JP2019060108A - Worker approach notification system - Google Patents

Abstract

To provide a worker approach notification system capable of preventing an excessive alarm.SOLUTION: The present invention periodically changes magnetic field strengths of magnetic field signals 120A to 120D generated from magnetic field generators 21A to 21D, includes information including magnetic field ID, the magnetic field strength, and tag ID in information transmitted and received between an RFID tag 40 and a tag information receiving device 22, and detects a position of a worker carrying the RFID tag 40 based on the information. Further, an area for performing detection and approach notification of the RFID tag 40 is determined according to the work state of a hydraulic excavator 1, and the detection result is notified to an operator based on the determined content.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a worker approach notification system.

  There are various issues regarding work safety at work sites that use work machines such as hydraulic shovels and wheel loaders, for example, preventing contact between work machines and workers becomes an important issue for occupational safety There is. As a technology to prevent the contact between the work machine and the worker, an infrared sensor, an ultrasonic sensor or the like is installed on the work machine to detect the distance between the work machine and the worker around it, and according to the detected distance Systems are known that issue alarms. However, since infrared rays and ultrasonic waves are easily affected by sunlight, air pressure, humidity and the like in the working environment of the working machine, false detection is likely to occur. Therefore, a system has been developed that detects a worker by reading an ID signal from an RFID tag possessed by the worker by wireless communication that is not easily affected by the work environment.

  As a system for detecting a worker using an RFID tag, for example, in Patent Document 1, the worker carries the RFID tag emitting radio waves of a predetermined communication distance, and a receiver mounted on a working machine is a receiver. There is disclosed a system which detects an approach of a worker within a predetermined distance by receiving radio waves from an RFID tag and issues an alarm. Further, in Patent Document 2, a transmitter is mounted on a work machine together with a receiver to generate an induction magnetic field, and the transmitter transmits a trigger ID for work machine identification, and an RFID tag carried by a worker is also available. A worker approach detection system is disclosed that detects a trigger ID and returns a worker ID. Further, in Patent Document 3, an RFID tag carried by a worker is provided with a function of changing the magnetic field detection sensitivity, and the distance between the working machine and the worker is identified in several steps on the RFID tag side. A system for changing levels is disclosed. Further, in Patent Document 4, radio waves from an RFID tag are received by three receivers, and the radio wave intensity in each receiver is measured and acquired as distance information, and the installation positions of each of the three receivers A method is disclosed for identifying the position of a worker from information and distance information acquired by each receiver.

Patent No. 5009139 gazette

Patent 4945670 gazette

Patent No. 5835577

Patent No. 3766407

  When a worker approaching a work machine is detected and notified to the operator by an alarm or the like, it is necessary to sufficiently pay attention so that the operator does not feel bothersome due to the excessive alarm. In order to prevent an excessive alarm, it is important to appropriately adjust, for example, an area to be subjected to detection of an operator's presence or alarm on a work machine according to various situations. However, in the above-mentioned prior art, it is not considered to adjust the area for the detection of the presence of the worker or the alarm on the working machine, so the operator may feel bothered by the excessive alarm. There is a concern that the working efficiency will be reduced.

  The present invention has been made in view of the above, and an object thereof is to provide a worker approach notification system capable of preventing an excessive alarm.

  The present application includes a plurality of means for solving the above problems, and an example thereof is a vehicle body provided with a traveling device, and a plurality of front members attached to the vehicle body and rotatably connected. In a worker approach notification system mounted on a work machine comprising an articulated work machine comprising: a control device for outputting the operation signal for operating the work machine, the magnetic field strength of the generated magnetic field signal is An adjustable magnetic field generating device, which generates a magnetic field signal including magnetic field strength setting information which is information on the magnetic field strength of the magnetic field signal and a magnetic field ID for identifying the generation source of the magnetic field signal. An RFID tag carried by an operator of the work machine and a worker who works outside the work machine at least one magnetic field generator fixed at a predetermined position of When the magnetic field signal generated by the magnetic field generation device is received, the RFID tag itself which has received the magnetic field signal and the magnetic field ID and the magnetic field strength setting information included in the received magnetic field signal is identified. And at least one RFID tag for transmitting a radio wave signal including a tag ID, a tag information receiving apparatus for receiving a radio wave signal transmitted from the RFID tag, and a magnetic field strength of a magnetic field signal generated by the magnetic field generator. A tag detection device control unit that acquires information included in the radio wave signal received by the tag information reception device while changing the position information, and a detection target area to be a detection target of the presence position of the RFID tag in the periphery of the work machine And a detection alert area for determining an approach notification target area targeted for the approach notification of the RFID tag in the detection target area The detection determined by the detection / warning area determination unit using the determination unit, the information on the installation position of the magnetic field generation device in the work machine, and the information included in the radio signal acquired by the tag detection device control unit When the RFID tag is detected in the approach notification target area based on the determination result of the worker position determination unit which determines the position where the RFID tag is present in the target area and the worker position determination unit A notification command generating unit for generating a notification command for notifying the operator of the work machine that the RFID tag has been detected is provided, and outputting the notification command to the notification device.

  According to the present invention, an excessive warning can be prevented.

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view which shows typically the external appearance of the hydraulic shovel which is an example of the working machine which concerns on one embodiment of this invention. It is a figure which shows roughly an example of the worker approach notification system mounted in a working machine. It is a figure which shows the detail of a worker approach notification system, and is a figure which shows the detail of a RFID tag and a tag detection apparatus. It is a figure which shows the detail of a worker approach notification system, and is a figure which shows the detail of a working condition detection apparatus and a control apparatus. It is a top view which shows an example of arrangement | positioning of the magnetic field generator in a hydraulic shovel. It is a figure which shows an example of induction magnetic field information. It is a figure which shows an example of tag information. It is a figure which shows an example of tag detection information. It is a flowchart which shows the calculation process of the intensity | strength command value of a magnetic field intensity determination part. It is a flowchart which shows the production | generation process of the tag detection information of a detection information output part. It is a figure which shows the example of a setting of the detection object area in the operation standby state, and an approach notification object area. It is a figure which shows the example of a setting of the detection object area in a front operation state, and an approach notification object area. It is a figure which shows the example of a setting of the detection object area in the turning operation state, and an approach notification object area. It is a figure which shows the example of a setting of the detection object area in a driving operation state, and an approach notification object area. It is a figure which shows an example of a worker existence area. It is a figure which shows the example of a display of the detection object area and the approach notification object area in a display apparatus. It is a figure which shows the example of a display of the detection object area and the approach notification object area in a display apparatus. It is a figure which shows roughly the modification of the worker approach notification system mounted in a working machine. It is a top view which shows another example of arrangement | positioning of a magnetic field generator. It is a top view which shows another example of arrangement | positioning of a magnetic field generator. It is a top view which shows another example of arrangement | positioning of a magnetic field generator. It is a side view of a wheel loader shown as an example of a work machine to which the present invention is applied.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a side view schematically showing the appearance of a hydraulic shovel that is an example of a working machine according to an embodiment of the present invention. Moreover, FIG. 2 is a figure which shows roughly an example of the worker approach notification system mounted in a working machine.

  In FIG. 1, the hydraulic shovel 1 has a multi-joint type front working machine 6 (working machine) configured by connecting a plurality of front members (a boom 6A, an arm 6B, and a bucket 6C) which respectively rotate in the vertical direction. An upper swing body 3 and a lower traveling body 2 (traveling device) constituting a vehicle body are provided, and the upper swing body 3 is provided so as to be rotatable relative to the lower travel body 2. The upper swing body 3 is configured by arranging respective members on a swing frame 31 serving as a base, and the swing frame 31 constituting the upper swing body 3 can swing relative to the lower traveling body 2. The base end of the boom 6A of the front work machine 6 is vertically rotatably supported at the front of the upper swing body 3, and one end of the arm 6B is an end different from the base end of the boom 6A (tip , And the bucket 6C is vertically rotatably supported at the other end of the arm 6B.

  The lower traveling body 2 is a traveling hydraulic motor 13a (13b) (not shown) for driving a pair of crawlers 12a (12b) respectively wound around a pair of left and right crawler frames 11a (11b) and the crawlers 12a (12b). (Including the mechanism). In addition, in FIG. 1, about each structure of the lower traveling body 2, only one of the left and right pair of structures is illustrated and attached with a code, and the other structure is shown only by the code in parentheses. Illustration is omitted.

  The front members 6A to 6C and the lower traveling body 2 are respectively driven by a boom cylinder 16A, an arm cylinder 16B, a bucket cylinder 16C, and left and right traveling hydraulic motors 13a (13b), which are hydraulic actuators. Further, the upper swing body 3 performs a swing operation on the lower traveling body 2 by a swing hydraulic motor 32 which is a hydraulic actuator.

  At the front members 6A to 6C of the front work machine 6, posture sensors 75A to 75C for acquiring respective posture information are disposed. The posture sensors 75A to 75C are, for example, an inertial measurement unit (IMU: Inertial Measurement Unit) that measures the angular velocity and acceleration of the installed front member. Posture sensors 75A to 75C output measured values of acceleration and angular velocity in the IMU coordinate system set in posture sensors 75A to 75C as posture information. By using these measurement values and information such as the mounting state of the posture sensors 75A to 75C (that is, the relative positional relationship between the posture sensors 75A to 75C and the front members 6A to 6C), the front members 6A to 6C are obtained. You can know the attitude.

