worker tag 40 using the position information from the worker tag 40 The positional relationship can be calculated.
- the worker approach notification system 10 is a worker tag 40 carried by a worker who may work in the vicinity of the hydraulic shovel 1 which is a working machine, and a hydraulic shovel
- the tag detection device 20 for detecting the worker tag 40 around 1 the work state detection device 70 for detecting the work state of the hydraulic shovel 1, and three-dimensional position calculation of the hydraulic shovel 1 based on radio waves received from positioning satellites
- the GNSS receiving device 50 which outputs a value (position information) and the tag detection device 20, the worker tag based on the information obtained by the tag detection device 20, the work state detection device 70, and the GNSS reception device 50.
- the controller 60 generates a notification command for notifying the operator of the presence or absence and the presence position in a predetermined range of the 40 predetermined ranges, and the hydraulic system Disposed in the driver chamber 4 of the bell 1 is a schematic configuration of the determination in the control unit 60 based on the notification command from the control device 60 from the notification device 80. to notify the operator.
- the notification device 80 is a device for notifying the operator of the work machine 1 of the presence of a worker around the hydraulic shovel 1 (in other words, the presence of the worker tag 40), and the display device 81 and the alarm device 82 Have.
- the worker and the worker tag 40 which are targets for detection of the presence and the position in the present embodiment, can be synonymous with each other.
- the display device 81 is made of, for example, a liquid crystal panel or the like, and is provided at a position in the operator's cab 4 of the hydraulic shovel 1 that is easy for the operator to see, and a position that does not hinder securing the external visual field.
- the display device 81 is used to notify the operator of the hydraulic shovel 1 of the presence of the worker by visual information, and based on the display command (notification command) from the control device 60, the display of the area where the worker exists or Display to notify the approach of workers.
- the alarm device 82 is a device capable of generating sound or voice and is provided in the operator's cab 4 of the hydraulic shovel 1.
- the alarm device 82 is used to notify the operator of the hydraulic shovel 1 of the approach of the hydraulic shovel 1 by the hearing information, and an alarm sound for notifying the approach of the worker based on the alarm command (notification command) from the control device 60.
- the worker tag 40 is carried by the operator of the hydraulic shovel 1 and a worker who carries out work outside the hydraulic shovel 1, and is carried by all the workers working at the work site where the hydraulic shovel 1 operates. There are as many workers as there are at the work site.
- the worker tag 40 receives the magnetic field signal 120 generated from the magnetic field generation device 21 of the tag detection device 20, the magnetic field ID of the received magnetic field signal 120 (specific ID set in the magnetic field generation device 21: 6) and the tag ID identifying the worker tag 40 itself which has received the magnetic field signal 120, and transmits a radio signal 140.
- the worker tag 40 has a magnetic field detection unit 41 which is an antenna (for example, a coil) for detecting the magnetic field signal 120 generated from the tag detection device 20, and a worker (worker tag based on radio waves received from positioning satellites 40) GNSS receiver 45 which outputs the three-dimensional position calculation value (position information), radio wave transmitter 43 which is an antenna (for example, a coil etc.) which generates radio signal 140 as a drive signal, and magnetic field detector 41 And an output information generation unit that generates a drive signal of the radio wave transmission unit based on the detected magnetic field signal.
- a magnetic field detection unit 41 which is an antenna (for example, a coil) for detecting the magnetic field signal 120 generated from the tag detection device 20, and a worker (worker tag based on radio waves received from positioning satellites 40) GNSS receiver 45 which outputs the three-dimensional position calculation value (position information), radio wave transmitter 43 which is an antenna (for example, a coil etc.) which generates radio signal 140 as a drive signal, and magnetic field detector 41
- the GNSS receiver 45 is not shown for simplicity, like the GNSS receiver 50, the GNSS receiving antenna for receiving radio waves from positioning satellites and the radio waves received from positioning satellites are demodulated to obtain positioning signals.
- a GNSS position information generation unit that extracts and calculates a three-dimensional position of the worker tag 40 based on positioning signals from a plurality of positioning satellites.
- the GNSS position information generation unit of the GNSS reception unit 45 measures the three-dimensional position calculation value (position information) of the worker tag 40 and the GNSS positioning quality information serving as a measure of the accuracy and reliability of the three-dimensional position calculation value (position information).
- the GNSS positioning quality information is, for example, the number of satellites and satellite arrangement used for calculation of position information, Fix, Float, positioning state such as single positioning, position estimation error estimation value in latitude direction and longitude direction, and the like.
- the GNSS receiving unit 45 When the GNSS receiving unit 45 can not receive a signal necessary for calculation of the three-dimensional position calculation value (position information), the GNSS receiving unit 45 outputs "Positioning impossible" as the positioning state in the GNSS positioning quality information, and also calculates the three-dimensional position. “N / A (impossible to calculate)” is output as a value (position information).
- the output information generation unit 42 demodulates the magnetic field signal 120 and extracts the contained magnetic field ID. Then, information (hereinafter referred to as tag information: see FIG. 7) including a tag ID which is a unique ID for identifying the worker tag 40 itself, the extracted magnetic field ID (field ID received value) and GNSS reception data is generated. , Modulate and output to the radio wave transmission unit 43 as a drive signal. Thereby, the worker tag 40 transmits the radio wave signal 140 of a predetermined frequency and intensity including tag information (tag ID, magnetic field ID received value, and GNSS received data (GNSS quality information, three-dimensional position calculated value)).
- the worker tag 40 is, for example, a semi-active type, and waits in a state (standby state) in which transmission of a radio wave signal is not performed until the magnetic field signal 120 is received, and receives the magnetic field signal 120 from the tag detection device 20 Then, various processes are performed using this as a trigger, and when the transmission of the necessary radio signal is completed, the apparatus is in a standby state again until a new magnetic field signal is received. That is, the worker tag 40 transmits the radio wave signal 140 in response to the reception of the magnetic field signal 120.
- the tag detection device 20 generates a magnetic field signal 120 including a magnetic field ID identifying a generation source, and a tag receives a radio wave signal 140 transmitted from the worker tag 40 triggered by the reception of the magnetic field signal 120. While controlling the generation of the magnetic field signal 120 from the magnetic field generation device 21 based on the control signal from the information reception device 22 and the control device 60, the information included in the radio wave signal 140 received by the tag information reception device 22 is acquired And the tag detection device control device 23 to output to the control device 60.
- the magnetic field generation device 21 is based on a magnetic field generation unit 25 which is an antenna (for example, a coil etc.) that generates an induction magnetic field as the magnetic field signal 120 based on the drive signal, and a magnetic field generation command from the tag detection device control device 23
- a magnetic field signal generation unit 24 generates a drive signal and outputs the drive signal to the magnetic field generation unit 25.
- the magnetic field signal generation unit 24 generates a signal based on information (hereinafter referred to as magnetic field information: see FIG. 6) including a magnetic field ID corresponding to the magnetic field generation device 21 (that is, an ID unique to the magnetic field generation device 21). , Modulates and outputs to the magnetic field generation unit 25 as a drive signal. Thereby, the magnetic field generation unit 25 generates a magnetic field signal 120 which is a modulation signal including the magnetic field ID.
- FIG. 5 is a top view showing an example of the arrangement of the magnetic field generator in the hydraulic shovel.
- the magnetic field generation device 21 is installed in the hydraulic shovel 1, and is disposed, for example, in the upper part of the swing center of the upper swing body 3.
- the magnetic field signal 120 generated by the magnetic field generator 21 can be received by the magnetic field detection sensitivity of the worker tag 40 (ie, The magnetic field detectable area 221) is a certain range centered on each magnetic field generator 21.
- the worker tag 40 outputs the radio wave signal 140 to the tag information receiving device 22 when the worker tag 40 receives the magnetic field signal 120 from the magnetic field generator 21, so the magnetic field detectable area 221 becomes an area where the worker tag 40 can be detected.
- an ellipsoidal magnetic field detectable area 221 is formed by the magnetic field signal 120 generated by the magnetic field generator 21, and the magnetic field generator 21 is arranged such that its major axis is along the front-rear direction of the upper swing body 3.
- the magnetic field generator 21 is arranged such that its major axis is along the front-rear direction of the upper swing body 3.
- the hydraulic shovel A worker (worker tag 40) within a prescribed distance around the entire circumference of 1 can be detected.
- a cross section of the magnetic field detectable area 221 in a horizontal plane at the height where the presence of the worker tag 40 is assumed (for example, the assumed value of the height near the chest and waist of the worker).
