JPH09158258A - Monitoring device of construction equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance safety by providing a first detecting device for detecting an obstruction within a monitoring area distant from a construction equipment, and a second detecting device for detecting the contact of the obstruction with the construction equipment. SOLUTION: When a person gets into a monitoring area E2, the ultrasonic sensor of a first detecting device 3 detects it and outputs a signal to a controller 21. An external alarm 18 is driven by the controller 21 to alarm the person by an alarm light, and an internal alarm 19 is also driven to inform an operator of the presence of the person by an alarm light. When the ultrasonic sensor detects that the person intrudes to a monitoring area E1, the alarms 18, 19 generate a voice and a buzzer sound together with the alarming by the alarm lights, respectively. When the person contacts a bumper 5, further, the contact type sensor of a second detecting device 6 detects it, and outputs a stop command signal to an engine together with the alarm light, voice and buzzer sound by the alarms 18, 19.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring device for issuing an alarm to the outside of a construction machine and an operator's cab or stopping the operation when a person or an object comes close to the construction machine or when it comes into contact with the construction machine. Regarding

[0002]

2. Description of the Related Art As a construction machine monitoring apparatus, the one disclosed in Japanese Patent Application Laid-Open No. 71-210596 filed by the present applicant has been popular. This monitoring device is a proximity detection device that is fixed to a plurality of locations outside the construction machine and includes ultrasonic sensors that detect obstacles, and an alarm unit that is provided inside the cab and outside the construction machine. It has and. Then, when the proximity detection device detects that the obstacle has approached the construction machine, the alarm unit issues an alarm to the operator in the cab and the surrounding people.

[0003]

This monitoring device is configured to issue an alarm when an obstacle approaches. By the way, in addition to the case of this proximity, if an appropriate safety measure is taken when an obstacle comes into contact with the construction machine, it is more desirable to minimize human accidents. The proximity detection device of this monitoring device is provided with an ultrasonic sensor fixed outside the construction machine. Since the width of the detection area of this ultrasonic sensor is relatively narrow, a large number of sensors must be attached to reduce the blind spot area. However, since each ultrasonic sensor is relatively expensive, providing a large number of ultrasonic sensors increases the manufacturing cost. Also, it is difficult to find a mounting position that can sufficiently exert the function of the sensor for all of the many sensors. The present invention has been devised in view of the above circumstances, and an object of the present invention is to provide a safety measure when an obstacle comes into contact with a construction machine in addition to a warning when the obstacle approaches the construction machine. It is to provide a monitoring device for taking measures. Another object of the present invention is to provide a monitoring device in which the detection device for detecting the approach of an obstacle is composed of a minimum number of ultrasonic sensors.

[0004]

In order to solve the above problems, the present invention takes the following technical means. The monitoring device according to claim 1 is provided on a construction machine,
It consists of a first detection device, which is an ultrasonic sensor that detects the entry of obstacles into a designated area away from construction machinery, and a contact-type electric sensor that detects when an obstacle contacts construction machinery. And a second detection device that operates. In the monitoring device according to the second aspect, in addition to the above configuration, since a mechanism for reciprocating the non-contact type sensor of the first detection device in the left-right direction is provided, the detection range is expanded. In the monitoring device according to the third aspect, the reciprocating mechanism of the first detecting device is variably provided corresponding to the turning speed of the upper swing body and the traveling speed of the construction machine. According to this monitoring device, the first detection device is reciprocally moved in the lateral direction so that the same detection as at the time of stop can be performed when the upper swing body is turning and the construction machine is running. In the monitoring device according to the fourth aspect, the contact-type sensor of the second detection device is provided at the outermost position of the construction machine, which is a blind spot of the operator when the construction machine travels or turns. According to this monitoring device, it is possible to detect that an obstacle has come into contact with the construction machine in the blind spot area of the operator. In the monitoring device according to claim 5, when an intrusion of an obstacle or a contact of an obstacle is detected by the first and second detection devices, an external alarm unit that issues an alarm to the outside of the construction machine, and a cab of the construction machine. And an internal alarm unit for notifying the operator that the intrusion or contact of the obstacle is detected by the first and second detection devices. In the monitoring device according to the sixth aspect, a controller having a function of automatically stopping the engine of the construction machine when the contact of the obstacle with the construction machine is detected by the second detection device is provided.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of a construction machine monitoring apparatus of the present invention will be described below with reference to the drawings. 1 to 3 show an embodiment of a construction machine equipped with a monitoring device. In this embodiment, a hydraulic excavator 1 is used as an example of a construction machine. This excavator 1
Is a first detection device 3 including an ultrasonic sensor provided on the lower surface of the upper swing body 2 and a contact type sensor integrally provided with the bumper 5 of the rear counterweight 4 of the upper swing body 2. The second detection device 6 is provided.

