阅读说明：本技术 作业机械用周边监视装置 (Periphery monitoring device for working machine ) 是由 佐佐木均 山崎洋一郎 佐伯诚司 于 2019-11-19 设计创作，主要内容包括：本发明提供一种装置,从避免减弱作业机械的操作员的注意力的观点出发能够以适当的信息量使作业机械的操作员了解在作业机械的周边有无物体。在操作员对操作装置(400)的操作状态为“第1操作状态”、且作业机械(200)的周围的对象空间中存在物体的情况下,以“第1方式”输出警报。在操作员对操作装置(400)的操作状态为“第2操作状态”、且作业机械(200)的周围的对象空间中存在物体的情况下,以信息量多于第1方式的“第2方式”输出警报。(The invention provides a device which can make an operator of a working machine know whether an object exists around the working machine with a proper information amount from the viewpoint of avoiding weakening the attention of the operator of the working machine. When the operation state of an operator on an operation device (400) is a '1 st operation state' and an object is present in a target space around a work machine (200), an alarm is output in a '1 st mode'. When the operation state of an operator on an operation device (400) is a '2 nd operation state' and an object is present in a target space around a work machine (200), an alarm is output in a '2 nd mode' in which the amount of information is larger than that in the 1 st mode.)

1. A periphery monitoring device for a working machine, comprising:

a1 st detection element that detects an operation state of an operation device for operating the work machine by an operator;

a2 nd detection element that detects the presence or absence of an object in a target space around the work machine;

a plurality of output devices that are disposed in a driving space of the work machine and that output an alarm to the operator;

and a control unit that causes the output device to output an alarm in a1 st mode when the 1 st operation state is detected by the 1 st detection unit as the operation state of the operation device and the 2 nd detection unit detects that the object is present in the target space, and causes the output device to output an alarm in a2 nd mode having a larger amount of information than the 1 st mode when the 2 nd operation state different from the 1 st operation state is detected by the 1 st detection unit as the operation state of the operation device and the 2 nd detection unit detects that the object is present in the target space.

2. The periphery monitoring device for a working machine according to claim 1,

the 1 st operating state is detected by a work mode of the work machine.

3. The periphery monitoring device for a working machine according to claim 1 or 2,

the 1 st operation state includes a state in which a repeated work action is detected in the operation device.

4. The periphery monitoring device for a working machine according to any one of claims 1 to 3,

the control unit causes the output device to output an alarm in a2 nd mode having a larger amount of information than the 1 st mode, in accordance with the object detected by the 2 nd detection unit.

5. The periphery monitoring device for a working machine according to any one of claims 1 to 4,

in the case where the object detected by the 2 nd detection element is a person, the control element causes the output device to output an alarm in the 2 nd mode, in which the amount of information is larger than that in the 1 st mode.

Technical Field

The present invention relates to an apparatus for monitoring the periphery of a working machine.

Background

In order to enable an operator of a work machine to intuitively grasp the positions of people present around the work machine, the following techniques have been proposed: that is, when it is determined that a person is present in one monitored space (for example, the right side of the work machine), an alarm is output from one alarm output unit (for example, the right side alarm output unit in the cab) corresponding to the one monitored space, and when it is determined that a person is present in another monitored space (for example, the rear side alarm output unit in the cab), an alarm is output from another alarm output unit (for example, the rear side alarm output unit in the cab) corresponding to the other monitored space (for example, see patent document 1).

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2018-093501

Disclosure of Invention

Technical problem to be solved by the invention

However, if the amount of information of the alarm is too large, the attention of the operator of the work machine may be reduced, and the attention of the alarm may be distracted.

Accordingly, an object of the present invention is to provide an apparatus that enables an operator of a work machine to know the presence or absence of an object in the vicinity of the work machine with an appropriate amount of information, from the viewpoint of avoiding a reduction in attention of the operator of the work machine.

