JP7580702B2 - Construction machinery contact prevention system - Google Patents

Description

The present invention relates to a construction machinery contact prevention system.

In recent years, efforts to automate construction machinery have been progressing with the aim of improving productivity at construction sites.
On the other hand, known technologies related to construction machinery are disclosed in Patent Documents 1 and 2. Patent Document 1 discloses a technology that uses infrared rays to prevent contact accidents between construction machinery and workers working around the machinery.
Furthermore, Patent Document 2 discloses a technique for issuing a warning around a construction machine or stopping the construction machine based on an acquired image.

JP 2014-47607 A JP 2014-181508 A

Meanwhile, in order to improve the productivity at construction sites, attempts are being made to automate multiple construction machines. In this case, in order to prevent contact between the construction machines, it is conceivable to attach a contact prevention sensor or the like to each construction machine following the techniques of Patent Documents 1 and 2, and sound an alarm to call attention when the construction machines approach each other within a predetermined distance.
However, when installing contact prevention sensors on each construction machine, it is necessary to install at least four sensors on each construction machine, for example, two sensors on the left and two on the front and rear of the construction machine, which results in the problem of increased costs when attempting to automate multiple construction machines.
An object of the present invention is to solve the above-mentioned problems and to provide a construction machine contact prevention system that can reliably prevent contact between construction machines at a construction site with a simple configuration.

In order to solve such problems, the present invention provides a construction machine contact prevention system that prevents contact between multiple construction machines operating at a construction site based on position information of the construction machines. The construction machine contact prevention system includes a first display means for drawing an image of the construction site in a virtual space, a position information acquisition means for acquiring position information of each of the construction machines, and a second display means for drawing an image of each of the construction machines in the virtual space based on the acquired position information of each of the construction machines. The construction machine contact prevention system also includes a measurement means for measuring a first distance, which is the distance between the construction machines, in the virtual space, and an operation control means for controlling the operation of the construction machines based on the measured first distance. When the measured first distance becomes a first approach distance that means the construction machines are approaching each other, the operation control means performs control to issue a warning to each of the construction machines that have become the first approach distance, and when the first distance is smaller than the first approach distance and becomes a first contact distance that means the possibility of contact between the construction machines, the operation control means performs control to change the operation of each of the construction machines that have become the first contact distance. The operation control means sets, around each of the construction machines in the virtual space, a rectangular outer frame formed to surround the outside of the construction machine in a plan view, a rectangular virtual warning area formed to surround the outside of the outer frame in a plan view and serving as a reference for control to issue a warning, and a rectangular virtual contact area formed to surround the outside of the outer frame in a plan view and serving as a reference for control to change the operation. When the virtual warning areas set for each of the construction machines interfere with each other, the operation control means determines that the first approach distance has been reached and performs control to issue a warning to each of the construction machines whose virtual warning areas interfere with each other, and when the virtual contact areas set for each of the construction machines interfere with each other, the operation control means determines that the first contact distance has been reached and performs control to change the operation of each of the construction machines whose virtual contact areas interfere with each other. The virtual warning area is outside the virtual contact area. The operation control means has a setting for not determining the first approach distance due to interference between the virtual warning areas and not determining the first contact distance due to interference between the virtual contact areas in a specific area of the construction site, and while the setting is not to determine the first approach distance and the first contact distance, when center portions of the outer frames of the construction machines interfere with each other, the operation control means performs control to change the operation of the construction machines.

The construction machine contact prevention system of the present invention can issue warnings when construction machines approach each other and control operations to change operations (including stopping operations) simply by acquiring position information and distance information between the construction machines. Since there is no need to install multiple sensors for each construction machine as in the past, the configuration is simple and costs can be reduced.

In addition , it is now possible to more simply control warnings and changes to operation when construction machines approach each other, and it is also possible to easily check the proximity of construction machines in the virtual space.

The second display means preferably displays an image of each of the construction machines in three dimensions within the virtual space. By configuring it in this way, the proximity between the construction machines can be confirmed more realistically within the virtual space.

It is also preferable that the position information acquisition means is capable of acquiring orientation information along with the position information of the construction machines. By configuring it in this way, it is possible to more accurately realize control to issue warnings and change operations in response to the proximity of construction machines to each other.