Here, as shown in FIGS. 3 and 4, the monitoring device for the hydraulic excavator 1 includes a first detection device 3 which is a non-contact type sensor and a second detection device which is a contact type sensor. Detection device 6, a controller 21 connected to the latter stage of the first and second detection devices 3 and 6, an external alarm unit 18 connected to the latter stage of the controller 21, and an internal alarm unit 19. It consists of

In this embodiment, the first detecting device 3 is composed of an ultrasonic sensor as an example of a non-contact type sensor, and detects the intrusion of an obstacle into the monitoring area E distant from the hydraulic excavator 1. It is provided for proximity detection. In this example, as shown in FIGS. 1 and 3, three first detection devices 3 are attached to the bottom guard portion on the lower surface of the upper revolving structure 2 in order to cover an area that is difficult for the operator to monitor. . In the case of the first detection device 3, the mounting position is set to the lower surface of the upper swing body 2 because the obstacle is detected by reflection of signals such as ultrasonic waves and infrared rays. Since it is more accurate to hit it, it is preferable to install the first detection device 3 at the height of the obstacle to be detected in the present embodiment. Therefore, in the case of a small construction machine whose overall height is low, it is installed above the machine body. Preferably. Next, in the illustrated example, two first detection devices 3 (see FIG. 2) are arranged at the rear and one first detection device 3 (see FIG. 3) is arranged on the side opposite to the driver's seat 20. The position and the number are not limited to this example. Although obstacles to be detected include people and objects, in this embodiment, only people are described for convenience.

In this embodiment, as an ultrasonic sensor,
As the first detection device 3, a type that detects the presence of a person by ultrasonic waves reflected by an obstacle is adopted. In addition to this, as an ultrasonic sensor, there is also a response type sensor in which a worker carries a responsor and emits an ultrasonic wave when the ultrasonic wave emitted from the construction machine is sensed and notifies the construction machine of its own existence. . With this response type, it is not possible to detect the presence of people and objects other than the worker who possesses the sponsor. On the contrary,
In this embodiment, it is possible to detect a person or an object that does not have a sponsor, but in the present invention, a response type may be used.

The ultrasonic sensor is connected to the area determining means, and determines the area by measuring the distance to the person from the time until the ultrasonic waves reflected by the person and reflected by the person return to the sensor. As shown in FIG. 3, the monitoring area E of this embodiment is divided into a circular monitoring area E1 and an annular monitoring area E2 outside thereof. Then, different alarms are issued when it is determined that a person has entered the monitoring area E2 and when it is determined that the person has entered the monitoring area E2.

The first detection device 3 of this embodiment is constructed as a movable type having a mechanism that reciprocates in the left-right direction, and the detection range is expanded. That is, as shown in FIG. 5, the first detection device 3 of this embodiment swings the ultrasonic sensor unit 7 set with the ultrasonic wave radiation direction set to a low position and the ultrasonic sensor unit 7. The rotary motor 8 is reciprocated, and the casing of the rotary motor 8 is fixed to the bottom guard 1a of the swing frame of the construction machine by screwing or the like. As a result, the ultrasonic sensor 7 is swung back and forth in the left-right direction by the rotary motor 8.

