Construction machine

Abstract

To provide a construction machine capable of accurately determining a rapid change of a ground surface surrounding the construction machine.SOLUTION: A construction machine has a control device that outputs an object detection signal indicating that an object exists around the construction machine when a position of the object existing around a vehicle is detected but the position of the detected object is within a predetermined object detection range, and a notification device to notify that the object exists around the construction machine responding to the object detection signal output from the control device. The control device outputs an attention signal indicating a rapid change of geography around the construction machine to the notification device, when a ranging sensor does not detect the object within a second detection range set to include a range below a mounting surface. The notification device notifies that there is the rapid change of the geography around the construction machine responding to the attention signal output from the control device.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to a construction machine. [Background technology]

[0002] Known construction machines operating at work sites are equipped with a function for detecting objects around the machine body for the purpose of improving safety, as described in Patent Document 1, for example. Patent Document 1 discloses a technology for recognizing the position of a dangerous area based on distance information between the multi-lens camera and a subject obtained from a plurality of captured images taken by the multi-lens camera as a dangerous area monitoring device that is mounted on a travelling construction machine and monitors dangerous areas with sudden changes in topography, such as cliffs, located around the construction machine and prevents the construction machine from entering the dangerous area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-222882 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above conventional technology, the position of the danger area is recognized based on the image captured by the multi-lens camera. Therefore, when the work site is dark or there is a shadow, or when the work site is too bright or the multi-lens camera is exposed to direct sunlight, the image quality deteriorates depending on the shooting environment of the work site, making it difficult to accurately recognize the danger area.

[0005] The present invention has been made in consideration of the above, and has an object to provide a construction machine that can more accurately determine sudden changes in the ground surrounding the construction machine. [Means for solving the problem]

[0006] The present application includes multiple means for solving the above problem, and one example is a construction machine equipped with a distance measurement sensor installed on a vehicle body for detecting the position of an object present around the vehicle body, a control device for outputting an object detection signal indicating the presence of an object around the construction machine when the position of an object detected by the distance measurement sensor is within a predetermined object detection range, and an alarm device for notifying the presence of an object around the construction machine in response to the object detection signal output from the control device, wherein the control device outputs the object detection signal to the alarm device when the distance measurement sensor detects an object within a first detection range set above a loading surface on which the tracks of the construction machine contact, and outputs a warning signal indicating that there is a sudden change in the terrain around the construction machine to the alarm device when the distance measurement sensor does not detect an object within a second detection range set to include an area below the loading surface, and the alarm device notifies the presence of a sudden change in the terrain around the construction machine in response to the warning signal output from the control device. Effect of the Invention

[0007] According to the present invention, sudden changes in the ground surrounding a construction machine can be determined more accurately. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a schematic external view of a hydraulic excavator, which is an example of a construction machine, together with a detection range in a normal use mode. [Diagram 2] FIG. 1 is a rear view showing a schematic external view of a hydraulic excavator, which is an example of a construction machine, together with a detection range in a normal use mode. [Diagram 3] FIG. 1 is a top view showing a schematic external view of a hydraulic excavator, which is an example of a construction machine, together with a detection range in a normal use mode. [Figure 4] 1 is a side view showing a schematic external view of a hydraulic excavator, which is an example of a construction machine, together with a detection range in a slope confirmation mode. [Diagram 5]FIG. 1 is a rear view showing a schematic external view of a hydraulic excavator, which is an example of a construction machine, together with a detection range in a slope confirmation mode. [Figure 6] FIG. 2 is a top view showing a schematic external view of a hydraulic excavator, which is an example of a construction machine, together with a detection range in a slope confirmation mode. [Figure 7] 1 is a side view showing a schematic external view of a hydraulic excavator, which is an example of a construction machine, together with a detection range in a slope confirmation mode. [Figure 8] FIG. 1 is a rear view showing a schematic external view of a hydraulic excavator, which is an example of a construction machine, together with a detection range in a slope confirmation mode. [Figure 9] FIG. 2 is a top view showing a schematic external view of a hydraulic excavator, which is an example of a construction machine, together with a detection range in a slope confirmation mode. [Figure 10] FIG. 2 is a functional block diagram showing the processing functions of a controller together with related configurations. [Figure 11] 13 is a flowchart showing the contents of an object detection process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to Figs. 1 to 11. In this embodiment, a hydraulic excavator will be described as an example of a construction machine, but the present invention can be applied to any machine equipped with a sensor for detecting surrounding objects. The present invention can also be applied to other construction machines, such as construction machines driven by power other than hydraulic power, such as electrically driven construction machines, and construction machines other than hydraulic excavators, such as wheel loaders.