  A motor 33 such as an engine, a hydraulic pump 34 driven by the motor 33, and a hydraulic pump 34 discharge the boom cylinder 16A, the arm cylinder 16B, and the bucket cylinder 16C on the swing frame 31 constituting the upper swing body 3. A control circuit 35 for controlling the direction and flow rate of hydraulic fluid supplied to hydraulic actuators such as the swing hydraulic motor 32 and the left and right traveling hydraulic motors 13a and 13b is disposed, and a hydraulic circuit system is configured. Operation control of each hydraulic actuator 16A-16C, 32, 13a, 13b is performed by controlling the control valve 35 based on the operation signal output from the control lever device 5 corresponding to each operation.

  In addition, the operator is on the front side on the swing frame 31 constituting the upper swing body 3 and on the side (the left side in the present embodiment) of the support portion at the base end of the boom 6A of the front work machine 6 A driver's cab 4 for operating the hydraulic shovel 1 is disposed. In the driver's cab 4, an engine key switch 7, an operation lever device 5, a lock lever 8 and the like are arranged.

  The engine key switch 7 switches the start and stop of the hydraulic shovel 1. When the engine key switch 7 is switched to the "OFF" position, the hydraulic shovel 1 is stopped (that is, the engine 33 is stopped), and when the engine key switch 7 is switched to the "ON" position, the hydraulic shovel 1 is It is in the activated state (that is, the state in which the engine 33 and various systems are activated). The engine key switch 7 is provided with a key state detection sensor 77 (the reference numeral is shown in parentheses in FIG. 1) for detecting whether the position is switched to "ON" or "OFF". .

  The operation lever device 5 performs drive operation of the front work machine 6, travel operation of the lower traveling body 2, swing operation of the upper swing body 3, etc., and operates the respective hydraulic actuators 16A to 16C, 32, 13a, 13b. It is comprised by the several operation lever (not shown) corresponding to. The operation lever device 5 is provided with a lever operation amount sensor 79 (symbols in parentheses are shown in FIG. 1) for detecting the operation amount of the operation lever corresponding to the operation of each of the hydraulic actuators 16A to 16C, 32, 13a, 13b. It is done.

  The lock lever 8 switches between interruption and connection of an operation signal output from the operation lever device 5. When the lock lever 8 is switched to the "lock" position, the operation signal output from the operation lever device 5 is blocked and invalidated, and the hydraulic actuators 16A to 16C, 32, 13a and 13b are not driven. Further, when the lock lever 8 is switched to the “lock release” position, the blocking of the operation signal output from the operation lever device 5 is released and becomes effective, and each hydraulic actuator 16A to 16C, 32 by the operation lever device 5 It is possible to drive 13a and 13b. The lock lever 8 is provided with a lock state detection sensor 78 (symbols in FIG. 1 are shown in parentheses) for detecting whether the position is switched to “lock” or “unlock”. .

  Here, the attitude sensors 75A to 75C constitute an attitude detection device 71 that detects attitude information on the attitudes of the plurality of front members 6A to 6C that constitute the front work machine 6, respectively. In addition, the key state detection sensor 77 of the engine key switch 7, the lock state detection sensor 78 of the lock lever 8, and the lever operation amount sensor 79 of the operation lever device 5 detect the operation state of the hydraulic shovel. 72 constitute. The posture detection device 71 and the machine operation state detection device 72 constitute a work state detection device 70 that detects the work state of the hydraulic shovel 1 (see FIG. 4 and the like described later).

  The worker approach notification system 10 in the present embodiment is mounted on such a hydraulic shovel 1 and detects workers according to the following operation principle. In the worker approach notification system 10 of the present embodiment, the RFID tag 40 is carried by a worker (including the operator of the hydraulic shovel 1) to be detected. The intensity of the induction magnetic field (magnetic field signal described later) generated by the magnetic field generators 21A to 21D installed in the hydraulic shovel 1 is periodically changed, and this intensity information (magnetic field intensity setting information / magnetic field intensity setting information received value described later) Is included in the information transmitted and received by the magnetic field signal and the radio wave signal between the tag detection device 20 and the RFID tag 40. At this time, for example, since it is known that the RFID tag 40 receives a magnetic field signal of a specific magnetic field strength or more generated by the magnetic field generation device 21A, the magnetic field strength of the magnetic field signal generated by the magnetic field generation device 21A and the RFID tag 40 From the relationship with the reception limit distance, the distance between the magnetic field generator 21A and the RFID tag 40 can be simply measured. At this time, the number of selectable magnetic field strength changes of the magnetic field generator 21A may be determined in consideration of the required resolution of distance measurement, the changing cycle of the magnetic field strength, and the required response time. In addition, the magnetic field generation devices 21A to 21D and the RFID tag 40 and the magnetic field generation devices 21A to 21D are caused to be included in the magnetic field signal by making the information of the unique ID (magnetic field ID described later) correspond to the generation source. Can be measured separately. Therefore, the position of the RFID tag 40 (that is, the worker) with respect to the hydraulic shovel 1 can be detected by using the information of the installation position of the magnetic field generation devices 21A to 21D in the hydraulic shovel 1. In the present embodiment, by discretely changing the strengths of the magnetic field signals generated by the magnetic field generation devices 21A to 21D, the positions where the workers exist with respect to the hydraulic shovel 1 (range: worker presence area described later) Is described by way of example.

  In FIG. 2, the worker approach notification system 10 according to the present embodiment includes an RFID tag 40 carried by a worker who may work in the vicinity of the hydraulic shovel 1 which is a working machine, and the periphery of the hydraulic shovel 1. The tag detection device 20 that detects the RFID tag 40, the work state detection device 70 that detects the work state of the hydraulic shovel 1, and the tag detection device 20 are controlled, and the tag detection device 20 and the work state detection device 70 Control device 60 for determining the presence or existence position of the RFID tag 40 based on the stored information and generating a notification command for notifying the operator of the determination result, and disposed in the operator's cab 4 of the hydraulic shovel 1 And a notification device 80 for notifying the operator of the determination result of the control device 60 based on the notification command from the control device 60.

  The tag detection device 20 is capable of adjusting the magnetic field strength, and includes magnetic field signals 120A to 120D including magnetic field strength setting information, which is information related to the magnetic field strength of the magnetic field signal, and a magnetic field ID identifying the generation source of the magnetic field signal. The four magnetic field generators 21A to 21D to be generated, the tag information receiver 22 for receiving the radio signal 140 transmitted upon receiving the magnetic field signals 120A to 120D from the RFID tag 40, and the magnetic field generators 21A to 21D. The tag detection device control unit 23 periodically changes the magnetic field strengths of the generated magnetic field signals 120A to 120D, and acquires information included in the radio wave signal 140 received by the tag information reception device 22.

  FIG. 5 is a top view showing an example of the arrangement of the magnetic field generator in the hydraulic shovel.

  As shown in FIG. 5, the magnetic field generation devices 21A to 21D are installed in the hydraulic shovel 1 and are disposed one by one on the front, rear, left, and right of the upper swing body 3. For example, assuming that the magnetic field strength of the magnetic field signals 120A to 120D generated by the magnetic field generators 21A to 21D is a certain strength, the magnetic field signals 120A to 120D generated by the respective magnetic field generators 21A to 21D are RFID tags. The range receivable by the magnetic field detection sensitivity of 40 (hereinafter referred to as a magnetic field detectable area) is a certain range centered on the magnetic field generators 21A to 21D.

  In the present embodiment, the magnetic field signals 120A to 120D generated by the magnetic field generators 21A to 21D respectively form ellipsoidal magnetic field detectable areas 221A to 221D, and the major axes thereof are along the front-rear direction of the upper swing body 3 Thus, the magnetic field generators 21A to 21C are disposed, and the magnetic field generator 21D is disposed such that the long axis of the magnetic field detectable area 221D is along the left-right direction of the upper swing body 3. In FIG. 5, for simplicity of explanation, the magnetic field detectable areas 221A to 221D in the horizontal plane of the height where the presence of the RFID tag 40 is assumed (for example, the assumed value of the height near the chest and waist of the worker). The cross section is illustrated. The magnetic field detectable areas formed by the magnetic field signals 120A to 120D generated by the magnetic field generators 21A to 21D do not necessarily have to be elliptical and may be perfect circles.

  The magnetic field generation device 21A is arranged such that the magnetic field detectable area 221A covers a fixed range on the front side including the upper swing body 3 of the hydraulic shovel 1. Similarly, in the magnetic field generation devices 21B to 21D, the respective magnetic field detectable areas 221B to 221D cover certain ranges on the left side, the right side, and the rear side including the upper swing body 3 of the hydraulic shovel 1, respectively. Is located in

  The RFID tag 40 is carried by an operator of the hydraulic shovel 1 and a worker who works outside the hydraulic shovel 1. When the RFID tag 40 receives the magnetic field signals 120A to 120D generated from the magnetic field generation devices 21A to 21D of the tag detection device 20, the magnetic field ID of the received magnetic field signals 120A to 120D (respective magnetic field generation devices 21A to 21D And a magnetic field strength setting information and a tag ID for identifying the RFID tag 40 itself that has received the magnetic field signal. That is, in the present embodiment, detecting the presence of the RFID tag 40 and the position thereof is equivalent to detecting the presence of the worker carrying the RFID tag 40 and the position thereof.