In addition to measuring the first distance, it is preferable that the measuring means is capable of measuring a second distance between the construction machine and the worker, and a third distance between the construction machine and a no-entry area set in the construction site. In this configuration, it is preferable that the operation control means performs control to issue a warning to the construction machine that has reached at least the second approach distance when the second distance becomes a second approach distance meaning the approach of the construction machine and the worker, or performs control to issue a warning to the construction machine that has reached at least the third approach distance when the third distance becomes a third approach distance meaning the approach of the construction machine and the no-entry area. It is also preferable that the operation control means performs control to change the operation of the construction machine that has reached at least the second contact distance when the second distance becomes a second contact distance meaning the possibility of contact between the construction machine and the worker, or performs control to change the operation of the construction machine that has reached at least the third contact distance when the third distance becomes a third contact distance meaning the possibility of entry into the no-entry area.
By configuring in this manner, it is possible to realize control for changing a warning or action to be taken when a worker is approaching a construction machine, and control for changing a warning or action to be taken when a construction machine is approaching a no-entry area.

The construction machinery contact prevention system of the present invention has a simple configuration that can reliably prevent contact between construction machinery at a construction site.

1 is a block diagram showing a construction machine contact prevention system according to an embodiment of the present invention. 1 is a plan view showing a schematic diagram of a construction site to which a construction machine contact prevention system according to an embodiment of the present invention is applied. 1A and 1B are diagrams showing a virtual area set on a construction machine used in a construction machine contact prevention system according to an embodiment of the present invention, in which (a) is a schematic plan view showing a virtual area set on a crawler dump truck, and (b) is a schematic plan view showing a virtual area set on a backhoe. 1 is a perspective view showing a crawler dump as a construction machine used in a construction machine contact prevention system according to an embodiment of the present invention. 1 is a control block diagram of a crawler dump as a construction machine used in a construction machine contact prevention system according to an embodiment of the present invention. FIG. 1 is a schematic plan view showing an enlarged view of a work yard of a construction site to which a construction machine contact prevention system according to an embodiment of the present invention is applied. 1 is a schematic perspective view showing a loading operation of soil and sand in a work yard of a construction site to which a construction machine contact prevention system according to an embodiment of the present invention is applied, from a different perspective. 4 is a flowchart showing the process of operational control of the construction machine contact prevention system according to the embodiment of the present invention. 1A and 1B are schematic plan views showing examples of cases where construction machines come close to each other, in which (a) is a schematic plan view showing a state in which virtual warning areas set on the construction machines do not interfere with each other, (b) is a schematic plan view showing a state in which virtual warning areas interfere with each other, and (c) is a schematic plan view showing a state in which virtual contact areas set on the construction machines interfere with each other.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.
The construction machine contact prevention system of this embodiment is a system that prevents contact between multiple construction machines K1 to K4 operating at a construction site G as shown in FIG. 2, based on position information of the multiple construction machines K1 to K4.
As shown in Fig. 1, the construction machine contact prevention system includes a central control unit 1 and a group of construction machines K. The group of construction machines K is made up of a plurality of construction machines controlled by the central control unit 1. In the following, an example will be described in which the group of construction machines K includes a crawler dump K1, a backhoe K2, a bulldozer K3, and a vibrating roller K4, but this is not intended to limit the types of construction machines operated at the construction site G. In the following description, the crawler dump K1, backhoe K2, bulldozer K3, and vibrating roller K4 may be collectively referred to as the construction machines K1 to K4.

The central control unit 1 is configured to include a first display means 2, a position information acquisition means 3, a second display means 4, a measurement means 5, and an operation control means 6. The central control unit 1 is connected to a virtual space display monitor 7, a control monitor 8, and an overhead camera monitor 9.
The first display means 2 renders an image of the topographical surface of the construction site G (see FIG. 2) in a virtual space. The first display means 2 creates an image of the topographical surface of the construction site G by adding coordinate information of longitude and latitude to point cloud data obtained by surveying using a drone or the like, and renders this in a virtual space in accordance with the coordinates of the construction site G in the real space. The rendered image of the construction site G is displayed on a monitor 7 for displaying virtual space. The rendered image of the construction site G can be enlarged or reduced on the monitor 7 for displaying virtual space by operating an input device (not shown), and can also be displayed from a virtual viewpoint or in three dimensions, as shown in FIG. 7.
Although none of the components are shown, the central control unit 1 is configured to include a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), a HDD (Hard Disk Drive), an I/F (Interface), etc. The central control unit 1 is realized by the CPU executing a predetermined control program stored in a storage means such as the ROM or the HDD.

