WO2023053739A1

WO2023053739A1 - Obstacle detection alarm system, obstacle detection alarm method, and work machine

Info

Publication number: WO2023053739A1
Application number: PCT/JP2022/030595
Authority: WO
Inventors: 佳亮山本; 浩人伴; 大佐藤; 卓明溝口
Original assignee: 株式会社小松製作所
Priority date: 2021-09-29
Filing date: 2022-08-10
Publication date: 2023-04-06
Also published as: CN117980568A; JP2023049572A

Abstract

The obstacle detection alarm system according to the present disclosure comprises a turning operation unit that instructs an upper turning body provided in a work machine to turn, an obstacle detection unit that detects an obstacle located around the work machine, and an alarm issuing unit that issues an alarm if the obstacle detection unit detects an obstacle in the turning direction of the upper turning body instructed by the turning operation unit.

Description

Obstacle detection alarm system, obstacle detection alarm method, and working machine

The present disclosure relates to an obstacle detection and warning system, an obstacle detection and warning method, and a working machine. This application claims priority based on Japanese Patent Application No. 2021-159377 filed in Japan on September 29, 2021, the content of which is incorporated herein.

Patent Document 1 discloses a surroundings monitoring device for a working machine, which includes human presence/absence determining means for determining the presence/absence of a person in each of a first monitoring space and a second monitoring space around the working machine; A first alarm output unit that is installed in a room and has a first alarm output unit that outputs an alarm to an operator and alarm control means that controls the second alarm output unit. A work machine surroundings monitoring device is described in which an alarm is output from a first alarm output unit, and an alarm is output from a second alarm output unit when it is determined that a person is present in a second monitored space. According to the device described in Patent Literature 1, it is possible for the operator of the work machine to intuitively grasp the positions of people present around the work machine.

Japanese Patent Application Laid-Open No. 2018-93501

However, in the device described in Patent Document 1, the turning direction of the upper turning body is not taken into consideration in determining whether or not to output an alarm. For example, even when the risk of contact or the like is low, there is a problem that an alarm may be output inappropriately.

The present disclosure has been made in consideration of the above circumstances, and provides an obstacle detection alarm system, an obstacle detection alarm method, and a working machine that can appropriately issue an alarm about obstacles around a working machine. intended to provide

In order to solve the above problems, the obstacle detection alarm system of the present disclosure includes a turning operation unit that instructs turning of an upper turning body of a working machine, and an obstacle detection unit that detects obstacles around the working machine. and a warning unit that issues an alarm when the obstacle detection unit detects an obstacle in the turning direction of the upper swing body instructed by the turning operation unit.

Further, the obstacle detection and alarm method of the present disclosure includes the step of acquiring a turning instruction by a turning operation unit for an upper turning structure of a working machine, and the detection result of an obstacle around the working machine by an obstacle detection unit. and issuing an alarm when the obstacle detection unit detects an obstacle in the turning direction of the upper turning body instructed by the turning operation unit.

Further, a working machine of the present disclosure is a working machine having an upper revolving body, comprising a revolving operation section for instructing revolving of the upper revolving body, and an obstacle detection section for detecting obstacles around the work machine. and an alarm unit that issues an alarm when the obstacle detection unit detects an obstacle in the turning direction of the upper swing body instructed by the turning operation unit.

According to the obstacle detection/alarm system, the obstacle detection/alarm method, and the working machine of the present disclosure, it is possible to appropriately issue an alarm about obstacles around the working machine.

1 is a side view showing a schematic configuration of a work machine according to an embodiment of the present disclosure; FIG. 1 is a plan view showing a schematic configuration of a working machine according to an embodiment of the present disclosure; FIG. FIG. 4 is a plan view schematically showing an operation example of the working machine according to the embodiment of the present disclosure; 1 is a perspective view schematically showing a configuration example of a driver's cab according to an embodiment of the present disclosure; FIG. FIG. 4 is a perspective view showing a configuration example of a swing detection unit according to the embodiment of the present disclosure; FIG. 4 is a perspective view showing a configuration example of a swing detection unit according to the embodiment of the present disclosure; FIG. 4 is a perspective view showing an operation example of a swing detection unit according to the embodiment of the present disclosure; FIG. 4 is a perspective view showing an operation example of a swing detection unit according to the embodiment of the present disclosure; FIG. 4 is a perspective view showing an operation example of a swing detection unit according to the embodiment of the present disclosure; FIG. 5 is a chart for explaining an operation example of a swing detection unit according to the embodiment of the present disclosure; FIG. 4 is a plan view schematically showing a detection area of an obstacle detection unit according to the embodiment of the present disclosure; FIG. 2 is a plan view schematically showing a warning area according to an embodiment of the present disclosure; FIG. 2 is a plan view schematically showing a warning area according to an embodiment of the present disclosure; FIG. 2 is a plan view schematically showing a warning area according to an embodiment of the present disclosure; FIG. 1 is a system diagram showing an outline of a drive system according to an embodiment of the present disclosure; FIG. 1 is a schematic block diagram of an obstacle detection and warning system according to an embodiment of the present disclosure; FIG. 4 is a chart for explaining an operation example of the obstacle detection/warning system according to the embodiment of the present disclosure; FIG. 4 is a transition diagram for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; FIG. 4 is a transition diagram for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; 4 is a flowchart for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; 4 is a flowchart for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; 4 is a flowchart for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; 4 is a flowchart for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; 4 is a flowchart for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; FIG. 4 is a schematic diagram for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; FIG. 4 is a schematic diagram for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; FIG. 4 is a schematic diagram for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; FIG. 4 is a schematic diagram for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; FIG. 4 is a schematic diagram for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; FIG. 4 is a schematic diagram for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure; 1 is a block diagram illustrating a basic configuration of an obstacle detection/warning system according to an embodiment of the present disclosure; FIG. 1 is a block diagram illustrating a basic configuration of an obstacle detection/warning system according to an embodiment of the present disclosure; FIG. 1 is a block diagram illustrating a basic configuration of an obstacle detection/warning system according to an embodiment of the present disclosure; FIG.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each figure, the same reference numerals are used for the same or corresponding configurations, and the description thereof will be omitted as appropriate.

