JP6549060B2 - Surrounding monitoring system for work machine - Google Patents

Description

The present invention relates to an ambient monitoring system for preventing contact and approach between a working machine and a moving body.

  As a technique for preventing the contact between the work machine and a mobile body (for example, another work machine, a construction vehicle, a person, etc.) around the work machine, there is a work machine ambient monitoring system. For example, in Japanese Patent Application Laid-Open No. 2008-303648, a system is devised which calculates the proximity degree of the work machine and the work vehicle by acquiring the absolute coordinates of the work machine and the work vehicle, and issues an alarm according to the degree. It is done.

JP 2008-303648 A

  In the technology described in Patent Document 1, while obtaining the absolute coordinates of the work machine and the construction vehicle and calculating the distance between them, the distance is compared with the work radius on both horizontal surfaces to calculate the degree of proximity Alarm has been issued. That is, although an alarm is generated based on the degree of proximity in the horizontal direction of the two, an alarm based on the degree of proximity in the vertical direction is not considered. However, even if the degree of proximity in the horizontal direction between machines is the same, the degree of necessity of notification may greatly change depending on the degree of proximity in the vertical direction. Therefore, it is necessary to consider both the horizontal direction and the vertical direction in order to perform more accurate notification in accordance with the positional relationship between the two.

  For example, when work by the working machine is performed simultaneously on the upper side and the lower side of the cliff, it falls from the cliff due to the work of the upper work machine as compared with the case where the work on the upper work machine is not performed. There is an increased possibility of indirect contact with the lower work machine, so to speak, via dropped objects. When there is a difference in height, the possibility that the other work machine will not enter the view of the operator of one work machine is higher than in the case where there is no difference in height, so approach or work without notice of the other It is also more likely to continue.

  The present invention has been made in view of such problems, and appropriately monitors contact and approach between the working machine and the moving body even in an environment where there is a difference in height between the position of the working machine and the other moving body. An object of the present invention is to provide an environment monitoring system for work machines that can

Although the present application includes a plurality of means for solving the above problems, in one example, in a work machine ambient monitoring system, the work machine and a moving body located around the work machine to the work machine in the surroundings monitoring system. A control device configured to calculate an attention value indicating the degree to which the work machine requires attention to the moving object based on a horizontal distance and a vertical distance, and a warning according to the attention value calculated by the control device and a notification device for emitting, the controller increases the attention value according to the decrease of the horizontal distance, and shall increase the attention value according to the increase of the vertical distance.

  According to the present invention, when the work machine is used in an environment with a difference in height, the caution information is presented in consideration of the horizontal distance and the vertical distance between the work machine and another moving body. Therefore, more accurate warning is possible.

FIG. 1 is an external view of a hydraulic shovel to which a surrounding area monitoring system according to an embodiment of the present invention is applied. FIG. 1 is a block diagram showing an example of a system configuration of a surrounding area monitoring system according to an embodiment of the present invention. The 1st flow chart performed with surveillance controller 40 at the time of self-machine 1 and object mobile object 101 approaching. A table showing an example of an attention value calculation table. The figure which showed the 2 working machines 1 and 101 arrange | positioned with a height difference from the viewpoint parallel to the ground. The figure which showed the 2 working machines 1 and 101 arrange | positioned with a height difference from the viewpoint parallel to the ground. The figure which showed the 2 working machines 1 and 101 arrange | positioned with a height difference from the viewpoint parallel to the ground. The figure which showed the graph which determines the warning issued from the display apparatus 50 from vertical distance and horizontal distance. The figure which showed a part of 2nd flowchart performed by the monitoring controller 40 at the time of the approach of the own machine 1 and the object mobile body 101. FIG. 10 is a third flowchart executed by the monitoring controller 40 when the own vehicle 1 approaches the target mobile object 101.

  Hereinafter, with reference to the drawings, an embodiment of a work machine ambient area monitoring system according to the present invention will be described.

<Structure of car body>
FIG. 1 is an external view of a hydraulic shovel that is an example of a working machine to which a surrounding area monitoring system according to the present embodiment is applied. The working machine (hydraulic shovel) 1 includes, as a working device, an articulated front working unit 1A that includes a boom 1a, an arm 1b, and a bucket 1c that rotate in the vertical direction. Furthermore, the work machine 1 includes a vehicle body 1B including an upper swing body 1d and a lower traveling body 1e. The boom 1a, the arm 1b and the bucket 1c are respectively driven by the boom cylinder 3a, the arm cylinder 3b and the bucket cylinder 3c.

  In the front working unit 1A, the boom 1a has its base end rotatably supported at the front of the upper swing body 1d and one end of the arm 1b rotatably supported at its tip. At the other end of the arm 1b, a bucket 1c is rotatably supported. The boom 1a is driven to pivot in the vertical direction by the boom cylinder 3a. The arm 1b is driven to rotate in the vertical direction by the arm cylinder 3b. The bucket 1c is driven to rotate in the vertical direction by the bucket cylinder 3c.