FIG. 6 shows an embodiment in which the first detection device 3 is arranged on the upper part of the machine body. In this embodiment, the other structure is the same as that of the embodiment shown in FIG. 1, and thus the same structures are denoted by the same reference numerals and the description thereof is omitted. As shown in FIGS. 7 to 8, the first detection device 3 includes an ultrasonic sensor 7 whose ultrasonic radiation direction is set to a low position, and a rotation for swinging the ultrasonic sensor 7 back and forth. Motor 8
And a vertical position adjusting mechanism 9 for appropriately setting the vertical position of the ultrasonic sensor 7, and a fixed frame 10 for holding the vertical position adjusting mechanism 9 and attaching the hydraulic sensor 1 to the hydraulic excavator 1. And the ultrasonic sensor 7
The rotary motor 8 swings and reciprocates in the left and right directions indicated by arrow P.

The vertical position adjusting mechanism 9 is a linkage mechanism in this example. That is, a pair of left and right guide grooves 11 formed in the fixed frame 10 and a horizontal shaft 12 that supports the rotation motor 8 and the ultrasonic sensor 7 and is slidable along the guide grooves 11 are provided. There is. By vertically moving the horizontal shaft 12 along the guide groove 11 as shown by an arrow Q, the vertical position of the ultrasonic sensor 7 can be appropriately set. As a result, regardless of the size of the construction machine or the structure of the construction machine, the ultrasonic sensor 7 can be attached so that the detection capability of the ultrasonic sensor 7 can be sufficiently exerted.

As the rotary motor 8, in this embodiment, a motor for reciprocating the wiper is adopted. In this example, as shown in FIGS. 8A and 8B, the rotation of the shaft 101 of the rotary motor 8 is controlled by the linkage mechanism 1.
4, the shaft 100 is reciprocally rotated to be transmitted to the ultrasonic sensor. As a matter of course, the power transmission mechanism between the rotary motor 8 and the ultrasonic sensor 7 is not limited to the linkage mechanism, and a known structure can be appropriately adopted. Then, as shown in FIG. 7B, the first detection device 3 can be easily attached to the hydraulic excavator 1 by inserting a bolt (not shown) into the bolt hole 13 formed in the fixed frame 10. There is.

Next, the rotation motor 8 may have a structure in which the speed of the swinging reciprocating motion is uniform, but in each of the embodiments, the speed of the swinging reciprocating motion is variable. There is. That is, as indicated by the phantom line in the block diagram of FIG. 4, the traveling speed of the hydraulic excavator 1 and the upper swing body are detected by using a sensor or the like that detects the movement of the operating lever (not shown) of the hydraulic excavator or the movement of the drive mechanism. The turning speed of 2 is detected. Further, there is provided control means for automatically selecting the corresponding swinging reciprocating speed of the ultrasonic sensor 7 (the speed may be stopped as well as speed). For example, when the hydraulic excavator 1 moves forward, the swinging speed of the ultrasonic sensor 7 arranged on the side of the vehicle body is adjusted in relation to the traveling speed of the hydraulic excavator 1, and the reference swinging speed (when stopped) is adjusted. If the running speed is faster than the standard swing speed, the swing is stopped. If the running speed is slower than the standard swing speed, the speed difference is used as a reference to correct the reduced swing speed. The ultrasonic sensor 7 arranged at the rear of the vehicle body is kept at the standard swing speed.
By adjusting in this way, the influence of the traveling speed of the hydraulic excavator can be suppressed.