FIG. 1 is a side view showing a schematic configuration of a working machine according to an embodiment of the present disclosure. FIG. 2 is a plan view showing a schematic configuration of the working machine according to the embodiment of the present disclosure. FIG. 3 is a plan view schematically showing an operation example of the work machine according to the embodiment of the present disclosure. FIG. 4 is a perspective view schematically showing a configuration example of a driver's cab according to an embodiment of the present disclosure. 5 to 9 are perspective views showing configuration examples of the swing detection unit according to the embodiment of the present disclosure. FIG. 10 is a chart for explaining an operation example of the swing detection unit according to the embodiment of the present disclosure; FIG. 11 is a plan view schematically showing the detection area of the obstacle detection unit according to the embodiment of the present disclosure; 12 to 14 are plan views schematically showing warning areas according to embodiments of the present disclosure. FIG. 15 is a system diagram showing an outline of a drive system according to an embodiment of the present disclosure; FIG. 16 is a block diagram showing an overview of an obstacle detection and warning system according to an embodiment of the present disclosure; FIG. 17 is a chart for explaining an operation example of the obstacle detection alarm system according to the embodiment of the present disclosure. 18 and 19 are transition diagrams for explaining an operation example of the obstacle detection and warning system according to the embodiment of the present disclosure. 20 to 24 are flow charts for explaining an example of the operation of the obstacle detection/warning system according to the embodiment of the present disclosure. 25 to 30 are schematic diagrams for explaining an operation example of the obstacle detection and alarm system according to the embodiment of the present disclosure. 31 to 33 are block diagrams illustrating basic configuration examples of the obstacle detection and warning system according to the embodiment of the present disclosure.

As shown in FIGS. 1 and 2, in the present embodiment, a local coordinate system is set in work machine 100, and the positional relationship of each part will be described with reference to the local coordinate system. In the local coordinate system, the first axis extending in the left-right direction (vehicle width direction) of work machine 100 (upper revolving body 120) is the X-axis, the second axis extending in the front-rear direction of work machine 100 is the Y-axis, A third axis extending in the vertical direction of work machine 100 is defined as a Z-axis. The X-axis and the Y-axis are orthogonal. The Y-axis and the Z-axis are orthogonal. The Z-axis and the X-axis are orthogonal. The arrow direction of the X-axis is leftward and the opposite direction is rightward. The arrow direction of the Y-axis is forward and the opposite direction is backward. The arrow direction of the Z-axis is upward and the opposite direction is downward.

(Configuration example of working machine 100)
FIG. 1 shows a configuration example of a working machine 100 according to an embodiment. The work machine 100 operates at a construction site and constructs a construction target such as earth and sand. A work machine 100 according to the embodiment is, for example, a hydraulic excavator (small excavator, mini excavator). Working machine 100 includes lower traveling body 110 , upper revolving body 120 , working machine 130 and blade 150 . The upper swing body 120 is equipped with an operator's cab 140 , an obstacle detection section 200 , and a swing detection section 210 .

The lower traveling body 110 supports the work machine 100 so that it can travel. Undercarriage 110 includes, for example, a pair of left and right crawler belts 110a (also referred to as left crawler belt 110a) and crawler belt 110b (also referred to as right crawler belt 110b). The lower traveling body 110 supports the blade 150 so as to be vertically drivable. Blade 150 is driven by blade cylinder 150C, which is a hydraulic cylinder.

The upper revolving body 120 is supported by the lower traveling body 110 so as to be able to revolve around the revolving center c. Work implement 130 is hydraulically driven. Work implement 130 is supported on the front portion of upper revolving body 120 so as to be vertically drivable. Further, as shown in FIG. 3, the working machine 130 is supported on the front part of the upper revolving body 120 so as to be able to swing in the left-right direction about the pin 130P.

The operator's cab 140 is a space for an operator (driver) to operate the work machine 100 . The driver's cab 140 is provided in the front left portion of the upper revolving body 120 . Here, a portion of the upper revolving body 120 to which the work implement 130 is attached is referred to as a front portion. Further, regarding the upper rotating body 120, the front portion is referred to as the rear portion, the left portion is referred to as the left portion, and the right portion is referred to as the right portion.

It should be noted that the left and

right crawler belts

110a and 110b can drive the drive wheels independently (forward and backward). The undercarriage 110 moves forward when the left crawler 110a and the right crawler 110b are moved forward at the same time, and the undercarriage 110 moves backward when the left crawler 110a and the right crawler 110b are moved backward at the same time. Further, when the driving wheels of one crawler belt and the driving wheels of the other crawler belt are driven in opposite directions, for example, when the right crawler belt 110b is moved forward and the left crawler belt 110a is moved backward, the lower traveling body 110 is centered on the turning center. can be rotated to Such a turning method is called supercenter turning.

The turning center when the lower traveling body 110 is pivotally turned and the turning center c of the upper turning body 120 may be configured to be the same or may be different.

(Configuration example of working machine 130)
As shown in FIGS. 1 and 2, work machine 130 includes boom 131, arm 132, bucket 133, boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, and swing cylinder 134C.

The base end of the boom 131 is supported on the front part of the upper revolving body 120 so that it can swing vertically and swing horizontally. Arm 132 connects boom 131 and bucket 133 . A base end portion of the arm 132 is attached to a tip end portion of the boom 131 so as to be able to swing. The bucket 133 includes a blade for excavating earth and sand and a container for containing the excavated earth and sand. A proximal end of the bucket 133 is attached to a distal end of the arm 132 so as to be able to swing.

The boom cylinder 131C is a hydraulic cylinder for moving the boom 131 vertically. A base end portion of the boom cylinder 131C is attached to the upper swing body 120 so as to be able to swing. A tip portion of the boom cylinder 131</b>C is attached to the boom 131 .