  The control device 60 controls the entire operation of the worker approach notification system 10, and the operation unit 60A that controls the tag detection device 20 based on the detection result from the work state detection device 70, and the operation unit 60A. And a storage unit 60B for storing various information used for processing. Control device 60 includes a storage unit including a CPU, a read only memory (ROM), a random access memory (RAM), and a flash memory, not shown, a microcomputer including these, and peripheral circuits not shown. For example, it operates in accordance with a program stored in the ROM.

  The calculation unit 60A is a range included in a detection target area (for example, a detection target area 230 in FIG. 11 described later) for detecting the presence position of the RFID tag 40 around the hydraulic shovel 1 and the detection target area A detection / warning area determination unit 61 that determines an approach notification target area (for example, an approach notification target area 280 in FIG. 11 described later) to be approached for notification of the RFID tag 40 according to the work state of the hydraulic shovel 1; The RFID tag 40 in the detection target area determined by the detection / warning area determination unit 61 using the information on the installation position of the generators 21A to 21D in the hydraulic shovel 1 and the tag detection information acquired by the tag detection device control unit 23 (ie The worker position determination unit 62 determines the position (range) where the worker exists, and the worker position determination unit 62 When the determined position of the RFID tag 40 is the approach notification target area, a notification command is generated to notify the operator of the hydraulic excavator 1 that the worker (RFID tag 40) is detected in the approach notification target area. A notification command generation unit 63 is provided.

  The notification device 80 is a device for notifying the operator of the work machine 1 of the presence of workers around the hydraulic shovel 1 (in other words, the presence of the RFID tag 40), and includes a display device 81 and an alarm device 82. ing. The display device 81 is made of, for example, a liquid crystal panel or the like, and is provided at a position in the operator's cab 4 of the hydraulic shovel 1 that is easy for the operator to see, and a position that does not hinder securing the external visual field. The display device 81 is used to notify the operator of the hydraulic shovel 1 of the presence of the worker by visual information, and based on the display command (notification command) from the control device 60, the display of the area where the worker exists or Display to notify the approach of workers. Further, the alarm device 82 is a device capable of generating sound, voice and the like, and is provided in the operator's cab 4 of the hydraulic shovel 1. The alarm device 82 is used to notify the operator of the hydraulic shovel 1 of the approach of the hydraulic shovel 1 by the hearing information, and an alarm sound for notifying the approach of the worker based on the alarm command (notification command) from the control device 60. Generate

  3 and 4 show details of the worker approach notification system, FIG. 3 shows details of the RFID tag and tag detection device, and FIG. 4 shows details of the work state detection device and control device. .

  In FIG. 3, the magnetic field generators 21A to 21D of the tag detection device 20 generate magnetic field signals 120A to 120D using magnetic field generation units 25A to 25D, which are antennas (for example, coils) generating induction magnetic fields as drive signals. A magnetic field intensity change unit that generates a drive signal that causes the magnetic field generation units 25A to 25D to generate a magnetic field signal of magnetic field intensity based on the intensity command value (that is, magnetic field intensity setting information) included in the control signal from the detection device control unit 23. Each has 24A-24D. The magnetic field intensity changing units 24A to 24D generate and modulate a signal including the magnetic field ID and the magnetic field intensity setting information corresponding to each of the magnetic field generation devices 21A to 21D, and output the signal as a drive signal to the magnetic field generation units 25A to 25D. Thus, the magnetic field generation units 25A to 25D include the magnetic field ID and the magnetic field strength setting information (collectively referred to as induced magnetic field information: refer to FIG. 6), and a magnetic field that is a modulation signal of the magnetic field strength according to the magnetic field strength setting information. The signals 120A to 120D are respectively generated.

  The RFID tag 40 includes a magnetic field detection unit 41 which is an antenna (for example, a coil) for detecting the magnetic field signals 120A to 120D generated from the tag detection device 20, and an antenna for generating the radio wave signal 140 by a drive signal (for example, a coil And the like, and an output information generation unit 42 that generates a drive signal of the radio wave transmission unit 43 based on the magnetic field signals 120A to 120D detected by the magnetic field detection unit 41. The output information generation unit 42 demodulates the magnetic field signals 120A to 120D detected by the magnetic field detection unit 41, and extracts the magnetic field ID and the magnetic field strength setting information included in the magnetic field signals 120A to 120D. Then, information including the tag ID which is a unique ID for identifying the RFID tag 40 itself, the extracted magnetic field ID (magnetic field ID received value), and the extracted magnetic field strength setting information (magnetic field strength setting information received value) (hereinafter referred to as tag The information is referred to as information: see FIG. 7), is modulated, and is output to the radio wave transmission unit 43 as a drive signal. Thus, the RFID tag 40 transmits a radio wave signal 140 of a predetermined frequency and intensity including tag information (tag ID, received magnetic field ID, and received magnetic field strength setting information).

  The RFID tag 40 is, for example, a semi-active type, and stands by in a state (standby state) in which transmission of a radio wave signal is not performed until a magnetic field signal is received, and at least at least the magnetic field signals 120A to 120D from the tag detection device 20 When one signal is received, various processes are performed using this as a trigger, and when the transmission of the necessary radio signal is completed, the process waits again until a new magnetic field signal is received. That is, the RFID tag 40 transmits the radio wave signal 140 in response to the reception of the magnetic field signals 120A to 120D.

  The tag information reception device 22 of the tag detection device 20 receives the radio wave signal 140 transmitted from the RFID tag 40. The radio wave reception unit 26 which is an antenna (for example, a coil) receives the radio wave signal 140 received by the radio wave reception unit 26. , And extracts tag information contained in the radio wave signal 140 and outputs the tag information to the tag detection device control unit 23.

  The tag detection device control unit 23 sets the strength command value (based on the detection target area (that is, the detection target area) output from the control device 60 as a detection target of the presence position of the RFID tag 40 in the periphery of the hydraulic shovel 1). Magnetic field strength determination unit 28 that generates magnetic field strength setting information and outputs it to the magnetic field strength changing units 24A to 24D of the magnetic field generation devices 21A to 21D, and tag information output from the tag information extraction unit 27 of the tag information receiving device 22 And a detection information output unit 29 that outputs the processed information to the control device 60. The magnetic field strength determination unit 28 sets the magnetic field strength (strength setting maximum value) required for the magnetic field signals 120A to 120D generated by the magnetic field generators 21A to 21D to cover the range of the detection target area, and the strength setting maximum An intensity command value is generated to change the magnetic field strength stepwise and periodically in the range of values. In the present embodiment, a case where the magnetic field strength is periodically changed in a plurality of (for example, three) stages will be described as an example. However, the number of steps is not limited to three, and may be determined in consideration of the required resolution, the change period of the magnetic field strength, and the required response time. The detection information output unit 29 is information (hereinafter referred to as tag detection information) in which tag information (tag ID, magnetic field ID received value, magnetic field strength setting information received value) from the tag information receiving apparatus 22 is grouped for each tag ID. 8) and output to the control device 60. That is, tag detection information is generated for each tag ID, and detection magnetic field strengths (magnetic field strength setting information reception values included in tag detection information) for each magnetic field ID included in the tag information are grouped.

  FIG. 9 is a flowchart showing calculation processing of the strength command value of the magnetic field strength determination unit.

  As shown in FIG. 9, the magnetic field strength determination unit 28 first determines whether a command (detection range command) for setting a detection target area from the control device 60 is newly input (step S10), and the determination result If is YES, the strength setting maximum value is set as a candidate value of the strength command value (step S20). Subsequently, if the determination result in step S10 is NO, or if the process in step S20 ends, it is determined whether the candidate value of the strength command value is equal to or greater than the strength setting maximum value (step S30). ). When the determination result in step S30 is YES, that is, when the candidate value of the strength command value is equal to or greater than the strength setting maximum value, the minimum value of the plurality of stages of the magnetic field strength takes the candidate value of the strength command value (strength The set minimum value is set (step 40), and the candidate value is output as an intensity command (step S50). If the determination result in step S30 is NO, that is, if the candidate value of the strength command value is not greater than or equal to the strength setting maximum value, the candidate value of the strength command value is one of the plurality of stages higher than the magnetic field strength. The strength command value at the stage of is set (step 41), and the candidate value is output as a strength command (step S50).

  The setting of the magnetic field strength that can be taken is, for example, three levels of “weak”, “medium”, and “strong”, and the control device 60 detection range command (strength setting maximum value) is “strong”. In some cases, an intensity command value is output so as to switch in a predetermined magnetic field intensity change cycle Tm such as “weak” → “medium” → “strong” → “weak”. Also, when the control device 60 detection range command (intensity setting maximum value) is "middle", the intensity command value is output so as to switch "weak" → "middle" → "weak" → "middle", When the control device 60 detection range command (intensity setting maximum value) is "weak", "weak" is always output.

  In addition, since the change of the magnetic field strength is performed for each of the magnetic field generators 21, the change processing of the strength command value is performed for each of the magnetic field generators 21A to 21D.