  In the vehicle body 1B, an upper swing body 1d having an operation chamber 1f is rotatably attached to the lower traveling body 1e. When the swing motor 3d (see FIG. 2) is driven, the upper swing body 1d turns relative to the lower traveling body 1e. The lower traveling body 1e is driven by a pair of left and right traveling motors 3e and 3f (3f refer to FIG. 2). The lower traveling body 1e and the traveling motor 3e are also provided on the opposite side of the vehicle body 1B, and the pair of traveling motors 3e and 3f are independently driven. By driving the pair of travel motors 3e and 3f simultaneously or independently, the work machine 1 can travel forward or backward, and can change the traveling direction.

  In the operation room 1f, a display device 50 (see FIG. 2), which is a notification device (a caution information notification unit) that issues a warning according to the caution value calculated by the monitoring controller 40 (see FIG. 2), is mounted. . The display device 50 is a notification device of a type in which characters, graphics, etc. indicating a warning according to the attention value are displayed / lighted on the display. Instead of or in addition to the display device 50, a notification device such as a device that emits a warning sound or a device that lights a warning light may be provided.

  The "attention value" is a numerical value indicating the degree to which the own machine (working machine 1) requires attention to surrounding moving objects, and indicates that the larger the numerical value, the more attention is required. In the following, a mobile object for which attention values are to be calculated (a mobile object around its own aircraft to which attention should be given) may be referred to as a "target mobile object". For example, a work machine or a construction vehicle corresponds to the target moving body. In addition, although it is general to select a mobile body whose horizontal distance is closest to the work machine 1 as the target mobile body, any mobile body may be selected regardless of the horizontal distance. Hereinafter, for convenience, the work machine 101 of FIG. 5 will be described as an example of the target moving body.

  In the operation chamber 1f, a boom control lever 4a for driving the boom cylinder 3a, an arm control lever 4b for driving the arm cylinder 3b, a bucket control lever 4c for driving the bucket cylinder 3c, and a swing motor 3d for driving the upper swing body 1d. A drive operation control lever 4d and a drive motor control lever 4e for driving the drive motors 3e and 3f are provided (see FIG. 2). In the present embodiment, five operation levers 4a to 4e are provided, but one operation lever may be configured to be able to control a plurality of operation targets, and the number of operation levers may be four or less. It is not necessary to match the number of actuators.

  The devices indicated by reference numerals 8a, 8b and 8c in FIG. 1 are angle detectors for detecting pivot angles provided on pivots of the boom 1a, the arm 1b and the bucket 1c, respectively, and 8d is an upper pivot It is a turning angle detector that detects the turning angle of the body 1d. Each of the detectors 8a to 8d is driven by a driver (not shown).

<System configuration>
FIG. 2 is a block diagram showing an example of a system configuration of the surrounding area monitoring system according to the present embodiment. The surroundings monitoring system employed in the present embodiment includes a coordinate measurement unit 10, a wireless communication unit 20, a vehicle controller 30, a monitoring controller 40, and a display device (attention information notification unit) 50. The vehicle controller 30 and the monitoring controller 40 are constituted by a computer, and the functions implemented by the computer executing programs in the vehicle controller 30 and the monitoring controller 40 in FIG. 43, 44, 45 and 46.

  Although the vehicle controller 30 and the monitoring controller 40 are separately defined in FIG. 2, both may be configured by a single computer, and the functions of the vehicle controller 30 and the monitoring controller 40 are distributed and processed. It may be configured with three or more possible computers. That is, as long as it is a computer that can realize the functions of the vehicle body controller 30 and the monitoring controller 40, the number does not matter. Also, instead of the program (software), an electronic circuit (hardware) that executes all or part of the functions of the vehicle body controller 30 and the monitoring controller 40 may be provided.

  The coordinate measurement unit 10 acquires absolute coordinates of the work machine 1 using an absolute position measurement unit. Here, GPS (Global Positioning System) is used as an absolute position measurement means. The coordinate measuring unit 10 transmits the acquired absolute coordinates of the work machine 1 to the wireless communication unit 20 and the monitoring controller 40.

  The wireless communication unit 20 has a receiving unit 21 and a transmitting unit 22. The receiving unit 21 receives various data related to the present system including the absolute coordinates of the target moving body wirelessly transmitted from the target moving body (the work machine 101 in FIG. 5), and monitors the various data. Send to The transmission unit 22 transmits various data related to the present system including the absolute coordinates and the like of the work machine 1 acquired by the coordinate measurement unit 10 and the monitoring controller 40 toward the target mobile body (work machine 101).

  The vehicle controller 30 has a vehicle control unit 31. In the vehicle body control unit 31, a signal from an angle detector 8a that detects a rotation angle of the boom cylinder 3a, a signal from an angle detector 8b that detects a rotation angle of the arm cylinder 3b, a rotation angle of the bucket cylinder 3c The signal from the angle detector 8c that detects the signal, the signal from the swing angle detector 8d that detects the swing angle of the upper swing body 1d, and the signals from the control levers 4a to 4e provided in the operation chamber 1f are input respectively Be done. The control levers 4a to 4e are configured by, for example, an electric lever. The control levers 4a to 4e in FIG. 2 are, in order, the boom control lever, the arm control lever, the bucket control lever, the turning control lever, and the traveling motor control lever described above. In the case of a hydraulic operation lever, the operation signal corresponds to a pilot pressure.