The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A base end portion of the arm cylinder 132C is attached to the boom 131 . A tip portion of the arm cylinder 132C is attached to the arm 132 .

The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. A base end of the bucket cylinder 133C is attached to the arm 132 . A tip of the bucket cylinder 133</b>C is attached to a link member connected to the bucket 133 .

The swing cylinder 134C is a hydraulic cylinder for swinging the boom 131 left and right. A base end of the swing cylinder 134C is attached to the upper revolving body 120 . A tip end of the swing cylinder 134C is attached to the base end of the boom 131 .

(Configuration example of driver's cab 140)
FIG. 4 shows an example of the internal configuration of the driver's cab 140 according to the embodiment. A driver's seat 141 , an operating device 142 , and an input/output device 145 are provided in the driver's cab 140 .

The operation device 142 is a device for manipulating the lower traveling body 110, the upper revolving body 120, the work implement 130 and the blade 150 by manual operation by the operator. The operation device 142 includes a left operation lever 142LO, a right operation lever 142RO, a left travel lever 142LT, a right travel lever 142RT, a boom swing operation pedal 142BF, a blade operation lever 142BL, and a PPC (Pressure Proportional Control) lock lever 142LL.

The left operating lever 142LO is provided on the left side of the driver's seat 141. The right operating lever 142RO is provided on the right side of the driver's seat 141. As shown in FIG.

The left operation lever 142LO is an operation mechanism for performing, for example, the swinging motion of the upper rotating body 120 and the excavation/dumping motion of the arm 132. Specifically, when the operator of work machine 100 tilts left operating lever 142LO forward, for example, arm 132 dumps. Further, when the operator of work machine 100 tilts left operation lever 142LO rearward, arm 132 excavates. Further, when the operator of work machine 100 tilts left operation lever 142LO rightward, upper swing body 120 swings rightward. Further, when the operator of work machine 100 tilts left operation lever 142LO leftward, upper swing body 120 swings leftward. In another embodiment, when the left operating lever 142LO is tilted in the front-rear direction, the upper rotating body 120 turns rightward or leftward, and when the left operating lever 142LO is tilted in the left-right direction, the arm 132 excavates. Alternatively, a dump operation may be performed. In another embodiment, the upper rotating body 120 may rotate leftward or rightward when the right operating lever 142RO is tilted in the left-right direction. Also, these operation settings can be changed using the input/output device 145, for example, or mechanically.

The right operation lever 142RO is an operation mechanism for performing excavation/dumping operations of the bucket 133 and lifting/lowering operations of the boom 131, for example. Specifically, when the operator of work machine 100 tilts right operation lever 142RO forward, boom 131 is lowered. Further, when the operator of work machine 100 tilts right operation lever 142RO rearward, boom 131 is raised. When the operator of work machine 100 tilts right operation lever 142RO rightward, bucket 133 is dumped. When the operator of work machine 100 tilts right operation lever 142RO leftward, bucket 133 performs an excavation operation. In another embodiment, when the right operating lever 142RO is tilted in the front-rear direction, the bucket 133 is dumped or excavated, and when the right control lever 142RO is tilted in the left-right direction, the boom 131 is raised or lifted. Lowering may be performed.

The left travel lever 142LT is arranged on the front left side of the driver's seat 141 . The right travel lever 142RT is arranged on the front right side of the driver's seat 141 . The left running lever 142LT corresponds to rotational driving of the left crawler belt 110a of the lower running body 110. As shown in FIG. Specifically, when the operator of work machine 100 tilts left travel lever 142LT forward, left crawler belt 110a rotates forward. Further, when the operator of work machine 100 tilts left travel lever 142LT backward, left crawler belt 110a rotates in the backward direction.

The right running lever 142RT corresponds to the rotation drive of the right crawler belt 110b of the lower running body 110. Specifically, when the operator of work machine 100 tilts right travel lever 142RT forward, right crawler belt 110b rotates forward. Further, when right travel lever 142RT of work machine 100 is tilted rearward, right crawler belt 110b rotates in the backward direction.

The boom swing operation pedal 142BF corresponds to the swing drive of the working machine 130 (boom 131). For example, when the operator of work machine 100 pushes boom swing operation pedal 142BF leftward, work machine 130 swings leftward. When the operator pushes boom swing operation pedal 142BF rightward, work implement 130 swings rightward.

The blade operating lever 142BL corresponds to driving the blade 150. For example, when the operator of work machine 100 tilts blade operating lever 142BL forward, blade 150 is lowered. Further, when the blade operating lever 142BL is tilted backward, the blade 150 is raised.

The PPC lock lever 142LL is locked or unlocked by the operator's operation. When the PPC lock lever 142LL is locked, operations by other levers and pedals of the operating device 142 other than the PPC lock lever 142LL are disabled. When the PPC lock lever 142LL is unlocked, the operation by the operation device 142 becomes valid.

In this embodiment, each lever and pedal of the operation device 142 receives a pressure corresponding to the operation stroke of each lever or pedal from a valve for controlling the pilot pressure for moving the spool of the control valve 303, which will be described later. has a function to output hydraulic oil. However, in other embodiments, the levers and pedals of the operation device 142 may output electric signals and the control valves may be controlled by an external control device. Also, the left operating lever 142LO or the right operating lever 142RO is one configuration example of the turning operation section. The left travel lever 142LT and the right travel lever 142RT are one configuration example of the travel operation unit.

The input/output device 145 is a device that displays information related to a plurality of functions of the work machine 100, inputs various instruction operations, issues alarm sounds, and displays alarm signals. The input/output device 145 has a display 145D. The display 145D is composed of, for example, a touch panel or the like. The input/output device 145 also includes an alarm buzzer 145B that issues an alarm sound. Note that the display 145D and the alarm buzzer 145B may be placed separately.