- the magnetic field detectable area 221 formed by the magnetic field signal 120 generated by the magnetic field generator 21 does not necessarily have to be an ellipse, and the magnetic field generator 21 configured so that the magnetic field detectable area 221 is a perfect circle is used. It is good.
- the tag information receiving apparatus 22 demodulates the radio wave signal 140 received by the radio wave receiving unit 26 and the radio wave receiving unit 26 which is an antenna (for example, a coil) for receiving the radio wave signal 140 transmitted from the worker tag 40.
- the tag information extraction unit 27 extracts tag information included in the radio wave signal 140 and outputs the tag information to the tag detection device control device 23.
- the tag detection device control device 23 outputs a detection command including information on a range (hereinafter referred to as a detection target area) to be detected for the presence position of the worker tag 40 around the hydraulic shovel 1 output from the control device 60
- Control device by processing the tag information output from the tag information extraction unit 27 of the tag information receiving unit 22 and the magnetic field generation instruction unit 28 that outputs the next generation instruction to the magnetic field signal generation unit 24 of the magnetic field generating unit 21 based on And a detection information output unit 29 for outputting the information to 60.
- the magnetic field generation command unit 28 outputs a magnetic field generation command including a magnetic field strength command value that sets the magnetic field detectable area 221 as a detection target area based on the information of the detection target area included in the detection command from the control device 60 Do.
- the detection information output unit 29 is information (tag, tag ID, magnetic field ID reception value, GNSS reception data (GNSS quality information, three-dimensional position calculation value)) from the tag information reception device 22 grouped by tag ID , Tag detection information: see FIG. 8), and output it to the control device 60.
- the detection information output unit 29 groups GNSS reception data (GNSS quality information, three-dimensional position calculation value) for each worker tag 40 from the received tag information, and sets the detected tag ID and GNSS reception data as one set.
- a detection tag list is generated, and further, its own magnetic field ID is added to the detection tag list to generate tag detection information.
- Working machines other than the hydraulic shovel 1 also exist at the work site, and other working machines generate induced magnetic fields corresponding to the magnetic field signal 120 and return electric waves (radio wave signals) from the worker tag 40 It is conceivable to have a detection function unit to acquire. Therefore, when another working machine is present in the vicinity of the hydraulic shovel 1, the tag information receiving device 22 may receive a return radio wave from the worker tag 40 to the detection function unit of the other working machine. Therefore, when the tag detection information is generated, the detection information output unit 29 according to the present embodiment receives the radio wave returned to itself by the received value of the magnetic field ID included in the tag information.
- Tag detection information generation processing (tag detection information generation processing only when the radio wave signal 140 is recognized as a return radio wave from the worker tag 40 to the magnetic field signal 120 from the magnetic field generator 21 disposed in the hydraulic shovel 1 )I do. Also, depending on the output cycle from the tag detection device 20 to the control device 60 and the transmission cycle of the radio signal 140 from the worker tag 40, the same worker tag 40 may be used within the output cycle of the tag detection signal to the control device 60.
- the radio signal 140 may be received multiple times. Therefore, when radio signal 140 is received multiple times from the same worker tag 40, detection information output unit 29 according to the present embodiment has the best GNSS positioning quality information among the received tag information.
- Tag detection information is generated as GNSS reception data of the worker tag 40.
- FIG. 11 is a flowchart showing the processing content of tag detection information generation processing in the detection information output unit.
- the detection information output unit 29 first determines whether or not a predetermined time Ts has elapsed from the previous output of tag detection information to the control device 60 (step S100). If the determination result in step S100 is NO, that is, if the time Ts has elapsed since the previous output of the tag detection information, the tag detection information being generated is output to the control device 60 (step S101). Are reset, and the detection tag list being generated is cleared (step S102), and the process returns to step S100.
- step S100 determines whether tag information has been input (step S110). If the determination result in step S110 is NO, the process returns to step S100.
- step S110 When the determination result in step S110 is YES, that is, when the tag information extracted by the tag information extracting unit 27 from the radio wave signal 140 received by the radio wave receiving unit 26 of the tag information receiving device 22 is input.
- the tag information is read (step S120), and whether the received magnetic field ID included in the read tag information is the own magnetic field ID, that is, the radio signal 140 received by the radio receiver 26 is sent to the hydraulic shovel 1 It is determined whether it is a return radio wave from the worker tag 40 in response to the magnetic field signal 120 from the disposed magnetic field generator 21 (step S130). If the determination result in step S130 is NO, the process returns to step S100.
- step S130 determines whether it is included in the detection tag list of (step S140), and if the determination result is YES, the tag ID is added to the detection tag list (step S150), and the GNSS reception data included in the tag information is The GNSS reception data of the tag ID corresponding to the detection tag list is input (step S160), and the process returns to step S100.
- step S140 determines whether GNSS positioning quality information included in GNSS reception data of information is better than GNSS positioning quality information included in GNSS reception data of a tag detection list being generated (step S141). If the determination result in step S141 is NO, that is, if the GNSS positioning quality information of the tag ID corresponding to the detection tag list being generated is better, the process returns to step S100.
- step S141 determines whether the GNSS positioning quality information included in the tag information is better. If the determination result in step S141 is YES, that is, if the GNSS positioning quality information included in the tag information is better, the GNSS reception data included in the tag information is the corresponding tag of the detection tag list. It is input as GNSS reception data of ID (step S160), and returns to the process of step S100.
- Control device 60 controls the entire operation of the worker approach notification system 10, and generates a detection command based on the detection result from the work state detection device 70 and the GNSS reception data from the GNSS reception device 50 to tag the device.
- the control unit 60A outputs the notification command to the detection device 20 to control and generates the notification command, and outputs the notification command to the notification device 80.
- the storage unit 60B stores various information used in the processing of the calculation unit 60A.
- Control device 60 includes a storage unit including a CPU, a read only memory (ROM), a random access memory (RAM), and a flash memory, not shown, a microcomputer including these, and peripheral circuits not shown. For example, it operates in accordance with a program stored in the ROM.
- the storage unit 60B holds information necessary for the calculation in the calculation unit 60A, and outputs the information held as necessary.
- the information on the installation position of the magnetic field generator 21 in the hydraulic shovel 1 is stored.
- a worker information storage unit 340 for storing worker information in which the worker (including the operator) holding the key and the attribute thereof are associated with the tag ID of the worker tag 40 held.
- the magnetic field generation device installation position information storage unit 321 is information on the installation position of the magnetic field generation device 21 in the hydraulic shovel 1, that is, the position and orientation in the coordinate system etc. Information (magnetic field generator installation position information) is stored. That is, the magnetic field generator installation position information is information indicating at which position of the hydraulic shovel 1 the magnetic field generator 21 is generating the induced magnetic field in which direction.
- the magnetic field generator installation position information may include information on the magnetic field strength that can be obtained by the magnetic field generator 21 and information indicating the correspondence between the magnetic field strength and the magnetic field detectable area.
- the GNSS receiver installation position information storage unit 350 holds information indicating where in the hydraulic shovel 1 the GNSS receiver 50 is installed. It is used to convert the earth-based three-dimensional position calculation value (position information) calculated based on the radio wave signal from the positioning satellite into the position information based on the hydraulic excavator 1.
- the worker information storage unit 340 is information for identifying each worker, and holds, as worker information, a list in which the tag ID unique to the worker tag 40 is associated with the attribute of the worker.
- the attribute of the worker includes, for example, information for distinguishing the operator of the hydraulic shovel 1 (own machine), the auxiliary worker, the surrounding worker, the operator of another working machine (other machine), the supervisor, and the like. Further, as the attribute of the worker, information such as the number of years of experience of the worker may be included, or an index obtained by integrating these may be included in the worker information as attribute information.
- the approach notification can be performed at more appropriate timing.
- a worker work assistant
- the approach notification by the alarm device 82 is not performed, and only display on the display device 81 is performed.
- the approach notification by the alarm device 82 is performed. As described above, by changing the approach notification method for each worker, it is possible to prevent excessive approach notification and to suppress bother and decrease in work efficiency.
- Arithmetic unit 60A detects a detection target area (for example, detection target area 230 in FIG. 15 described later) to be a detection target of the position of worker tag 40 based on the detection result from work state detection device 70 and the detection target area.
- a detection alarm area determination unit 61 that determines an approach notification target area (for example, approach notification target areas 280A and 280B in FIG.
- the position information of the worker tag 40, the tag detection information acquired by the detection information output unit 29 of the tag detection device control unit 23, and the detection target area determined by the detection alarm area determination unit 61 The worker tag 40 was detected in the approach notification target area based on the calculation results of the worker position calculation unit 62 that calculates the position and the worker position calculation unit 62.