[0010] Figures 1 to 9 are schematic diagrams showing the appearance of a hydraulic excavator, which is an example of a construction machine to which the present invention can be applied, with Figures 1, 4 and 7 being side views, Figures 2, 5 and 8 being rear views, and Figures 3, 6 and 9 being top views.

[0011] 1 to 9, the hydraulic excavator 100 is generally composed of a lower traveling body 101, an upper rotating body 102 rotatably mounted on the upper part of the lower traveling body 101, and a multi-jointed front working machine 103 mounted in front of the upper rotating body 102.

[0012] The front working implement 103 is configured by rotatably connecting a plurality of driven members (boom 31, arm 32, and bucket 33) that each rotate in a vertical direction. A base end of the boom 31 is rotatably supported via a boom pin at the front of the upper rotating body 102, and one end of the arm 32 is rotatably connected to the tip of the boom 31 via an arm pin. In addition, a bucket 33 is rotatably connected to the other end (tip) of the arm 32 via a bucket pin. The boom 31 is driven by a boom cylinder 34, the arm 32 is driven by an arm cylinder 35, and the bucket 33 is driven by a bucket cylinder 36. Hereinafter, the boom cylinder 34, the arm cylinder 35, and the bucket cylinder 36 may be simply referred to as hydraulic actuators.

[0013] A crawler belt 11 stretched in the front-rear direction and a hydraulic motor 12 for traveling that drives the crawler belt 11 are provided on the left and right sides of the lower traveling body 101. A blade 13 that is driven to rotate in the vertical direction by a hydraulic actuator (not shown) is provided on one side of the front-rear direction of the lower traveling body 101. With the blade 13 lowered, it is possible to perform tasks such as pushing soil and leveling the ground.

[0014] The upper rotating body 102 is rotatably attached to the upper part of the lower traveling body 101, and is driven to rotate by a swing hydraulic motor (not shown). Hereinafter, the swing hydraulic motor may be simply referred to as a hydraulic actuator. Although not shown, an engine as a prime mover, a hydraulic pump driven by the engine, and a control valve for controlling the flow rate and direction of the pressure oil discharged from the hydraulic pump and supplied to each hydraulic actuator are arranged on the body frame of the upper rotating body 102.

[0015] An operator's seat 104 is provided on the upper part of the upper rotating body 102, and the operator who operates the hydraulic excavator 100 sits on it. The operator's seat 104 is provided with a seat 21 on which the operator sits, a key switch (not shown) for starting the engine (in other words, starting up the hydraulic excavator 100), and an operation lever device 22 for outputting operation signals for operating each hydraulic actuator. A monitor 24 for notifying the operator of various information is provided in front of the operator's seat 104 at a position that does not obstruct the operator's view when the operator sits on the seat 21 is working with the front work machine 103. A stacked signal light (warning light) 23 for notifying the operator of information by turning on, off, flashing, etc., of a plurality of lamps of different colors arranged in a row is provided at a position that is assumed to be within the range of the operator's view when the operator sits on the seat 21 and does not obstruct the operator's view.

[0016] In addition, a buzzer 26 (see FIG. 10 below) that notifies the operator of various information by sound, and a speaker 27 (see FIG. 10 below) that notifies the operator of various information by voice are disposed in or around the driver's seat 104.