  The cylinders 3a to 3c for driving the front working unit and the swing motor 3d are controlled according to the amount of operation of the control levers 4a to 4d. The traveling motors 3e and 3f are controlled in accordance with the amount of operation of the control lever 4e. In the vehicle control unit 31, geometrical information such as the shape and dimensions of the working machine is stored in advance. The vehicle control unit 31 transmits vehicle information such as signals from the control levers 4a to 4e and signals from the detectors 8a to 8d to the monitoring controller 40.

  The monitoring controller 40 includes an information holding unit 41, a soil quality acquisition unit 42, a ground surface shape acquisition unit 43, a caution information determination unit 44, a distance acquisition unit 45, and a work state acquisition unit 46.

  The information holding unit 41 is a storage device such as a hard disk or a flash memory, and the soil quality data and ground surface shape data of the work site to which the own machine (work machine 1) belongs, and an operation table for caution value calculation (see FIG. 4) Data related to the present system is stored including shape data and work state data of all work machines and construction vehicles belonging to the work site. Among data held by the information holding unit 41, time-varying data is changed each time or every control cycle by input from the outside (the wireless communication unit 20) or the inside (the coordinate measuring unit 10, the monitoring controller 40, the vehicle controller 30, etc.) Has been updated.

  The soil coordinate acquisition unit 42, the ground surface shape acquisition unit 43, and the distance acquisition unit 45 receive the absolute coordinate data of the own machine (working machine 1) from the coordinate measuring unit 10, and the absolute coordinate data of the target moving body (working machine 101) Is input from the wireless communication unit 20.

  The soil quality acquisition unit 42 searches the soil data of the position corresponding to each absolute coordinate with the information holding unit 41 based on the input absolute coordinate data of the work machine 1 and the work machine 101, and based on the search result Soil data around the work machine 1 and soil data around the target mobile unit (work machine 101) are acquired. The acquired soil quality data is output to the caution information determination unit 44.

  The ground surface shape acquiring unit 43 searches the ground surface shape data straddling between the two absolute coordinates with the information holding unit 41 based on the input absolute coordinate data of the working machine 1 and the working machine 101, and Ground surface shape data between the work machine 1 and the target mobile body is acquired based on the search result. The acquired ground surface shape data is output to the caution information determination unit 44.

  The distance acquisition unit 45 calculates and calculates the horizontal distance and the vertical distance from the work machine 1 to the target mobile body (work machine 101) based on the input absolute coordinate data of the work machine 1 and the work machine 101. The horizontal distance and the vertical distance are output to the caution information determination unit 44.

  The work state acquisition unit 46 uses the work state data of the work machine and the construction vehicle held by the information holding unit 41 and the work state of its own machine (work machine 1) and the target moving body (work machine 101) for each control cycle. Search and retrieve data. The work state data to be acquired is preferably the latest one (at the time of control execution), and if it is not the latest one, the work state data of the own machine or the target mobile body to the vehicle control unit 8 or the wireless communication unit 20 You may make an output request. The acquired work state data is output to the caution information determination unit 44.

  The working state data includes pressure data of the hydraulic cylinders 3a, 3b, 3c and the hydraulic motors 3d, 3e, 3f, output data of the control levers 4a-4e, and output data of the angle detectors 8a-8d, From these data, the work states of the own machine (working machine 1) and the target moving body (working machine 101) can be estimated for each control cycle.

  The caution information determination unit 44 includes horizontal distance and vertical distance, soil quality data, surface geometry data and work condition data output from the distance acquisition unit 45, soil quality acquisition unit 42, ground surface shape acquisition unit 43 and work condition acquisition unit 46; Based on the operation table (FIG. 4) acquired from the information holding unit 41 and the shape data of the vehicle body, the degree (attention value) by which the own machine (working machine 1) needs attention to the target moving body (working machine 101) is calculated. Then, according to the calculated attention value, a warning issued on the display device 50 is selected, and a command is output to the display device 50 to issue the warning.

  The caution information determination unit 44 sets the vertical distance (altitude difference) between the own machine (working machine 1) and the target moving body (working machine 101), the soil data around the own machine, and the soil quality data around the target moving body Based on at least one of the ground surface shape data between the own machine and the target moving body, the work state data of the own machine and the work state data of the target moving body, the content is changed to a warning once selected according to the caution value Is configured to be executable. Specifically, based on at least one of the above data, the reason why the target moving object should be noted (The ground quality around the own machine / other machine where the working machine at the high position / lower position than the own machine exists is easily broken There is a working machine working near your own machine, your own machine / other machines exist on the terrain that may fall down, etc. are added to the alert. In this case, the caution information determination unit 44 outputs a command to the display device 50 so as to issue a warning to which the content change has been made.

  The display device 50 is mounted, for example, in the operation room 1 f so that the operator can visually recognize a warning (warning information), and displays a warning (warning information) based on a command output from the monitoring controller 40.

  Although the description is omitted, the configuration shown in FIG. 2 is mounted also on the work machine 101 as a target moving body, and the processing of the flowchart in FIG. .