- the case, and a notification command generating unit 63 generates a notification command for notifying the detection of the personnel tags 40 to the operator of the hydraulic excavator 1, and outputs to notification device 80.
- the detection / warning area determination unit 61 is based on the detection signal from the posture detection device 71 of the work state detection device 70, and the farthest of the front work machine 6 from the turning center of the upper swing body 3 of the hydraulic shovel 1 with respect to the lower traveling body 2
- a determination unit 61B and a detection alarm area calculation unit 61C that determines a detection target area and an approach notification target area using the calculation result of the turning radius calculation unit 61A and the determination result of the operation state determination unit 61B.
- the turning radius calculation unit 61A is from the turning center of the hydraulic shovel 1 to the farthest end of the front work machine 6 based on the detection result of the posture detection device 71 (posture sensors 75A to 75C). The distance of is calculated as the turning radius.
- the end portion of the arm 6B on the boom 6A side may be longer than the tip of the bucket 6C from the center of rotation. Therefore, in the turning radius calculation unit 61A, a position farthest from the turning center is set as an end (front work machine end) of the front work machine 6 according to the postures of the boom 6A, the arm 6B, and the bucket 6C.
- the distance from the turning center to the end of the front working machine is set as the turning radius, and is calculated by link calculation from the dimension information of each part of the hydraulic shovel 1 and the input signal from the attitude detection device 71 (attitude sensors 75A to 75C).
- the farthest point from the turning center is treated as the front work machine end, but when the front work machine 6 is present at a position sufficiently higher than the height of the worker, the upper swing body The worker does not enter the space area where the front working machine 6 moves by the turning of 3. Therefore, the height at which the operator may enter the space area where the front working machine 6 moves by the turning of the upper swing body 3 is defined in advance, and the front working machine 6 which is the furthest from the turning center below the specified height.
- the operation state determination unit 61B determines the operation state of the hydraulic shovel 1 using an input signal from the machine operation state detection device 72 (key state detection sensor 77, lock state detection sensor 78, lever operation amount sensor 79) (operation State determination processing is performed.
- the operation state determination unit 61B detects the engine start state according to the input state from the key state detection sensor 77, the lock state by the lock lever 8 according to the input signal from the lock state detection sensor 78, and the input signal from the lever operation amount sensor 79. Determine the type of action.
- the hydraulic shovel 1 does not operate even if the operation lever device 5 performs any operation when the lock lever 8 is in the locked state even when the engine is in the start state.
- the operation state is determined by the input signal from the lock state detection sensor 78.
- the lock state is determined by the input signal from the lock state detection sensor 78.
- the operation state of the operation lever device 5 is determined by the input signal from the lever operation amount sensor 79.
- no operation is performed on the operation lever device 5
- FIG. 12 is a flowchart showing the processing content of the operation state determination process in the operation state determination unit.
- the operation state determination unit 61B first determines, based on an input signal from the key state detection sensor 77, whether or not the key state is the engine ON state (step S200). If the determination result in step S200 is NO, it is determined that the operation state of the hydraulic shovel 1 is the "engine stop state" (step S201), and the process returns to step S200.
- step S200 determines based on the input signal from the lock state detection sensor 78 whether the lock lever 8 is in the lock state (step S210). If the determination result in step S210 is NO, it is determined that the operation state of the hydraulic shovel 1 is the "operation lock state" (step S211), and the process returns to step S200.
- step S210 If the determination result in step S210 is YES, it is determined based on the input signal from the lever operation amount sensor 79 whether or not the operation lever device 5 is operated (step S220). If the determination result in step S220 is NO, it is determined that the operation state of the hydraulic shovel 1 is the "operation standby state" (step S221), and the process returns to step S200.
- step S230 it is determined whether the travel operation of the operation lever device 5 is performed. If the determination result in step S230 is YES, it is determined that the operation state of the hydraulic shovel 1 is the "traveling operation state" (step S231), and the process returns to step S200.
- step S230 determines whether the turning operation of the operation lever device 5 is performed (step S240). If the determination result of step S240 is NO, it is determined that the operation state of the hydraulic shovel 1 is the "front operation state" (step S241), and the process returns to step S200.
- step S240 it is determined whether the drive operation of the front work machine 6 by the operation lever device 5 is performed (step S250). If the determination result in S250 is YES, it is determined that the operating state of the hydraulic shovel 1 is the "turning front operating state" (step S251), and the process returns to the process of step S200.
- step S250 If the determination result in step S250 is NO, it is determined that the operating state of the hydraulic shovel 1 is the "turning state" (step S252), and the process returns to the process of step S200.
- the detection / warning area calculation unit 61C is a worker (that is, a worker tag 40 carried by the worker) based on the turning radius calculated by the turning radius calculation unit 61A and the operation state determined by the operation state determination unit 61B. An area to be detected (detection target area) and an area to notify the approach of the worker (approach notification target area) are determined.
- FIG. 15 to 18 are diagrams showing setting examples of the detection target area and the approach notification target area.
- FIG. 15 shows the operation standby state
- FIG. 16 shows the operation front state
- FIG. 18 is a view showing a setting example in the case of the traveling operation state of the operation states.
- the detection target area 230 is an area for acquiring the information of the worker by the worker tag 40, and the information of the worker in the wider area can be obtained as this is set wider.
- determination of the probability of the worker position calculation value calculated by the GNSS for the detection target area 230, or substitution of the worker position when GNSS positioning is impossible Used as a value. It is desirable to set the detection target area 230 as narrow as possible, considering the determination of the certainty of the worker position calculation value and the use as an alternative position information. Therefore, in the present embodiment, as shown in FIG. 15 to FIG. 18, at least the major axis side of the ellipse indicating the detection target area 230 always outputs the turning radius calculation unit 61A regardless of the operating state of the hydraulic shovel 1. Set to be slightly wider than the radius.
- the approach notification target area 280 (280A, 280B) is an area for notifying of the approach of the worker (worker tag 40), and is set according to the operating state of the hydraulic shovel 1.
- the setting method of the approach notification target area 280 (280A, 280B) in each operation state ("engine stop state”, “operation lock state”, “operation standby state”, “operation state") of the hydraulic shovel 1 explain.
- the hydraulic shovel 1 does not move when the operating state is the engine stop state, there is no risk of contact with the worker due to the operation of the hydraulic shovel 1, and it is not necessary to notify the worker's approach.
- the setting of the approach notification target area is not performed.
- the worker approach notification system 10 is mounted on the hydraulic shovel 1, a configuration is conceivable in which a power source for driving each device constituting the worker approach notification system 10 is obtained from the hydraulic shovel 1. Therefore, for example, the start of the worker approach notification system 10 is interlocked with the start of the engine, and in the engine stop state, the worker approach notification system 10 is not started.
- the hydraulic shovel 1 When the operation state is the operation lock state, the hydraulic shovel 1 does not move even when the operation lever device 5 is operated, so there is no risk of contact with the worker by the operation of the hydraulic shovel 1 There is no need to notify the approach. However, in order to reduce the risk of contact with the worker at the start of operation, it is effective to check whether a worker is present in the vicinity of the hydraulic shovel 1 before releasing the lock lever 8. Therefore, in the operation lock state, only the detection of the worker and the display of the detection information on the display device 81 are performed, and the approach notification is not performed. Further, since the approach notification is not performed, the setting of the approach notification target area is not performed.
- the hydraulic shovel 1 When the operation state is the operation standby state, the hydraulic shovel 1 does not move, but since the operating lever state is immediately activated when the operation lever device 5 is operated, the hydraulic shovel 1 may come into contact with the worker. Therefore, when there is a worker in the immediate vicinity of the hydraulic shovel 1, it is desirable to perform the approach notification.
- a work assistant may exist in the vicinity of the front work machine 6 for work assistance. Therefore, it is desirable that the approach notification target area be set differently for the work assistant and the other workers.
- the operator determines whether a worker is present in the vicinity of the hydraulic shovel 1 before shifting to the operating state. It is effective to confirm. Therefore, in the operation standby state, the detection of the worker and the display of the detection information on the display device 81 are performed as wide as possible, and the approach notification is performed only in the area very near the hydraulic shovel 1.
- the approach notification target area in front of the hydraulic shovel 1 is determined by the calculation result of the turning radius calculation unit 61A. Further, the approach notification target area at the rear of the hydraulic shovel 1 is determined in consideration of the rear end radius of the hydraulic shovel 1.
- approach notification target areas 280A and 280B shown by hatching in FIG. 15 are set.
- the work assistant needs to be present near the front work machine 6 for work assistance.
