JP2019031823A - Collision preventing device in backing of construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a reverse collision prevention device for a construction machine, which can be suitably applied to a wide range of field environments and can be easily attached to various construction machines. SOLUTION: A side area sensor 10 for detecting the presence of an object in a predetermined range DA behind the construction machine 1, a stop control means 20 for stopping and controlling the running of the construction machine 1, and a stop for releasing the stop control. The construction machine 1 is stopped and controlled by the stop control means 20 by having at least the control release means B and the side area sensor 10 detecting the presence of the object when the construction machine 1 is moving backward. The stop control can be released by the release operation to the stop control release means B. [Selection diagram] Fig. 1

Description

  The present invention relates to a reverse collision prevention device for a construction machine.

  Conventionally, obstacle detection means such as a back camera, ultrasonic sensor, optical sensor, infrared sensor, etc. have been added to the construction machine in order to prevent accidents where workers etc. come into contact with the construction machine when the construction machine moves forward or backward. Installed to detect the presence of obstacles and workers within the construction machine movement range, and to prevent collisions that call attention to construction machine operators and workers who have entered the construction machine movement range The equipment to be installed on the construction machine.

  For example, in Patent Document 1, as shown in FIGS. 13 (a) and 13 (b), an ultrasonic sensor and an infrared sensor are provided at a front portion and a rear portion of a tire roller, and the ultrasonic sensor and the infrared sensor are provided. Based on the input signal from, an alarm is output to the approaching person to the tire roller, and the tire roller engine is automatically stopped, or the tire roller is emergency stopped with the forward / reverse lever in the neutral position. The invention has been described.

  Further, in Patent Document 2, as shown in FIG. 14 (a), a laser scanning device is provided at the front part of a carriage 1 connected in front of a battery loco used in a tunnel mine, etc. An invention is described in which an alarm is output stepwise according to the distance of the battery and stop control of the battery locomotive is performed.

JP-A-8-218310 JP 2011-103084 A

  However, the above-described conventional obstacle detection device and stop control method are used to detect obstacles at construction sites where workers may frequently enter, and at construction sites where there are multiple structures and obstacles in the vicinity. It was not something that could be set flexibly or temporarily cancel the detection. Moreover, when there is a relatively large undulation on the ground on which the construction vehicle travels, there is a problem that the undulation of the ground is erroneously detected as an obstacle.

  For example, as shown in FIG. 14 (b), when the ground undulation 4 is present in the detection range 3 of the obstacle detection device 2, the conventional detection device or detection method frequently issues an alarm, A situation in which the construction machine stops frequently occurs due to the execution of the stop control of the construction machine. That is, the conventional apparatus described in Patent Document 1 and Patent Document 2 described above is based on the premise that the detected obstacle is removed in order to resume the operation of the construction machine, and FIG. In order to resume the operation of the construction machine with the ground undulations that cannot be removed as exemplified in the above, there is no choice but to disable the detection device itself.

  Therefore, an object of the present invention is to provide a reverse collision prevention device for a construction machine that can be suitably applied to a wide range of field environments and can be easily mounted on various construction machines.

(1) A side area sensor (side area sensor 10) that detects the presence of an object in at least a predetermined range (detection range DR) behind the construction machine (construction machine 1), and traveling of the construction machine (construction machine 1). Stop control means (parking brake valve 20) for performing stop control and stop control release means (emergency brake release switch B) for releasing the stop control are provided at least when the construction machine (construction machine 1) moves backward. When the side area sensor (side area sensor 10) detects the presence of the object, the stop control means (parking brake valve 20) controls the stop of the construction machine (construction machine 1), and the stop control release means ( A reverse collision prevention device for a construction machine, wherein the stop control can be released by a release operation to an emergency brake release switch B).