Solution for solving the above technical problem

The periphery monitoring device for a working machine according to the present invention includes: a1 st detection element that detects an operation state of an operation device for operating the work machine by an operator; a2 nd detection element that detects the presence or absence of an object in a target space around the work machine; a plurality of output devices that are disposed in a driving space of the work machine and that output an alarm to the operator; and a control unit that causes the output device to output an alarm in a1 st mode when the 1 st operation state is detected by the 1 st detection unit as the operation state of the operation device and the 2 nd detection unit detects that the object is present in the target space, and causes the output device to output an alarm in a2 nd mode having a larger amount of information than the 1 st mode when the 2 nd operation state different from the 1 st operation state is detected by the 1 st detection unit as the operation state of the operation device and the 2 nd detection unit detects that the object is present in the target space.

Drawings

Fig. 1 is an explanatory diagram of a configuration of a work machine periphery monitoring device according to an embodiment of the present invention.

Fig. 2 is a side view of a crawler excavator as a work machine.

Fig. 3 is a plan view of a crawler excavator as a work machine.

Fig. 4 is an explanatory view of an internal space of the cab.

Fig. 5 is an explanatory diagram of the object space.

Fig. 6 is an explanatory diagram of functions of the periphery monitoring device for a working machine.

Fig. 7A is an explanatory view of a plurality of annular spaces according to embodiment 1.

Fig. 7B is an explanatory view of a plurality of annular spaces according to embodiment 2.

Detailed Description

(constitution)

The work machine periphery monitoring device 100 shown in fig. 1 as an embodiment of the present invention is configured to monitor the periphery of the work machine 200 and output an alarm to an operator who operates the work machine 200 by the operation device 400 according to the condition. The work machine periphery monitoring device 100 includes a1 st detection element 111, a2 nd detection element 112, a control element 120, and a plurality of output devices 130.

The work machine 200 is, for example, a crawler excavator (construction machine), and as shown in fig. 2 and 3, includes a crawler-type lower traveling structure 210 and an upper revolving structure 220 that is rotatably mounted on the lower traveling structure 210 via a revolving mechanism 230. A cab (driver's cab) 222 is provided in a front left portion of the upper revolving structure 220. A working attachment 240 is provided in a front center portion of the upper revolving structure 220.

The work attachment 240 includes: a boom 241 attached to the upper revolving unit 220 in a liftable manner; an arm 243 rotatably coupled to a distal end of the boom 241; bucket 245 is rotatably coupled to the tip of arm 243. A boom cylinder 242, an arm cylinder 244, and a bucket cylinder 246, which are telescopic hydraulic cylinders, are attached to the working attachment 240.

The boom cylinder 242 is interposed between the boom 241 and the upper swing body 14, and is configured to extend and contract by receiving a supply of hydraulic oil, thereby rotating the boom 241 in the raising and lowering direction. Arm cylinder 244 is interposed between arm 243 and boom 241, and receives a supply of hydraulic oil to extend and contract, thereby rotating arm 243 about a horizontal axis with respect to boom 241. Bucket cylinder 246 is interposed between bucket 245 and arm 243 so as to extend and contract by receiving a supply of hydraulic oil, and bucket 245 is rotated about a horizontal axis with respect to arm 243.

The operation device 400 includes a travel operation device, a swing operation device, a boom operation device, an arm operation device, and a bucket operation device. Each operating device has an operating lever that receives a rotational operation. An operation lever (travel lever) of the travel operation device is operated to actuate the lower traveling structure 210. The travel bar may also double as a travel pedal. For example, a travel pedal fixed to the base or lower end of the travel lever may be provided. An operation lever (turning lever) of the turning operation device is operated to operate a hydraulic turning motor constituting the turning mechanism 230. An operation lever (boom lever) of the boom operation device is operated to operate the boom cylinder 242. An operation lever (arm lever) of the arm operation device is operated to operate arm cylinder 244. An operation lever (bucket lever) of the bucket operation device is operated to operate the bucket cylinder 246. Operation device 400 includes a wireless communication device for wirelessly communicating with an actual-equipment-side wireless communication device mounted on work machine 200.

Each of the operation levers constituting the operation device 400 is provided around a seat 402 on which an operator sits in a remote operation room. For example, as shown in fig. 4, a pair of left and right travel levers 410 corresponding to left and right crawler belts may be arranged in parallel on the left and right in front of the seat 402. The seat 402 may be a high back chair with an armrest, a low back chair without a headrest, or a chair without a back, which is any type that an operator can sit on.