<First flowchart>
FIG. 3 shows one of the flowcharts of the warning provision process executed by the monitoring controller 40 when the own vehicle 1 and the target mobile object 101 approach each other. In the embodiment of the present invention, it is assumed that two work machines 1, 101 are working on an upper side and a lower side in an environment with a height difference such as by a cliff. Hereinafter, the work machine 1 which is the own machine may be referred to as work machine A, and the work machine (target moving body) 101 which is not the own machine may be referred to as work machine B.

  A series of processing of this flowchart is started when the monitoring controller 40 is started, and ends when the monitoring controller 40 is stopped.

  When the monitoring controller 40 is activated, the distance acquisition unit 45 acquires the absolute coordinates of the work machine A (own machine) from the coordinate measurement unit 10 in step S10. In step S20, the distance acquisition unit 45 acquires the absolute coordinates of the work machine B (target mobile body) from the reception unit 21.

  In step S30, the distance acquiring unit 45 calculates the horizontal distance and the vertical distance between the work machine A and the work machine B. In step S40, the caution information determination unit 44 calculates the caution value T from the horizontal distance and vertical distance calculated in step S30 and the calculation table (FIG. 4) for caution value calculation acquired from the information holding unit 41.

  FIG. 4 is a table showing an example of an attention value calculation table. The vertical axis of the table corresponds to the horizontal distance between work machine A and work machine B, and the horizontal axis corresponds to the vertical distance between work machine A and work machine B. Also, the value referred to by the table is the caution value (T). In this table, the caution value increases as the horizontal distance decreases, and the caution value increases as the vertical distance increases.

  In other words, when the vertical distance is the same value (or the same section in FIG. 4), the caution value is increased to a predetermined value (maximum value (T = 10) in FIG. 4) according to the decrease of the horizontal distance. When the horizontal distance is the same value (or the same section in FIG. 4), the caution value is increased to a predetermined value (maximum value (T = 10) in FIG. 4) according to the increase of the vertical distance. It is set. However, the caution value is set to the maximum value (T = 10) regardless of the horizontal distance in the vertical distance range of 10 m or more, and the caution value is the maximum value in the horizontal distance range less than 6 m regardless of the vertical distance It is set to T = 10).

  In the table of FIG. 4, for example, when the vertical distance between working machines A and B is a value of 4 m or more and less than 6 m, and the horizontal distance between working machines A and B is a value of 9 m or more and less than 12 m, the respective conditions. It is determined that the caution value T is 8 from the intersection of

  FIGS. 5 and 6 are diagrams showing how the two working machines 1 and 101 are arranged with a difference in height from a viewpoint parallel to the ground on which the working machines 1 and 101 are arranged. The ground on which each working machine 1, 101 is disposed is assumed to be horizontal.

  5 and 6, the horizontal distance between working machines is the same at L, but the vertical distance between working machines is such that the value of H1 in FIG. 5 is larger than the value of H2 in FIG. At this time, in the case where a falling object is generated near the work machine 101, the falling object in the case of FIG. 5 has more potential energy than the falling object in the case of FIG. Falling objects are more likely to reach further. That is, the change in the vertical distance changes the range in which the object may be caught by the falling object or the like. In the present embodiment, the table of FIG. 4 is set in consideration of this point.

  Returning to FIG. 3, in step S50, it is determined whether the caution value T calculated in step S40 is greater than or equal to a preset boundary value W1 (here, W1 = 10). When the caution value T takes a value greater than or equal to the boundary value W1 (10 ≦ T), the process proceeds to step S52, and a strong warning (notice information notification) is issued on the display device 50. On the other hand, when the caution value T takes a value smaller than the boundary value W1, the process proceeds to step S51.

  In step S51, it is determined whether the caution value T calculated in step S40 is greater than or equal to a preset boundary value W2 (here, W2 = 5). Note that W2 is set to a value smaller than W1. When the caution value T takes a value greater than or equal to the boundary value W2 (5 ≦ T <10), the process proceeds to step S53, and a weak warning (notice information notification) is issued on the display device 50. On the other hand, when the caution value T takes a value smaller than the boundary value W2 (0 ≦ T <5), the process proceeds to step S54, and the process returns to S10 without giving a warning. Then, when the monitoring controller 40 stops at an arbitrary timing, the series of processing ends regardless of whether or not it is in the middle of the flow.

  In the above, "strongening / weakening of the warning" is described as "strongening" a warning that is relatively easy for the operator to recognize, and "weakening" a warning that is not so. Specifically, the characters "Please pay attention to the surrounding work machine, etc." or a figure or symbol similar to that on the entire display screen of the display unit 50 is "strong", and the message "Be careful" or It is "weakening" to display similar figures or symbols on a part of the display screen. Moreover, in addition to the display device 50, a warning sound generation device (not shown) is installed as a notification device, and the warning combining the display by the display device and the sound by the warning sound generation device is "strong" to display only (or The warning by the warning sound may be "weakened".

  According to the work machine surrounding area monitoring system of the present embodiment configured as described above, attention information is determined based on the horizontal distance and the vertical distance between the work machines. Appropriate warnings can be presented to the operator even in the presence of differences (vertical distances).