(Configuration example of swing detection unit 210)
The swing detection unit 210 includes two proximity switches (1) 211 and (2) 212, and a proximity member 213, as shown in FIGS. 5 and 7 to 9 show a state in which the cover 210C is put on, and FIG. 6 shows a state in which the cover 210C is removed. 5 to 7 show the working machine 130 facing forward (the swing position in FIG. 3 is neutral (center)), and FIG. 8 shows the working machine 130 swinging to the left. 9 is a state in which the work implement 130 has swung to the right. Proximity switch ( 1 ) 211 and proximity switch ( 2 ) 212 are fixed to the end portion on the side of work machine 130 while being separated from each other by a predetermined distance in the left-right direction in the neutral position. In the neutral position, proximity switch (1) 211 is positioned on the right and proximity switch (2) 212 is positioned on the left. As shown in FIG. 7, the proximity member 213 has a shape that closely faces both the detection surface 211s of the proximity switch (1) 211 and the detection surface 212s of the proximity switch (2) 212 in the neutral position of the working machine 130. and fixed to the front of the upper revolving body 120 . As shown in FIG. 7, when work machine 130 is in the neutral position, both detection surface 211s of proximity switch (1) 211 and detection surface 212s of proximity switch (2) 212 face (approach) proximity member 213. Therefore, both proximity switch (1) 211 and proximity switch (2) 212 are turned on. Further, as shown in FIG. 8, when the working machine 130 swings to the left, only the detection surface 212s of the proximity switch (2) 212 faces (approaches) the proximity member 213, so that the proximity switch (2) 212 It turns on and the proximity switch (1) 211 turns off. Further, as shown in FIG. 9, when the working machine 130 swings to the right, only the detection surface 211s of the proximity switch (1) 211 faces (approaches) the proximity member 213, so that the proximity switch (1) 211 turns on and the proximity switch (2) 212 turns off.

FIG. 10 shows the relationship between the operation of the swing detection section 210 and the swing position. When proximity switch (1) 211 is on and proximity switch (2) 212 is off, the swing position is right. When proximity switch (1) 211 is on and proximity switch (2) 212 is on, the swing position is neutral. When proximity switch (1) 211 is off and proximity switch (2) 212 is on, the swing position is left.

The swing detection unit 210 of the present embodiment includes a plurality of (two in this example) proximity switches that have different on/off states when the working machine 130 swings to the right, neutral state, and swings to the left. Based on the outputs of (1) 211 and (2) 212, it is detected whether work implement 130 is swinging to the right, in a neutral state, or swinging to the left. In this case, by changing the arrangement of the plurality of proximity switches (1) 211 and (2) 212 and the shape of the proximity member 213, the angle detected as the neutral state can be easily adjusted.

The number of proximity switches may be three or more. Alternatively, the proximity switch may be fixed to the upper revolving body 120 and the proximity member 213 may be fixed to the working machine 130 .

(Configuration example of obstacle detection unit 200)
Upper revolving body 120 has a plurality of millimeter-wave radars (right radar 201, left radar 202, and rear radar 203) for detecting obstacles (objects to be detected) around working machine 100 as obstacle detection unit 200. ) is provided. Obstacle detection unit 200 includes right radar 201 , left radar 202 , and rear radar 203 . The right radar 201, the left radar 202, and the rear radar 203 detect the angle of a detection target (a person, a work structure, etc.) located within a detection area within a predetermined distance, for example, 75 degrees left and right and 5 degrees up and down. and the distance and speed are detected, and the detection results are output. The number of detected objects is 0 or more. Note that the angle of the detection area and the like are examples. The obstacle detection unit 200 may include, for example, three or more radars. FIG. 11 shows examples of

detection areas

201s, 202s and 203s of right radar 201, left radar 202, and rear radar 203. FIG.

(Example of alarm area configuration)
In this embodiment, four warning areas A1, A2, A3 and A4 are set within the detection areas (

detection areas

201s, 202s and 203s) of the obstacle detection unit 200, and the turning operation state of the upper turning body 120 is determined. , the swing position of work machine 130, the traveling state of work machine 100, and the like, the size of warning areas A1 and A2 is changed, and obstacles are detected within warning areas A1, A2, A3, and A4. Control is performed to issue an alarm or not to issue an alarm when a failure occurs. Further, in the present embodiment, an area in which an alarm of alarm level 1 and an area in which an alarm of alarm level 2 are issued are set in the alarm areas A1 and A2, and an alarm of alarm level 1 and an alarm of alarm level 2 are set. Control switching. At alarm level 2, an alarm is issued in a manner indicating that the situation is more urgent than at alarm level 1 (for example, the period or frequency of intermittent alarm sounds or the volume of the alarm sounds is changed).

Setting examples of the warning areas A1, A2, A3 and A4, the area where the warning level 1 is issued, and the area where the warning level 2 is issued will be described with reference to FIGS. As shown in FIG. 12, the warning area A1 is located on the right side of the upper rotating body 120, and when the object to be detected exists within the warning area A1, the upper rotating body 120 is rotated to the right. This is an area where it is assumed that there is a risk of contact, etc., occurring when it is turned. The warning area A2 is located on the left side of the upper rotating body 120. When the upper rotating body 120 is turned left while the object to be detected is present in the warning area A2, contact or the like may occur. This is an area where the risk of occurrence is assumed.

Further, the warning area A1 is an alarm area A1a when the swing position of the work implement 130 is neutral as shown in FIG. 12, and an alarm area A1a when the swing position of the work implement 130 is right as shown in FIG. It is set in any range of A1b. Warning area A1b is an area obtained by excluding an area where work implement 130 may be located (an area where work implement 130 may be erroneously detected as an obstacle by obstacle detection unit 200) from warning area A1a. , which is narrower than the warning area A1a. Also, in the warning region A1 (warning region A1a or A1b), a region of warning level 2 and a region of warning level 1 are set according to the distance from work machine 130, which are divided by two-dot chain lines.

Further, the warning area A2 is the warning area A2a when the swing position of the work implement 130 is neutral as shown in FIG. 12, and the warning area A2a when the swing position of the work implement 130 is left as shown in FIG. It is set in any range of A2b. Warning area A2b is an area obtained by excluding an area in which work implement 130 may be located from warning area A2a, and is an area narrower than warning area A2a. Also, in the warning region A2 (warning region A2a), a region of warning level 2 and a region of warning level 1, which are divided by two-dot chain lines, are set according to the distance from work machine 130 . Also, the warning area A2 (warning area A2b) is set to be the warning level 2 for all.