The cab 222 is provided with: an actual machine side operation lever corresponding to an operation lever provided in the remote operation room; the drive mechanism or the robot receives a signal corresponding to the operation mode of each operation lever from the remote control room, and actuates the operation lever of the real machine based on the received signal. The real-machine-side operation lever may be directly operated by an operator present in the cab 222. That is, the operation device 400 may be configured by the real machine operation lever and a remote control valve that outputs a pilot pressure having a magnitude corresponding to an operation amount thereof from a port corresponding to an operation direction. In this case, the operation device 400 may be configured to communicate with the work machine 200 by a wired method, not a wireless method.

One operation lever can double as a plurality of operation levers. For example, the right operation lever 420 provided in front of the right frame of the seat 402 shown in fig. 4 functions as a boom lever when operated in the front-rear direction, and functions as a bucket lever when operated in the left-right direction. Similarly, the left operation lever 440 provided in front of the left frame of the seat 402 shown in fig. 4 functions as an arm lever when operated in the front-rear direction, and functions as a pivot lever when operated in the left-right direction. The lever mode can be arbitrarily changed in accordance with an operation instruction of the operator.

The 1 st detecting element 111 detects an operation state of the operation device 400 for operating the work machine 200 by the operator. For example, the 1 st detection element 111 is configured by a sensor that outputs a signal corresponding to a deformation amount or a displacement amount of a biasing mechanism configured by a spring or an elastic member that functions to return the operation lever to a home position and a posture corresponding to an operation amount of 0, and an arithmetic processing device that estimates, based on the output signal of the sensor, a case where the swing lever is operated to swing the upper swing body 220 counterclockwise at a certain speed as viewed from above, and estimates a case where the boom, the arm, the bucket, and the like are operated.

The 1 st detection element 111 may be configured by a pilot pressure sensor that outputs a signal corresponding to a pilot pressure corresponding to an operation amount of the actual machine side operation lever, and an arithmetic processing device that estimates, based on the output signal of the pilot pressure sensor, a case where the swing lever is operated to swing the upper swing body 220 counterclockwise at a certain speed as viewed from above, and estimates a case where the boom, the arm, the bucket, and the like are operated.

The 2 nd detection element 112 detects the position of an object existing around the work machine 200. The 2 nd detection element 112 is constituted by a right sensor C1, a front sensor C2, a left sensor C3, a rear sensor C4, and an arithmetic processing unit, which are respectively disposed on the right side, the front side, the left side, and the rear side of the upper revolving body 220, and the arithmetic processing unit specifies the actual spatial position of the object in the work machine coordinate system (X, Y, Z) (see fig. 3) whose position and posture are fixed with respect to the upper revolving body 220, based on the output signals from the sensors C1 to C4, respectively. The sensors C1 to C4 are each constituted by a distance image sensor of a TOF system, for example. In addition to the distance image sensor, each of the sensors C1 to C4 may be configured by an imaging device such as a CCD camera that can sense an image having pixel values of physical quantities other than luminance and color.

Based on the pixel positions and the pixel values (distances) in the three-dimensional distance images obtained by the sensors C1 to C4, the three-dimensional positions in the sensor coordinate systems of the objects existing at the pixel positions are determined. Based on the three-dimensional position of the object in each sensor coordinate system, the three-dimensional position of the object in the work machine coordinate system is obtained from a coordinate conversion operator (rotation matrix or quaternion) indicating the position and orientation of each of the sensors C1 to C4 in the work machine coordinate system.

The sensors C1 to C4 respectively acquire distance images of objects present in each of the right detection target space a1, the front detection target space a2, the left detection target space A3, and the rear detection target space a4, which are substantially fan-shaped columns extending to the right, front, left, and rear of the upper revolving body 220 shown in fig. 3. The right detection target space a1 and the left detection target space A3 are preferably partially overlapped with the front detection target space a2 and the rear detection target space a4, respectively, but may not be overlapped with each other.