[0017] An object detection sensor 105 is provided behind the driver's seat 104 of the upper rotating body 102 (for example, at the upper rear end of the body cover and above the counterweight, in other words, on the upper surface of the upper rotating body 102) to detect whether or not an object is present within a predetermined detection range. The object detection sensor 105 is, for example, a distance measuring sensor such as an infrared sensor, and measures the distance and position of an object present within a range that can be detected according to specifications. The detection result of the object detection sensor 105 is sent to a controller 200 described later, and the position or distance of the detected object is compared with a predetermined detection range to determine whether or not an object is present within the detection range. The rear of the upper rotating body 102 is covered by an engine cover that is disposed continuously with the body cover and is provided so as to be able to slide open and close or turn open and close in the vertical direction. When the engine cover is in the closed position, it is outside the detection range of the object detection sensor 105, and when it is in the open position, it overlaps with the detection range of the object detection sensor 105.

[0018] In this embodiment, an infrared sensor is described as an example of object detection sensor 105, but the present invention is not limited to this. For example, the present invention can be applied to any distance measurement sensor such as LiDAR (Light Detection and Ranging), which measures distance by measuring scattered light from an object when irradiated with a laser, or millimeter wave radar, which measures distance by measuring reflected waves from an object when irradiated with millimeter waves.

[0019] FIG. 10 is a functional block diagram showing the processing contents of the controller.

[0020] The controller 200 controls the object detection process that detects objects around the hydraulic excavator 100 and notifies the operator based on the detection results from the object detection sensor 105, and is disposed at a predetermined position on the upper rotating body 102.

[0021] 10, a controller 200 includes a detection mode control unit 201, a detection range setting unit 202, an object detection unit 203, and a notification control unit 204.

[0022] In a state where the engine is started by a key switch or the like and the hydraulic excavator 100 is started (i.e., an operable state), the detection mode control unit 201 alternately switches the state (detection mode) of the controller 200 between a normal use mode in which objects around the hydraulic excavator 100 are detected using the object detection sensor 105, and a slope confirmation mode in which the presence or absence of a slope around the hydraulic excavator 100 is determined according to the detection result of the object detection sensor 105. The normal use mode and the slope confirmation mode are switched at an early timing that does not affect each other's processing. Specifically, for example, when returning from the normal use mode via the slope confirmation mode to the normal use mode, the normal use mode is set to return to the normal use mode at an early timing that does not impair the detection accuracy of surrounding objects. Similarly, when returning from the slope confirmation mode via the normal use mode to the slope confirmation mode, the normal use mode is set to return to the slope confirmation mode at an early timing that does not impair the detection accuracy of surrounding slopes.

[0023] The detection range setting unit 202 sets the object detection range according to the detection mode set by the detection mode control unit 201. Figures 1 to 3 show an example of setting the detection range 105a in the normal use mode, and Figures 4 to 9 show an example of setting the detection range 105b in the slope confirmation mode.

[0024] As shown in Figures 1 to 3, the detection range 105a in the normal use mode extends diagonally downward when viewed rearward from the object detection sensor 105 and also spreads in a planar manner in the left and right directions, and is set so as not to include the surrounding ground surface 300 on which the hydraulic excavator 100 is placed at the work site and which is the support surface with which the tracks 11 contact.

[0025] 4 to 9, the detection range 105b in the slope confirmation mode is set so as to extend obliquely downward and to spread in a plane in the left-right direction when viewed rearward from the object detection sensor 105, and to include the surrounding ground surface 300 on which the hydraulic excavator 100 is placed at the work site and on which the crawler 11 is in contact. The detection range 105b is set, for example, based on the maximum distance that is measurable based on the specifications of the object detection sensor 105. The length of the detection range 105b in the obliquely downward direction may also be set based on the maximum inclination angle (e.g., 35°) that is allowable for the hydraulic excavator 100 based on the vehicle specifications.