- the approach notification is not performed in the approach notification target area 280B in the vicinity of the front work machine 6, but only in the approach notification target area 280A.
- approach notification is performed in both approach notification object area 280A, 280B.
- the hydraulic shovel 1 When the operating state is the operating state, the hydraulic shovel 1 is in motion, there is a high risk that the hydraulic shovel 1 comes into contact with the worker, and the positional relationship between the hydraulic shovel 1 and the worker is momentarily Change. Therefore, when there is a worker in an area where the hydraulic shovel 1 is expected to approach in a short time by the operation of traveling, turning, and the front working machine, it is desirable to perform the approach notification.
- the approach notification target area 280 (280A, 280B) in each operation state of the hydraulic shovel 1 ("front operation state”, "swing operation state”, “swing front combined operation state", “traveling operation state") The setting method will be described.
- the operating state is the front operating state among the operating states
- the posture of the front working machine 6 changes, so the area reached by the front working machine 6 in front of the hydraulic shovel 1 changes from time to time.
- the state is immediately shifted to the turning operation state or the combined turning operation state, and the front work machine 6 reaches the right front or the left front of the hydraulic shovel 1.
- the rear end may reach. Therefore, in the front operation state, the notification target area in front of the hydraulic shovel 1 is set to be slightly wider than the turning radius input from the turning radius calculation unit 61A, and the side is limited to the vicinity of the work machine 1 than the front. However, it is set in consideration of the possibility of turning operation.
- the rear may cover the vicinity of the rear end of the work machine 1.
- the area 280A and the area 280B indicated by hatching in FIG. 16 are set as the approach notification target area for performing the approach notification.
- the work assistant needs to be present near the front work machine 6 for work assistance.
- the approach notification is not performed in the approach notification target area 280B in the vicinity of the front work machine 6, but only in the approach notification target area 280A.
- approach notification is performed in both approach notification object area 280A, 280B.
- the approach notification target area is set using the turning radius input from the turning radius calculation unit 61A. Therefore, in the turning operation state, the same range as the detection target area 230 is set as the approach notification target area 280 indicated by hatching in FIG. In the turning operation state, the risk of contact between the hydraulic shovel 1 and the worker is high. Therefore, it is desirable that the approach notification is performed even in the case of a work assistant if it is in the vicinity of the hydraulic shovel 1. Therefore, in the turning operation state, approach notification in the approach notification target area 280 is performed for all the workers.
- the operation state is the combined operation of the turning front and the operating state
- the front operation state and the turning operation are simultaneously performed, so the detection target area and the approach notification target area are set in the front operation state and the turning operation state Similarly, it may be determined (for example, similarly to the approach notification target area 280 in FIG. 17).
- the operating state is the traveling operating state among the operating states, it differs from the other operating states in that the entire hydraulic excavator 1 moves forward or backward. It is desirable to set the front and rear detection target areas of the hydraulic shovel 1 as wide as possible in consideration of the front / rear movement of the hydraulic shovel 1. Therefore, in the traveling operation state, approach notification target areas 280A and 280B shown by oblique lines in FIG. 18 are set. However, in the traveling operation state, a work assistant may exist in front of or behind the hydraulic shovel 1 for guidance.
- the approach notification is in the approach notification target area 280B slightly away from the hydraulic shovel 1 in the left front and left rear of the hydraulic shovel 1. Without performing this, approach notification is performed only in the approach notification target area 280A. In addition, about workers other than a work assistant, approach notification is performed in both approach notification object area 280A, 280B.
- the worker position calculation unit 62 uses the position information of the hydraulic shovel 1 acquired by the GNSS receiving device 50 and the position information of the worker tag 40 included in the tag detection information output from the tag detection device control device 23 Work calculated by the worker position calculation unit 62A based on the worker position calculation unit 62A that calculates the position of the worker tag 40 relative to the hydraulic shovel 1 and the detection target area 230 output from the detection / warning area determination unit 61
- the worker position evaluation unit 62 ⁇ / b> B evaluates the certainty of the position information of the worker tag 40 and calculates the position of the worker tag 40 based on the evaluation result.
- the worker position calculation unit 62A uses the GNSS reception data of the hydraulic shovel 1 output from the GNSS reception device 50 and the GNSS reception data of the worker tag 40 included in the tag detection information output from the tag detection device 20.
- the position of the worker tag 40 relative to the hydraulic shovel 1 is calculated, and the worker ID for identifying the worker carrying the worker tag 40 and the worker position calculation value indicating the position of each worker tag 40
- the generation process (workforce position information generation process) of the worker position information (see FIG. 9) is performed, and the generated work position information is output to the worker position evaluation unit 62B.
- the worker ID may be a different ID linked to the tag ID of the worker tag 40, or the same ID as the tag ID may be used.
- the worker position calculation unit 62A extracts and processes GNSS reception data of the tag ID corresponding to each worker ID from the tag detection information output from the tag detection device 20. At this time, if the GNSS positioning quality information is "impossible to measure" in the hydraulic shovel 1 or the worker tag 40, the three-dimensional position can not be calculated by the GNSS, and the position information is not included in the GNSS reception data Or, wrong position information completely different from the actual one will be included. Therefore, it is not possible to calculate the position of the operator with respect to the hydraulic shovel 1 based on the GNSS reception data (in other words, there is a possibility of calculating an incorrect position which is completely different from the actual one).
- the GNSS positioning quality information included in the GNSS reception data output from the GNSS receiving apparatus 50 is confirmed, and when the GNSS positioning quality information is "impossible to measure", the worker position calculation value for all the workers. Let "N / A” (calculation impossible).
- the three-dimensional position calculation value included in the GNSS reception data of the hydraulic shovel 1 and the GNSS receiving device installation position information storage unit 350 of the storage unit 60B Using the information related to the installation position of the GNSS receiving apparatus 50, the position coordinate with reference to the hydraulic shovel 1, ie, the coordinate system with the hydraulic shovel 1 as a reference A transformation matrix TGm to be transformed to position coordinates in the coordinate system) is calculated.
- the working machine coordinate system uses the ground surface of the turning center of the hydraulic shovel 1 as the origin, the X axis in the left and right direction of the hydraulic shovel (right right is positive), the Y axis in front and back direction (positive forward), and the Z axis in the vertical direction It is a coordinate system in which (upper is positive) is set.
- GNSS reception data is extracted for each worker ID from tag detection information, and GNSS positioning quality information included in GNSS reception data of each worker ID is confirmed. If the GNSS positioning quality information of the worker ID is "positioning impossible", the worker position calculation value of the worker ID is "N / A".
- the three-dimensional position calculation value (xG, yG, zG) of the worker calculated by GNSS is substituted into the following equation.
- the worker position (xm, ym, zm) in the work machine coordinate system is calculated, and is used as the worker position calculation value of the worker ID.
- calculated worker position information values are calculated for all worker IDs extracted from the tag detection information, and are respectively output as worker position information in association with the worker IDs.
- (xG, yG, zG) are three-dimensional position calculation values of workers by GNSS, (xm, ym, zm) are worker positions in the working machine coordinate system, TGm is coordinate conversion It is a matrix.
- FIG. 13 is a flowchart showing the processing content of the worker position information generation process in the worker position calculation unit.
- the detection information output unit 29 first extracts the tag ID corresponding to each worker ID and the GNSS reception data from the tag detection information output from the tag detection device 20 (step S300), and the GNSS reception device It is determined whether the GNSS positioning quality information included in the GNSS reception data output from F.50 is "impossible to measure" (step S310). If the determination result in step S310 is YES, the operator position calculation value corresponding to all the worker IDs in the worker position information is set to "N / A" (step S311), and the process is ended.
- step S310 determines whether there is any GNSS reception data corresponding to the worker ID whose worker position has not been calculated.
- a determination is made (step S330), and the process ends if the determination result is NO. If the determination result in step S330 is YES, it is determined whether the GNSS positioning quality information included in the GNSS reception data generated by the worker tag 40 is "impossible to measure" (step S340), If the determination result is YES, the worker position calculation value of the corresponding worker ID in the worker position information is set to "N / A" (step S341), and the process returns to step S330. If the determination result in step S340 is NO, the operator position calculation value is calculated from the three-dimensional position calculation value using the coordinate conversion matrix TGm, and is input to the worker position information (step S342). It returns to the process of S330.
- the worker position evaluation unit 62B uses the detection target area 230 set by the detection and alarm area determination unit to evaluate the certainty of the worker position information output from the worker position calculation unit 62A, and the name of each worker
- the worker approach information including each attribute of each worker and each information of the presence area (worker presence area) of each worker is output.