The position information acquisition means 3 acquires coordinate information including position information and direction information measured by the construction machines K1 to K4 in the real space.
The second display means 4 renders a three-dimensional image of each of the construction machines K1 to K4 in the virtual space based on the coordinate information acquired by the position information acquisition means 3. The rendered three-dimensional images of each of the construction machines K1 to K4 are displayed on the virtual space display monitor 7 together with the rendered image of the construction site G. In this case, the three-dimensional images of each of the construction machines K1 to K4 can be enlarged or reduced on the virtual space display monitor 7 together with the image of the construction site G by operating an input device or the like, and they can also be displayed from a virtual viewpoint or three-dimensionally.

The measuring means 5 measures a first distance, which is the distance between the construction machines K1 to K4, in the virtual space. The first distance is a reference distance for determining whether to continue the ongoing operation of the construction machines K1 to K4, whether to issue an alarm indicating that the construction machines K1 to K4 are approaching each other, and whether to start an operation (including stopping the ongoing operation, changing direction, etc.) to avoid contact between the construction machines K1 to K4.
Furthermore, the measuring means 5 measures a second distance, which is the distance between any one of the construction machines K1 to K4 and the worker, in the virtual space. The second distance is a reference distance for determining whether to continue the ongoing operation of the construction machines K1 to K4, whether to issue an alarm indicating the approach of any one of the construction machines K1 to K4 to the worker, and whether to start an operation (including stopping the ongoing operation, changing direction, etc.) to avoid contact between the construction machines K1 to K4 and the worker.
Furthermore, the measuring means 5 measures, in the virtual space, a third distance which is the distance between any of the construction machines K1 to K4 and a no-entry area (for example, the area indicated by reference symbol A4 in FIG. 6) set in the construction site G. The third distance is a reference distance for determining whether to continue the ongoing operation of the construction machines K1 to K4, whether to issue an alarm indicating the approach of any of the construction machines K1 to K4 to the no-entry area, and whether to start an operation (including stopping the ongoing operation, changing direction, etc.) to avoid contact between the construction machines K1 to K4 and the no-entry area (entry into the no-entry area).

The operation control means 6 controls the operation of the construction machines K1 to K4 based on the measured first to third distances. In order to control the operation of the construction machines K1 to K4 based on the first to third distances, the operation control means 6 sets, for example, an outer frame S1, a virtual contact region R1, and a virtual warning region R2 shown in FIG. 3(a) in the virtual space.
The outer frame S1 is a rectangular frame formed to surround the outside of the crawler dump K1 in a plan view. The virtual contact area R1 is a rectangular frame-shaped area formed to surround the outer frame S1. The virtual warning area R2 is a rectangular frame-shaped area formed to surround the outside of the virtual contact area R1.
The operation control means 6 sets the outer frame S1, the virtual contact area R1, and the virtual warning area R2 for the backhoe K2 shown in Fig. 3(b) in the same manner. The operation control means 6 also sets the outer frame S1, the virtual contact area R1, and the virtual warning area R2 for the bulldozer K3 and the vibrating roller K4, which are not shown in the figure. The sizes of the outer frame S1, the virtual contact area R1, and the virtual warning area R2 can be appropriately changed.