For example, the detection range command (intensity setting maximum value) of the controller 60 at t = t0 is (magnetic field generator 21A: strong, magnetic field generator 21B: medium, magnetic field generator 21C: strong, magnetic field generator 21D: weak) The output of the magnetic field strength determination unit 28 is
t = t0: (21A: weak, 21B: weak, 21C: weak, 21D: weak)
t = t0 + Tm: (21A: Medium, 21B: Medium, 21C: Medium, 21D: Low)
t = t0 + 2 Tm: (21A: strong, 21B: weak, 21C: strong, 21D: weak)
t = t0 + 3Tm: (21A: weak, 21B: moderate, 21C: weak, 21D: weak)
... (In parentheses, only the symbol of the corresponding magnetic field generator is shown)
It becomes. In addition, although the case where intensity | strength change period Tm was made single and fixed was illustrated, you may set a separate period for every magnetic field generator 21A-21D, or even if it is comprised so that a period may be changed at random. good.

  FIG. 10 is a flowchart showing a process of generating tag detection information of the detection information output unit.

  As shown in FIG. 10, the detection information output unit 29 first determines whether an elapsed time from the previous generation of tag detection information is smaller than a predetermined time Ts as a generation cycle of tag detection information (step S100).

  If the determination result in step S100 is NO, that is, if the tag detection information generation cycle has passed, the generated tag detection information is output to the control device 60 (step S101), and the elapsed time is reset and generated. Clear the tag detection information in (step S102), and return to the process of step S100.

  If the determination result in step S100 is YES, it is determined whether new tag information has been received (step S110), and if the determination result is NO, the determination result in step S110 is YES The process of step S100 and step S110 is repeated. If the determination result in step S110 is YES, that is, if new tag information is received, the tag detection information being generated is read (step S120), and it is determined whether the tag ID of the new tag information is new (Step S130).

  If the determination result in step S130 is YES, tag detection information regarding a new tag ID is added, and the detection magnetic field strength corresponding to each magnetic field ID of the tag detection information being generated is an initial value (no detection ") Is input (step S140). If the determination result in step S130 is NO, the detected magnetic field strength corresponding to the tag ID of the received tag information in the tag detection information being generated is higher than the received field strength setting information received value of the received tag information. It is determined whether or not it is large (step S141), and when the determination result is NO, the process returns to the process of step S100.

  If the process in step S140 is completed, or if the determination result in step S141 is YES, the tag information received in the detected magnetic field strength corresponding to the tag ID of the received tag information in the tag detection information being created The received value of the magnetic field strength setting information is input (step S150), and the process returns to step S100.

An example of the tag detection information generation process described above will be described in detail.
Depending on the relationship between the output period Ts of tag detection information from the tag detection device 20 to the control device 60 and the transmission period of the radio wave signal 140 of the RFID tag 40, the same RFID tag 40 may be output during the output period Ts to the control device 60. To receive the radio signal 140 multiple times. At this time, if the tag ID is the same and the magnetic field ID is also the same among the tag information included in the received radio signal 140, the detection magnetic field strength of the tag detection information is determined as follows. That is, in the tag detection information generation process according to the present embodiment, in such a case, the smallest magnetic field strength (magnetic field strength setting information received value) within the period of output cycle Ts is selected as the detection magnetic field strength, and tag detection is performed. Generate information. For example, from RFID tag 40 of worker “α”, (tag ID = “α”, magnetic field ID = “A”, magnetic field strength setting information = “medium”) and (tag ID = “α”, magnetic field ID = “ When two radio wave signals 140 of A ′ ′ and magnetic field strength setting information = “strong”) are received, tag detection information is generated with the detection magnetic field strength setting information regarding the magnetic field ID “A” as “middle”. Further, among the magnetic field ID corresponding to each of the magnetic field generation devices 21A to 21D, the detection magnetic field strength setting information is set as "none" for the information related to the magnetic field ID not included in any of the received radio signal 140. The tag detection information generation process is performed for each received tag ID.

  In FIG. 4, the storage unit 60B of the control device 60 holds information necessary for the calculation in the calculation unit 60A, and outputs the held information as necessary. 21D magnetic field generator installation position information storage unit 321 for storing information (installation position information) on the installation position in the hydraulic shovel 1, a worker (including an operator) holding the RFID tag 40, and the RFID tag holding the attribute And a worker information storage unit 340 for storing worker information corresponding to 40 tag IDs.

  The magnetic field generation device installation position information storage unit 321 is information on the installation position of the magnetic field generation devices 21A to 21D in the hydraulic shovel 1, that is, the position and orientation in the coordinate system etc. And the like (magnetic field generator installation position information) are stored. That is, the magnetic field generation device installation position information is information indicating in which position of the hydraulic shovel 1 the magnetic field generation devices 21A to 21D are installed and in which direction the induced magnetic field is generated. The magnetic field generator installation position information may include information of magnetic field strength that each of the magnetic field generators 21A to 21D can take, and information indicating the correspondence between the magnetic field strength and the magnetic field detectable area.

  The worker information storage unit 340 holds, as worker information, a list in which the tag ID unique to the RFID tag 40 is associated with the attribute of the worker. The attribute of the worker includes, for example, information for distinguishing the operator of the hydraulic shovel 1 (own machine), the auxiliary worker, the surrounding worker, the operator of another working machine (other machine), the supervisor, and the like. Further, as the attribute of the worker, information such as the number of years of experience of the worker may be included, or an index obtained by integrating these may be included in the worker information as attribute information.

  In FIG. 4, the detection / warning area determination unit 61 in the calculation unit 60A of the control device 60 is based on the detection result of the posture detection device 71 and is farthest from the turning center of the upper swing body 3 with respect to the lower traveling body 2 A turning radius calculation unit 66 that calculates a turning radius which is a distance to the end, a work state determination unit 67 that determines the working state of the hydraulic shovel 1 based on the detection result from the mechanical operation state detection device 72, and turning A detection / warning area calculation unit 68 calculates a detection target area and an approach notification target area based on the calculation result of the radius calculation unit 66 and the determination result of the work state determination unit 67.

  The turning radius calculation unit 66 calculates the distance from the turning center of the hydraulic shovel 1 to the end of the front work machine 6 based on the detection result of the posture detection device 71 (posture sensors 75A to 75C). The turning radius calculation unit 66 calculates the distance from the turning center of the hydraulic shovel 1 to the end of the front work machine 6 as the turning radius using the detection signal from the posture detection device 71. Depending on the posture, the end of the arm 6B on the boom 6A side may be longer than the tip of the bucket 6C from the center of rotation. Therefore, in the turning radius calculation unit 66, a position farthest from the turning center is set as an end portion (front work machine end portion) of the front work machine 6 according to the postures of the boom 6A, the arm 6B and the bucket 6C. In addition, the distance from the turning center to the end of the front working machine is a turning radius, and link calculation is performed from the dimension information of each part of the hydraulic shovel 1 and the input signal from the posture detection device 71. In the present embodiment, the farthest point from the turning center is treated as the front work machine end, but when the front work machine 6 is present at a position sufficiently higher than the height of the worker, the upper swing body The worker does not enter the movement range of the front working machine 6 by turning of 3. Therefore, the height at which the operator may enter the movement range of the front working machine 6 by the turning of the upper swing body 3 is defined in advance, and the location at the front working machine 6 farthest from the turning center below the prescribed height. May be treated as the front work machine end.

  The work state determination unit 67 determines the work state of the hydraulic shovel 1 using an input signal from the machine operation state detection device 72 (key state detection sensor 77, lock state detection sensor 78, lever operation amount sensor 79). The work state determination unit 67 detects the engine start state according to the input state from the key state detection sensor 77, the lock state by the lock lever 8 according to the input signal from the lock state detection sensor 78, and the input signal from the lever operation amount sensor 79. Determine the type of action. The hydraulic shovel 1 does not operate even if the operation lever device 5 performs any operation when the lock lever 8 is in the locked state even when the engine is in the start state. Therefore, four types of “engine stop state”, “operation lock state”, “operation standby state”, and “operation state” are defined as the type of work state of the hydraulic shovel 1. Further, four types of “front operation state”, “swing operation state”, “swing front combined operation state”, and “traveling operation state” are defined in more detail as “the operation state” of the hydraulic shovel 1.

  As a method of determining the work state, first, when the input signal from the key state detection sensor 77 is other than the engine ON state, the engine stop state is determined. In the case of the engine ON state, as the next step, the lock state is determined by the input signal from the lock state detection sensor 78. When the lock lever 8 is in the lock state, it is determined that the "operation lock state". In addition, in the case of the lock release state, the operation state of the operation lever device 5 is determined by the input signal from the lever operation amount sensor 79. When no operation is performed on the operation lever device 5, it is determined that the "operation standby state". If any operation is performed on the operation lever device 5, the operation state is determined, and the state is determined depending on which operation of traveling, turning, or front work machine is performed. It will be determined in more detail. That is, when the traveling operation is being performed, "the traveling operation state", when only the operation of turning is performed, the "turning operation state", when only the operation of the front work machine 6 is performed. Is determined as the "front operation state", and when the turning and the operation of the front work machine are simultaneously performed, it is determined as the "swing front combined operation state".