- the induced magnetic field generated by the magnetic field generator 21 is not easily affected by the reflection, and the influence of the shield or the like on the reaching distance is small, so the magnetic field detectable area 221 formed based on the detection target area 230 is an ambient environment. It is difficult to be affected by On the other hand, the GNSS three-dimensional position calculation value may include a large error due to the influence of the satellite arrangement and the surrounding environment.
- the worker tag 40 Since the worker tag 40 generates the radio signal 140 only when the magnetic field signal 120 is detected, the fact that the worker position information is obtained means that the worker tag 40 is formed based on the detection target area 230. It means that it is in the magnetic field detectable area 221. That is, when the worker position calculation value calculated using the GNSS reception data indicates the outside of the detection target area 230, it is considered that an error occurs in the calculation value due to the positioning error of the GNSS. Therefore, according to whether or not the worker position calculation value included in the worker position information is within the detection target area 230, the worker position evaluation unit 62B calculates the position calculation value calculated by the GNSS and the detection information of the induction magnetic field. The worker position evaluation process is performed to determine the certainty of the position information by GNSS, and the worker presence area is determined, and the worker approach information combined with the worker name and the worker attributes ( Figure 10) is output to the notification command generation unit 63.
- FIG. 14 is a flowchart showing the processing content of the worker position evaluation process in the worker position evaluation unit.
- the worker position evaluation unit 62B outputs information from the detection / warning area determination unit 61 and information on the installation position of the magnetic field generation device 21 held in the magnetic field generation device installation position information storage unit 321 of the storage unit 60B. From the detection target area 230, an area in the work machine coordinate system of the detection target area 230 (hereinafter, described as the detection target area 230 if it is not necessary to distinguish) is calculated (step S400).
- step S410 it is determined whether there is a worker ID for which calculation of the worker presence area is not performed. If the determination result is NO, the worker information storage unit 340 held in the storage unit 60B. The worker name and worker attribute of the worker ID are read out from the ID and are made to correspond to each worker ID of the worker approach information and input (step S411), and the process is ended.
- step S410 it is determined whether the worker position calculation value corresponding to the worker ID is "N / A" (step S420), and the determination result is YES ,
- the detection target area 230 is input as a worker presence area (worker presence area) corresponding to the worker ID in the worker approach information, and the process returns to step S410.
- step S420 determines whether the worker position calculation value is within the detection target area 230 (step S430). If the determination result is YES, the worker position is determined. It is determined that the calculated value is probable, and the worker position calculation value is input to the worker presence area of the worker ID of the worker approach information (step S431), and the process returns to step S410.
- step S430 determines whether the worker position calculation value is out of the detection target area 230. If the determination result in step S430 is NO, that is, if the worker position calculation value is out of the detection target area 230, it is determined that an error has occurred in positioning by GNSS, and calculation is performed by GNSS.
- the detection target area 230 is input as the worker presence area of the worker ID of the worker approach information as an alternative value of the worker position calculation value (step S432), and the process returns to the process of step S410.
- Notification command generation unit 63 uses the worker approach information output from worker position calculation unit 62 and detection target area 230 and approach notification target area 280 output from detection / warning area determination unit 61 to generate a notification command, ie, , And a display instruction to the display device 81 and an alarm instruction to the alarm device 82.
- the notification command generation unit 63 includes the worker approach information from the approach notification target area 280 output from the detection / warning area determination unit 61 and the worker attribute and the worker presence area 240 included in the worker approach information. It is determined whether each worker is the target of the approach notification. If the presence area of the worker (worker presence area 240) is within the area where the approach notification should be given to the worker attribute, a notification command (display command and alarm command) for the worker is Generate and output.
- the icon 11 imitating the top view of the hydraulic shovel 1 is disposed at the center, and the corresponding detection target area 230 is drawn. Further, when the worker is detected in the detection target area 230 and the worker approach information exists, the worker presence area 240 included in the worker approach information is drawn. It is desirable that the worker presence area 240 changes the display method depending on whether the worker is the target of the approach notification. For example, as shown in FIG.
- the worker presence area 240A in which the worker who is the target of the approach notification is present is emphasized and displayed in comparison with the worker presence area 240 which is not the target of the approach notification.
- the approach notification is performed by a display for notifying the approach of the worker.
- display contents of the approach notification for example, as shown in FIG. 20, a warning display 650 displayed in the display area can be considered.
- information such as the turning radius, the detected worker name, and the number of detected workers may be added as the display content of the approach notification.
- there are workers where detailed positions of all workers are specified as the worker presence area 240 of the worker approach information, where positioning by GNSS is not possible, and where the positions can not be specified due to positioning errors. You may change the display method depending on the case.
- the presence or absence of the output of the alarm command from the notification command generation unit 63 to the alarm device 82 is determined according to the presence or absence of the approach notification command. If at least one worker for approach notification is present in the approach notification target area 280, an alarm command is output, and if not, no alarm command is output. Further, the type of alarm may be changed in stages according to the information such as the number of workers detected in the approach notification target area 280 and the distance to the hydraulic shovel 1.
- the vehicle body (for example, the lower traveling body 2 and the upper revolving structure 3) provided with the traveling device and the plurality of fronts attached to the vehicle body and rotatably connected Articulated work machine (eg, front work machine 6) consisting of members (eg, boom 6A, arm 6B, bucket 6C), and operation device (eg, operation lever) for outputting operation signals for operating the work machine
- a GNSS receiving device 50 mounted on the vehicle body and acquiring position information of the working machine is generated
- At least one magnetic field generator 2 fixed at a predetermined position of the vehicle body, which generates a magnetic field signal 120 including a magnetic field ID for identifying the source of the magnetic field signal
- a worker tag carried by a worker of a working machine and a worker who carries out work outside the working machine, and has a GNSS receiving unit 45 for acquiring position information of the worker tag, and
- the radio signal 140 when the worker tag 40 detects the magnetic field signal 120 from the tag detection device 20, the radio signal 140 is returned.
- the tag detection device 20 when the radio signal 140 is received, the worker tag 40 exists in the area where the magnetic field signal 120 can be detected, and when not received, the worker tag 40 can detect the magnetic field signal 120. It can be seen that it exists outside the area of The induced magnetic field is not easily affected by the reflection, and the influence of the shield or the like on the detection distance is small, so that whether or not the worker tag 40 is present in a predetermined detectable area can be reliably detected.
- an area capable of detecting the magnetic field signal 120 is formed in an elliptical shape centered on the magnetic field generator 21 provided in the tag detection device 20, for example, and the size thereof is a magnetic field signal generated by the magnetic field generator 21. It is determined by the strength of 120 and the magnetic field detection sensitivity of the worker tag 40. However, although it is possible to detect whether or not the worker tag 40 exists in the elliptical detectable area only by the detection by the function of such magnetic field induction type RFID, detailed distance and direction information can be obtained. I can not.
- GNSS is a system that measures its own three-dimensional position (latitude, longitude, altitude) based on signals transmitted from a plurality of positioning satellites, and it is used by hydraulic excavator 1 and worker (worker's tag 40). Since each three-dimensional position information is obtained, the detailed positional relationship between the hydraulic shovel 1 and the worker can be calculated. However, calculation of the three-dimensional position requires signals from at least four positioning satellites obtained simultaneously. Therefore, three-dimensional position can not be obtained when signals from four or more positioning satellites can not be obtained because the GNSS receiver 50 is not open above the sky or the radio environment is not good.
- the positioning accuracy by GNSS is affected by propagation delay due to radio wave characteristics on the radio wave propagation route from the satellite arrangement in the sky and positioning satellites to GNSS receiver 50, reflection of radio waves by buildings and walls, etc. Large errors may occur in the value.
- the influence of the shielding of the sky and the reflection of radio waves may be concerned.
- the worker tag 40 since the worker tag 40 is required to be lightweight and inexpensive because it is carried by the worker, the worker tag 40 is more likely to be affected by the satellite arrangement and the surrounding environment than the GNSS receiver 50. .
- detection with magnetic field induction RFID has high detection reliability, it is characterized in that information can only be obtained as to whether the worker's present position is within a predetermined detectable area or outside the detectable area. .
- information can only be obtained as to whether the worker's present position is within a predetermined detectable area or outside the detectable area.
- GNSS the positioning by GNSS, although detailed three-dimensional position information of the hydraulic shovel 1 and the worker can be obtained, it is characterized in that it is inferior in certainty such as being affected by satellite arrangement and surrounding environment.