[0026] Although not shown in the drawings, in the normal use mode and the sloping ground confirmation mode, from the viewpoint of ensuring detection accuracy and suppressing false detection, the vicinity of the object detection sensor 105 is excluded from the detection range. Specifically, for example, the range of the distance to the nearest structure of the hydraulic excavator 100 in the direction along the detection ranges 105a, 105b of the object detection sensor 105 (for example, a pillar supporting the roof disposed above the driver's seat 104) is excluded from the detection range.

[0027] The object detection unit 203 determines whether or not an object is present within the detection ranges 105a, 105b based on the detection result of the object detection sensor 105 and the detection ranges 105a, 105b set by the detection range setting unit 202, and outputs the result to the notification control unit 204.

[0028] When the detection mode control unit 201 switches to the normal use mode and the detection range setting unit 202 sets the detection range 105a, it determines whether or not the position of the object detected by the object detection sensor 105 is within the detection range 105a, that is, whether or not an object is present within the detection range 105a. If it determines that an object is present within the detection range 105a, it outputs an object detection signal indicating that an object has been detected as a detection result to the detection mode control unit 201 and the notification control unit 204.

[0029] In this embodiment, a case will be described as an example in which no signal is output when no object is present within detection range 105a, but the configuration may be such that a signal indicating that no object is detected is output.

[0030] Furthermore, when the detection mode control unit 201 switches to the slope confirmation mode and the detection range setting unit 202 sets the detection range 105b, it is determined whether or not the position of the object detected by the object detection sensor 105 is within the detection range 105b, that is, whether or not there is an object within the detection range 105b. At this time, since the detection range 105b is set so as to include the ground 300 around the hydraulic excavator 100 at the work site, as shown in Figs. 4 to 6, if there is no slope around the hydraulic excavator 100, the ground 300 as an object is detected within the detection range 105b, and an object detection signal indicating that an object has been detected is output to the notification control unit 204 as a detection result.

[0031] 7 to 9, when there is a slope 300A around the hydraulic excavator 100 (here, behind the hydraulic excavator 100, which is the detection direction by the object detection sensor 105) and the ground surface 300 is not detected as an object, it is determined that no object exists within the detection range 105b, and an object non-detection signal indicating that no object has been detected is output as a detection result to the notification control unit 204. Note that in this embodiment, a case will be described in which an object non-detection signal is output when no object exists within the detection range 105b, but a configuration in which no signal is output may also be used.

[0032] Depending on the detection mode set by the detection mode control unit 201 and the detection result from the object detection unit 203, the notification control unit 204 outputs an object detection signal indicating that there is an obstacle (object) behind the hydraulic excavator 100, or a slope warning signal indicating that there is a slope 300A around (behind) the hydraulic excavator 100 to notification devices such as the monitor 24, stacked signal light 23, buzzer 26, speaker 27, etc.

[0033] For example, when the detection mode set by the detection mode control unit 201 is the normal use mode, if the object detection unit 203 determines that an obstacle (object) is present in the detection range 105a (i.e., when an object detection signal is received from the object detection unit 203), the notification control unit 204 outputs to the notification device an object detection signal indicating that an obstacle (object) is present behind the hydraulic excavator 100. Also, when the detection mode set by the detection mode control unit 201 is the slope confirmation mode, if the object detection unit 203 determines that no object is present in the detection range 105b (i.e., when an object non-detection signal is received from the object detection unit 203), the notification control unit 204 outputs to the notification device a slope caution signal indicating that a slope 300A is present around (behind) the hydraulic excavator 100.

[0034] When no signal is output from the notification control unit 204, the stacked signal light 23, which is a notification device, has a lamp (e.g., a green lamp) indicating that the device is in operation lit, and the buzzer 26 is in a muted state. When a slope detection signal is output from the notification control unit 204, the stacked signal light 23 blinks a lamp (e.g., a red lamp) indicating that a slope is present around (behind) the hydraulic excavator 100, and the buzzer 26 emits a continuous warning sound to notify the operator of the presence of a slope and to urge him or her to be careful of the slope. When an object detection signal is output from the notification control unit 204, the stacked signal light 23 turns on a lamp (e.g., a red lamp) indicating the presence of an obstacle (object), and the buzzer 26 emits an intermittent warning sound to notify the operator of the presence of an obstacle such as earth and sand, a structure, or a worker behind the hydraulic excavator 100, which is likely to be in the blind spot of the operator operating the excavator in the driver's seat 104.