Also, as shown in FIG. 12, the warning areas A3 and A4 are both warning areas set behind the upper swing body 120, and the warning area A3 is wider than the warning area A4. Warning area A3 is a warning area that is effective while work machine 100 is running. Warning region A4 is a warning region that is effective while work machine 100 is stopped. In the example shown in FIG. 12, the warning area A3 and the warning area A4 have the same size in the horizontal direction, the size of the warning area A3 in the front-rear direction is larger, and the size in the front direction of the warning area A3 and the warning area A4 is larger. The ends are coincident and coincide or nearly coincide with the ends of the upper rotating body 120 . In the work machine 100 of this embodiment, the warning areas A3 and A4 are not affected by the direction of the lower traveling body 110 even when the upper rotating body 120 is in a swiveling state. That is, the warning area A3 and the warning area A4 are always located behind the upper swing body 120 when the work machine 100 is in the running state (or in the running state). In the warning area A3, alarm level 1 and alarm level 2 are determined using the speed at which the detection object approaches work machine 100 and the distance between the detection object and work machine 100 as parameters. Similarly, in the warning area A4,

alarm levels

1 and 2 are determined using the speed at which the object to be detected approaches work machine 100 and the distance between the object to be detected and work machine 100 as parameters. be.

(Overview of drive system)
FIG. 15 shows a schematic of a drive system according to an embodiment of the present disclosure; As shown in FIG. 15, the work machine 100 includes a drive source 300, a hydraulic pump 301, a hydraulic oil tank 302, a control valve 303, a swing motor 304, a travel motor 305, and a drive system. and a hydraulic rotary joint 306 .

The driving source 300 generates driving force for operating the working machine 100 . An internal combustion engine and an electric motor are exemplified as the drive source 300 . Hydraulic pump 301 is driven by drive source 300 and discharges hydraulic oil. At least part of the hydraulic fluid discharged from hydraulic pump 301 is supplied to boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, swing cylinder 134C, swing motor 304, and travel motor 305 via control valve 303. be. The control valve 303 operates from the hydraulic pump 301 to the boom cylinder 131C, the arm cylinder 132C, the bucket cylinder 133C, the swing cylinder 134C, the swing motor 304, and the traveling motor 305 via the hydraulic rotary joint 306 according to the operating state of the operating device 142. controls the flow rate and direction of hydraulic fluid supplied to each of the

The sensor unit 400 has a plurality of PPC pressure sensors, switches, etc., detects the operating state of the operating device 142, and outputs the detection result.

(Configuration example of an obstacle detection alarm system)
FIG. 16 shows a schematic of an obstacle detection and warning system according to an embodiment of the present disclosure. An obstacle detection/alarm system 600 shown in FIG. 16 includes an obstacle detection/alarm device 500 . The obstacle detection alarm device 500 can be configured using a computer such as a microcomputer or a CPU (Central Processing Unit), and hardware such as a peripheral circuit or peripheral device of the computer. The obstacle detection alarm device 500 has an obstacle detection result acquisition unit 501 and a sensor detection result acquisition unit 502 as a functional configuration composed of a combination of hardware and software such as a program executed by a computer. , a swing detection result acquisition unit 503 and an alarm unit 504 .

The obstacle detection alarm device 500 may be configured using a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device). Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, part or all of the functions implemented by the processor may be implemented by the integrated circuit.

Also, for example, the obstacle detection/alarm device 500 may be mounted on the work machine 100 or may be provided in a remote control room provided remotely from the work machine 100 .

Further, in the example shown in FIG. 16, the sensor unit 400, which has been outlined with reference to FIG. and a pressure sensor 404 . The PPC lock lever switch 401 detects whether the PPC lock lever 142LL is locked or unlocked, and outputs the detection result as an on/off signal. The traveling PPC pressure sensor 402 turns on its output when the right traveling lever 142RT and the left traveling lever 142LT are operated to instruct traveling, and outputs when the operation instructing traveling is stopped (or canceled). turn off. The right turn PPC pressure sensor 403 turns on the output to instruct right turn when the left operation lever 142LO or the right operation lever 142RO is operated to instruct the upper turning body 120 to turn right. is stopped (or released), the output is turned off. The left turn PPC pressure sensor 404 turns on its output when the left operation lever 142LO or the right operation lever 142RO is operated to instruct left turn of the upper turning body 120, and the operation to instruct left turn stops ( or released), the output is turned off. The output of the sensor section 400 may be directly transmitted to the obstacle detection alarm device 500, or may be transmitted via another controller.

In the obstacle detection alarm device 500, the obstacle detection result acquisition unit 501 repeatedly acquires the detection result of the obstacle detection unit 200 at a predetermined cycle.

The sensor detection result acquisition unit 502 repeatedly acquires the detection result of the sensor unit 400 at a predetermined cycle.

The swing detection result acquisition unit 503 repeatedly acquires the detection result of the swing detection unit 210 at a predetermined cycle.

Based on the information acquired by the obstacle detection result acquisition unit 501, the sensor detection result acquisition unit 502, and the swing detection result acquisition unit 503, the notification unit 504 determines which warning area to use as described below. Judgment processing of whether to validate, judgment processing of whether to issue an alarm, judgment of which alarm mode, alarm level 2 or alarm level 1, to issue an alarm when issuing an alarm processing, etc.