- the presence position of the worker is derived using the detection by the function of the magnetic field induction RFID and the positioning by the GNSS. More specifically, in addition to reliably detecting the approach of the worker tag 40 to the hydraulic shovel 1 by the function of the induction magnetic field type RFID, the difference between the positioning result by the GNSS and the detection information by the function of the magnetic field induction type RFID Is monitored, and the GNSS position calculation value is used as the detailed position information of the worker tag 40 only when there is no difference. Thus, the approach of the worker (worker's tag 40) to the hydraulic shovel 1 can be surely notified, and the notification at an appropriate timing and method according to the working state of the hydraulic shovel 1 and the worker's position can be realized. Can.
- the detection alarm area determination unit 61 exemplifies a case where the detection target area 230 is set based on the turning radius output from the turning radius calculation unit 61A.
- the detection target area may be set according to the maximum turning radius of the shovel 1, or may be reached instantaneously when the hydraulic shovel 1 operates as shown in FIG.
- the vicinity area of the hydraulic excavator 1 having high flexibility may be set as the detection target area 230A.
- the tag detection device 20 is provided with two or more (for example, two) magnetic field generators 21A and 21B, and magnetic field signals of different magnetic field strengths and magnetic fields ID from the respective magnetic field generators 21A and 21B.
- a plurality of detection target areas 230A and 230B having different ranges may be set by generating 120.
- a wide detection target area 230A is used for detection of the worker tag 40 as an evaluation of a worker position calculation value by GNSS and a worker presence area
- a narrow detection target area 230B for the value to be used, it is possible to obtain information on the worker tag 40 present in the wide detection target area 230A, and to ensure the accuracy of the worker presence area 240.
- the GNSS reception data of the hydraulic shovel 1 output from the GNSS receiver 50 and the GNSS reception data of the worker tag 40 included in the tag detection information output from the tag detection device 20 are used in the worker position calculation unit 62A.
- the worker position information including the worker ID and the worker position calculation value is generated, and the worker position calculation value included in the worker position information in the worker position evaluation unit 62B is the detection target area in the work machine coordinate system.
- the certainty of the worker position calculation value may be determined based on whether or not it is within 230, and the worker presence area 240 may be determined.
- calculation of the worker position in the worker position calculation unit 62A, evaluation of the worker position in the worker position evaluation unit 62B, and calculation of the worker presence area 240 are performed as follows. That is, the worker position calculation unit 62A receives the GNSS reception data of the hydraulic shovel 1 output from the GNSS receiver 50 and the GNSS reception data of the worker ID included in the tag detection information 150 output from the tag detection device 20. In addition to the worker position calculation value, the worker area calculation value is calculated.
- the worker area calculation value is a worker position obtained by adding a calculation error of the worker position calculation value to the worker position calculation value.
- the calculation error of the worker position calculation value is derived from the GNSS positioning quality included in the GNSS reception data of the GNSS receiver 50 and the worker tag 40.
- a positioning error estimated value is given as the GNSS positioning quality
- an elliptical area having a positioning error estimated value in the latitude and longitude directions as a diameter with the worker position calculated value as the center is taken as the worker area calculated value.
- the positioning status such as the number of satellites and satellite arrangement used for position calculation, Fix, Float, single positioning etc.
- the estimated value is stored in the storage unit 60B as position calculation error information.
- the worker position calculation unit 62A derives a position calculation error estimated value with reference to the position calculation error information held in the storage unit 60B, and centers the worker position calculation value and sets the position calculation error estimated value as a diameter.
- An elliptical area is taken as a worker area calculation value.
- the worker area calculation value is calculated for all worker IDs extracted from the tag detection information 150, and worker position information including the worker ID, the worker position calculation value, and the worker area calculation value is output.
- the worker position evaluation unit 62B compares the detection target area 230 with the worker area calculation value of the worker ID included in the worker position information, so that the certainty of the worker area calculation value calculated by the GNSS. Are determined, and the worker presence area 240 of the worker to be output as worker approach information is determined.
- FIG. 23 when the worker area calculation value 250 is included in the detection target area 230, it is determined that the worker area calculation value 250 is probable, and the worker area calculation value 250 is the worker ID.
- the worker presence area 240 is assumed.
- FIG. 24 when part of the worker area calculation value 250 is within the detection target area 230 and part of the worker area calculation value 250 is outside the detection target area 230, the detection target area of the worker area calculation value 250 An area in 230 is set as a worker presence area 240 of the worker ID. Furthermore, as shown in FIG.
- the detection target area 230 is set as the worker presence area 240 of the worker ID.
- the worker position calculation value of the worker ID of the worker position information is “N / A”
- the detection target area 230 is set to the worker presence area 240 of the worker ID as in the present embodiment. I assume.
- the worker presence area 240 can be determined more accurately by setting the assumed error range based on the GNSS positioning quality information as described above and performing the evaluation in consideration of this error range.
- the hydraulic shovel 1 was mentioned and demonstrated as an example of a working machine in this Embodiment, this invention is applicable if it is a working machine which has a working arm like the front working machine 6 in the hydraulic shovel 1 is there.
- a working machine having a working arm for example, there is a wheel loader provided with an articulated hydraulic working device in front of a vehicle body.
- FIG. 26 is a side view of a wheel loader shown as an example of a working machine to which the present invention is applied.
- the wheel loader 430 includes a vehicle body 431 and an articulated hydraulic working device 450 attached to the front of the vehicle body 431.
- the vehicle body 431 adopts an articulated steering system (a vehicle refraction system), and has a front vehicle body (front frame) 431a and a rear vehicle body (rear frame) mounted with wheels 410 (front wheel 410a and rear wheel 410b) on the left and right respectively. ) 431 b are connected by a center joint 464.
- steering cylinders hydraulic actuators
- FIG. 22 steering cylinders (hydraulic actuators) are disposed on the left and right sides of the center joint 464 so as to connect the front vehicle body 431a and the rear vehicle body 431b.
- the hydraulic work device 450 includes a plurality of rotatably coupled front members (lift arm 441 and bucket 442), a lift cylinder 452 (hydraulic actuator) that is telescopically driven to drive the lift arm 441 and the bucket 442 and A bucket cylinder 451 (hydraulic actuator) is provided.
- a lift cylinder 452 hydroaulic actuator
- a bucket cylinder 451 hydroaulic actuator
- one lift arm 441 and one lift cylinder 452 are provided on the left and right of the front vehicle body 431a, only the lift arm 441 and the lift cylinder 452 on the left side of the vehicle are illustrated in FIG. The configuration will be described by omitting illustration.
- the lift arm 441 pivots (up and down) in the vertical direction as the lift cylinder 452 is extended and contracted.
- the bucket 442 pivots up and down (dumping operation or cloud operation) along with the expansion and contraction driving of the bucket cylinder 451.
- the wheel loader 430 shown in FIG. 22 adopts a Z link type (bell crank type) as a link mechanism for operating the bucket 442.
- the link mechanism includes a bucket cylinder 451.
- an operation lever for operating the hydraulic work device 450, a device (forward / backward switching device) for switching between forward (F) and reverse (R) with respect to the traveling direction of the vehicle body 431
- a forward / backward switch (not shown)
- an accelerator pedal for instructing the vehicle body 431 to accelerate
- a brake pedal for instructing the vehicle body 431 to decelerate
- a steering wheel (not shown) for manipulating the left and right traveling directions.
- a driver's cab 436 is mounted on the front of the rear body 431b, and an engine compartment 437 is mounted on the rear.
- the engine chamber 437 includes a diesel engine as a prime mover, a hydraulic pump driven by the diesel engine, and a control valve for controlling the flow rate and direction of pressure oil supplied from the hydraulic pump to each hydraulic actuator.
- a traveling hydraulic motor (which can be said to be a traveling device including the wheels 410 and the like) connected to the wheels 410 via a reduction gear or the like is stored.
- the present invention can be applied to the wheel loader 430 configured as described above as well as the hydraulic excavator 1.
- the front work machine 6 of the hydraulic shovel 1, which is a work machine, the car body (upper swing body 3 and the lower traveling body 2), the cab and the like are the hydraulic work device 450 of the wheel loader 430 which is also a work machine, the car body 431 and It corresponds to the wheel 410, the driver's cab 436, and the like.
- posture sensors 475A and 475B for acquiring respective posture information are disposed on the front members (lift arm 441 and bucket 442) of the hydraulic work device 450.
- the attitude sensors 75A and 475B are, for example, an inertial measurement unit (IMU: Inertial Measurement Unit) that measures the angular velocity and acceleration of the installed front member.
- IMU Inertial Measurement Unit
- a magnetic field generator 421 and a GNSS receiver 550 for outputting positional information of the three-dimensional position of the wheel loader 430 are disposed at the upper portion of the vehicle body 431, and the radio wave signal 140 transmitted from the worker tag 40 is received.