  Further, by referring to the caution value table of FIG. 4 in the caution information determination unit 44, the caution value increases according to the increase of the vertical distance between the work machines. Appropriate notification can be performed according to the range in which the Specifically, assuming that the increase in the attention value accompanying the decrease in the horizontal distance when the vertical distance to the target mobile body (working machine 101) is 0 m or more and less than 4 m in the table of FIG. When the vertical distance is 4 m or more, the warning (strong and weak warning) is more likely to be issued than in the conventional method, and the operator should be warned of other moving objects located at different heights. Can.

  The way of changing the caution value T according to the change of the vertical distance and the horizontal distance is not limited to that shown in FIG. For example, as the horizontal distance decreases and / or the vertical distance increases, the attention value may increase discretely as shown in FIG. 4 or may increase continuously. In addition, the caution value T may be fixed within the range of a predetermined vertical distance and / or horizontal distance.

  Further, as shown in the table of FIG. 8, boundary values W1 and W2 related to the attention value T are defined by functions on the plane defined by the vertical distance and the horizontal distance (the linear function in the figure is only an example). The plane is divided into three (the number of divisions may differ depending on the number of warnings), and the warning is determined based on which region the vertical distance and the horizontal distance calculated by the distance acquisition unit 45 belong to by the function. The direct calculation of the caution value T may be omitted in the determination of.

  In addition, when there is a height difference, the attention value is increased, but in the case where only direct contact between work machines is simply a problem, the possibility of direct contact decreases as the height difference. Therefore, when it can be interpreted as safe that there is a height difference, the attention value T may be calculated by adopting a table in which the attention value decreases with the increase of the vertical distance.

<Second flowchart>
Next, an example of correcting the caution value according to the soil data around the own vehicle and the target moving body, the ground surface shape data between the own machine and the target moving body, and the work state data of the own device and the target moving body, as shown in FIG. This will be described using FIG. 9 shows a part of a flowchart of a warning provision process executed by the monitoring controller 40 when the own machine 1 (work machine A) and the target moving body 101 (work machine B) approach each other. Steps S10 to S40 in FIG. 9 are the same as those in the flowchart of FIG. Further, the process after S310 in FIG. 9 is subsequent to S50 in FIG. 3, and the subsequent processes (S50 to S54) are the same as those in FIG.

  In step S100, soil quality data around the work machine A and the work machine B is acquired from the soil acquisition unit 42. In step S110, it is determined whether or not the ground around the work machine on the higher side of the work machine A and the work machine B is made of easily soilable soil. If it is judged by this judgment that the construction is made of soil that is easily broken, the possibility of the work machine on the lower side becoming caught in the collapsing etc. increases, so it was calculated at S40 in both Work Machine A and Work Machine B. Correct the caution value by adding 2 (predetermined value) to the caution value. Whether the soil quality is fragile can be determined from, for example, the measurement results of the water content ratio and the degree of compaction with a RI meter, and soil quality which is easily fractured when the water content ratio is not included in the specified value range or when the compaction level is less than the threshold There is a way to determine that

  In step S200, work state data of work machine A and work machine B are obtained from work state acquisition unit 46. In step S210, it is determined whether the work machine on the relatively high side moves the front work unit (work device) 1A for a predetermined number of seconds or more (whether work is performed using the work device 1A To determine the If it is determined that the work is performed in this determination, the work machine on the lower side is more likely to be caught by a falling object or the like resulting from the work, so attention is given to both the work machine A and the work machine B. Correct the caution value by adding 2 (predetermined value) to the value.

  In step S300, ground surface shape data indicating the ground surface shape between the work machine A and the work machine B is acquired from the ground surface shape acquisition unit 43.

  Here, before the description of step S310, the concept of the process of step S310 will be described using FIG. In order to explain the change in the degree of caution due to the change in the gradient rate, Fig. 7 illustrates the arrangement of the two work machines 1, 101 with a difference in height parallel to the ground on which the work machines are arranged. It is the figure shown from various viewpoints. 7 and 5 show that the horizontal distance and the vertical distance between the working machines are the same for L and H1, respectively, but FIG. 7 has a higher slope ratio than FIG. 5 (in other words, FIG. 7 The inclination angle α2 of the slope is larger than the inclination angle α1 of FIG. At this time, the working machine 1 on the low altitude side in the case of FIG. 5 has a shorter distance from the foot B1 of the cliff than in the case of FIG. 7 (D1 (FIG. 5) <D2 (FIG. 7)) When the falling object falls or slides on the slope, the possibility of contacting the falling object is increased in the case of FIG. 5 as compared with the case of FIG. 7. That is, even when the horizontal distance and the vertical distance of the working machine A and the working machine B are the same, the degree to which attention is required for the dropped object may change depending on the surface shape.

  Therefore, in step S310, it is determined based on the ground surface shape data acquired in S300 whether the slope ratio of the slope across the work machine A and the work machine B is low. If it is judged that the slope ratio of the slope is low in this judgment, there is a high possibility that the work machine 1 on the lower side will come in contact with the falling objects from the cliff, so attention is given to both the work machine A and the work machine B. Correct the caution value by adding 2 (predetermined value) to the value.

