Detection system and detection method

Abstract

To provide a detection system and a detection method for improving safety while suppressing the deterioration of moving efficiency even when a moving object is traveling or traversing.SOLUTION: A traveling detection area used when the moving body 2 moves in the traveling direction y and a traversing detection area S2 used when the moving body 2 moves in the traversing direction x crossing the traveling direction y at a right angle are set in advance, and the method includes a switching step of switching from one of the traveling detection area and the traversing detection area S2 to the other according to the moving direction of the moving body 2.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a detection system and a detection method for detecting the presence or absence of obstacles around a moving body, and more particularly to a detection system and a detection method that can improve safety while suppressing a decrease in movement efficiency both when the moving body is running and when it is moving sideways. [Background technology]

[0002] Various detection systems have been proposed for detecting obstacles when a mobile object such as a crane is traveling (see, for example, Patent Document 1). The detection system described in Patent Document 1 detects obstacles by emitting electromagnetic waves in the direction in which the mobile object is traveling.

[0003] When changing lanes, a mobile vehicle consisting of a gantry crane rotates its tires 90 degrees around a vertical axis and then moves in the lateral direction. Some mobile vehicles move not only in the direction of travel but also in the lateral direction, which crosses the direction of travel at a right angle. It is desirable for the detection system to be able to detect obstacles when the mobile vehicle is traveling as well as when it is moving lateral. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-187121 Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention has been made in consideration of the above problems, and its purpose is to provide a detection system and a detection method that can improve safety while suppressing a decrease in movement efficiency when a moving object is running or moving sideways. [Means for solving the problem]

[0006] A detection system for achieving the above-mentioned object comprises a sensor that is installed on a moving body and emits electromagnetic waves or sound waves while changing the angle in the horizontal and vertical directions and receives the reflected waves; a detection area setting mechanism that pre-sets a detection area at the reflection point where the electromagnetic waves or sound waves are reflected when there is no obstacle; and a determination mechanism that determines the presence or absence of an obstacle based on the reflected waves reflected inside the detection area, wherein the detection area setting mechanism pre-sets a running detection area that is used when the moving body moves in the running direction, and a lateral movement detection area that is used when the moving body moves in a lateral movement direction that crosses the running direction at a right angle, and has a switching unit that switches between the running detection area and the lateral movement detection area.

[0007] A detection method for achieving the above object involves setting a detection area in advance in the area surrounding a reflection point where electromagnetic waves or sound waves are reflected when there is no obstacle, irradiating the detection area with electromagnetic waves or sound waves from a sensor installed on a moving body while changing the angle in the horizontal and vertical directions, receiving the reflected waves, and determining the presence or absence of an obstacle based on the reflected waves reflected within the detection area, and is characterized in that a running detection area used when the moving body moves in the running direction and a lateral movement detection area used when the moving body moves in a lateral movement direction that crosses the running direction at a right angle are set in advance, and the method includes a switching step for switching from one of the running detection area and the lateral movement detection area to the other depending on the movement direction of the moving body. [Effects of the Invention]