Further, if the swinging speed of the ultrasonic sensor 7 can be adjusted separately for the forward path and the backward path, it can be detected more accurately. That is, since the ultrasonic sensor 7 provided on the side of the vehicle body decelerates the speed on the forward path and accelerates the speed on the return path when traveling forward, and reverse when traveling backward, the swing speed is adjusted individually. May be adjusted. In this case, the sensor detects not only the traveling speed of the hydraulic excavator 1 but also whether it is forward or backward. Further, all the ultrasonic sensors 7 provided on the outer periphery of the vehicle body need to be adjusted because the turning direction of the vehicle body coincides with either the forward or backward movement of the swing. Therefore, when the turning of the vehicle body is in the same direction as the forward swing side, the turning is stopped when the turning speed is substantially the same as or faster than the turning speed, and when the turning speed is slow, the Based on the difference, the head is swung to the return side at a decelerated speed. If the swing speed of the ultrasonic sensor 7 can be adjusted separately for the forward and return paths as described above, when the turning direction is the same direction as the forward swing side of the ultrasonic sensor 7, as described above. The speed is stopped or the speed is reduced, and the speed on the return side opposite to the turning direction is accelerated.
When the vehicle turns in the opposite direction, the control is the reverse of that described above. Therefore, the swinging speed may be adjusted individually. In this case, the sensor needs to detect not only the turning speed of the hydraulic excavator but also the turning direction. In this way, the ultrasonic sensor 7 swings in the same state as when the machine is stopped, so that the detection becomes more reliable.

On the other hand, the second detection device 6 is composed of a contact type sensor, and is provided for contact detection for detecting that a person has touched the hydraulic excavator 1. The contact-type sensor 6 is provided at the outermost position of the hydraulic excavator 1 which is a blind spot of the operator when the hydraulic excavator 1 travels or the upper swing body 2 swings. The contact type sensor of this embodiment is provided integrally with the bumper 5 on the rear counterweight 4.

In this example, the bumper 5 and the second detection device 6 are substantially the same member. The bumper 5 is shown in FIG.
As shown in (a) and (b), the rubber 15 in which the contact type sensor is stored and the frame 16 for holding the rubber 15
And The frame 16 is made of, for example, aluminum or vinyl chloride. When the mounting portion of the bumper 5 is a curved surface, for example, when the bumper 5 is mounted on the curved surface of the rear counterweight 4 as in this example, the bumper 5 made of a flexible vinyl chloride frame 16 is easy to mount, which is preferable. The bumper 5 of this embodiment is attached to the rear counterweight by bolts 17. Since the contact type sensor of the illustrated example has a narrow width, it is possible to improve the detection ability by mounting a plurality of the sensors in parallel.

The external alarm unit 18 is provided to issue an alarm to an intruder or a contact person when the intrusion or contact of the person is detected by the first and second detection devices 3.6. There is. In this example, the external alarm unit 18 is provided on the upper surface of the upper swing body 2. External alarm unit 1 of this embodiment
8 is configured to provide notification by both an alarm light and a synthetic voice speaker. Of course, not limited to this, it is also possible to use a buzzer sound, blinking of light, or any other warning method.

In the external alarm section 18 of this embodiment, when the first detecting device 3 detects that a person has entered the monitoring area E2, the alarm light is activated. Furthermore, when the first detection device 3 detects that a person (obstacle) has entered the monitoring area E1, or when the second detection device 6 detects a contact, a synthetic voice will be displayed in addition to the alarm light. Has become. Further, the internal alarm unit 19 is provided in the cab 20 and is provided to notify the operator that the intrusion of a person or the contact of a person is detected by the first and second detection devices 3 and 6. ing. The internal alarm unit 19 is, in this example,
It consists of a buzzer. Of course, the present invention is not limited to this, and an alarm light or synthetic voice may be used for notification.

In the internal alarm unit 19 of this embodiment, when the first detector 3 detects that a person has entered the monitoring area E2, the alarm light is activated. When the first detection device 3 detects that the person has entered the monitoring area E1 or the second detection device 6 has come into contact with the person, the buzzer sounds together with the alarm light. The controller 21 inputs a signal that the proximity of a person or the contact of a person is detected from the first and second detection devices 3 and 6, and then outputs the detection signal to the external and internal alarm units 18 and 19. It has a function to output toward. Further, in particular, when a signal for detecting the contact of a person is input from the second detection device 6, in addition to outputting the signal to the external / internal alarm units 18 and 19, the signal is output to the engine 22. A signal for instructing stop is output (see FIG. 4).