  When step S310 is completed, the process proceeds to step S50 of FIG. 3, and the processes of steps S50 to S54 are performed as appropriate. When the process of step S52, S53 or S54 in FIG. 3 is completed, the process returns to the first process (step S10) of FIG. 9, and the series of processes described above are repeated until the monitoring controller 40 is stopped.

  According to the work machine surrounding monitoring system of the present embodiment configured as described above, the presence or absence of a warning and the warning strength based on the horizontal distance and vertical distance between the work machines, the state of soil quality, the work state and the ground surface shape Is determined, so even when work machines are in an environment with a vertical distance between work machines and when work content changes due to soil conditions or work conditions or surface shape, more accurate warnings can be obtained. It can be output.

  Specifically, by correcting the caution value using the ground surface shape data acquired by the ground surface shape acquisition unit 43, it is possible to evaluate the influence of the ground surface shape around the own aircraft and the target moving body, so it is possible to An appropriate notification can be performed even if the range in which it is involved changes depending on the surface shape.

  Furthermore, by correcting the caution value using the soil quality data acquired by the soil quality acquisition unit 42, it is possible to evaluate the influence of the soil quality around the own aircraft and the target moving body, so the change of the possibility of the ground collapsing due to the soil quality Appropriate notification can be performed according to the situation.

  Furthermore, the attention value is corrected using the work state data (the work state data of the own machine from the vehicle body controller 30 and the work state data of the target moving body from the reception unit 21) acquired by the work state acquisition unit 46. Then, since it is possible to evaluate a change in the possibility of ground collapse caused by the work content, etc., appropriate notification can be performed according to the work content.

  In addition, regarding said step S110, when it is judged that it is a soil quality which is easy to collapse, the value (2) added to the caution value is only an example, and may be another value. Further, the value to be added does not have to be a fixed value, and the value to be added may be changed according to the change of the water content ratio or the degree of compaction. Furthermore, although the case where an attention value is added was demonstrated in said example, you may subtract an attention value, when it is judged from the soil quality data that it is hard to collapse soil quality.

  Regarding step S210 described above, the value (2) added to the caution value is merely an example, and may be another value. Further, the caution value corresponding to the work state data of the work machine A and the work machine B acquired in step S200 may be added. Furthermore, although the case where the caution value is added has been described in the above example, the caution value may be subtracted when it is determined from the work state data that the need for caution is low. Further, the reference point of the distance measurement by the distance acquisition unit 45 may be changed according to the position or the state of the work device. For example, when the front working unit 1A in the hydraulic shovel is extended toward the target moving body, the tip of the front working unit 1A (the toe of the bucket 1c) is used as a reference point, and the vertical distance and horizontal from that to the target moving body The distance may be measured.

  Regarding step S310 described above, the value (2) added to the caution value is merely an example, and may be another value. Further, although the determination is made based on the inclination rate of the inclination in the above, the determination may be performed based on the inclination angle or the distance from the foot of the cliff instead of the inclination rate. Further, an attention value may be added according to the inclination rate or inclination angle of the slope or the distance from the foot of the cliff, which can be acquired from the surface shape data acquired in step S300. Furthermore, although the case where the caution value is added has been described in the above example, the caution value may be subtracted when it is determined from the ground surface shape data that the possibility of contact with the falling object is low.

  In the flowchart of FIG. 9, soil data around work machine 1, soil quality data around work machine 101, surface shape data between work machine 1 and work machine 101, work state data of work machine 1, and work machine Although the attention value is corrected in consideration of all of the work state data 101, the attention value may be corrected according to at least one of them. Moreover, there is no limitation in particular in the order which correct | amends an attention value in consideration of soil quality data, ground surface shape data, and working condition data, It is not limited only to the order of FIG.

<Third flowchart>
Next, an example in which the warning is changed according to data (upper and lower positional relationship data) indicating the upper and lower positional relationship between the own machine (working machine 1) and the target moving body (working machine 101) will be described using FIG. FIG. 10 shows one of the flowcharts of the warning provision process executed by the monitoring controller 40 when the own vehicle 1 and the target mobile object 101 approach each other. Steps S10 to S54 are the same as the flowchart of FIG. 3, and the description may be omitted. However, in the example of FIG. 3, the process of S52 and S53 is performed until the warning is displayed on the display device 50, but in the flowchart of FIG. 10, it is determined to display the warning, and the actual warning is S62, It shall carry out by S63 and S64.

  In S60, whether the height (vertical position) of the working machine A (working machine 1) is higher than or equal to a preset threshold Z1 (here, Z1 = 2 m) than the height of the working machine B (working machine 101) It is determined whether or not. If the working machine A is 2 m or more higher (if the height of the working machine A is equal to or more than the value obtained by adding Z1 [m] to the height of the working machine B), the process proceeds to step S62, and the target moving object 101 is its own machine (work A warning is displayed on the display device 50 indicating that it is necessary to be careful not to drop an object downward because it is under the machine 1). The degree of the warning at that time is "strong" in the case of S52, and "weak" in the case of S53. In the situation where the process has proceeded to S62, there is a possibility that the target moving object may be caught in the falling object or the like by the operation of the own machine, so a warning of "interrupting the operation because there is a moving object on the lower side" You may go.