(Example of operation of obstacle detection alarm device 500)
FIG. 17 shows the valid/invalid determination result of each warning area A1 to A4 by the alarm unit 504, the PPC lock lever switch 401, the traveling PPC pressure sensor 402, the right turn PPC pressure sensor 403, and the left turn PPC pressure. Corresponding relationships with combinations of ON/OFF (or unlocked/locked) states of the sensor 404 are shown. FIG. 17 also shows the behavior of the vehicle body (whether the upper rotating body 120 is turning right, whether it is turning left, and whether it is running) in each correspondence relationship. For example, when the traveling PPC pressure sensor 402, the right-turning PPC pressure sensor 403, and the left-turning PPC pressure sensor 404 are all off, only the warning area A4 is effective, and when an obstacle is detected in the warning area A4 an alarm is issued to Even if obstacles are detected in other warning areas A1 to A3, no warning is issued.

FIG. 18 shows, as a state transition diagram, the flow of the valid/invalid determination process of the warning area shown in FIG. Further, FIG. 19 shows the flow of determination processing for determining whether the warning region A1 should be the warning region A1a or the warning region A1b for the warning regions A1 and A2, and whether the warning region A2 should be the warning region A2a or the warning region A2b. A state transition diagram shows the flow of the determination process of whether to

The state transition diagram shown in FIG. 18 includes the initial state ST0 and states ST1 to ST8. The initial state ST0 is a state before the driving source is activated, and transitions to the state ST1 when the driving source is activated. State ST1 is a state in which the PPC lock lever 142LL is locked, and all of the warning areas A1 to A4 are disabled. When the PPC lock lever 142LL is unlocked, the state transitions to ST3. The state ST2 includes states ST3 to ST8, and when the PPC lock lever 142LL is locked in any of the states ST3 to ST8, the state transitions to the state ST1.

The state ST3 is a state in which only the warning area A4 is valid. State ST4 is a state in which the warning areas A2 and A4 are enabled. State ST5 is a state in which the warning areas A1 and A4 are enabled. State ST6 is a state in which the warning areas A1 and A3 are enabled. State ST7 is a state in which the warning area A3 is enabled. State ST8 is a state in which the warning areas A2 and A3 are enabled.

When the running PPC (pressure sensor) is turned on in state ST3, the state transitions to state ST7. When the right turn PPC (pressure sensor) is turned on in state ST3, the state transitions to state ST5. When the left turn PPC (pressure sensor) is turned on in state ST3, the state transitions to state ST4.

When the running PPC (pressure sensor) is turned on in state ST4, the state transitions to state ST8. When the left turn PPC (pressure sensor) is turned off in state ST4, the state transitions to state ST3.

When the traveling PPC (pressure sensor) is turned on in state ST5, the state transitions to state ST6. When the right turn PPC (pressure sensor) is turned off in state ST5, the state transitions to state ST3.

When the traveling PPC (pressure sensor) is turned off in state ST6, the state transitions to state ST5. When the right turn PPC (pressure sensor) is turned off in state ST6, the state transitions to state ST7.

When the traveling PPC (pressure sensor) is turned off in state ST7, the state transitions to state ST3. When the right turn PPC (pressure sensor) is turned on in state ST7, the state transitions to state ST6. When the left turn PPC (pressure sensor) is turned on in state ST7, the state transitions to state ST8.

When the traveling PPC (pressure sensor) is turned off in state ST8, the state transitions to state ST4. When the right turn PPC (pressure sensor) is turned off in state ST8, the state transitions to state ST7.

The state transition diagram shown in FIG. 19 includes states ST11 to ST13. State ST11 is a state when the swing position is neutral. In state ST11, the warning area A1 is the warning area A1a, and the warning area A2 is the warning area A2a. In state ST12, the warning area A1 is the warning area A1a, and the warning area A2 is the warning area A2b. In state ST13, the warning area A1 is the warning area A1b, and the warning area A2 is the warning area A2a. When the boom swing position becomes right in state ST11, the state transitions to state ST13. When the boom swing position becomes neutral in state ST13, the state transitions to state ST11. When the boom swing position becomes left in state ST11, the state transitions to state ST12. When the boom swing position becomes neutral in state ST12, the state transitions to state ST11.

Next, an operation example of the obstacle detection alarm device 500 will be described with reference to flowcharts shown in FIGS. 20 to 24. FIG. FIG. 20 is the main flow of the operation example described here. The processing shown in FIG. 20 is repeatedly executed at a predetermined cycle while the drive source is in operation and the PPC lock lever 142LL is unlocked.

When the process shown in FIG. 20 is started, the obstacle detection alarm device 500 acquires the detection result of the obstacle detection unit (step S101), acquires the detection result of the sensor unit (step S102), and determines the swing direction. A detection result is acquired (step S103), and the alarm level 1 detection state and the alarm level 2 detection state are canceled (step S104). Next, the obstacle detection alarm device 500 (the alarm unit 504) executes alarm switching/determination processing (step S105). In step S105, the alarm unit 504 executes alarm switching/determination processing shown in FIG. In the alarm switching/determining process of step S105, the detection state is set as whether it is an alarm level 1 detection state, an alarm level 2 detection state, or neither.

After step S105, the alarm unit 504 determines whether or not the alarm level 2 detection state is detected (step S106). (step S107), and the process shown in FIG. 20 is terminated. On the other hand, if the alarm level 2 detection state is not detected (step S106: No), the alarm unit 504 determines whether or not the alarm level 1 detection state is detected (step S108). ), an alarm of alarm level 1 is issued (step S109), and the process shown in FIG. 20 is terminated. On the other hand, if the alarm level 1 detection state is not detected (step S108: No), the alarm unit 504 terminates the processing shown in FIG.

Next, with reference to FIG. 21, the alarm switching/determination process executed in step S105 of FIG. 20 will be described. The processing shown in FIG. 21 is executed by the reporting unit 504 .

The alarm unit 504 first performs alarm determination for all detection areas (step S201). There are six types of detection areas, and in step S201, it is determined whether they are inside or outside the alarm level 1 area and the alarm level 2 area (detection areas: alarm areas A1a, A1b, A2a, A2b, A3, and A4). The alarming unit 504 determines whether or not one or more obstacles are detected in each of the warning areas A1a, A1b, A2a, A2b, A3, and A4, whether the obstacle corresponds to the warning level 1, and whether it corresponds to the warning level 2. determine whether or not to

Next, the alarming unit 504 performs masking processing of the alarm determination result (alarm areas A1a and A1b) (step S202), masking processing of the alarm determination result (alarm areas A2a and A2b) (step S203), and performs alarm determination result (warning areas A3, A4) (step S204). In steps S202 to S204, the alarm issuing unit 504 performs masking (alert nullification) processing of the alarm determination result for each detection area.