When the virtual warning areas R2 set for the construction machines K1 to K4 interfere with each other in the virtual space, the operation control means 6 determines that the first distance has reached the first approach distance, which means that the construction machines K1 to K4 are approaching each other, and performs control to issue a warning to the corresponding construction machines K1 to K4. The issued warning is displayed on the virtual space display monitor 7, the control monitor 8, and further on each operation screen provided on the target construction machines K1 to K4. This calls the attention of operators looking at the monitors 7 and 8 and workers aboard the construction machines K1 to K4.
In addition, when the virtual contact areas R1 set for each of the construction machines K1 to K4 interfere with each other in the virtual space, the operation control means 6 determines that the first distance has become the first contact distance, which means the possibility of contact between the construction machines K1 to K4, and performs control to change the operation of the corresponding construction machine K1 to K4 (for example, stopping the operation currently in progress). This allows the construction machines K1 to K4 to preferably avoid contact between each other. Note that whether or not the virtual warning areas R2 interfere with each other can be determined by detecting whether or not the outer parts R21 of the virtual warning areas R2 overlap with each other based on coordinates. Also, whether or not the virtual contact areas R1 interfere with each other can be determined by detecting whether or not the outer parts R11 of the virtual contact areas R1 overlap with each other based on coordinates.

In addition, when the position of the worker (not shown, the same applies below) interferes with any of the virtual warning areas R2 set for each of the construction machines K1 to K4 in the virtual space, the operation control means 6 determines that the second distance has become the second approach distance, which means that the construction machines K1 to K4 are approaching the worker. Then, the operation control means 6 performs control to issue a warning to the corresponding construction machines K1 to K4 and the worker. This calls the attention of the operators and workers watching the respective monitors 7 and 8. From the viewpoint of worker safety, it is preferable that the virtual warning area R2 is set larger than the area set in the case of the construction machines K1 to K4. The position information of the worker can be acquired through the position information acquisition means 3 by having the worker carry a device that transmits position information. The acquired position information of the worker can be drawn in the virtual space and can also be displayed on the virtual space display monitor 7.
Furthermore, when the position of the worker interferes with any of the virtual contact areas R1 of the construction machines K1 to K4 in the virtual space, the operation control means 6 determines that the second distance has become a second contact distance, which means contact between the construction machines K1 to K4 and the worker. Then, the operation control means 6 performs control to change the operation of the corresponding construction machines K1 to K4 (for example, stopping an operation currently in progress). This effectively avoids contact between the construction machines K1 to K4 and the worker.

Furthermore, when any of the virtual warning regions R2 set for the construction machines K1 to K4 interferes with the no-entry area A4 in the virtual space, the operation control means 6 determines that the third distance has reached the third approach distance, which means that the construction machines K1 to K4 are approaching the no-entry area A4. Then, the operation control means 6 performs control to issue a warning to the corresponding construction machines K1 to K4. This calls the attention of the operators watching the monitors 7, 8.
Furthermore, when any of the virtual contact regions R1 set for the construction machines K1 to K4 interferes with the no-entry area A4 in the virtual space, the operation control means 6 determines that the third distance has become the third contact distance, which means entry into the no-entry area A4. Then, the operation control means 6 performs control to change the operation of the corresponding construction machines K1 to K4 (for example, stopping an operation currently in progress). This effectively prevents the construction machines K1 to K4 from entering the no-entry area A4.
The operation control means 6 is set so as not to judge interference between virtual warning regions R2 and interference between virtual contact regions R1 in the soil loading area A1. For the construction machines (crawler dump K1 and backhoe K2 in FIG. 6) in the soil loading area A1, the operation control means 6 performs control to change the operations of both the crawler dump K1 and the backhoe K2 (for example, to stop the operation currently in progress) when there is a possibility of contact when the centers (centers of the outer frames S1) of the crawler dump K1 and the backhoe K2 interfere with each other.

The virtual space display monitor 7 displays the image of the construction site G drawn by the first display means 2 and a three-dimensional image of each of the construction machines K1-K4. The virtual space display monitor 7 also displays the outer frame S1, virtual contact area R1 and virtual warning area R2 of each of the construction machines K1-K4. The virtual space display monitor 7 then displays information on the issued warning as described above, as well as information indicating that the operation of each of the construction machines K1-K4 has been changed.
The control monitor 8 displays the operating status and management tasks of each of the construction machines K1 to K4.
The overhead camera monitor 9 displays the real space of the construction site G. Images of the real space are acquired by the central control unit 1 from a plurality of overhead cameras 12 installed at the construction site G via a camera repeater 11, as shown in Fig. 2. The operator can check the operating status of the construction machines K1 to K4 in the real space of the construction site G through the overhead camera monitor 9. In particular, when the construction machines K1 to K4 are automatically controlled by remote control, the operator can easily check the lag between the construction machines K1 to K4 in the virtual space displayed on the virtual space display monitor 7 and the construction machines K1 to K4 in the real space displayed on the overhead camera monitor 9, thereby improving the reliability of the work.