  According to the configuration of (1) above, by using the side area sensor 10, it is possible to reliably detect the presence of obstacles and the entry of workers in the detection range DR behind the construction machine 1, It is possible to suppress a situation in which the ground undulation is erroneously detected as an obstacle. Furthermore, when the vehicle travels backward, it is possible to automatically stop the traveling of the construction machine 1 by detecting the presence of an obstacle or the entry of a worker, thereby preventing a contact accident. In addition, by providing an emergency brake release switch B that releases the stop control to the construction machine 1 by energizing the parking brake valve 20, it is possible to detect an obstacle, an erroneous detection of the side area sensor 20, or a construction. The construction machine 1 can be moved again, for example, when it is desired to run the construction machine 1 in a narrow area surrounded by structures or the like around the machine 1.

(2) It has detection range setting means for setting the predetermined range (detection range DR), and the detection range setting means detects the rear of the construction machine according to the braking capability of the construction machine (construction machine 1). The reverse collision prevention device for a construction machine according to the above (1), comprising a detection distance setting means for setting a distance (detection distance L).

  According to the configuration of (2) above, the construction distance can be set in accordance with the braking distance from when the construction machine 1 starts braking until it can be stopped, that is, the braking capacity. It is possible to attach a reverse collision prevention device corresponding to 1.

(3) It has detection range setting means for setting the predetermined range (detection range DR), and the detection range setting means sets the rear side of the construction machine and the side of the construction machine as the predetermined range (detection range DR). The reverse collision prevention device for a construction machine according to (1) or (2), which is settable.

  According to the configuration of (3) above, by using the side area sensor 10 having a large detection angle, the rear and side of the construction machine 1 are simultaneously monitored as shown in FIG. 1 (b) and FIG. It becomes possible.

(4) It has a detection range setting means for setting the predetermined range (detection range DR), and the detection range setting means can adjust the angle of the predetermined range (detection range DR) in the vertical direction. The reverse collision preventive device for a construction machine according to any one of 1) to (3).

  According to the configuration of (4) above, for example, as shown in FIG. 2A, when the installation location of the side area sensor 10 in the construction machine 1 is high, by setting the detection range DR obliquely downward, Obstacles can be detected appropriately. In addition, as shown in FIG. 2B, in a field environment where there is a large undulation in the ground, the occurrence of a situation in which the undulation of the ground is erroneously detected by setting the detection range DR obliquely upward. Can be further suppressed.

It is the side view and top view which show an example of the detection range of a side area sensor in this invention. It is a side view which shows an example of the detection range of a side area sensor in other embodiment of this invention. It is a top view which shows an example of the detection range of a side area sensor in other embodiment of this invention. It is the side view and front view which show an example of the installation aspect of the side area sensor in this invention. It is a figure explaining an example of the setting aspect of the detection range and detection range of a side area sensor in this invention. It is a front perspective view which shows an example of the setting operation panel which can select the detection distance of a side area sensor in this invention. In the control mode of the reverse collision prevention device of the present invention, it is a circuit diagram for explaining the control mode when the engine of the construction machine is started. In the control mode of the reverse collision prevention device of the present invention, FIG. In the control mode of the reverse collision prevention device of the present invention, it is a circuit diagram for explaining the control mode of the construction machine during the reverse drive. In the control mode of the reverse collision prevention device of the present invention, it is a circuit diagram for explaining the control mode when an obstacle or the like is detected during reverse travel of the construction machine. In the control mode of the reverse collision prevention device of the present invention, it is a circuit diagram illustrating a control mode when a braking state is released after detecting an obstacle or the like. It is a flowchart which shows an example of the control flow of the reverse collision prevention apparatus of this invention. It is a figure explaining the prior art described in patent document 1. FIG. It is a figure explaining the prior art described in patent document 2. FIG.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a reverse collision prevention device for a construction machine according to the present invention (hereinafter, simply referred to as “collision prevention device”) will be described based on an embodiment with reference to the drawings.

  FIG. 1A and FIG. 1B show an example of a collision preventive device for a construction machine 1 (the illustrated embodiment is a wheel loader) as an embodiment of the reverse collision prevention device for a construction machine according to the present invention. A side view and a plan view showing a mounting example of the apparatus are shown. In the present embodiment, the side area sensor 10 is installed on the counterweight at the rear of the construction machine 1, and when the construction machine 1 moves backward, it detects an obstacle, a worker, or the like existing behind the construction machine 1. The detection range DR of the area sensor 10 is set.