[0035] When a slope caution signal is output from the notification control unit 204, the monitor 24 notifies the operator by displaying information that a slope exists around (behind) the hydraulic excavator 100. In addition, when an object detection signal is output from the notification control unit 204, the monitor 24 notifies the operator by displaying information indicating that an obstacle such as a worker exists around (behind) the hydraulic excavator 100.

[0036] Similarly, when a slope caution signal is output from the notification control unit 204, the speaker 27 notifies the operator by voice of information that a slope exists around (behind) the hydraulic excavator 100. Moreover, when an object detection signal is output from the notification control unit 204, the speaker 27 notifies the operator by voice of information that an obstacle, such as a worker, exists around (behind) the hydraulic excavator 100.

[0037] In the present embodiment, a case has been described in which an object detection signal or a slope warning signal is output to an alarm device to notify an operator of information, but the present invention is not limited to this. For example, when the controller 200 outputs an object detection signal or a slope warning signal, the controller 200 may be configured to stop the operation of the hydraulic excavator 100 or slow down the operating speed by outputting a deceleration control signal for slowing down the operating speed of the hydraulic excavator 100 (construction machine) or a stop control signal for stopping the operation to a vehicle body control device that controls the overall operation of the hydraulic excavator 100. Also, the controller 200 may be configured to stop the operation of the hydraulic excavator 100 or slow down the operating speed by outputting an object detection signal or a slope warning signal to the vehicle body control device.

[0038] FIG. 11 is a flowchart showing the contents of the object detection process.

[0039] In FIG. 11, when the controller 200 is switched to the slope confirmation mode (step S100), the controller 200 determines whether or not any object has been detected in the detection range 105b (step S110).

[0040] If the determination result in step S110 is NO, i.e., if no object is detected within the detection range 105b, the alarm device notifies the operator that a slope is present around (behind) the hydraulic excavator 100 (step S111), and the process is terminated.

[0041] If the determination result in step S110 is YES, that is, if an object is detected in detection range 105b, the mode is switched to normal use mode (step S120). In the normal use mode, it is determined whether the position of the object detected by object detection sensor 105 is within detection range 105a (step S130), and if the determination result is NO, that is, if it is determined that there is no object within detection range 105a, the processes of steps S100 to S120 are repeated.

[0042] Furthermore, if the determination result in step S130 is YES, that is, if it is determined that an object is present within the detection range 105a, an alarm device is activated to notify the operator that there is an obstacle such as a worker around (behind) the hydraulic excavator 100 (step S140), and the process is terminated.

[0043] While the hydraulic excavator 100 is in operation, the controller 200 repeats the processing of steps S100 to S140 to detect obstacles and slopes around (behind) the hydraulic excavator 100 and notify the operator.

[0044] The effects of the present embodiment configured as above will be described.

[0045] When recognizing the location of danger areas based on images captured by a multi-lens camera, as in conventional technology, the quality of the images can deteriorate depending on the shooting environment at the work site, such as when the work site is dark or in shadow, or when the work site is too bright or the multi-lens camera is exposed to direct sunlight, making it difficult to accurately recognize the danger areas.

[0046] Therefore, in this embodiment, the object detection sensor 105 determines whether or not it has detected an object in a range below a predetermined reference plane along the underside of the hydraulic excavator 100 as the surface on which the hydraulic excavator 100 is placed, and if it determines that it has not detected an object, it outputs a slope warning signal indicating that there is a slope around (rear of) the hydraulic excavator 100 to an alarm device (e.g., monitor 24, stacked signal light 23, buzzer 26, speaker 27), and the alarm device is configured to notify the operator that there is a slope around (rear of) the hydraulic excavator 100 in response to the slope warning signal, so that sudden changes in the ground around the construction machine can be more accurately determined.