  The detection / warning area calculation unit 68 is in agreement with the worker (that is, the RFID 40 carried by the worker based on the turning radius calculated by the turning radius calculation unit 66 and the operation state determined by the operation state determination unit 67 An area (detection target area) in which the detection is performed and an area (approach notification target area) in which the approach of the worker is notified are determined. The magnetic field generators 21A to 21D are configured such that the magnetic field detectable area of the RFID tag 40 becomes the detection target area using the magnetic field generator position information stored in the magnetic field generator installation position information storage unit 321 of the storage unit 60B. The detection range command (intensity setting maximum value) of is calculated. The detection target area and the approach notification target area are determined in consideration of the characteristics of the hydraulic shovel 1 and the work content. The approach notification target area may be the same for all the workers or may be derived for each attribute so that the issuance of the approach notification can be changed according to the attributes such as the role of the worker. In the present embodiment, a case where two types of workers, a work assistant assisting the work of the hydraulic shovel 1 in the vicinity of the hydraulic shovel 1 and a worker other than that, carry the RFID 40 and perform work will be taken as an example. explain.

  Here, a method of determining the detection target area and the approach notification target area by the detection / warning area calculation unit 68 for each work state determined by the work state determination unit 67 will be described.

  Since the hydraulic shovel 1 does not move in the engine stop state, there is no risk of contact with the worker by the operation of the hydraulic shovel 1, and there is no need to notify the worker of approach, so setting of detection target area and approach notification target area Do not do. Further, when the worker approach notification system 10 is mounted on the hydraulic shovel 1, a configuration is conceivable in which a power source for driving each device constituting the worker approach notification system 10 is obtained from the hydraulic shovel 1. Therefore, for example, the start of the worker approach notification system 10 is interlocked with the start of the engine, and in the engine stop state, the worker approach notification system 10 is not started.

  In the operation lock state, the hydraulic shovel 1 does not move even when the operation lever device 5 is operated, so there is no risk of contact with the worker by the operation of the hydraulic shovel 1, and it is necessary to notify the approach of the worker There is no. However, in order to reduce the risk of contact with the worker at the start of operation, it is effective to check whether a worker is present in the vicinity of the hydraulic shovel 1 before releasing the lock lever 8. Therefore, in the operation lock state, only the detection of the worker and the display of the detection information on the display device 81 are performed, and the approach notification is not performed. In this case, in order to set the setting of the detection target area so that the worker can be detected in the widest possible range, the detection range command (intensity setting maximum value) to the magnetic field generation devices 21A to 21D is All will be "strong". Further, since the approach notification is not performed, the setting of the approach notification target area is not performed.

  In the operation standby state, although the hydraulic shovel 1 does not move, it becomes an operating state as soon as the operation lever device 5 is operated, so the hydraulic shovel 1 may come in contact with a worker. Therefore, when there is a worker in the immediate vicinity of the hydraulic shovel 1, it is desirable to perform the approach notification. In addition, in the operation standby state, a work assistant may exist in the vicinity of the front work machine 6 for work assistance. Therefore, it is desirable that the approach notification target area be set differently for the work assistant and the other workers. On the other hand, as a measure to reduce the risk of contact between the hydraulic shovel 1 and the worker, the operator confirms whether there is a worker near the hydraulic shovel 1 before shifting to the operating state, as in the operation lock state. It is effective to do. Therefore, in the operation standby state, the detection of the worker and the display of the detection information on the display device 81 are performed as wide as possible, and the approach notification is performed only in the area very near the hydraulic shovel 1.

  A setting example of the detection target area and the approach notification target area in the operation standby state is shown in FIG. As shown in FIG. 11, in order to detect workers in a wide area, the detection target area is set in a range in which all the detection range commands (intensity setting maximum values) to the magnetic field generators 21A to 21D are "strong". . The approach notification target area in front of the hydraulic shovel 1 is determined by the calculation result of the turning radius calculation unit 66. Further, the approach notification target area at the rear of the hydraulic shovel 1 is determined in consideration of the rear end radius of the hydraulic shovel 1. When the turning radius input from the turning radius calculation unit 66 is in the area corresponding to "middle" of the magnetic field strength setting information, the approach notification target area is an area 280A surrounded by a solid line in the detection target area 230 (Including the area 280B). In addition, there is a high possibility that work assistants exist near the front work machine 6 for work assistance (that is, work is performed in the range of the area 280B in the approach notification target area 280A). Is characterized in that the work content and the work position are performed together with the hydraulic shovel 1, and the operator of the hydraulic shovel 1 is a work performed by surely recognizing the work assistant. For this reason, although the operator surely recognizes the work assistant, the approach notification may be provided more frequently than necessary for the work assistant. Therefore, with regard to the RFID 40 of the tag ID whose attribute is set to “assistant worker”, the approach notification is set not to be performed in the vicinity of the front work machine 6 (the front work machine proximity area 280B). That is, in the auxiliary worker, the area other than the front work machine proximity area 280B in the area 280A is set to perform the approach notification as the approach notification target area.

  The operating state is a state in which the hydraulic shovel 1 is moving, there is a high risk that the hydraulic shovel 1 comes into contact with the worker, and the positional relationship between the hydraulic shovel 1 and the worker changes every moment. Therefore, when there is a worker in an area where the hydraulic shovel 1 is expected to approach in a short time by the operation of traveling, turning, and the front working machine, it is desirable to perform the approach notification. On the other hand, in order to cope with the situation which changes from moment to moment, it is important that the detection target area of the worker is limited to only the area necessary for performing the approach notification and the worker is detected responsively.

  An example of setting of the detection target area and the approach notification target area in the front operation state is shown in FIG. Among the operating states, in the front operating state, the posture of the front working machine 6 changes, so the front working machine 6 reaching area in front of the hydraulic shovel 1 changes every moment. In addition, when the turning operation is performed, the state is immediately shifted to the turning operation state or the combined turning operation state, and the front work machine 6 reaches the right front or the left front of the hydraulic shovel 1. The rear end may reach. Therefore, in the front operation state, as shown in FIG. 12, the detection target area in front of the hydraulic shovel 1 is set slightly wider than the turning radius input from the turning radius calculation unit 66, and the side is more than the front Although limited to the vicinity of the hydraulic shovel 1, the detection target area is set in consideration of the possibility of the turning operation. In addition, the rear may cover the vicinity of the rear end of the hydraulic shovel 1. If the turning radius input from the turning radius calculation unit 66 is in the area corresponding to "middle" of the magnetic field strength setting information, the detection target area 231 is set in view of the above, and the approach notification target area is the detection target area 231 It is set to the area 281A (including the area 281B indicated by hatching) in the same range. In addition, there is a high possibility that work assistants exist near the front work machine 6 for work assistance (that is, work is performed in the range of the area 281B of the approach notification target area 281A), but work assistance is Is characterized in that the work content and the work position are performed together with the hydraulic shovel 1, and the operator of the hydraulic shovel 1 is a work performed by surely recognizing the work assistant. For this reason, although the operator surely recognizes the work assistant, the approach notification may be provided more frequently than necessary for the work assistant. Therefore, with regard to the RFID 40 of the tag ID whose attribute is set to "assistant worker", the approach notification is set not to be performed in the vicinity of the front work machine 6 (the front work machine proximity area 281B). That is, in the auxiliary worker, the area other than the front work machine proximity area 281B in the area 281A is set as the approach notification target area to perform the approach notification.

  A setting example of the detection target area and the approach notification target area in the turning operation state is shown in FIG. Among the operating states, in the turning operation state, the positional relationship between the hydraulic shovel 1 and the worker changes greatly due to the turning movement, and the front working machine 6 reaches the right front or left front of the hydraulic shovel 1, The rear end of the hydraulic shovel 1 reaches the left rear. Therefore, the front and side detection target areas of the hydraulic shovel 1 are determined using the turning radius input from the turning radius calculation unit 66, and the detection target area at the rear of the hydraulic shovel 1 is the rear end of the hydraulic shovel 1 Set in consideration of the reach area of the department. If the turning radius input from the turning radius calculation unit 66 is in an area corresponding to "middle" of the magnetic field strength setting information, the detection target area 232 is set to a wider range in consideration of the above circumstances, and the approach notification target area 282A sets the entire detection target area 232. Further, in the turning operation state, the risk of the contact between the hydraulic shovel 1 and the worker is high, so it is desirable that even when the worker is a work assistant, the approach notification is performed when it is in the vicinity of the hydraulic shovel 1. Therefore, approach notification is performed for all workers.

  Among the operation states, in the turning front combined operation, the front operation state and the turning operation are simultaneously performed, and the detection target area and the approach notification target area are determined in the same manner as in the front operation state and the turning operation state. do it.

  A setting example of the detection target area and the approach notification target area in the traveling operation state is shown in FIG. Among the operating states, the traveling operating state is different from the other operating states in that the entire hydraulic excavator 1 moves forward or backward. It is desirable to set the front and rear detection target areas of the hydraulic shovel 1 as wide as possible in consideration of the front / rear movement of the hydraulic shovel 1. Therefore, the area 233 surrounded by the solid line in FIG. 14 is set as the detection target area on the path of the hydraulic shovel 1 in front and rear, and the approach notification target area 283A includes the entire detection target area 233 (including the shaded area 283B. Set). In addition, in the traveling operation state, a work assistant may exist in front of or behind the hydraulic shovel 1 for guidance. In the case of the work assistant, in the approach notification target area 283A, the approach notification is set not to be performed in the area slightly away from the hydraulic shovel 1 on the left front and left rear of the work machine (area 283B indicated by hatching). .