In the masking process (warning areas A1a and A1b) of the warning determination result in step S202, as shown in FIG. 22, the warning unit 504 first determines whether or not the right turn PPC sensor is off (step S301). . If the right turn PPC sensor is off (step S301: Yes), the alarm unit 504 masks the warning areas A1a and A1b (step S302), and ends the process shown in FIG. When the right turn PPC sensor is on (step S301: No), the alarm unit 504 determines whether or not the boom swing position is right (step S303). If the boom swing position is to the right (step S303: Yes), the warning unit 504 masks the warning area A1a (step S304), and ends the processing shown in FIG. If the boom swing position is not right (step S303: No), the warning unit 504 masks the warning area A1b (step S305), and ends the processing shown in FIG.

Note that the condition for executing step S302 is that the upper swing body 120 is stopped or left. Further, the condition for executing step S304 is that the swing of the upper swing body 120 is right and the boom swing position is right. Further, the condition for executing step S305 is that the swing of the upper swing body 120 is right and the boom swing position is neutral or left.

In the masking process (alert areas A2a and A2b) of the warning determination result in step S203, as shown in FIG. 23, the warning unit 504 first determines whether the left turn PPC sensor is off (step S401). If the left turn PPC sensor is off (step S401: Yes), the alarm unit 504 masks the warning areas A2a and A2b (step S402), and ends the processing shown in FIG. When the left turn PPC sensor is on (step S401: No), the alarm unit 504 determines whether or not the boom swing position is left (step S403). If the boom swing position is to the left (step S403: Yes), the warning unit 504 masks the warning area A2a (step S404), and ends the processing shown in FIG. If the boom swing position is not on the left (step S403: No), the alarm unit 504 masks the warning area A2b (step S405), and ends the processing shown in FIG.

It should be noted that the condition for executing step S402 is that the swing of the upper swing body 120 is stopped or to the right. Further, the condition for executing step S404 is that the swinging of the upper swing body 120 is to the left and the boom swing position is to the left. Further, the condition for executing step S405 is that the swing of the upper swing body 120 is left and the boom swing position is neutral or right.

In the masking process (warning areas A3, A4) of the warning determination result in step S204, as shown in FIG. 24, the warning unit 504 first determines whether the traveling PPC sensor is off (step S501). If the traveling PPC sensor is off (step S501: Yes), the alarm unit 504 masks the warning area A3 (step S502), and ends the processing shown in FIG. When the traveling PPC sensor is on (step S501: No), the alarm unit 504 masks the warning area A4 (step S503), and ends the processing shown in FIG.

The condition for executing step S502 is that work machine 100 is stopped. Moreover, the condition for executing step S503 is that work machine 100 is running.

When the processing of step S204 shown in FIG. 21 is completed, the alarm unit 504 executes the processing of steps S205 to S213 for all detection areas (alarm areas A1a, A1b, A2a, A2b, A3, and A4). do. The processing of steps S205 to S213 is a loop processing for checking each detection area. In the loop processing, the alarm unit 504 first determines whether or not the alarm is valid detection area (non-masked detection area) (step S206). If the alarm is not valid for the detection area (step S206: No), the alarm unit 504 performs loop processing for the next detection area (S213).

If the warning is valid in the detection area (step S206: Yes), the warning unit 504 determines whether the warning area being processed is the warning area A3 (step S207). If it is the warning area A3 (step S207: Yes), the alarm unit 504 determines whether or not all the detected obstacles are moving away (step S208). In step S208, it is determined whether or not the obstacle moves away from the obstacle by determining whether or not the Y-axis direction of the velocity vector of the obstacle is equal to or greater than a predetermined value set by the parameter.

If even one of the detected obstacles is not an obstacle that moves away (step S208: No), or if it is not the warning area A3 (step S207: No), the alarm unit 504 determines whether or not alarm level 1 has been detected. It is determined (step S209), and if detected (step S209: Yes), an alarm level 1 detection state is set (step S210).

If all the detected obstacles are obstacles that move away (step S208: Yes), or if alarm level 1 is not detected (step S209: No), or after executing step S210, the alarm unit 504 determines whether or not alarm level 2 is detected (step S211), and if detected (step S211: Yes), sets alarm level 2 detection state (step S212).

If the alarm level 2 has not been detected (step S211: No), or after executing step S212, the alarm unit 504 performs loop processing for the next detection area (S213).

In the above process, for warning area 3, the detection state of warning level 1 is set only when there is an approaching obstacle, and only the detection state of warning level 2 can be set when all obstacles are receding.

With the above processing, in the obstacle detection alarm device 500, the alarming unit 504 generates a , determination processing of which warning area is valid, determination processing of whether or not to issue an alarm, and when issuing an alarm, which alarm mode, alarm level 2 or alarm level 1, is issued. It is possible to perform determination processing of whether to report.

(Specific operation example)
Next, a specific operation example of the obstacle detection/warning system 600 will be described with reference to FIGS. 25 to 30. FIG. FIG. 25 shows an example in which a person H1 is detected in the warning area A1 while the upper swing body 120 is turning to the right. In this case, the obstacle detection warning system 600 issues a warning of warning level 1 or warning level 2. FIG. FIG. 26 shows an example in which an obstacle is not detected in the warning area A1 and a person H2 is detected in the warning area A2 while the upper swing body 120 is turning to the right. In this case, the obstacle detection alarm system 600 does not issue an alarm. FIG. 27 shows an example in which a person H3 is detected in the warning area A1 while the upper swing body 120 is stopping swinging. In this case, the obstacle detection alarm system 600 does not issue an alarm.