  The side area sensor 10 used in this embodiment has an external shape as shown in the front view of FIG. 4A and the side view of FIG. 4B, and a semiconductor laser is irradiated from the optical window 11. By scanning the detection range DR, obstacles, workers, etc. existing in the detection range DR are detected.

  Further, as shown in FIG. 5A, the side area sensor 10 is a uniaxial scanning type side area sensor 10 having a maximum detection angle DA of 270 degrees, and sets a wide detection range DR. Is possible. Further, as shown in FIG. 5 (b), the maximum detection distance L is 6 m. For example, an arbitrary two-dimensional shape can be obtained as in the detection range DR-A shown in FIG. 5 (b). It can be set as the detection range DR.

  Furthermore, since the side area sensor 10 has a very high response time of 66 msec, even when a worker suddenly enters the rear of the construction machine 1 when the construction machine 1 moves backward, it can be detected immediately. It is.

  About the installation aspect to the construction machine 1 of the said side area sensor 10, as shown in FIG.1 (b), it installs in the rear part of the construction machine 1, and the worker, vehicle, structure which exists behind the construction machine 1 is shown. In order to detect obstacles such as, the side area sensor 10 is installed so that the detection height h is approximately 1 to 1.5 m.

  Further, the detection width W can be set as appropriate according to the width of the construction machine 1. Since the side area sensor 10 can set the detection range DR having an arbitrary two-dimensional shape in the detectable range as described above, the installation position of the side area sensor is left and right from the center position of the construction machine 1. Even if it deviates, it is possible to set an appropriate detection range DR as shown in FIG.

  Further, the detection distance L behind the construction machine 1 is set according to the braking ability of the construction machine 1 to which the collision prevention device of the present invention is attached. That is, according to the braking distance from when the side sensor 10 detects an obstacle behind the construction machine 1 until the construction machine 1 automatically stops in the assumed traveling speed range of the construction machine 1 when traveling backward. The distance that can sufficiently avoid the collision with the obstacle is set as the detection distance L.

  In this embodiment, as shown in FIG. 6, a setting operation panel 17 capable of selecting the detection distance L of the side area sensor 10 from a plurality of detection distances L is provided around the driver's seat of the construction machine 1. Yes.

  The setting operation panel 17 is provided with detection distance setting switches 18 provided for each detection distance L to be set (in this embodiment, three types of 4 m, 5 m, and 6 m), and a lamp that is lit according to the setting state. 18a is arranged. Thereby, the detection distance L can be easily set according to the braking capability (braking distance) of the construction machine 1 to which the collision prevention device is mounted.

  The setting operation panel 17 is provided with an operation lamp 19 indicating the operation state of the collision prevention device. When the operation lamp 19 is lit, the collision prevention device is effectively operated, and an obstacle in the detection range DR. The operator of the construction machine 1 can always confirm that the detection function is working.

(Control configuration)
In the following, the control configuration of the present embodiment will be described based on the control circuit diagram 100 of FIGS. 7 to 11 and the control flow of FIG.

  FIG. 7 shows a control circuit diagram when the engine of the construction machine 1 is started, and an energized state is shown by a bold line. When the forward / reverse operation lever 50 is in the neutral state, the starter switch 40 is turned on by the engine start operation, and the energized state as shown in FIG. When the parking brake switch PB is in the ON state, the parking brake switch PB is in an open state as illustrated, and the parking brake valve 20 is not energized. Therefore, the wheels of the construction machine 1 are maintained in the braking state and stopped. (S200 in FIG. 12)

  FIG. 8 shows a control circuit diagram when the construction machine 1 moves forward, and the energized state is shown by a bold line. The operator of the construction machine 1 presses the parking brake switch PB to turn it off (braking is released) (S201 in FIG. 12), and further displaces the forward / reverse operation lever 50 to the forward position, thereby energizing as shown It becomes a state. In the control circuit in the side area sensor 10, the control switch SSW is in a closed state as shown in the figure except when an obstacle is detected, and the parking brake valve 20 is energized, so that the wheels of the construction machine 1 are braked. The state is released and the vehicle can move forward. (S202 in FIG. 12)