  The worker position determination unit 62 of the calculation unit 60A in the control device 60 sets tag detection information input from the tag detection device 20 and setting information on the detection target area and the approach notification target area input from the detection alarm area determination unit 61. Deriving an area where a worker exists (hereinafter referred to as a worker existing area) using the worker information stored in the worker information storage unit 340 of the storage unit 60B, and whether or not it is a target of approach notification. Determine if In addition, worker presence information including worker information, worker presence area, and necessity information for approach notification target is generated, and is output to the notification command generation unit 63 together with setting information of the detection target area.

  Depending on the switching cycle of the magnetic field strength in the tag detection device 20 and the output cycle of the tag detection information, there is a possibility that the radio wave signal 140 for the magnetic field signals 120A to 120D of all strengths from the strength setting minimum to the strength setting maximum is not received. There is. Therefore, the worker position determination unit 62 derives the presence area using tag detection information of a predetermined period. In the present embodiment, the case where the presence area is derived using two pieces of tag detection information continuously input to the worker position determination unit 62 will be described as an example.

  When the tag detection information is input, the worker position determination unit 62 extracts detection magnetic field strengths for each worker, that is, detection tag ID and magnetic field ID from the tag detection information. When the detection magnetic field strength for each detection tag ID and magnetic field ID is different between the first and second times of tag detection information acquired twice consecutively, the smaller one of the magnetic field strength is selected as the detection magnetic field strength, and the detection tag ID and Magnetic Field The detected magnetic field strength of the ID. Such processing is performed for each magnetic field ID, and further, the same processing is performed for all detection tag IDs.

  For example, if the detected magnetic field strengths of the magnetic field ID corresponding to the magnetic field generators 21A to 21D are (21A: none, 21B: none, 21C: none, 21D: medium), the worker presence area is as shown in FIG. In the case of the area of the hatching portion 240 at the rear of the hydraulic shovel 1 shown (21A: no, 21B: no, 21C: weak, 21D: weak), the right rear of the hydraulic shovel 1 shown in FIG. It is derived that the area is the shaded area 241.

  Further, based on the detection tag ID and the derived worker presence area, the worker position determination unit 62 determines the necessity of the approach notification using the worker information and the information of the approach notification target area. The worker information includes attribute information of the worker of the detection tag ID. The worker position determination unit 62 determines whether the worker presence area is the approach notification target area of the attribute, using the attribute information. Then, worker presence information including the detection tag ID or worker attribute information, worker presence area information, and approach notification necessity information is generated and output to the notification command generation unit 63.

  The notification command generation unit 63 uses the worker presence information input from the worker position determination unit 62 and the information of the detection target area to issue a display command (notification command) to the display device 81 and an alarm command to the alarm device 82. (Notification command) is generated.

  As a display command to be output to the display device 81, for example, there is a command to perform display as shown in FIG. In the example shown in FIG. 16, an icon 11 imitating a top view of the hydraulic shovel 1 is disposed at the center to draw the corresponding detection target area 234, and a worker is detected and worker presence information is present In this case, the worker presence area 242 is drawn in the detection target area 234. It is desirable for the worker presence area 242 to change the display method depending on whether the detected worker is the target of the approach notification. For example, as shown in FIG. 17, the worker presence area 243 in which the worker who is the target of the approach notification exists is displayed so as to be emphasized compared to the worker presence area 242 that is not the target of the approach notification. Conceivable. In addition, when the presence of the worker who is the target of the approach notification is detected, display as the approach notification for notifying the approach of the worker is performed. As the display content as the approach notification, for example, as shown in FIG. 17, a warning display 250 displayed in the display area can be considered. In addition to the information shown in FIG. 17, information such as the turning radius, the detected worker name, and the number of detected workers may be added as the display content as the approach notification.

  The output of the warning instruction (notification instruction) to the alarm device 82 of the notification instruction generating unit 63 is determined according to the presence or absence of the worker who is the target of the approach notification. If there is a worker to be approached, the warning command is output. If there is no worker, the warning command is not output. Further, several types of alarm may be provided in accordance with the detected information such as the number of workers and the distance.

  The operation and effect of the present embodiment configured as described above will be described.

  In general, when a worker approaching a work machine is detected and notified to the operator by an alarm or the like, it is necessary to sufficiently pay attention so that the operator does not feel bothersome due to an excessive alarm. In order to prevent an excessive alarm, it is important to appropriately adjust, for example, an area to be subjected to the detection of the presence of the worker on the work machine and the alarm according to various situations. However, in a technology that does not take into consideration the adjustment of the area for the detection of the presence of workers and the alarm on the work machine, the operator may feel bothersome due to the excessive alarm, and the work efficiency is improved. There is concern that it will cause a decline.

  On the other hand, in the present embodiment, magnetic field signals 120A to 120D including magnetic field strength setting information which is information on the magnetic field strength of the generated magnetic field signal and magnetic field ID for identifying the generation source of the magnetic field signal are generated. A magnetic field ID of the received magnetic field signal when the magnetic field generation devices 21A to 21D are fixed and installed at a predetermined position of the hydraulic shovel 1 and the magnetic field signals 120A to 120D generated by the magnetic field generation devices 21A to 21D are received. A hydraulic excavator for transmitting a radio wave signal including (a magnetic field ID reception value), a magnetic field strength setting information (a magnetic field strength setting information reception value), and a tag ID identifying the RFID tag 40 itself that receives the magnetic field signal The tag information is received by radio signal 140 transmitted from RFID tag 40, carried by 1 operator and a worker who works outside It received at the location 22. At this time, the magnetic field strengths of the magnetic field signals 120A to 120D generated by the magnetic field generators 21A to 21D are periodically changed, and the information included in the radio signal 140 received by the tag information receiver 22 is acquired. Then, in the detection / warning area determination unit 61, a detection target area to be a detection target of the presence position of the RFID tag 40 around the hydraulic shovel 1 and an approach notification target area to be a target of notification of approach to the RFID tag among the detection target areas. The worker position determination unit 62 uses information on the installation position of the magnetic field generation devices 21A to 21D in the hydraulic shovel 1 and the information included in the radio wave signal 140 acquired by the tag detection device control unit 23. The position where the RFID tag 40 exists in the detection target area determined by the detection and alarm area determination unit 61 is determined, and the notification command generation unit 63 determines the approach notification target area based on the determination result of the worker position determination unit 62. A notification command is generated to notify the operator of the hydraulic excavator 1 that the RFID tag 40 has been detected. And configured to output to the knowledge unit. Therefore, excessive warning can be prevented.

  That is, in the present embodiment, the presence area of the worker is specified, the work state of the working machine is determined based on the input information from the work state detection device 70, and the detection target area and An approach notification target area is set, and notification and approach notification are performed according to the detection situation of the worker in each area. It is assumed that a plurality of workers exist at the site where the hydraulic shovel 1 operates. In the present embodiment, since it is possible to recognize what kind of worker the worker detected by the tag detection device 20 is and to change the approach notification method for each worker, excessive approach notification is prevented. It is possible to notify the operator of the presence of the worker at an appropriate timing, and it is possible to suppress a bother and a drop in work efficiency.

  Further, in the present embodiment, the tag detection device 20 is a hydraulic shovel because the tag detection device 20 mounted on the hydraulic shovel 1 periodically detects the worker by changing the magnetic field intensity periodically. It is sufficient to mount only on No. 1, and it is possible to suppress the influence on the cost by newly adding the worker approach notification system 10 according to the present embodiment to the hydraulic shovel 1.

  Further, in the present embodiment, since the RFID tag 40 capable of using the same configuration as a general induction magnetic field semi-active is used, the RFID tags 40 for the number of workers to be detected are used. The cost impact can be kept small even if

  Further, in the present embodiment, both the tag detection device 20 and the control device 60, which are the main parts of the worker approach notification system 10, can be mounted on the hydraulic shovel 1, and in the tag detection device 20, the control device It is easy to make minor changes by the directive from 60.

  In the present embodiment, the case where a plurality of (four) magnetic field generators 21A to 21D are mounted on the hydraulic shovel 1 is described as an example, but, for example, as shown in FIG. It is also possible to mount a single magnetic field generator 21 on the hydraulic shovel 1 to detect workers. For example, as shown in FIG. 19, one magnetic field generation device 21 is installed in the upper part of the turning center of the hydraulic shovel 1 or the like so that the magnetic field detectable area 221 becomes a range including the entire hydraulic shovel 1. A configuration is conceivable that detects workers all around. In the case of this configuration, it is possible to detect in which range of distance the operator is present with respect to the hydraulic shovel 1. However, since the information on which direction the worker is present in the hydraulic shovel 1 can not be obtained, this configuration is effective when the information on the distance between the hydraulic shovel 1 and the worker is important.

  Further, for example, as shown in FIG. 20, one magnetic field generating device 21 is installed at the right rear and the like of the hydraulic shovel 1 so that the magnetic field detectable area 221 includes the range at the rear right of the hydraulic shovel 1 A configuration is conceivable in which the worker on the right rear side of the hydraulic shovel 1 that is likely to be at a blind spot from 4 is detected. In the case of this configuration, it is possible to detect in a range of distance from the part on the right rear side of the hydraulic shovel 1 from the worker. However, since it is not possible to obtain accurate information as to which direction a worker is present with respect to a specific part of the hydraulic shovel 1, the periphery of the specific part of the hydraulic shovel 1 (in this case, a blind spot from the operator's cab 4) It is effective when it is important to detect the presence of workers who are prone to be prone to

  In addition, two magnetic field generating devices 21A and 21B can be mounted on the hydraulic shovel 1 to detect an operator. For example, as shown in FIG. 21, one magnetic field generating device 21A, 21B is disposed on the right side and the rear side of the hydraulic shovel 1, and the magnetic field detectable areas 221A and 221B include the right side and the rear range of the hydraulic shovel 1. Thus, a configuration is conceivable in which workers on the right side and the rear side of the hydraulic shovel 1 that are likely to be blind from the cab 4 are detected. In the case of this configuration, it is possible to detect in which range of distance the operator is present with respect to a specific part of the hydraulic shovel 1 (in this case, the right side and the rear of the hydraulic shovel 1) Since the possible areas 221A and 221B and the area where they overlap can be distinguished and set as the detection target area, the position of the worker can be detected more accurately.