The control repeater 10 is a device that relays control signals between the central control unit 1 and the group of construction machines K. The control repeater 10 communicates control signals between each of the construction machines K1 to K4 of the group of construction machines K, for example using 5G (5th Generation: fifth generation mobile communication system) as a communication standard.

The camera repeater 11 is a device that relays video signals between the central control unit 1 and the group of construction machines K. The camera repeater 11 communicates video signals between each of the construction machines K1 to K4 of the group of construction machines K, for example, using 5G. In addition, the camera repeater 11 is connected by wire to multiple overhead cameras 12 installed at the construction site G. The camera repeater 11 transmits images from the multiple overhead cameras 12 to the central control unit 1 using communication means such as an optical cable.

Next, the equipment mounted on the construction machines K1 to K4 will be described using the equipment mounted on the crawler dump K1 as an example.
4, the crawler dump K1 is equipped with a transmitting/receiving antenna 20, an on-board control unit 21, a construction machine drive unit 22, an on-board camera 23, a GPS compass 24, an obstacle detection device 25, and an inclinometer 26. The other construction machines K2 to K4 are also equipped with devices equivalent to those mounted on the crawler dump K1.

The transmission/reception antenna 20 is an antenna for transmitting and receiving control signals to and from the central control unit 1 via the control repeater 10, and is attached to the top of the crawler dump truck K1. For example, the transmission/reception antenna 20 and the control repeater 10 communicate using 5G as described above. The communication using 5G can significantly reduce delay time compared to that using 4G (4th Generation: fourth generation mobile communication system), and is therefore suitable for executing automatic control of the construction machines K1 to K4. In particular, by using 5G, it is possible to reliably execute warning notifications and contact avoidance of the construction machines K1 to K4. Note that since the control repeater 10 and the central control unit 1 communicate with each other via an optical cable, it is possible to reliably execute warning notifications and contact avoidance of the construction machines K1 to K4 even when the construction machines K1 to K4 are automatically controlled remotely.
In addition, communication between the central control unit 1 and the group of construction machines K is not limited to using 5G, and LTE (Long Term Evolution) or 4G may also be used.

The on-board control unit 21 calculates control amounts for automatic driving and various operations of the crawler dump truck K1 based on position information and direction information from a GPS compass 24, obstacle detection information from an obstacle detection device 25, and the like.
The construction machine driving unit 22 performs automatic traveling and various operations of the crawler dump K1 based on the control amount calculated by the on-board control unit 21. For example, the construction machine driving unit 22 drives the crawler dump K1 to a position where the backhoe K2 can optimally load soil and sand based on the control amount calculated by the on-board control unit 21.
The vehicle-mounted camera 23 is a camera that captures images of the real space around the crawler dump K1. For example, the vehicle-mounted camera 23 can capture high-definition images and nighttime infrared LED images, and can rotate 360 degrees horizontally and 180 degrees vertically to capture images of the surroundings of the crawler dump K1. The images captured by the vehicle-mounted camera 23 are transmitted from the vehicle-mounted control unit 21 and the transmitting/receiving antenna 20 to the central control unit 1 via the camera repeater 11. The images captured by the vehicle-mounted camera 23 contribute to understanding the work situation in the real space.
The GPS compass 24 acquires position information and direction information of the crawler dump K1, and outputs the coordinate information to the on-board control unit 21. The acquired coordinate information is used for controlling the on-board control unit 21, and is also transmitted from the transmitting/receiving antenna 20 to the central control unit 1 side via the control repeater 10. The acquired coordinate information is used to draw a three-dimensional image of the crawler dump K1 in a virtual space.