- the radio wave receiver 426 is installed at the upper part of the driver's cab 436.
- the tag detection device 20 (including the magnetic field generating device 421 in the wheel loader 430) applied to the hydraulic shovel 1, the working state detection device 70, the notification device 80, and the control device 60 have the same configuration. Also in the wheel loader 430 to which the invention is applied, the same effect as that of the hydraulic excavator 1 to which the invention is applied can be obtained.
- the vehicle body (for example, the lower traveling unit 2 and the upper revolving unit 3) provided with the traveling device, and the plurality of fronts attached to the vehicle body and rotatably connected
- An articulated work machine (for example, the front work machine 6) including members (for example, the boom 6A, the arm 6B, and the bucket 6C), and an operation device (for example, the operation machine for outputting an operation signal for operating the work machine)
- a working machine for example, a hydraulic shovel 1 provided with a lever device 5
- a GNSS receiving device 50 provided in the vehicle body and acquiring position information of the working machine, and a generation source of a generated magnetic field signal are identified
- at least one magnetic field generator 21 fixed at a predetermined position of the vehicle body to generate a magnetic field signal 120 including a magnetic field ID for the operation of the working machine
- a worker tag carried by a worker who performs work outside the work machine the GNSS receiving unit 45 acquiring position information of the worker tag, and the magnetic field generator generates
- the control device 60 may use position information of the work machine acquired by the GNSS receiving device and the tag detection device control device.
- the position of the worker tag with respect to the work machine is calculated using the position information of the worker tag included in the output tag detection information, and the certainty of the position of the worker tag based on the detection target area Is evaluated, and the position of the worker tag is calculated based on the evaluation result.
- the worker tag 40 receives the magnetic field ID included in the received magnetic field signal and the worker tag that has received the magnetic field signal.
- the tag detection device control device transmits at least the tag ID, the position information of the worker tag, the magnetic field ID, and the information contained in the radio signal received by the tag information receiving device.
- the control device 60 determines that the position of the worker tag relative to the work machine is inside the detection target area. It is determined that the accuracy of the position of the worker tag is high, the position of the worker tag is output as a worker presence area, and the position of the worker tag with respect to the work machine is outside the detection target area. Determines that the accuracy of the position of the worker tag is low, outputs the detection target area as the worker presence area, and outputs the position information of the work machine and the tag detection device output from the GNSS receiver.
- the detection target area was assumed to be the operator presence area.
- the work machine of the above (1) includes the work state detection device 70 for detecting the work state of the work machine, and the control device 60 is a modification of the work state detection device.
- the detection target area and the approach notification target area are determined based on the detection result, and the detection command including information of the detection target area is output to the tag detection device control device, and the work state detection device The notification command corresponding to the detection result is generated and output to the notification device.
- the vehicle body is provided to be able to pivot relative to the lower traveling body 2 and the lower traveling body, and the articulated body A working unit whose upper end is attached, and the working state detecting device 70 detects a posture of the working machine, and a machine which detects an operating state of the working machine And an operation state detection device 72, the control device 60, based on the detection result of the posture detection device, the farthest end of the work machine from the turning center of the upper swing body of the work machine with respect to the lower traveling body.
- the turning radius which is the distance to the unit is calculated, and the operation state of the working machine is determined based on the detection result of the machine operation state detecting device, and the operation of the working machine determined as the calculated turning radius With the state Serial and shall determine a detection target area and the approaching notification target area.
- the notification device 80 determines the position of the worker tag according to visual information based on a display command which is one of the notification commands.
- the control device 60 generates the display command so as to display the detection target area and the position of the worker tag and outputs the display command to the display device, and the work is performed inside the approach notification target area.
- the alarm command is generated and output to the alarm device.
- a hydraulic shovel and a wheel loader are described as an example of a working machine having a working arm, but the present invention can be applied to other working machines as long as they have a working arm. It is applicable.
- a general hydraulic shovel and a wheel loader which drive a hydraulic pump with a prime mover such as an engine have been described as an example, a hybrid hydraulic pressure which drives the hydraulic pump with an engine and a motor
- the present invention can be applied to a shovel, a motorized hydraulic shovel or a wheel loader that drives a hydraulic pump with only a motor.