  In the present embodiment, although the hydraulic shovel 1 has been described as an example of the working machine, the present invention can be applied to any working machine having a working arm such as the front working machine 6 in the hydraulic shovel 1 is there. As a working machine having a working arm, for example, there is a wheel loader provided with an articulated hydraulic working device in front of a vehicle body.

  FIG. 22 is a side view of a wheel loader shown as an example of a working machine to which the present invention is applied. In FIG. 22, the wheel loader 430 includes a vehicle body 431 and an articulated hydraulic working device 450 attached to the front of the vehicle body 431. The vehicle body 431 adopts an articulated steering system (a vehicle refraction system), and has a front vehicle body (front frame) 431a and a rear vehicle body (rear frame) mounted with wheels 410 (front wheel 410a and rear wheel 410b) on the left and right respectively. ) 431 b are connected by a center joint 464. Although not shown in FIG. 22, steering cylinders (hydraulic actuators) are disposed on the left and right sides of the center joint 464 so as to connect the front vehicle body 431a and the rear vehicle body 431b.

  The hydraulic work device 450 includes a plurality of rotatably coupled front members (lift arm 441 and bucket 442), a lift cylinder 452 (hydraulic actuator) that is telescopically driven to drive the lift arm 441 and the bucket 442 and A bucket cylinder 451 (hydraulic actuator) is provided. Although one lift arm 441 and one lift cylinder 452 are provided on the left and right of the front vehicle body 431a, only the lift arm 441 and the lift cylinder 452 on the left side of the vehicle are illustrated in FIG. The configuration will be described by omitting illustration.

  The lift arm 441 pivots (up and down) in the vertical direction as the lift cylinder 452 is extended and contracted. The bucket 442 pivots up and down (dumping operation or cloud operation) along with the expansion and contraction driving of the bucket cylinder 451. The wheel loader 430 shown in FIG. 22 adopts a Z link type (bell crank type) as a link mechanism for operating the bucket 442. The link mechanism includes a bucket cylinder 451.

  In the operation room 436, an operation lever (not shown) for operating the hydraulic work device 450, a device (forward / backward switching device) for switching between forward (F) and reverse (R) with respect to the traveling direction of the vehicle body 431 A forward / backward switch (not shown), an accelerator pedal (not shown) for instructing the vehicle body 431 to accelerate, a brake pedal (not shown) for instructing the vehicle body 431 to decelerate, and A steering wheel (not shown) for manipulating the left and right traveling directions is provided. When the steering wheel (not shown) installed in the driver's cab (cab) 436 is operated, the rear vehicle body 431b and the front vehicle body 431a are refracted (turned) about the center joint 464 as the steering cylinder is extended and contracted. Do.

  A driver's cab 436 is mounted on the front of the rear body 431b, and an engine compartment 437 is mounted on the rear. Although not shown, the engine chamber 437 includes a diesel engine as a prime mover, a hydraulic pump driven by the diesel engine, and a control valve for controlling the flow rate and direction of pressure oil supplied from the hydraulic pump to each hydraulic actuator. A traveling hydraulic motor (which can be said to be a traveling device including the wheels 410 and the like) connected to the wheels 410 via a reduction gear or the like is stored.

  The present invention can be applied to the wheel loader 430 configured as described above as well as the hydraulic excavator 1. The front work machine 6 of the hydraulic shovel 1, which is a work machine, the car body (upper swing body 3 and the lower traveling body 2), the cab and the like are the hydraulic work device 450 of the wheel loader 430 which is also a work machine, the car body 431 and It corresponds to the wheel 410, the driver's cab 436, and the like.

  And the worker approach notification stem of this invention is applied to the wheel loader 430 comprised in this way. That is, posture sensors 475A and 475B for acquiring respective posture information are disposed on the front members (lift arm 441 and bucket 442) of the hydraulic work device 450. The attitude sensors 75A and 475B are, for example, an inertial measurement unit (IMU: Inertial Measurement Unit) that measures the angular velocity and acceleration of the installed front member. Also, four magnetic field generating devices 421B and 421D (only two are shown in FIG. 22) are disposed one by one on the front, rear, left and right of the upper portion of the vehicle body 431.

  Furthermore, the tag detection device 20 (including the magnetic field generating devices 421A to 421D in the wheel loader 430) applied to the hydraulic shovel 1, the working state detection device 70, the notification device 80, and the control device 60 Also in the wheel loader 430 to which the present invention is applied, the same effect as the hydraulic excavator 1 to which the present invention is applied can be obtained.

  The features of the present embodiment configured as described above will be described.

  (1) In the above embodiment, a vehicle body provided with a traveling device, and a plurality of front members attached to the vehicle body and rotatably connected (for example, boom 6A, arm 6B, bucket 6C) A working machine (for example, an operating device (for example, the operating lever device 5) for outputting an operation signal for operating the working machine (for example, the front work machine 6) and an operating device for A magnetic field generation apparatus capable of adjusting the magnetic field strength of a generated magnetic field signal in a worker approach notification system 10 mounted on a hydraulic shovel 1), wherein the magnetic field strength setting information and the information related to the magnetic field strength of the magnetic field signal At least one fixed at a predetermined position of the vehicle body, which generates magnetic field signals 120A to 120D including a magnetic field ID for identifying the generation source of the magnetic field signal An RFID tag 40 carried by the magnetic field generators 21A to 21D, the operator of the work machine and a worker who performs work outside the work machine, wherein the magnetic field signal generated by the magnetic field generator is received At least one RFID transmitting a radio wave signal 140 including the magnetic field ID and the magnetic field strength setting information included in the received magnetic field signal, and a tag ID identifying the RFID tag itself that has received the magnetic field signal A tag, a tag information receiving apparatus 22 for receiving a radio wave signal transmitted from the RFID tag, and a radio wave received periodically by the tag information receiving apparatus, while periodically changing the magnetic field strength of the magnetic field signal generated by the magnetic field generator. A tag detection device control unit 23 for acquiring information included in a signal, and the presence of the RFID tag in the vicinity of the work machine Detection alarm area determination unit 61 for determining a detection target area to be detected by the sensor and an approach notification target area to be notified of an approach notification of the RFID tag in the detection target area, and the work machine of the magnetic field generating device The position where the RFID tag is present in the detection target area determined by the detection and alarm area determination unit using the information on the installation position in the case and the information included in the radio wave signal acquired by the tag detection device control unit When the RFID tag is detected in the approach notification target area based on the determination result of the worker position determination unit 62 to be determined and the worker position determination unit, the fact that the RFID tag is detected is It is assumed that a notification command generation unit 63 is provided to generate a notification command for notifying the operator and to output the notification command to the notification device.

  (2) Further, in the above embodiment, in the worker approach notification system according to (1), the work condition detection device 70 for detecting the work condition of the work machine is provided, and the detection / warning area determination unit The detection target area and the approach notification target area are determined based on the detection result of the work state detection device, and the tag detection device control unit determines that the magnetic field strength of the magnetic field signal generated by the magnetic field generation device is maximum. The magnetic field strength of the magnetic field signal generated by the magnetic field generator is set so that the range in which the RFID tag can receive the magnetic field signal is the same as the detection target area determined by the detection and alarm area determination unit. It shall be changed periodically.

  (3) In the above embodiment, the worker approach notification system according to (2) includes the plurality of magnetic field generation devices, and the tag detection device control unit generates the plurality of magnetic field generation devices. The set of ranges in which the RFID tag can receive the magnetic field signal when the magnetic field strength of the magnetic field signal reaches the maximum value is the same as the detection target area determined by the detection and alarm area determination unit. And periodically changing the magnetic field strengths of magnetic field signals generated by the plurality of magnetic field generation devices, the worker position determination unit, information on the installation positions of the plurality of magnetic field generation devices in the work machine, and Radio wave signals respectively transmitted from the RFID tag in accordance with magnetic field signals respectively generated from the plurality of magnetic field generation devices acquired by the tag detection device control unit By using the information it shall determine the position where the RFID tag is present among the detection target area determined by the detection alarm area determination unit.

  (4) In the above embodiment, in the worker approach notification system according to (3), the vehicle body is provided to be able to turn relative to the lower traveling body 2 and the lower traveling body, and An upper swing body 3 to which an articulated work machine is attached, and the work state detection device detects posture information on each of postures of the plurality of front members constituting the work machine, and And a machine operation state detection device 72 for detecting the operation state of the operation device as the operation state of the work machine, and the detection / warning area determination unit determines the lower traveling body based on a detection result of the posture detection device. A turning radius calculation unit 66 for calculating a turning radius which is a distance from the turning center of the upper turning body to the farthest end of the working machine, and based on the detection result from the mechanical operation state detecting device The detection target area and the approach notification target area based on the operation state determination unit 67 that determines the operation state of the work machine, the calculation result of the turning radius calculation unit, and the determination result of the operation state determination unit A detection alarm area calculation unit 68 to calculate is provided.