For example, when the upper revolving structure 220 revolves counterclockwise around the Z axis, the possibility of contact with an object existing in the space diagonally forward and diagonally rearward from the left of the upper revolving structure 220 increases (see fig. 8A). When the upper revolving structure 220 revolves clockwise around the Z axis, the possibility of contact with an object existing in the space diagonally forward and diagonally rearward to the right of the upper revolving structure 220 becomes high (see fig. 8B). When the work machine 200 is retracted, there is a high possibility that the work machine may come into contact with an object present in a space behind the work machine 200 (see fig. 8C).

In view of these circumstances, in the present embodiment, as shown in fig. 5, a right oblique front object space S1, a front object space S2, a left oblique front object space S3, a left oblique rear object space S4, a rear object space S5, and a right oblique rear object space S6, which are each in the shape of a substantially fan-shaped column extending with reference to the right oblique front, left oblique rear, and right oblique rear of the upper revolving unit 220, are defined as "a plurality of object spaces". The extension forms (equations representing one or more boundary surfaces (planes or curved surfaces)) of the object spaces S1 to S6 in the work machine coordinate system (X, Y, Z) are stored in the storage device. The upper and lower surfaces of the substantially fan-shaped columns corresponding to the respective spaces may be horizontal surfaces (planes parallel to the X-Y plane) or inclined surfaces, respectively. The Z coordinate values of the centers of gravity of the upper surface and the lower surface of the substantially fan-shaped column corresponding to each space may be the same or different.

Each of the plurality of output devices 130 is disposed in the right diagonally forward, diagonally forward left, diagonally rearward left, rearward right, and in the respective orientations of the seat 402 (where the operator is located) on which the operator sits in the remote operation room (or the internal space of the cab 222), which is the operation space of the work machine 200, as the right diagonally forward output device 131, the forward output device 132, the diagonally forward left output device 133, the diagonally rearward left output device 134, the rearward output device 135, and the diagonally rearward right output device 136, so that the work machine 200 is used as a reference and the orientation of each of the plurality of target spaces S1 to S3 corresponds to the orientation. The output devices 131 to 133 are constituted by, for example, an image output device such as a display and a voice output device such as a speaker, and output an alarm to an operator by an image and a voice. The output devices 134 to 136 are constituted by voice output devices such as speakers, for example, and output alarms to the operator by voice.

In the case where the 1 st operation state is detected by the 1 st detection element 111 as the operation state of the operation device 400 and the presence of an object in any of the object spaces a1 to a4 is detected by the 2 nd detection element 112, the control element 120 causes the output device 130 to output an alarm in the 1 st manner. In the case where the 2 nd operation state different from the 1 st operation state is detected by the 1 st detection element 111 as the operation state of the operation device 400, and the presence of an object in any of the object spaces a1 to a4 is detected by the 2 nd detection element 112, the control element 120 causes the output device 130 to output an alarm in the 2 nd mode, which has a larger amount of information than the 1 st mode.

The control element 120 is configured by an arithmetic processing device (a single-core processor, a multi-core processor, or a processor core constituting a processor), reads necessary data and software from a storage device such as a memory, and executes arithmetic processing by the software with the data as an object, thereby outputting the arithmetic processing result.

(function)

The functions of the work machine periphery monitoring device 100 configured as described above will be described.

The operation state of the operation device 400 for the operator to operate the work machine 200 is detected by the 1 st detection element 111 (fig. 6/step 002).

The control element 120 is used to determine which of the "1 st operation state", "2 nd operation state", and "other state" the operation state detected by the 1 st detection element 111 is (fig. 6/step 010). For example, a state in which the 1 st operation lever (for example, at least one lever of the bucket lever and the arm lever) among the 4 operation levers (the boom lever, the bucket lever, the arm lever, and the swing lever) is operated belongs to the "1 st operation state". Further, a state in which the 2 nd operation lever (for example, at least one lever of the swing lever and the boom lever) of the 4 operation levers is operated belongs to the "2 nd operation state". When there is an operation lever that does not belong to the 1 st operation lever and the 2 nd operation lever, the state in which the operation lever is operated belongs to the "other operation state".