FIG. 28 is an example in which a person H4 is detected in the warning area A4 while the work machine 100 is not running. In this case, the obstacle detection warning system 600 issues a warning of warning level 1 or warning level 2. FIG. FIG. 29 shows an example in which a person H5 is detected in the warning area A3 while work machine 100 is traveling. In this case, the obstacle detection warning system 600 issues a warning of warning level 1 or warning level 2. FIG. FIG. 30 shows an example in which a person H6 is detected in the warning area A3 while work machine 100 is not running. In this case, the obstacle detection alarm system 600 does not issue an alarm.

(Basic Configuration Example of Obstacle Detection and Warning System 600)
Next, a basic configuration example (minimum configuration example) of the obstacle detection/warning system 600 described above will be described. The obstacle detection/alarm system 600 described above can be understood as an obstacle detection/alarm system 601 shown in FIG. 31, an obstacle detection/alarm system 602 shown in FIG. 32, or an obstacle detection/alarm system 603 shown in FIG. .

Obstacle detection/warning system 601 shown in FIG. When the obstacle detection unit 200 detects an obstacle in the turning direction of the upper turning body 120 instructed by the turning operation unit 611, an alarm is issued. 504. Note that the issuing unit 504 stops issuing the alarm when the turning operation unit 611 stops instructing the upper turning body 120 to turn. In addition, alarm unit 504 changes the manner in which the alarm is issued according to the distance between work machine 130 of work machine 100 and the obstacle detected by obstacle detection unit 200 .

The obstacle detection alarm system 602 shown in FIG. 32 includes an obstacle detection unit 200 that detects obstacles around work machine 100, and when work machine 100 is traveling, obstacle detection unit 200 issues a first alarm. An alarm is issued when an obstacle is detected in the area (warning area A3), and when the work machine 100 is stopped, the obstacle detection unit 200 detects an obstacle in the second warning area (warning area A4) narrower than the first warning area. and an alarm unit 504 that issues an alarm when an obstacle is detected. Obstacle detection/warning system 602 further includes travel operation unit 621 (structures corresponding to left travel lever 142LT and right travel lever 142RT) that operates lower travel body 110 of work machine 100, and alarm unit 504 , when the traveling operation unit 621 instructs to stop the lower traveling body 110, the issuing of the alarm is stopped. In addition, the alarm unit 504 changes the manner in which the alarm is issued according to the distance between the work machine 100 and the obstacle detected by the obstacle detection unit 200 and the relative speed between the work machine 100 and the obstacle. .

The obstacle detection alarm system 603 shown in FIG. 33 includes an obstacle detection unit 200 that detects obstacles around a work machine 100 having a work machine 130 that can swing, and an obstacle detection unit 200 that detects an obstacle when the work machine 130 is swinging. When the object detection unit detects an obstacle in the first warning area (alarm areas A1b and A2b), an alarm is issued, and when work implement 130 is not swinging, obstacle detection unit 200 is wider than the first alarm area. An alarm unit 504 is provided for issuing an alarm when an obstacle is detected in two alarm areas (alarm areas A1a and A2a). It should be noted that alarm issuing unit 504 changes the issuing mode of the alarm according to the distance between working machine 130 of working machine 100 and the obstacle detected by obstacle detecting unit 200 . In addition, alarm unit 504 generates a plurality of proximity switches (proximity switch (1) 211 and proximity switch 211) having different ON/OFF states when work implement 130 swings to the right, neutral state, and swings to left. (2) It is determined whether or not the work implement 130 is swinging based on the output of 212).

(action/effect)
According to the obstacle detection/alarm system, the obstacle detection/alarm method, and the working machine of the present disclosure, it is possible to appropriately issue an alarm about obstacles around the working machine.

Although the embodiments of the present invention have been described above with reference to the drawings, the specific configuration is not limited to the above embodiments, and design changes and the like are included within the scope of the gist of the present invention. Also, part or all of the programs executed by the computer in the above embodiments can be distributed via computer-readable recording media or communication lines.

For example, the obstacle detection unit 200 is not limited to millimeter wave radar, and may be configured using a lidar, a camera, etc. (or in combination with millimeter wave radar). Moreover, the shape of the warning area is not limited to a semicircular shape or a rectangular shape, and can be any shape.

According to each aspect of the present invention, it is possible to appropriately issue a warning about obstacles around the work machine.

DESCRIPTION OF SYMBOLS 100... Working machine, 110... Lower traveling body, 120... Upper revolving body, 130... Working machine, 200... Obstacle detection part, 210... Swing detection part, 211... Proximity switch (1), 212... Proximity switch (2) , 500... Obstacle detection alarm device, 504... Alarm unit, 600, 601, 602, 603... Obstacle detection alarm system, 611... Turn operation unit, 621... Travel operation unit

Claims

a turning operation unit for instructing turning of an upper turning structure of the work machine;
an obstacle detection unit that detects obstacles around the working machine;
and an obstacle detection alarm system, comprising: an alarm unit that issues an alarm when the obstacle detection unit detects an obstacle in the turning direction of the upper slewing body instructed by the turning operation unit.
The obstacle detection alarm system according to claim 1, wherein the issuing unit stops issuing the alarm when the turning operation unit stops instructing the turning of the upper turning body.
The obstacle according to claim 1 or 2, wherein the alarming unit changes the manner of issuing the alarm according to the distance between the working machine of the working machine and the obstacle detected by the obstacle detecting unit. Object detection alarm system.
a step of acquiring an instruction for turning the upper turning body of the work machine by the turning operation unit;
obtaining a detection result of obstacles around the working machine by an obstacle detection unit;
and issuing an alarm when the obstacle detection unit detects an obstacle in the turning direction of the upper slewing body instructed by the turning operation unit.
A working machine having an upper revolving body,
a turning operation unit for instructing turning of the upper turning body;
an obstacle detection unit that detects obstacles around the working machine;
A work machine comprising: an obstacle detection alarm system comprising: an alarm unit that issues an alarm when the obstacle detection unit detects an obstacle in the turning direction of the upper swing body instructed by the turning operation unit.