  On the other hand, if the difference in height between the work machines A and B is less than the threshold value Z1 in S60, the process proceeds to step S61. In S61, it is determined whether the height of the work machine A is lower than the height of the work machine B by at least a preset threshold Z2 (here, Z2 = 2 m). When work machine A is lower than 2 m (when the height of work machine A is equal to or less than the value obtained by subtracting Z2 [m] from the height of work machine B), the process proceeds to step S63, and the target moving object 101 is its own machine (work Since it is on the upper side of the machine 1), a warning is displayed on the display device 50 indicating that the falling object from the upper side needs attention. The degree of the warning at that time is "strong" in the case of S52, and "weak" in the case of S53.

  It should be noted that in the situation where the process has proceeded to S63, there is a possibility that the own object may be caught in the falling object etc. dropped by the upper target moving object, so "change the position of the own device because there is a moving object on the upper side" A warning may be issued to that effect. Further, the type of the upper target moving body may be input from the information holding unit 41 or the outside, and the warning content may be changed according to the type. For example, when the upper target moving body is a person, the influence on the lower side own aircraft is considered to be small, and therefore a warning of "weak" may be made even if it is through S52.

  If the difference in height between the work machines A and B is less than the threshold value Z2 in S61, the process proceeds to step S64. In S64, a warning is displayed on the display device 50 indicating that attention is required so as not to contact the target moving object 101 present at a position where there is substantially no difference in height with the own machine (working machine 1). The degree of the warning at that time is "strong" in the case of S52, and "weak" in the case of S53.

  According to the work machine surrounding monitoring system of the present embodiment configured as described above, a warning taking into account the data on the upper and lower position relationship between the own machine and the target moving body is made, so a warning suitable for the upper and lower position relationship data To the operator. This can increase the possibility of avoiding direct or indirect contact with the target mobile body as compared with the first flowchart.

  In the above flowchart, one threshold is provided for each case where the own aircraft is higher or lower than the target moving object, and three warnings are prepared according to the difference in altitude. You may fine-tune.

<Fourth flowchart>
In the flowchart of FIG. 10, the content of the warning is changed according to only the vertical positional relationship between the own machine (working machine 1) and the target moving body (working machine 101). A process of further changing the content of the warning according to soil data around 101, ground surface shape data between the working machine 1 and the target moving body 101, work state data of the working machine 1, and work state data of the target moving body 101 May be performed. In the flowchart of this process, for example, the processes from step S10 to step S40 in FIG. 10 are performed, and then the series of processes from step S100 to step S310 in FIG. 9 are performed. Then, when step S310 is completed, the process returns to FIG. 10 to execute the processes of step S50 and subsequent steps, and in any of steps S62, S63 and S64, soil data around work machine 1 and soil quality around target moving body 101. Some processes execute processing of changing the warning according to data, ground surface shape data between the work machine 1 and the target moving body 101, work state data of the work machine 1, and work state data of the target moving body 101.

  In any one of steps S62, S63 and S64 in this flowchart, the following warning is given.

  First, in Step S62 where it is determined that the vehicle is relatively on the upper side, when the caution value is added in Step S110, the soil quality around the vehicle is likely to break down, so that attention is required. Add to the warning on the display screen. Also, when the caution value is added in step S210, a message urging suspension of work is added to the warning on the display screen because there are other work machines below. In the case where the caution value is added in step S310, if the dropped object is dropped downward, caution is required because the dropped object may collide with another work machine having a gentle inclination and located below. Add that to the alert on the display screen.

  Also, in step S63 where it is determined that the vehicle is relatively lower, if the caution value is added in step S110, the soil quality around other working machines located above tends to break down. Because there is, it adds to the warning on the display screen that attention is required. Further, when the caution value is added in step S210, a message urging suspension of work is added to the warning on the display screen because there is another working machine above. In the case where the caution value is added in step S310, if the falling object falls or falls from the upper side, the falling object may have a gentle slope and the falling object may collide with the vehicle, so caution is required. Add that to the alert on the display screen.

  In addition, in Step S64 in which it is determined that the own vehicle and another work machine exist at the same height, when the caution value is added in Step S110, the soil quality around the own vehicle is easily broken. Therefore, add a warning on the display screen that requires attention. Further, when the caution value is added in step S210, a message urging suspension of work is added to the warning on the display screen because there are other work machines nearby. In this case, since the possibility that the caution value is added in step 310 is low, the warning in the case where the caution value is added in step S310 is not considered.

  According to the perimeter monitoring system of the working machine of the present embodiment configured as described above, in addition to the vertical positional relationship between the working machine and the target moving body, a warning taking into account the soil quality, the working state, and the surface shape is performed. Since this can be done, it is easy for the operator to understand the reason for requiring attention, and it is possible to further draw attention to contact with the object mobile object or contact with the falling object.

  The specific example of the warning described above is merely an example, and any warning other than the above may be used as long as the reason for caution is provided to the operator. Further, in the above, the vertical position relationship between the working machine 1 and the working machine 101, soil quality data around the working machine 1, soil quality data around the working machine 101, surface shape data between the working machine 1 and the working machine 101, and work Although the case where the warning is appropriately arranged based on the work state data of the machine 1 and the work state data of the work machine 101 has been described, it goes without saying that the warning may be appropriately arranged based on at least one of them. .