[0008] According to the present invention, the range of the detection area can be changed by the switching unit between when the vehicle is traveling and when it is traversing. This makes it easier to set the detection area to an appropriate range for when the vehicle is traveling and when it is traversing. This is advantageous for improving safety while suppressing a decrease in the movement efficiency of the moving object. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory perspective view illustrating a crane on which a detection system is installed. [Figure 2] FIG. 2 is an explanatory diagram illustrating the range of a detection area during driving in a plan view. [Figure 3] 3 is an explanatory diagram illustrating a state in which the detection system of FIG. 2 moves sideways. FIG. [Figure 4] FIG. 4 is an explanatory diagram illustrating a modified example of FIG. 3. [Figure 5] FIG. 10 is an explanatory diagram illustrating a state of a detection system having an auxiliary sensor while the vehicle is running. [Figure 6] 6 is an explanatory diagram illustrating a state in which the detection system of FIG. 5 moves sideways. FIG. [Figure 7] FIG. 7 is an explanatory diagram illustrating a modified example of FIG. 6. [Figure 8] FIG. 10 is an explanatory diagram illustrating a state of a detection system in which a sensor is installed on a rotating member while the vehicle is traveling. [Figure 9] 9 is an explanatory diagram illustrating a state in which the detection system of FIG. 8 moves sideways. [Figure 10] 10 is an explanatory diagram showing a different embodiment of the detection system of FIG. 9. FIG. [Figure 11] FIG. 11 is an explanatory diagram illustrating a modified example of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] The detection system and method will be described below based on the embodiment shown in the drawings. In the drawings, the direction of travel of a moving object is indicated by arrow y, the lateral direction perpendicular to the direction of travel is indicated by arrow x, and the up-down direction is indicated by arrow z.

[0011] 1, the detection system 1 is installed on a mobile object 2, such as a gantry crane. The mobile object 2 is not limited to a gantry crane that handles containers, but may also be a straddle carrier or a heavy-duty transport vehicle, as long as it has a configuration that allows it to switch its movement direction between a traveling direction and a traversing direction.

[0012] The gantry crane constituting the mobile body 2 comprises a traveling device 3 traveling in a traveling direction y, a pair of lower horizontal members 4 disposed above the traveling device 3 and extending in the traveling direction y, four leg members 5 each having its lower end connected to the lower horizontal members 4 and extending in the vertical direction z, two beam members 6 extending in a lateral direction x perpendicular to the traveling direction y and connecting the upper ends of the leg members 5 facing each other in the lateral direction x, a trolley 7 configured to be movable in the lateral direction x along the beam members 6, and a hoisting device 8 suspended from the trolley 7 by a wire rope. The gantry crane constituting the mobile body 2 can load and unload containers while traveling in the traveling direction y. The gantry crane constituting the mobile body 2 moves in the traveling direction y while straddling a container placed between the legs 9. The leg space 9 refers to the area inside the traveling devices 3 that are spaced apart in the lateral direction x.

[0013] The traveling device 3 has tires 3a and bogies that support the tires 3a. The traveling device 3 can switch the rolling direction of the tires 3a from the traveling direction y to the lateral direction x by turning the bogies 90° around the vertical direction z as the central axis. In this embodiment, the moving body 2 has eight tires 3a and corresponding bogies.

[0014] The detection system 1 includes a sensor 10 installed on a moving object 2, which emits electromagnetic waves or sound waves while varying the angle in horizontal directions x and y and in an up-down direction z and receives the reflected waves; a detection area setting mechanism 11 that predefines a detection area S at a reflection point where the electromagnetic waves or sound waves are reflected when there is no obstacle; and a determination mechanism 12 that determines the presence or absence of an obstacle based on the reflected waves reflected within the detection area S. The detection area setting mechanism 11 and the determination mechanism 12 are installed in a machine room of the moving object 2, such as a gantry crane. The detection area setting mechanism 11 and the determination mechanism 12 do not necessarily have to be installed on the moving object 2. The detection area setting mechanism 11 and the determination mechanism 12 may be installed in a location separate from the moving object 2 and may be configured to send and receive information via communication with the sensor 10. In FIG. 1, the detection area setting mechanism 11 and the determination mechanism 12 are indicated by dashed lines for ease of explanation. The detection area setting mechanism 11 and the determination mechanism 12 are incorporated into, for example, a known PC or PLC (Programmable Logic Controller). The detection area setting mechanism 11 and the determination mechanism 12 may also be incorporated into the sensor 10.