When it is determined that the operation state detected by the 1 st detecting element 111 is the "1 st operation state" (fig. 6/step 010 < 1 >), the flag f indicating the operation state is set to "1" (fig. 6/step 012). When it is determined that the operation state detected by the 1 st detecting element 111 is the "2 nd operation state" (fig. 6/step 010 | -2), the flag f indicating the operation state is set to "2" (fig. 6/step 014). When it is determined that the operation state detected by the 1 st detection element 111 is the "other operation state", a series of processes in the present control cycle ends.

When the flag f is set to "1" or "2", the control device 120 determines whether or not the position of the object detected by the 2 nd detection device 112 is included in the target space (fig. 6/step 016).

If it is determined that the position of the object is not included in the target space (no in fig. 6/step 016), the series of processing in the current control cycle ends. If it is determined that the position of the object is included in the target space (y in fig. 6/step 016), "the control device 120 determines which of the flags f 1 and 2 is (fig. 6/step 020).

When the flag f is 1 (fig. 6/step 020 ≧ 1), the alarm of the 1 st mode is output by the control element 120 via the plurality of output devices 130 (fig. 6/step 022). An image output device such as a display constituting the output devices 131 to 133 displays the work machine 200, the target space, and the bird's eye view of the object existing in the target space as the "output of the 1 st mode". At least one of the object and the target space including the position of the object may be highlighted so as to be easily recognized from another image by a difference in color or the like.

In the case where the flag f is 2 (fig. 6/step 020 ≧ 2), the alarm of the 1 st mode is output by the control unit 120 via the plurality of output devices 130 (fig. 6/step 024). As the "output according to the 2 nd aspect", in addition to displaying the work machine 200, the target space, and the bird's eye view of the object existing in the target space on the display or other image output device constituting the output devices 131 to 133, the sound or the voice information indicating the existence of the object is output from the voice output devices constituting the output devices 131 to 136. An alarm such as a voice may be selectively output from an output device (a designation output device) disposed in the driving space at an orientation corresponding to the target space in which the object is present in the actual space, among the output devices 131 to 136.

(Effect)

According to the periphery monitoring device for a working machine of the present invention, when the operation state of the operation device 400 by the operator is "1 st operation state" and there is an object in the target space around the working machine 200, an alarm is output in "1 st mode" (fig. 6/step 010 → step 016 → "yes" → step 022). When the operation state of the operation device 400 by the operator is "operation 2 nd state" and there is an object in the target space around the work machine 200, an alarm is output in "mode 2" in which the amount of information is larger than that in mode 1 (fig. 6/step 010 → step 016 → is → step 024).

Accordingly, the amount of information for the alarm is reduced when the operation state of the operator on the operation device 400 is "1 st operation state" as compared with when the operation state of the operator on the operation device 400 is "2 nd operation state", and the operator of the work machine 200 can be made aware of the presence or absence of an object in the vicinity of the work machine 200 while avoiding or suppressing the reduction in the attention of the operator of the work machine 200 by the amount of the reduction.

(Another embodiment of the present invention)

In step 002, the determination of the operation state may be made by determining the operation mode of work machine 200.

When the machine speed of the work machine 200 is high during the work such as excavation, loading, leveling, and turning, attention is undesirably reduced. On the other hand, even if concentration decreases, it is possible to sufficiently cope with a work in which the moving speed of the work machine 200 is low. For example, in a work of loading the work machine 200 on a trailer, a work of replacing a bucket of the work machine 200, a stopped state of the work machine 200, or the like, since the work machine 200 is relatively slowly operated, it may be sufficient to issue an alarm in the 1 st mode instead of outputting an alarm in the 2 nd mode. In such a case, by detecting the job state, it can be detected that the operation state is the "1 st operation state".