By the way, when a human contact is detected, the following measures (1) to (3) can be considered. Shut off hydraulic power to work implement. Turn off the hydraulic power source or linkage for traveling. Change the engine speed from high to low. The engine 22 is turned off and the construction machine is completely stopped. In this embodiment, as described above, the stop of the engine 22 is selected. This is because, since the additional work such as the electromagnetic valve is required, the additional work is unnecessary and the cost is low, and the existing construction machine can be easily modified. In this example,
It does not take stop measures only by the proximity of people, but keeps driving as it is. However, even when the first detection device 3 detects the proximity of a person, the engine stop measure may be taken.

According to the monitoring device configured as described above,
Measures such as warning and engine stop by detecting approach and contact as follows. The ultrasonic sensor 7, which is the first detection device 3, is swung by a rotary motor 8. Thereby, the detection range of the ultrasonic sensor 7 is expanded and sufficient detection can be performed. When a person enters the monitoring area E2, the ultrasonic sensor 7 of the first detection device 3 detects it and outputs a signal that the proximity in the designated area E2 is detected. This detection signal is input to the controller 21 and then to the external alarm unit 18. Then, the external alarm unit 18 gives an alarm to the neighbor by the alarm light. Further, the internal alarm unit 19 notifies the operator of the existence of the obstacle by the operation of the alarm light. Furthermore, the ultrasonic sensor 7 of the first detection device 3 indicates that the person has entered the monitoring area E1.
When is detected, a signal that the proximity in the monitoring area E1 is detected is output.

This detection signal is input to the controller 21,
Then, it is input to the external and internal alarm units 18 and 19. Then, the external alarm unit 18 makes a sound in addition to continuing the operation of the alarm light. In addition, the internal alarm unit 1
Along with the operation of the alarm light, 9 strongly warns the operator with a buzzer sound. Further, when the contact sensor of the second detection device 6 detects that a person has contacted the bumper 5, a contact detection signal is output. That is, when a human contact is detected, a stop command signal is output to the engine 22 in addition to the alarm light operation and sound by the external alarm unit 18 and the alarm light operation and buzzer sound by the internal alarm unit 19. Since the engine 22 is automatically stopped immediately, the vehicle stops.

The present invention is not limited to the above-mentioned embodiment, but there are various modifications. For example, in the above-described embodiment, the ultrasonic sensor is used as the non-contact sensor that is the first detection device, but the invention is not limited to this, and an infrared sensor, a laser sensor, or another sensor may be used. The turning angle can be determined according to In addition, although the hydraulic excavator 1 is used as the construction machine in the above-described embodiments, the construction machine is not limited to this. For example, FIG. 6 shows a wheel loader 23 to which the present invention is applied. In FIG. 6, the elements designated by the same reference numerals as those used in the above-described embodiment indicate the same components as those used in the above-described embodiment. The first detection device may be provided on the upper portion of the vehicle body as shown by the solid line, or may be provided at a midway position of the vehicle body or a lower surface of the vehicle body (not shown). In addition, it goes without saying that various design changes can be made without departing from the spirit of the present invention.

[0025]