[0015] The sensor 10 may be, for example, a three-dimensional laser scanner. The sensor 10 is not limited to this configuration, and may be a three-dimensional lidar or three-dimensional millimeter-wave radar. It may also be a two-dimensional laser sensor, lidar, or millimeter-wave radar. The sensor 10 may be configured to emit electromagnetic waves, including light, over a predetermined range. In this specification, electromagnetic waves may be used to collectively refer to light, including ultraviolet light, visible light, and infrared light, and radio waves, including microwaves, millimeter waves, and long waves. The sensor 10 may be configured to emit sound waves. The sensor 10 may also be configured to emit multiple types of electromagnetic waves or a combination of electromagnetic waves and sound waves. In the embodiment illustrated in FIG. 1 , the sensor 10 is a three-dimensional laser scanner and is installed on the lower horizontal member 4 of the moving object 2.

[0016] When sensor 10 is configured as a three-dimensional laser scanner as shown in Figure 2, the area irradiated with electromagnetic waves is roughly fan-shaped in plan view. For the sake of explanation, Figure 2 shows the area irradiated with electromagnetic waves by a dashed line. The lower horizontal member 4 and beam member 6 that make up mobile body 2 are also shown by dashed lines. The leg members 5, trolley 7, and hoisting device 8 are also omitted. Sensor 10 scans the roughly fan-shaped area with electromagnetic waves and obtains the reflected waves, thereby obtaining the distance to the point where the electromagnetic waves are reflected and the direction to this point.

[0017] 2, the sensor 10 is set so that its front surface faces the lateral direction x and is located outside the space between the legs 9. The front surface of the sensor 10 refers to the center of the rotation range when the direction of electromagnetic wave irradiation rotates in the horizontal directions x and y. In this embodiment, the detection system 1 has four sensors 10a, 10b, 10c, and 10d.

[0018] The detection area setting mechanism 11 has a configuration for setting a detection area S in advance in the area surrounding a reflection point where electromagnetic waves or sound waves are reflected when there are no obstacles. The detection area S is an area that extends not only in the horizontal directions x and y but also in the vertical direction z. Therefore, the detection area S is set as the range of a rectangular parallelepiped, for example.

[0019] The determination mechanism 12 is configured to determine the presence or absence of an obstacle based on the reflected waves of electromagnetic waves or sound waves reflected inside the detection area S. The determination mechanism 12 can determine whether the point where the electromagnetic waves are reflected is inside or outside the detection area S based on the distance from the sensor 10 to the point where the electromagnetic waves are reflected and the direction of this point. If there is no obstacle, many reflected waves are obtained from inside the detection area S. In this case, the determination mechanism 12 determines that there is no obstacle. If there is an obstacle, the electromagnetic waves, etc. are reflected by the obstacle and reflected waves from outside the detection area S are obtained.

[0020] For example, the ratio of the number of reflected waves obtained from inside the detection area S to the total number of electromagnetic waves, etc., emitted from the sensor 10 is set in advance as a threshold value. If the number of reflected waves obtained from inside the detection area S is less than a preset threshold value, such as 90% or less, the determination mechanism 12 determines that an obstacle is present. If the number of reflected waves obtained from inside the detection area S is more than the threshold value, it determines that no obstacle is present. This threshold value can be changed as appropriate depending on various conditions, such as the weather.

[0021] 2, when the moving object 2 moves in the traveling direction y, the detection area setting mechanism 11 sets an in-travel detection area S1 as the detection area S. The in-travel detection area S1 is on the front side of the moving object 2 when it is traveling and includes at least an area through which the traveling device 3 of the moving object 2 passes in a plan view. The in-travel detection area S1 may be set to an area in which an obstacle to be detected may exist when the moving object 2 is traveling.

[0022] In the embodiment illustrated in Fig. 2, the in-travel detection area S1 is set to the range through which the traveling device 3 passes in a plan view, and is formed into a rectangular shape in a plan view. The in-travel detection area S1 also has a range in the up-down direction z, and is set as a rectangular parallelepiped range. The in-travel detection area S1 is set for each of the sensors 10a and 10b located on the front side of the traveling object 2. For the sake of explanation, in Fig. 2, the direction of movement of the traveling object 2 is indicated by a hollow arrow, and the range of the in-travel detection area S1 is shaded.