In the above step 002, the determination of the operation state may include determining a case of repetitive operation. For example, when an operation of loading excavated sediment onto a dump truck or the like is repeated, an alarm is issued to surrounding obstacles or the like every time. Since the operator already knows surrounding obstacles and the like during repeated work, it may be sufficient to issue an alarm in the first mode 1. Therefore, in the case where it is determined that the repetitive motion is the operation state, it can be detected that the operation state is the "1 st operation state". In this case, the following functions may be mounted: that is, when the repetitive motion is detected, it is possible to select whether or not to change the alarm from the 2 nd aspect to the 1 st aspect. For example, if the configuration is such that the same object can be "continuously detected" by a display device or the like in the cab of the work machine 200. Is detection released? When the operator knows what obstacle is present, the operator can change the alarm from the 2 nd mode to the 1 st mode by selecting "yes" and can maintain the alarm of the 2 nd mode by selecting "no". Further, the alarm may be issued in the 2 nd aspect when a new obstacle is detected during the repeated operation.

The alarm may be different depending on the detected object. The tone of the alarm sound may be changed depending on the property of the object, such as a footstep sound if the object is a person, an engine sound if the object is a truck, a wall knock sound if the object is a wall, or the like.

The control unit 120 may also cause the output device 130 to output an alarm in the 2 nd mode, in which the information amount is larger than that in the 1 st mode, in accordance with the object detected by the 2 nd detection unit 112. According to the work machine periphery monitoring device having this configuration, by outputting the alarm in the 2 nd mode, in which the amount of information is large, in accordance with the object, it is possible to reliably issue the alarm to the object to be noticed.

The alarm may be changed according to a change in the detected condition of the object. For example, when the object is a moving object such as a truck, attention can be improved by issuing an alarm in the 1 st mode when the moving object is stopped and changing the alarm to the 2 nd mode when the moving object is moving.

Even in the case where it is determined that the position of the object is included in the target space (y in fig. 6/step 016, ") and the flag f is 1 (y in fig. 6/step 020 |, 1), the alarm can be output as the 2 nd form when the detected object is a person.

In this case, the work machine 200 includes a human detection means (for example, a means for extracting a feature amount from a camera image and detecting a human) in addition to the detection means of the object. By functioning as described above, it is possible to output an alarm in the 2 nd mode, in which the amount of information is large, to information on a person whose concentration is to be particularly improved.

In the above embodiment, although the flow is such that the alarm is not issued when it is determined that the other job state is present in step 010, the alarm of the 1 st or 2 nd aspect may be output.

The output mode of the alarm may be controlled by: a plurality of annular spaces each of which surrounds a reference point or a reference axis of work machine 200 in multiple times are defined so as to overlap with any one of the plurality of target spaces, and the level of an alarm output from output device 130 (the ease of understanding or the attention) is higher when an object is present in an annular space close to the reference point among the plurality of annular spaces.

As shown in fig. 7A, a plurality of concentric annular regions R11 to R14 can be defined, each having the rotation axis of the upper revolving structure 220 with respect to the lower traveling structure 210 as a reference point. As shown in fig. 7B, a plurality of concentric rectangular ring-shaped regions R21 to R23 can be defined, each of which has the rotation axis of the upper revolving structure 220 with respect to the lower traveling structure 210 as a reference point. The plurality of annular regions may be defined with a seat portion of a seat 402 (where the operator is located) on which the operator sits in a remote operation room (or an internal space of the cab 222), which is an operation space of the work machine 200, as a reference point.

For example, even if the manner of change in the relative position of the object with respect to the work machine, which is determined by the time series of the position of the object, is the same, the manner of output of the alarm may be controlled so that the output level of the alarm becomes higher when the position of the object is included in the annular region R13 than when the position of the object is included in the annular region R14.

Description of the reference numerals

100 periphery monitoring device for working machine

111 st 1 detection element

112 nd 2 nd detecting element

120 control element

130 output device

131 right oblique front output device

132 front output device

133 left oblique front output device

134 left oblique rear output device

135 rear output device

136 right oblique rear output device

200 work machine

400 operating device

402 seat (operator's place)

A1 right side detection object space

A2 front detection object space

A3 left side detection object space

A4 rear detection object space

C1 right sensor

Front sensor of C2

C3 left sensor

C4 rear sensor

S1 Right inclined front object space

S2 front object space

S3 left oblique front object space

S4 left oblique rear object space

S5 rear object space

S6 right oblique rear object space.