[0047] <Additional Notes> The present invention is not limited to the above-described embodiment, but includes various modifications and combinations within the scope of the present invention.

[0048] For example, in this embodiment, a case has been described in which one object detection sensor 105 is installed so that the detection range is behind the hydraulic excavator 100, but this is not limited to this. For example, multiple object detection sensors may be provided whose detection ranges are on the left and right sides of the hydraulic excavator 100, and configured to perform similar processing.

[0049] Furthermore, the present invention is not limited to having all of the configurations described in the above embodiments, and includes configurations in which some of the configurations are changed or omitted.

[0050] For example, in the above embodiment, an example has been described in which the hydraulic excavator 100 is placed on the ground and the tracks 11 of the lower running body 101 are in contact with the ground 300. However, this is not limited to this, and the present invention can also be applied to, for example, a case in which the hydraulic excavator 100 is placed on a location other than the ground, such as a work platform.

[0051] In addition, in the above embodiment, an example has been described in which one object detection sensor detects objects in both detection ranges, but this is not limited to this. For example, an object detection sensor (two object detection sensors in this case) corresponding to each of the two detection ranges may be provided, and objects may be detected by the object detection sensor corresponding to each detection range.

[0052] In addition, the above-mentioned configurations, functions, etc. may be realized in part or in whole by designing, for example, an integrated circuit, etc. In addition, the above-mentioned configurations, functions, etc. may be realized in software by a processor interpreting and executing a program that realizes each function. [Explanation of symbols]

[0053] 11...track, 12...traveling hydraulic motor, 13...blade, 21...seat, 22...operating lever device, 23...stacked signal light, 24...monitor, 26...buzzer, 27...speaker, 31...boom, 32...arm, 33...bucket, 34...boom cylinder, 35...arm cylinder, 36...bucket cylinder, 100...hydraulic excavator, 101...lower running body, 102...upper rotating body, 103...front working machine, 104...driver's seat, 105...object detection sensor, 105a, 105b...detection range, 200...controller, 201...detection mode control unit, 202...detection range setting unit, 203...object detection unit, 204...alarm control unit, 300...ground, 300A...slope

Claims

1. A distance measuring sensor installed on the vehicle body for detecting the position of an object existing around the vehicle body; A control device that outputs an object detection signal indicating that there is an object around the vehicle body when the position of the object detected by the distance measuring sensor is within a predetermined object detection range; In a construction machine comprising a notification device that notifies that there is an object around the vehicle body in response to the object detection signal output from the control device, The control device: When the distance measuring sensor detects an object within a first detection range set above the placement surface with which the crawler of the construction machine is in contact, outputs the object detection signal to the notification device; When the distance measuring sensor does not detect an object within a second detection range set to include below the placement surface, outputs a caution signal indicating that there is a sudden change in the terrain around the construction machine to the notification device; The notification device notifies that there is a sudden change in the terrain around the construction machine in response to the caution signal output from the control device A construction machine characterized by the above.

2. In the construction machine according to Claim 1, The placement surface is set based on the ground on which the construction machine is arranged. A construction machine characterized by this.

3. In the construction machine according to Claim 1, A lower traveling body; An upper swing body rotatably attached to the upper part of the lower traveling body; Comprising, The distance measuring sensor is attached to the upper surface of the upper swing body and is installed so that the detection direction extends obliquely downward. A construction machine characterized by this.

4. In the construction machine according to Claim 1, The notification device is a buzzer that emits a sound according to the notification content and a stacked signal lamp that lights up or blinks according to the notification content, When the object detection signal is output from the control device, an alarm is executed in a first notification mode, When the caution signal is output from the control device, an alarm is executed in a second notification mode different from the first notification mode A construction machine characterized by the above.

5. In the construction machine according to Claim 1, When outputting the caution signal, the control device outputs a deceleration control signal for decelerating the operating speed of the construction machine or a stop control signal for stopping the operation. A construction machine characterized by this.

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