[0023] The sensor 10 performs measurements over the entirety of the roughly sector-shaped range indicated by the dashed dotted line (hereinafter sometimes referred to as the measurement range). The determination mechanism 12 determines the presence or absence of an obstacle using data from only the range set as the in-motion detection region S1. For this reason, the in-motion detection region S1 is set inside the measurement range. The range of the in-motion detection region S1 is not limited to the range exemplified in FIG. 2. It may also have an extension in the lateral direction x of the moving object 2 (the up-and-down direction in FIG. 2).

[0024] As shown in Fig. 3, when the moving object 2 moves in the lateral direction x, the detection area setting mechanism 11 sets a lateral movement detection area S2 as the detection area S. The lateral movement detection area S2 is on the front side of the moving object 2 when it moves laterally and includes at least an area through which the lower horizontal member 4, which is disposed above the traveling device 3 and extends in the traveling direction y, passes in a plan view. The lateral movement detection area S2 may be set to an area in which an obstacle to be detected may exist when the moving object 2 moves laterally. The traveling detection area S1 and the lateral movement detection area S2 may be collectively referred to as the detection area S.

[0025] In the embodiment illustrated in FIG. 3, the detection area S2 during lateral movement is set within the range through which the lower horizontal member 4 passes in a plan view, and is formed in the shape of two roughly overlapping sectors in a plan view. The detection area S2 during lateral movement also has a range in the vertical direction z. As illustrated on the left side of FIG. 3, the detection area S2 during lateral movement is set for each of the sensors 10a and 10d located on the front side of the moving object 2 during lateral movement. For ease of explanation, in FIG. 3, the direction of movement of the moving object 2 is indicated by a hollow arrow, and the range of the detection area S2 during lateral movement is shaded. The direction of movement of the moving object 2 during lateral movement differs between the left and right sides of FIG. 3.

[0026] The determination mechanism 12 determines the presence or absence of an obstacle using data on the range set in the lateral movement detection area S2. The range of the lateral movement detection area S2 is not limited to the range exemplified in Fig. 3. It may have an extension in the traveling direction y of the moving object 2 (left and right direction in Fig. 3).

[0027] In a plan view, the lateral movement detection area S2 has a larger area than the running detection area S1. The running detection area S1 and the lateral movement detection area S2 are set in different relative positions with respect to the moving object 2 and do not overlap each other.

[0028] The detection area setting mechanism 11 pre-stores the ranges of a traveling detection area S1 used when the moving object 2 is traveling and a lateral movement detection area S2 used when the moving object 2 is lateral movement. The detection area setting mechanism 11 also has a switching unit that switches between the traveling detection area S1 and the lateral movement detection area S2. The switching unit can switch between the detection areas S1 and S2 depending on the direction of movement of the moving object 2.

[0029] Next, we will explain the detection method used by the detection system 1. When the moving object 2 is traveling in the traveling direction y, a detection area S1 during traveling is set by the detection area setting mechanism 11. The detection system 1 can detect obstacles ahead of the traveling device 3.

[0030] When the gantry crane constituting the mobile body 2 performs a lane change, the bogie of the traveling device 3, for example, rotates around the vertical direction z as its central axis. The orientation of the tires 3a supported by the bogie switches from the traveling direction y to the lateral direction x. At this time, the switching unit of the detection area setting mechanism 11 switches the detection area S from the traveling detection area S1 to the lateral detection area S2 (hereinafter, this may be referred to as a switching step). The switching unit may have a configuration that switches the detection area S according to the orientation of the tires 3a of the traveling device 3, for example.

[0031] 3, when the moving body 2 moves laterally, the detection system 1 can detect obstacles in the lateral direction x. The detection system 1 can detect obstacles that are in the range ahead of the moving body 2 in the lateral direction x and that may collide with the lower horizontal member 4 or the traveling device 3.