The obstacle detection device 25 detects whether or not there is an obstacle on the automatic driving path, etc. Information detected by the obstacle detection device 25 is output to the in-vehicle control unit 21 and is used for control when performing obstacle avoidance driving during automatic driving, etc.
The inclinometer 26 detects whether the loading platform is inclined or not. Detection information on whether the loading platform is inclined or not is used for controlling the driving of the loading platform when loading and unloading earth and sand.

Next, the operation control process of the construction machine contact prevention system of this embodiment will be described.
Fig. 6 is a schematic plan view showing an enlarged view of the work yard of the construction site shown in Fig. 2, Fig. 7 is a schematic perspective view showing the loading of earth and sand in the work yard from a different perspective, Fig. 8 is a flow chart showing the process of the operation control, and Fig. 9 are schematic diagrams showing the interference state of the area set for the construction machine.

As shown in FIG. 6, the work yard A is equipped with an earth and sand loading area A1, earth and sand discharge areas A2, A2, and a travel road A3 connecting these areas.
The crawler dump truck K1 is programmed to travel along the travel path A3 and perform a transporting operation under automatic control to discharge the soil loaded in the soil loading area A1 to the soil discharge areas A2, A2.
In the soil loading area A1, a plurality of backhoes K2 are arranged, which are programmed to automatically control the work of loading soil onto the bed of a crawler dump truck K1.
In addition, in the soil loading area A1, as shown in Figure 7, the crawler dump K1 and the backhoe K2 approach each other to load soil, so the judgment of area interference based on the approach of the crawler dump K1 and the backhoe K2 as described below is canceled.

8, when the operation control process is started, various settings are input in step ST1. In step ST1, the central control unit 1 receives input of various settings related to the control process of the construction machines K1 to K4, such as point cloud data stored in advance in a ROM or the like, and data on the first approach distance to the third approach distance and the first contact distance to the third contact distance.
In step ST2, the first display means 2 renders an image of the topographical surface of the construction site G (see FIG. 2) in the virtual space.
In step ST3, the position information acquisition means 3 acquires coordinate information including position information and orientation information measured by the construction machines K1 to K4 in the real space.
In step ST4, the second display means 4 renders three-dimensional images of each of the construction machines K1 to K4 in the virtual space based on the coordinate information acquired by the position information acquisition means 3.

In step ST5, the measuring means 5 measures a first distance, which is the distance between the construction machines K1 to K4, a second distance, which is the distance between any of the construction machines K1 to K4 and the worker, and a third distance, which is the distance between any of the construction machines K1 to K4 and the no-entry area A4 of the construction site G, in the virtual space.
Furthermore, in step ST5, the operation control means 6 sets a virtual warning area R2 and a virtual contact area R1 for each of the construction machines K1 to K4.

In step ST6, the operation control means 6 judges whether the first distance is equal to or smaller than the first approach distance. If the first distance is greater than the first approach distance, i.e., if the virtual warning areas R2 do not interfere with each other (see FIG. 9A), the operation control means 6 judges No in step ST6 and proceeds to step ST7. If the first distance is equal to or smaller than the first approach distance, i.e., if the virtual warning areas R2 interfere with each other (see FIG. 9B), the operation control means 6 judges Yes in step ST6 and proceeds to step ST9.
In step ST7, the operation control means 6 judges whether the second distance is equal to or smaller than the second approach distance. If the second distance is greater than the second approach distance, i.e., if the virtual warning area R2 does not interfere with the position of the worker, the result of the judgment in step ST7 is No, and the process proceeds to step ST8. If the second distance is equal to or smaller than the second approach distance, i.e., if the virtual warning area R2 interferes with the position of the worker, the result of the judgment in step ST7 is Yes, and the process proceeds to step ST9.
In step ST8, the operation control means 6 judges whether the third distance is equal to or smaller than the third approach distance. If the third distance is greater than the third approach distance, i.e., if the virtual warning area R2 and the forbidden area A4 do not interfere with each other, the operation control means 6 judges No in step ST8 and proceeds to step ST5. Then, the following step ST6 is repeated. If the third distance is equal to or smaller than the third approach distance in step ST8, i.e., if the virtual warning area R2 and the forbidden area A4 interfere with each other, the operation control means 6 judges Yes in step ST8 and proceeds to step ST9.
In step ST9, the operation control means 6 issues an alarm to the corresponding construction machines K1 to K4.