- the present invention is not limited to the above embodiment, and includes various modifications and combinations within the scope not departing from the gist of the present invention. Further, the present invention is not limited to the one provided with all the configurations described in the above embodiment, but also includes one in which a part of the configuration is deleted. Further, each of the configurations, functions, etc. described above may be realized by designing part or all of them, for example, with an integrated circuit. Further, each configuration, function, etc. described above may be realized by software by the processor interpreting and executing a program that realizes each function.
- magnetic field generator installation position information storage unit 340 ... worker information storage unit, 350 ... GNSS receiver installation position information storage unit, 410 ... Wheel: 410a: front wheel, 410b: rear wheel, 421: magnetic field generator, 430: wheel loader, 431: vehicle body, 431a: front vehicle body (front frame), 431b: rear vehicle body (rear frame), 436: driver's cab (Cab), 436 ... driving room, 437 ... engine room, 441 ... lift arm, 442 ... bucket, 450 ... hydraulic pressure Equipment, 451 ... Bucket cylinder, 452 ... Lift cylinder, 464 ... Center joint, 475A, 475B ... Attitude sensor, 550 ... GNSS receiver
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Abstract
Description
図2~図4において、本実施の形態の作業員接近通知システム10は、作業機械である油圧ショベル1の周辺で作業を行う可能性のある作業員が携帯する作業員タグ40と、油圧ショベル1の周囲の作業員タグ40を検知するタグ検知装置20と、油圧ショベル1の作業状態を検出する作業状態検出装置70と、測位衛星から受信した電波に基づいて油圧ショベル1の3次元位置算出値(位置情報)を出力するGNSS受信装置50と、タグ検知装置20の制御を行うとともに、タグ検知装置20や作業状態検出装置70、GNSS受信装置50で得られた情報に基づいて作業員タグ40の予め定めた範囲における存在の有無や存在位置の判定などを行い、判定結果をオペレータに通知するための通知指令を生成する制御装置60と、油圧ショベル1の運転室4内に配置され、制御装置60からの通知指令に基づいて制御装置60での判定結果をオペレータに通知する通知装置80とから概略構成されている。
通知装置80は、作業機械1のオペレータに油圧ショベル1の周辺の作業員の存在(言い換えると、作業員タグ40の存在)を通知するための装置であり、表示装置81と警報装置82とを備えている。なお、作業員は必ず作業員タグ40を携帯しているため、本実施の形態において存在や位置の検知対象となる作業員と作業員タグ40とは同義とすることができる。
作業員タグ40は、油圧ショベル1のオペレータ及び油圧ショベル1の外部で作業を行う作業員に携帯されるものであり、油圧ショベル1の稼動する作業現場で作業を行う作業員全員が携帯するものであり、作業現場には作業員の数だけ存在することになる。作業員タグ40は、タグ検知装置20の磁界発生装置21から発生される磁界信号120を受信した場合に、受信した磁界信号120の磁界ID(磁界発生装置21に設定された固有のID:図6参照)と磁界信号120を受信した作業員タグ40自身を識別するタグIDとを含む電波信号140を送信する。
タグ検知装置20は、発生元を識別する磁界IDを含む磁界信号120を発生させる磁界発生装置21と、作業員タグ40から磁界信号120の受信を契機に発信される電波信号140を受信するタグ情報受信装置22と、制御装置60からの制御信号に基づいて磁界発生装置21からの磁界信号120の発生を制御するとともに、タグ情報受信装置22で受信した電波信号140に含まれる情報を取得して制御装置60に出力するタグ検知装置制御装置23とを有している。
制御装置60は、作業員接近通知システム10全体の動作を制御するものであり、作業状態検出装置70からの検出結果およびGNSS受信装置50からのGNSS受信データに基づいて検知指令を生成してタグ検知装置20に出力し制御するとともに、通知指令を生成して通知装置80に出力する演算部60Aと、演算部60Aでの処理に用いる各種情報を記憶する記憶部60Bとを有している。なお、制御装置60は、図示しないCPU、ROM(Read Only Memory)、RAM(Random Access Memory)、およびフラッシュメモリ等からなる記憶部、およびこれらを備えるマイクロコンピュータ並びに図示しない周辺回路などから構成され、例えば、ROMに格納されるプログラムにしたがって作動する。
なお、本実施の形態においては、検知警報エリア決定部61において、検知対象エリア230を旋回半径演算部61Aから出力される旋回半径に基づいて設定する場合を例示して説明したが、例えば、油圧ショベル1の最大旋回半径に応じて検知対象エリアを設定しても良いし、旋回半径によらない一定のエリア、例えば、図21に示すように油圧ショベル1が動作した際に瞬時に到達する可能性の高い油圧ショベル1の近傍エリアを検知対象エリア230Aとして設定しても良い。
また、図22に示すように、タグ検知装置20に2つ以上(例えば2つ)の磁界発生装置21A,21Bを設け、各々の磁界発生装置21A,21Bから異なる磁界強度、磁界IDの磁界信号120を発生させることによって、範囲の異なる複数の検知対象エリア230A,230Bを設定するよう構成しても良い。なお、このように2つの検知対象エリア230A,230Bを設定する場合には、作業員タグ40の検知には広い検知対象エリア230Aを、GNSSによる作業員位置算出値の評価および作業員存在エリアとして用いる値には狭い検知対象エリア230Bを用いることにより、広い検知対象エリア230Aに存在する作業員タグ40の情報を得ることができるとともに、作業員存在エリア240の正確性を確保することができる。
また、作業員位置演算部62AにおいてGNSS受信装置50から出力される油圧ショベル1のGNSS受信データとタグ検知装置20から出力されるタグ検知情報に含まれる作業員タグ40のGNSS受信データとを用いて作業員IDと作業員位置算出値からなる作業員位置情報を生成し、作業員位置評価部62Bにおいて、作業員位置情報に含まれる作業員位置算出値が作業機械座標系での検知対象エリア230内にあるか否かによって作業員位置算出値の確からしさを判定し、作業員存在エリア240を確定するよう構成しても良い。
また、本実施の形態においては作業機械の一例として油圧ショベル1を挙げて説明したが、本発明は、油圧ショベル1におけるフロント作業機6のような作業腕を有する作業機械であれば適用可能である。作業腕を有する作業機械としては、例えば、車体の前方に多関節型の油圧作業装置を備えたホイールローダがある。
なお、上記の実施の形態においては、作業腕を有する作業機械として油圧ショベルやホイールローダを例示して説明したが、作業腕を有する作業機械であれば他の作業機械であっても本願発明を適用可能である。また、蒸気の実施の形態においては、エンジン等の原動機で油圧ポンプを駆動する一般的な油圧ショベルやホイールローダを例に挙げて説明したが、油圧ポンプをエンジン及びモータで駆動するハイブリッド式の油圧ショベルや、油圧ポンプをモータのみで駆動する電動式の油圧ショベルやホイールローダ等にも本発明が適用可能であることは言うまでもない。
Claims (7)
- 走行装置が設けられた車体本体と、前記車体本体に取り付けられ、回動可能に連結された複数のフロント部材からなる多関節型の作業機と、前記作業機を操作するための操作信号を出力する操作装置とを備えた作業機械において、
前記車体本体に設けられ、前記作業機械の位置情報を取得するGNSS受信装置と、
発生する磁界信号の発生元を識別するための磁界IDを含む磁界信号を発生させる、前記車体本体の予め定めた位置に固定された少なくとも1つの磁界発生装置と、
前記作業機械のオペレータ及び前記作業機械の外部で作業を行う作業員に携帯される作業員タグであって、前記作業員タグの位置情報を取得するGNSS受信部を有し、前記磁界発生装置が発生する前記磁界信号を受信した場合に、少なくとも、受信した前記磁界信号に含まれる前記磁界IDと、前記磁界信号を受信した前記作業員タグが自身を識別するためのタグIDと、前記作業員タグの位置情報と、を含む電波信号を送信する少なくとも1つの作業員タグから発信する電波信号を受信するタグ情報受信装置と、
前記磁界発生装置を検知指令により制御するとともに、前記タグ情報受信装置で受信した電波信号に含まれる情報を取得してタグ検知情報として出力するタグ検知装置制御装置と、
前記作業機械に対する前記作業員タグの位置の検知対象とする検知対象エリアと前記検知対象エリアのうち前記作業員タグの接近通知の対象とする接近通知対象エリアとを決定し、前記作業機械の位置情報、前記作業員タグの位置情報、前記タグ検知装置制御装置で取得した前記タグ検知情報、及び、前記検知対象エリアに基づいて、前記作業員タグの位置を算出し、算出された前記作業員タグの位置に基づいて、前記接近通知対象エリアで前記作業員タグを検知した場合に、前記作業員タグを検知したことを前記作業機械のオペレータに通知するための通知指令を生成し、通知装置に出力する制御装置と
を備えたことを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記制御装置は、前記GNSS受信装置で取得された前記作業機械の位置情報と、前記タグ検知装置制御装置から出力された前記タグ検知情報に含まれる作業員タグの位置情報とを用いて前記作業機械に対する前記作業員タグの位置を算出し、前記検知対象エリアに基づいて前記作業員タグの位置の確からしさを評価し、その評価結果に基づいて前記作業員タグの位置を算出することを特徴とする作業機械。 - 請求項2に記載の作業機械において、
前記作業員タグは、受信した前記磁界信号に含まれる前記磁界ID、前記磁界信号を受信した前記作業員タグが自身を識別するためのタグID、及び、前記作業員タグの位置情報に加え、前記GNSS受信部で取得された前記作業員タグの位置情報の精度や信頼性の指標となる測位品質情報をさらに含む電波信号を送信し、
前記タグ検知装置制御装置は、前記タグ情報受信装置で受信した電波信号に含まれる情報として、少なくとも前記タグID、前記作業員タグの位置情報、前記磁界ID、及び、前記測位品質情報を含む情報を取得してタグ検知情報として出力し、
前記GNSS受信装置は、前記作業機械の位置情報に加え、前記GNSS受信装置で取得された前記作業機械の位置情報の精度や信頼性の指標となる測位品質情報を出力することを特徴とする作業機械。 - 請求項2に記載の作業機械において、
前記制御装置は、
前記作業員タグの前記作業機械に対する位置が前記検知対象エリアの内側である場合には、前記作業員タグの位置の確度が高いと判断し、前記作業員タグの位置を作業員存在エリアとし、
前記作業員タグの前記作業機械に対する位置が前記検知対象エリアの外側である場合には、前記作業員タグの位置の確度が低いと判断し、前記検知対象エリアを前記作業員存在エリアとし、
前記GNSS受信装置から出力される前記作業機械の位置情報および前記タグ検知装置制御装置で取得した前記タグ検知情報に含まれる前記作業員タグの位置情報から、前記GNSS受信装置および前記作業員タグの前記GNSS受信部の少なくとも一方において位置情報の取得ができていないと判断される場合には、前記検知対象エリアを前記作業員存在エリアとすることを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記作業機械の作業状態を検出する作業状態検出装置を備え、
前記制御装置は、
前記作業状態検出装置の検出結果に基づいて前記検知対象エリアおよび前記接近通知対象エリアを決定するとともに、前記タグ検知装置制御装置に対して前記検知対象エリアの情報を含む前記検知指令を出力し、
前記作業状態検出装置の検出結果に応じた前記通知指令を生成して前記通知装置に出力することを特徴とする作業機械。 - 請求項5に記載の作業機械において、
前記車体本体は、下部走行体と、前記下部走行体に対して旋回可能に設けられ、前記多関節型の作業機の基端が取り付けられた上部旋回体とを有し、
前記作業状態検出装置は、
前記作業機の姿勢を検出する姿勢検出装置と、
前記作業機械の作動状態を検出する機械作動状態検出装置とを備え、
前記制御装置は、
前記姿勢検出装置の検出結果に基づいて、前記作業機械の上部旋回体の前記下部走行体に対する旋回中心から前記作業機の最も離れた端部までの距離である旋回半径を算出し、
前記機械作動状態検出装置の検出結果に基づいて、前記作業機械の作動状態を判別し、
算出された前記旋回半径と判別された前記作業機械の作動状態とを用いて前記検知対象エリアおよび前記接近通知対象エリアを決定することを特徴とする作業機械。 - 請求項1に記載の作業機械において、
前記通知装置は、
前記通知指令の一つである表示指令に基づいて視覚情報により前記作業員タグの位置および前記作業機械への接近を報知する表示装置と、
前記通知指令の他の一つである警報指令に基づいて聴覚情報により前記作業員タグの前記作業機械への接近を報知する警報装置とを備え、
前記制御装置は、前記検知対象エリアと前記作業員タグの位置とを表示するように前記表示指令を生成して前記表示装置に出力し、前記接近通知対象エリアの内側に前記作業員タグが存在する場合に前記警報指令を生成して前記警報装置に出力することを特徴とする作業機械。
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