  (5) Further, in the above-described embodiment, in the worker approach notification system according to (3), the notification device determines the worker position determination unit based on the notification command from the notification command generation unit. The display device 81 notifies the operator of the result by visual information, and the alarm device 82 notifies the operator of the determination result of the worker position determination unit by auditory information based on the notification command from the notification command generation unit. The notification command generation unit, when the worker position determination unit determines that the RFID tag is present in the detection target area, the detection target area determined by the detection / warning area determination unit, and A notification command for displaying a different display from the area where it is determined that the RFID tag is present is generated and transmitted to the display device, and the RFID tag contacts the connection. When it is determined that the notification target area is present, a notification command for displaying a warning display indicating that the RFID tag is present in the approach notification target area is generated and transmitted to the display device, and an alarm is issued. A notification command to be caused is generated and transmitted to the alarm device.

<Supplementary Note>
In the above embodiment, a hydraulic shovel and a wheel loader are described as an example of a working machine having a working arm, but the present invention can be applied to other working machines as long as they have a working arm. It is applicable. In the embodiment of steam, although a general hydraulic shovel and a wheel loader which drive a hydraulic pump with a prime mover such as an engine have been described as an example, a hybrid hydraulic pressure which drives the hydraulic pump with an engine and a motor It goes without saying that the present invention can be applied to a shovel, a motorized hydraulic shovel or a wheel loader that drives a hydraulic pump with only a motor.

  Further, the present invention is not limited to the above embodiment, and includes various modifications and combinations within the scope not departing from the gist of the present invention. Further, 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. Further, each of the configurations, functions, etc. described above may be realized by designing part or all of them, for example, with an integrated circuit. Further, each configuration, function, etc. described above may be realized by software by the processor interpreting and executing a program that realizes each function.

  DESCRIPTION OF SYMBOLS 1 ... Hydraulic shovel, 2 ... lower traveling body, 3 ... upper revolving superstructure, 4 ... driving room, 5 ... control lever apparatus, 6 ... front working machine, 6A ... boom, 6B ... arm, 6C ... bucket, 7 ... engine key Switches 8 lock levers 10 10A worker approaching notification system 11 icons 11a 11b crawler frames 12a 12b crawlers 13a 13b running hydraulic motor 16A boom cylinder 16B arms Cylinder 16C: Bucket cylinder 20, 20A: Tag detection device 21, 21A-21D: Magnetic field generation device 22, Tag information reception device 23, Tag detection device control unit 24, 24A-24D: Magnetic field strength change unit , 25A to 25D: magnetic field generation unit, 26: radio wave reception unit, 27: tag information extraction unit, 28: magnetic field strength determination unit, 29: detection information Power unit, 31: swing frame, 32: swing hydraulic motor, 33: engine, 34: hydraulic pump, 35: control valve, 40: RFID tag, 41: magnetic field detection unit, 42: output information generation unit, 43: radio wave transmission Unit 60 Control device 60A Operation unit 60B Storage unit 61 Detection and alarm area determination unit 62 Operator position determination unit 63 Notification command generation unit 66 Turning radius calculation unit 67 Operation State determination unit 68 detection alarm area operation unit 70 working state detection device 71 attitude detection device 72 mechanical operation state detection device 75A to 75C attitude sensor 77 key state detection sensor 78 lock State detection sensor 79 lever operation amount sensor 80 notification device 81 display device 82 alarm device 120A to 120D magnetic field signal 140 radio wave signal 221 21A to 221D: magnetic field detectable area, 230 to 234, detection target area, 240 to 243, worker presence area, 250: warning display, 280A to 283A, approach notification target area, 280B, 283B, front work machine near area, 321 Magnetic field generation device installation position information storage unit 340 Worker information storage unit 410 Wheels 410a Front wheel 410b Rear wheel 421B, 421C Magnetic field generator 430 Wheel loader 431 Body body 431a ... front vehicle body (front frame), 431 b ... rear vehicle body (rear frame), 436 ... driver's room (cab), 436 ... driver room, 437 ... engine room, 441 ... lift arm, 442 ... bucket, 450 ... hydraulic work Device, 451 ... bucket cylinder, 452 ... lift cylinder, 464 ... center Into, 475A, 475B ... attitude sensor

Claims (5)

An articulated work machine including a vehicle body provided with a traveling device, a plurality of front members attached to the vehicle body and rotatably connected, and an operation signal for operating the work machine A worker approach notification system mounted on a work machine having a control device for
A magnetic field generator capable of adjusting the magnetic field strength of a generated magnetic field signal, the magnetic field including magnetic field strength setting information which is information on the magnetic field strength of the magnetic field signal and a magnetic field ID for identifying a generation source of the magnetic field signal. At least one magnetic field generator fixed at a predetermined position of the vehicle body for generating a signal;
An RFID tag carried by an operator of the work machine and a worker who performs work outside the work machine, the RFID tag being included in the received magnetic field signal when the magnetic field signal generated by the magnetic field generation device is received At least one RFID tag transmitting a radio wave signal including the magnetic field ID and the magnetic field strength setting information, and a tag ID identifying the RFID tag itself which has received the magnetic field signal;
A tag information receiving apparatus for receiving a radio signal transmitted from the RFID tag;
A tag detection device control unit which periodically changes a magnetic field intensity of a magnetic field signal generated by the magnetic field generation device and acquires information included in a radio wave signal received by the tag information reception device;
A detection / warning area determination unit that determines a detection target area that is a detection target of the presence position of the RFID tag in the periphery of the work machine and an approach notification target area that is a target of an approach notification of the RFID tag among the detection target areas When,
Of the detection target area determined by the detection and alarm area determination unit using information on the installation position of the magnetic field generation device in the work machine and the information included in the radio wave signal acquired by the tag detection device control unit A worker position determination unit that determines a position where the RFID tag is present;
Based on the determination result of the worker position determination unit, when the RFID tag is detected in the approach notification target area, a notification command for notifying the operator of the work machine that the RFID tag has been detected is generated And a notification command generation unit for outputting the notification to the notification device. In the worker approach notification system according to claim 1,
A work state detection device for detecting the work state of the work machine;
The detection / warning area determination unit determines the detection target area and the approach notification target area based on the detection result of the work state detection device,
The tag detection device control unit determines the range in which the RFID tag can receive the magnetic field signal when the magnetic field strength of the magnetic field signal generated by the magnetic field generation device reaches a maximum value by the detection / warning area determination unit The worker approach notification system, wherein the magnetic field strength of the magnetic field signal generated by the magnetic field generator is periodically changed so as to be in the same range as the detection target area. In the worker approach notification system according to claim 2,
Comprising a plurality of said magnetic field generators;
The tag detection device control unit is configured such that a collection of ranges in which the RFID tag can receive the magnetic field signal when the magnetic field strengths of the magnetic field signals generated by the plurality of magnetic field generation devices reach the maximum value is the detection alarm area The magnetic field strengths of the magnetic field signals generated by the plurality of magnetic field generation devices are periodically changed so as to be in the same range as the detection target area determined by the determination unit,
The worker position determination unit includes information on each installation position of the plurality of magnetic field generation devices in the work machine, and magnetic field signals respectively generated from the plurality of magnetic field generation devices acquired by the tag detection device control unit. The position where the RFID tag is present in the detection target area determined by the detection and alarm area determination unit is determined using information on radio signals respectively transmitted from the RFID tag according to Worker approach notification system. In the worker approach notification system according to claim 3,
The vehicle body includes a lower traveling body, and an upper revolving body provided rotatably with respect to the lower traveling body, to which the articulated work machine is attached.
The work state detection device is
A posture detection device that detects posture information on the postures of the plurality of front members constituting the work machine;
And a machine operation state detection device for detecting the operation state of the operation device as the operation state of the work machine,
The detection / warning area determination unit
A turning radius calculation unit that calculates a turning radius which is a distance from a turning center of the upper turning body to the lower traveling body to a farthest end of the work machine based on a detection result of the posture detection device;
A work state determination unit that determines a work state of the work machine based on a detection result from the machine operation state detection device;
A worker approach having a detection alarm area calculation unit that calculates the detection target area and the approach notification target area based on the calculation result of the turning radius calculation unit and the determination result of the work state determination unit Notification system. In the worker approach notification system according to claim 3,
The notification device is
A display device for notifying the operator of the determination result of the worker position determination unit by visual information based on the notification command from the notification command generation unit;
And a warning device for notifying the operator of the determination result of the worker position determination unit by auditory information based on the notification command from the notification command generation unit,
The notification command generation unit, when the worker position determination unit determines that the RFID tag is present in the detection target area, the detection target area determined by the detection and alarm area determination unit, and the RFID A notification command for displaying a different display from an area determined to have a tag present is generated and transmitted to the display device, and when it is determined that the RFID tag is present in the approach notification target area, the RFID tag is displayed. While generating a notification command to display a warning display indicating that there is an approach notification target area and transmitting it to the display device, and generating a notification command to issue an alarm and transmitting it to the alarm device Worker approach notification system.

Images