In step ST10, the motion control means 6 determines whether the first distance is equal to or smaller than the first contact distance. If the first distance is greater than the first contact distance, i.e., the virtual contact areas R1 do not interfere with each other (see Figures 9(a) and 9(b)), the determination is No in step ST10, and the process proceeds to step ST11. If the first distance is equal to or smaller than the first contact distance, i.e., the virtual contact areas R1 interfere with each other (see Figure 9(c)), the determination is Yes in step ST10, and the process proceeds to step ST13.

In step ST11, the operation control means 6 judges whether the second distance is equal to or smaller than the second contact distance. If the second distance is greater than the second contact distance, i.e., if the virtual contact area R1 does not interfere with the position of the worker, the operation control means 6 judges No in step ST11 and proceeds to step ST12. If the second distance is equal to or smaller than the second contact distance, i.e., if the virtual contact area R1 interferes with the position of the worker, the operation control means 6 judges Yes in step ST11 and proceeds to step ST13.
In step ST12, the motion control means 6 judges whether the third distance is equal to or smaller than the third contact distance. If the third distance is greater than the third contact distance, i.e., if the virtual contact area R1 and the entry-prohibited area A4 do not interfere with each other, the motion control means 6 judges No in step ST12 and proceeds to step ST5. Then, the following step ST6 is repeated. If the third distance is equal to or smaller than the third contact distance in step ST12, i.e., if the virtual contact area R1 enters the entry-prohibited area A4, the motion control means 6 judges Yes in step ST12 and proceeds to step ST13.
In step ST13, the operation control means 6 performs control to change the operation of the corresponding construction machine K1 to K4 (for example, control to stop the operation), whereby the operation control process ends.
When control to stop the operation is executed in step ST13, the construction machines K1 to K4 whose operation has been stopped are moved by manual control to a retreat position to avoid contact.

In the construction machine contact prevention system of this embodiment described above, it is possible to realize control to issue a warning when the construction machines K1 to K4 approach each other and change their operation (including stopping operation) simply by acquiring position information and distance information between the construction machines K1 to K4. Since there is no need to install multiple sensors for each construction machine K1 to K4 as in the conventional system, the configuration is simple and costs can be reduced.

The operation control means 6 also sets a virtual warning area R2, which serves as the basis for control to issue a warning, and a virtual contact area R1, which serves as the basis for control to change operation, around each of the construction machines K1 to K4 in the virtual space. A warning is issued based on interference between the virtual warning areas R2, and control to change the operation of the corresponding construction machines K1 to K4 is performed based on interference between the virtual contact areas R1, so that warnings and control to change operation (including stopping operation) can be realized more simply. Also, the proximity state of the construction machines K1 to K4 can be easily confirmed in the virtual space.

Furthermore, since the second display means 4 displays the images of each of the construction machines K1 to K4 three-dimensionally within the virtual space, the proximity state of the construction machines K1 to K4 to one another can be confirmed more realistically within the virtual space.
In addition, since the position information acquisition means 3 is capable of acquiring orientation information along with the position information of the construction machines K1 to K4, it is possible to more accurately realize warnings in response to the construction machines K1 to K4 approaching each other and control to change operation (including stopping operation).

In addition, it is easy to realize control to warn workers of the approach of the construction machines K1 to K4 and change their operation (including stopping operation), as well as control to warn workers of the approach of the construction machines K1 to K4 to the no-entry area A4 and change their operation (including stopping operation).

Although an embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and each component can be appropriately modified without departing from the spirit of the present invention.
For example, in the above embodiment, a warning is issued based on the interference between the virtual warning areas R2, and the operation of the corresponding construction machines K1 to K4 is changed based on the interference between the virtual contact areas R1, but the present invention is not limited to this. For example, the first to third approach distances and the first to third contact distances may be set as numerical values, and these may be compared with the first to third distances to issue a warning or change the operation.