  FIG. 9 shows a control circuit diagram when the construction machine 1 moves backward, and the energized state is shown by a bold line. The operator of the construction machine 1 presses the parking brake switch PB to turn it off (braking is released) (S201 in FIG. 12), and further displaces the forward / reverse operation lever 50 to the reverse position, thereby energizing as shown in the figure. It becomes a state. When the forward / reverse operation lever 50 is displaced to the reverse position, the power supply circuit of the side area sensor 10 is energized, the side area sensor 10 enters an operating state, and an obstacle detection operation in the detection range DR is started (see FIG. 12 S203).

  At the same time, on the setting operation panel 17 (see FIG. 6) provided in the driver's seat of the construction machine 1, the operation lamp 19 is turned on, and the operator of the construction machine 1 confirms that the collision prevention device is operating effectively. Can be confirmed. When no obstacle is detected in the detection range DR, the control switch SSW in the side area sensor 10 is closed as shown in the figure and the parking brake valve 20 is energized. Will be released from the braking state and will be able to reverse.

  FIG. 10 shows a control circuit diagram when the side area sensor 10 detects an obstacle in the detection range DR behind the construction machine 1 while the construction machine 1 is moving backward, and the energized state is shown by a bold line. Yes. Based on the fact that the side area sensor 10 detects an obstacle in the detection range DR, the control switch SSW in the side area sensor 10 is immediately opened as shown in the figure. As a result, the parking brake valve 20 is turned off (S204 in FIG. 12), braking force is applied to the wheels of the construction machine 1, and the construction machine 1 stops (S205 in FIG. 12).

  FIG. 11 shows a control circuit diagram when the construction machine 1 stops after the side area sensor 10 detects an obstacle in the detection range DR and then reverses again, and the energized state is shown by a bold line. Has been. If an obstacle detected within the detection range DR can be easily moved outside the detection range DR, such as a worker or other construction machine, it is not detected when the obstacle leaves the detection range DR. In this state (S206 in FIG. 12), the control switch SSW in the side area sensor 10 is closed, and the parking brake valve 20 is energized. Thereby, the braking state of the wheels of the construction machine 1 is released, and it is possible to reverse the vehicle again.

  However, if the detected obstacle is a undulation of the structure or the ground, the construction machine 1 cannot move backward at all since it cannot easily move from the detection range DR. In the present embodiment, in order to cope with such a situation, an emergency brake release switch B is provided around the driver's seat of the construction machine 1 as shown in FIG. When the operator operates the emergency brake release switch B (S206 in FIG. 12), the parking brake valve 20 can be energized, and the braking state of the wheels of the construction machine 1 is released (S207 in FIG. 12) and again. It is possible to reverse.

  In this embodiment, the emergency brake release switch B is provided in the grip portion of the forward / reverse operation lever 50, and the operation of the forward / reverse operation lever 50 and the operation of the emergency brake release switch B can be performed without releasing the hand from the grip portion. In this way, the operability is improved.

  In the present embodiment, even if the braking state of the wheel of the construction machine 1 is released by operating the emergency brake release switch B, the detection function itself of the side area sensor 10 is not released, so the construction machine 1 continues. An obstacle behind the vehicle is detected, and an alarm or the like is notified to an operator or a peripheral worker. As the notification mode, it is preferable that a notification is made sequentially by voice or the like so that not only the presence of the obstacle but also the distance to the obstacle can be recognized.

(Other embodiments)
Although the embodiment of the reverse collision prevention device for a construction machine according to the present invention is as described above, the embodiment of the present invention is not necessarily limited to the above embodiment.

  For example, the side area sensor 10 used in the above embodiment uses the uniaxial scanning range sensor 10 and sets the detection range DR in a two-dimensional shape. It is also possible to use the side area sensor 10 and set the detection range DR in a three-dimensional shape. Thereby, it becomes possible to raise the detection accuracy of an obstruction more.