According to the monitoring apparatus of the present invention described above, the following effects can be obtained. This construction machinery monitoring device
A first detection device that consists of an ultrasonic sensor that detects the intrusion of a person into the designated area, and a second detection device that consists of a contact type electric sensor that detects the contact of a person Is equipped with. Therefore, in addition to giving an alarm when a person approaches the construction machine, safety measures can be taken even when the construction machine is touched. Also,
In the monitoring device according to the second aspect, the non-contact type sensor of the first detection device is reciprocated in the left-right direction. That is, since the detection range of one non-contact type sensor is expanded, the proximity detection device can be configured with a minimum number of non-contact type sensors.
Therefore, the manufacturing cost of the monitoring device can be reduced. According to the monitoring device of claim 3, the reciprocating motion of the first detection device is
It is variable according to the turning speed of the upper structure or the traveling speed of the construction machine. That is, since the first detection device swings in the same state as when the machine is stopped, the detection by the first detection device becomes more reliable. In the monitoring device according to the fourth aspect, the contact-type sensor of the second detection device is provided at the outermost position of the construction machine, which is a blind spot of the operator when the construction machine travels or turns. Therefore, the contact-type sensor of the second detection device can detect that a person touches the construction machine in the blind spot area of the operator, and the safety can be further improved. In the monitoring device according to the fifth aspect, when an intrusion of a person or a contact of a person is detected, an external alarm unit issues an alarm to obstacles such as surrounding people, and an internal alarm unit issues an alarm to an operator. Therefore, it is possible to prevent the danger to the people around by the construction machine. According to the sixth aspect of the present invention, when the second detection device detects the contact of a person with the construction machine, the engine is automatically stopped immediately, so that the construction machine is stopped and it is possible to prevent harm to the person. .

[Brief description of the drawings]

FIG. 1 is a side view schematically showing an embodiment of a construction machine equipped with a monitoring device of the present invention.

2 (a) is a partial view of the construction machine of FIG. 1 as seen from a plane, and FIG. 2 (b) is a side view of the relevant part.

FIG. 3 is a plan view showing a monitoring area of FIG.

FIG. 4 is a block diagram illustrating a monitoring device for a construction machine.

5A and 5B are diagrams showing a first detection device of the construction machine monitoring device of FIG. 1, in which FIG. 5A is a rear view and FIG. 5B is a side view.

FIG. 6 is a side view schematically showing another embodiment of the construction machine equipped with the monitoring device of the present invention.

7 is a diagram showing a first detection device of the construction machine monitoring device of FIG. 6, (a) is a side view, and (b) is a bottom view.

8A and 8B are diagrams showing a reciprocating rotation mechanism of the first detection device of FIG. 6, wherein FIG. 8A is a side sectional view and FIG. 8B is a plan view.

9 is a diagram showing a second detection device of the construction machine monitoring device of FIGS. 1 and 6, (a) being a plan view, (b) being an enlargement of the XX line cross section of (a). FIG. It is a figure.

FIG. 10 is a schematic view showing another embodiment of the construction machine equipped with the monitoring device of the present invention, (a) is a side view and (b) is a plan view.

[Explanation of symbols]

 1 ... Hydraulic excavator (construction machine) 3 ... First detection device 6 ... Second detection device 7 ... Ultrasonic sensor 8 ... Rotation sensor 18 ... External alarm unit 19 ... Internal alarm unit 21 ... Controller 22 ... Engine 23 ... Wheel loader (construction machinery)

Claims (6)

[Claims] 1. A first detection device provided on a construction machine, comprising a non-contact sensor for detecting an obstacle in a monitoring area remote from the construction machine, and the fact that the construction machine has come into contact with the obstacle. And a second detection device which is a contact type sensor for detecting. 2. The construction machine monitoring device according to claim 1, wherein the first detection device includes a mechanism that reciprocates a non-contact type sensor left and right. 3. The reciprocating mechanism of the first detecting device is provided such that the reciprocating speed is variably set according to the revolving speed of the upper revolving structure and the traveling speed of the construction machine. 2. The construction machine monitoring device according to 2. 4. The contact type sensor of the second detection device is provided at an outermost position of the construction machine, which is a blind spot of an operator when the construction machine travels or turns. Monitoring equipment for construction machinery. 5. An external alarm unit for issuing an alarm to the outside of the construction machine when the intrusion or contact of the obstacle is detected by the first and second detection devices, and provided in the cab of the construction machine. And an internal alarm unit for notifying an operator that the intrusion of an obstacle or the contact of an obstacle has been detected by the first and second detection devices. Or the construction machine monitoring device described in 4. 6. A controller having a function of automatically stopping the engine of the construction machine when contact of an obstacle with the construction machine is detected by the second detection device. Item 7. A construction machine monitoring device according to item 1 4 or 5.