In addition, while the virtual contact area R1 and the virtual warning area R2 are both shown as being rectangular frames, the present invention is not limited to this and various shapes such as circular frames, elliptical frames, etc. may be used. When the areas are circular frames, it is possible to determine whether or not there is interference depending on whether or not the distance between the centers (centers of the outer frames S1) of one construction machine and the other construction machine is below the sum of the radii of the areas set for each construction machine.
Furthermore, the control for changing the operation of the construction machines K1 to K4 may be configured to be performed by a change command transmitted by an operator.
Further, the construction machines K1 to K4 are not limited to being all unmanned, and may be a combination of manned construction machines.

REFERENCE SIGNS LIST 1 Central control unit 2 First display means 3 Position information acquisition means 4 Second display means 5 Measurement means 6 Operation control means A4 No entry area G Construction site K1 Crawler dump K2 Backhoe K3 Bulldozer K4 Vibration roller R1 Virtual contact area R2 Virtual warning area R11 Outer portion R21 Outer portion

Claims (4)

A construction machine contact prevention system that prevents contact between multiple construction machines operating at a construction site based on position information of the construction machines,
A first display means for displaying an image of the construction site in a virtual space;
a position information acquisition means for acquiring position information of each of the construction machines;
a second display means for drawing an image of each of the construction machines in the virtual space based on the position information of each of the construction machines acquired by the position information acquisition means;
a measuring means for measuring a first distance, which is a distance between the construction machines, in the virtual space;
and an operation control means for controlling an operation of the construction machine based on the measured first distance,
the operation control means performs control to issue a warning to each of the construction machines that have reached the first approach distance when the measured first distance becomes a first approach distance, which means that the construction machines are approaching each other, and performs control to change the operation of each of the construction machines that have reached the first contact distance when the first distance becomes smaller than the first approach distance and becomes a first contact distance, which means that there is a possibility of contact between the construction machines,
The operation control means includes:
A rectangular outer frame formed so as to surround the outside of the construction machine in a planar view, a rectangular virtual warning area formed so as to surround the outside of the outer frame in a planar view and serving as a reference for control to issue a warning, and a rectangular virtual contact area formed so as to surround the outside of the outer frame in a planar view and serving as a reference for control to change the operation are set around each of the construction machines in the virtual space,
When the virtual warning areas set for the respective construction machines interfere with each other, it is determined that the first approach distance has been reached, and control is performed to issue a warning to the respective construction machines whose virtual warning areas interfere with each other;
When the virtual contact areas set for the respective construction machines interfere with each other, it is determined that the first contact distance has been reached, and control is performed to change the operation of each of the construction machines where the virtual contact areas interfere with each other;
the virtual warning area is outside the virtual contact area;
The operation control means includes:
A setting is provided in which, in a specific area of the construction site, the first approach distance is not determined due to interference between the virtual warning areas and the first contact distance is not determined due to interference between the virtual contact areas,
A construction machine contact prevention system characterized by the fact that, when the settings are not made to determine the first approach distance and the first contact distance, when the centers of the outer frames of the construction machines interfere with each other, the system controls to change the operation of each of the construction machines . The construction machine contact prevention system according to claim 1, characterized in that the second display means displays an image of each of the construction machines three-dimensionally within the virtual space. The construction machine contact prevention system according to claim 1 or 2, characterized in that the position information acquisition means is capable of acquiring orientation information along with the position information of the construction machine. the measuring means is capable of measuring, in addition to the first distance, a second distance which is a distance between the construction machine and a worker, and a third distance which is a distance between the construction machine and a no-entry area set in the construction site,
The operation control means includes:
When the second distance becomes a second approach distance, which means that the construction machine is approaching the worker, control is performed to issue a warning to the construction machine that has reached at least the second approach distance, or when the third distance becomes a third approach distance, which means that the construction machine is approaching the no-entry area, control is performed to issue a warning to the construction machine that has reached at least the third approach distance;
A construction machinery contact prevention system as described in any one of claims 1 to 3, characterized in that when the second distance becomes a second contact distance, which means the possibility of contact between the construction machinery and the worker, control is performed to change at least the operation of the construction machinery that has become the second contact distance, or when the third distance becomes a third contact distance, which means the possibility of entry into the no-entry area, control is performed to change at least the operation of the construction machinery that has become the third contact distance.

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