  Moreover, in the said Example, as FIG. 1 (a) showed, although the detection range DR of the side area sensor 10 was set in parallel with the construction machine 1 in a horizontal state, it is limited to such an aspect. For example, as shown in FIG. 2A, it is also possible to set the detection range DR obliquely downward. By doing so, the side area sensor 10 is set higher in the construction machine 1. Even when it must be installed at a location, an obstacle can be detected appropriately.

  Further, as shown in FIG. 2 (b), it is possible to set the detection range DR obliquely upward, and in this way, in the field environment where there is a large undulation in the ground, the ground undulations It is possible to further suppress the occurrence of a situation that erroneously detects as an obstacle.

  Moreover, in the said Example, as shown in FIG.1 (b), although the one side area sensor 10 was provided in the rear part of the construction machine 1, and the detection range DR was set, several side area sensor 10 was set. For example, as shown in FIG. 3, two side area sensors 10a and 10b are installed on the side of the rear part of the construction machine 1 to set detection ranges DR1 and DR2, respectively. By doing so, it is possible to detect a wide range of obstacles including the side of the construction machine 1.

  Further, in the above embodiment, as shown in FIG. 1A, the side area sensor 10 is installed on the counterweight at the rear of the construction machine 1, but depending on the model of the construction machine 1, the side area sensor is not necessarily provided. The ten installation surfaces are not necessarily horizontal. Furthermore, as described in the above paragraphs 0041 and 0042, even when the detection range DR is inclined downward or upward, the angle of the installation surface of the side area sensor 10 may need to be adjusted. In order to cope with such a situation, for example, an angle adjustment base shown in FIG. 4 may be provided between the construction machine 1 and the side area sensor 10.

  The angle adjustment pedestal shown in FIG. 4 has a fixed plate 13 and a sensor mounting plate 12 on the installation surface of the construction machine 1, and one of the sensor mounting plates 12 is configured to be rotatable by a hinge pin 14 and the other nut. By loosening 15, the angle can be adjusted within the range of the sliding groove 16. With such a configuration, it is possible to appropriately adjust the irradiation direction (angle) ID of the laser light emitted from the optical window 11.

  In this embodiment, the emergency brake release switch B is provided in the grip portion of the forward / reverse operation lever 50. However, as an operation method of the emergency brake release switch B, parking is performed only while the operator continues the pressing operation. The brake valve 20 may be energized to release the braking state of the wheels of the construction machine 1. With this configuration, it is possible to prevent the operator from operating the construction machine 1 while easily releasing the braking state.

  As mentioned above, although various embodiment of this invention was described based on drawing, a specific structure is not limited to these embodiment. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes all modifications within the meaning and scope equivalent to the scope of claims for patent. Further, the specific dimensions and the like described in the above embodiments can be changed within the scope of solving the problems of the present invention.

1 Construction Machine 10 Side Sensor 20 Parking Brake Valve DR Detection Range B Emergency Brake Release Switch

Claims (4)

A side sensor for detecting the presence of an object at least in a predetermined range behind the construction machine;
Stop control means for stopping and controlling the traveling of the construction machine;
Stop control release means for releasing the stop control, at least,
The stop of the construction machine is controlled by the stop control means when the side sensor detects the presence of the object when the construction machine moves backward.
The reverse collision prevention apparatus for a construction machine, wherein the stop control can be released by a release operation to the stop control release means. A detection range setting means for setting the predetermined range;
The reverse collision prevention device for a construction machine according to claim 1, wherein the detection range setting means includes detection distance setting means for setting a detection distance behind the construction machine in accordance with a braking capability of the construction machine. A detection range setting means for setting the predetermined range;
3. The reverse collision prevention apparatus for a construction machine according to claim 1, wherein the detection range setting means can set the rear side of the construction machine and the side of the construction machine as the predetermined range. A detection range setting means for setting the predetermined range;
The reverse collision prevention device for a construction machine according to any one of claims 1 to 3, wherein the detection range setting means is capable of adjusting an angle of the predetermined range in a vertical direction.

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