<Various supplements>
In each embodiment mentioned above, a mobile was set up with work machine 101, and a case where work machines approached was explained. However, the object of the moving body is not limited to the work machine. For example, a moving object that may exist in an environment where a working machine is used, such as a worker or a passenger car, may be used as a target. Also, the contents of each warning may be changed according to the type of mobile unit.

  Although absolute coordinates are used for acquiring the position of the working machine using the GPS in the embodiment described above, the invention is not limited to the GPS as long as the relative position between the working machines can be determined.

  Further, although the warning value table of FIG. 4 is used for the determination of the warning in the embodiment described above, other means may be used as long as the surrounding situation can be evaluated. For example, a formula using a horizontal distance or a vertical distance between work machines as parameters may be used.

  In the above embodiment, when the vertical distance is 10 m or more with respect to the warning value table of FIG. 4, the warning value T takes a value of 10, but the vertical distance is sufficiently over 10 m and the work machine and the moving body are vertical When it is determined that the distance is sufficiently long, the notification may not be performed by being out of the notification range.

  Although the above embodiment has described the case where the display device 50 serving as the notification device is set in the cab of the work machine and a warning is presented to the operator of the work machine, the inside of a facility performing monitoring and management of a plurality of work machines It is good also as composition which installs an alerting device in, and shows a warning to a supervisor who monitors a work machine in the facilities concerned. That is, the installation location of the notification device is not limited to the cab of the work machine. The target of the alert may be an operator of a work machine, an operator of a mobile, a person who is the mobile itself, a manager of a system, or a person concerned.

  In the present embodiment, absolute coordinates of the working machine 1 and the target moving body 101 are acquired by the coordinate measuring unit 10 and the wireless communication unit 20, and the horizontal distance and the vertical distance from the working machine 1 to the target moving body 101 are calculated. However, the relative coordinates of the work machine 1 and the target moving body 101 may be acquired by a distance sensor such as a laser sensor or an ultrasonic sensor, and the horizontal distance and the vertical distance may be calculated from the relative coordinates. That is, as long as the horizontal distance and the vertical distance from the work machine 1 to the target mobile object 101 can be calculated, the means for realizing the same is not particularly limited.

  The values of the boundary values W1 and W2 and the values of the thresholds Z1 and Z2 in the above are merely examples, and the type of work machine, work content, the environment in which the work machine is used, the preference for warning of the site manager, etc. It can be changed as appropriate.

  The present invention is not limited to the above embodiments, and includes various modifications within the scope not departing from the gist of the present invention. For example, the present invention is not limited to the one provided with all the configurations described in the above embodiment, but also includes one in which a part of the configuration is deleted. In addition, a part of the configuration according to an embodiment can be added to or replaced with the configuration according to another embodiment.

  In the present invention, although the working machine 1 is a hydraulic shovel, the present invention is not limited to this and can be applied to other working machines such as a bulldozer and a wheel loader. Moreover, although the object mobile body 101 is also a hydraulic shovel, it can be applied to a dump truck other than a bulldozer and a wheel loader.

  The configuration related to the vehicle body controller 30 and the monitoring controller 40 may be a program (software) in which each function related to the configuration of the control device is realized by being read and executed by an arithmetic processing unit (for example, a CPU). The information related to the program can be stored, for example, in a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disc, etc.), and the like.

  DESCRIPTION OF SYMBOLS 1 ... Work machine (hydraulic shovel), 1A ... Front working part, 1B ... Vehicle body, 1d ... Upper revolving body, 1e ... Lower traveling body, 4a-4e ... Operation lever, 10 ... Coordinate measurement part, 20 ... Wireless communication part, Reference Signs List 21 reception unit 22 transmission unit 30 vehicle body controller 40 monitoring controller 41 information storage unit 42 soil quality acquisition unit 43 ground surface acquisition unit 44 attention information determination unit 50 display device , 101 ... Target moving body (hydraulic shovel)

Claims (3)

Work machine,
A control device configured to calculate an attention value indicating a degree to which the work machine requires attention to the moving body based on a horizontal distance and a vertical distance from the work machine to a moving body located around the work machine. When,
And a notification device that issues a warning according to the caution value calculated by the control device ;
Wherein the control device, the working machine surroundings monitoring system of the increased attention value, characterized Rukoto increase the attention value according to the increase of the vertical distance in response to a decrease of the horizontal distance. In the work machine surrounding monitoring system according to claim 1,
The movable body is another work machine,
The control device comprises: soil data around the work machine, soil quality data around the other work machine, shape data of the ground surface between the work machine and the other work machine, work state data of the work machine, And a surrounding machine monitoring system for a working machine, which corrects the caution value according to at least one of working condition data of the other working machine. The surroundings monitoring system for a working machine according to claim 2 ,
The warning issued from the notification device includes upper and lower positional relationship data of the work machine and the other work machine, soil quality data around the work machine, soil quality data around the other work machine, the work machine and the work machine The perimeter monitoring of a working machine characterized in that it is changed according to at least one of surface shape data among other working machines, working state data of the working machine, and working state data of the other working machine system.

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