[0032] After the lane change is completed, the bogie turns and the orientation of the tires 3a switches from the lateral direction x to the running direction y. The switching unit switches the detection area S from the lateral detection area S2 to the running detection area S1 by a switching step.

[0033] In the embodiment illustrated in FIGS. 2 and 3 , the direction in front of the sensor 10 is the lateral direction x and remains unchanged whether the moving object 2 is traveling or traversing. Therefore, the measurement range into which the sensor 10 emits electromagnetic waves remains unchanged whether the moving object 2 is traveling or traversing. Only the detection area S, which determines the presence or absence of an obstacle, changes. The detection area S can be switched by changing a program or the like used to process the reflected wave data acquired by the sensor 10. The detection system 1 may be configured to acquire only reflected wave data obtained from the detection area S1 during traveling when traveling, and only reflected wave data obtained from the detection area S2 during traversing when traversing. The detection system 1 determines the presence or absence of an obstacle based on the acquired data. The switching unit switches the range from which reflected wave data is acquired between the detection area S1 during traveling and the detection area S2 during traversing. On the other hand, the detection system 1 may be configured to acquire reflected wave data obtained from both the detection area S1 during traveling and the detection area S2 during traversing, regardless of the direction of movement of the moving object 2. The detection system 1 extracts only the necessary data from the acquired data and determines the presence or absence of an obstacle based on this extracted data. At this time, the switching unit can be said to switch between the driving detection area S1 and the traversing detection area S2 by changing the range of the reflected wave data to be extracted.

[0034] The detection system 1 can change the position and range of the detection area S between when the moving object 2 is traveling and when it is traveling laterally using a switching unit. This is advantageous for improving safety while suppressing a decrease in the movement efficiency of the moving object 2, whether it is traveling or traveling laterally. As illustrated in FIG. 2, the detection area S1 during traveling can exclude the range inside the leg gap 9. This configuration prevents the traveling device 3 from colliding with an obstacle while traveling, and avoids the problem of mistakenly detecting a container placed inside the leg gap 9 or a vehicle traveling inside the leg gap 9 as an obstacle. Containers and the like that do not impede the traveling of the moving object 2 are not determined to be obstacles. This is advantageous for efficient movement of the moving object 2 while traveling.

[0035] When the moving body 2 moves laterally, the lower horizontal member 4 and the like can be prevented from colliding with obstacles. Furthermore, even if a container or the like is placed near the moving body 2 in the traveling direction y, as long as it is within a range that does not interfere with the lateral movement of the moving body 2, it will be outside the detection area S2 during lateral movement and will not be determined to be an obstacle. This is advantageous for efficient movement of the moving body 2 when moving laterally.

[0036] The detection of obstacles in the traveling detection area S1 and the lateral movement detection area S2 can be performed by the same sensor 10. This is advantageous in reducing the manufacturing cost of the detection system 1, as it is not necessary to add an additional sensor 10.

[0037] The ranges of the detection area S1 during driving and the detection area S2 during lateral movement are not limited to those described above. The range of the detection area S can be set appropriately depending on the range in which obstacles should be detected as the moving body 2 moves. The range of the detection area S can also be set appropriately depending on what is expected to be an obstacle. For example, the detection area S may be set on the rear side in addition to the front side in the direction of movement of the moving body 2. After determining that there is no obstacle behind the moving body 2, the moving body 2 can switch between moving forward and backward. This is advantageous for improving safety during movement of the moving body 2.

[0038] 4, the detection area S2 during lateral movement may be set both outside and inside the space between the legs 9. In this embodiment, the sensor 10 is set so that its front faces the traveling direction y and is oriented in a direction that is in front of or behind the moving object 2 in the traveling direction y.

[0039] In this embodiment, a sensor 10 having a wider measurement range (the range surrounded by the dashed line) than the sensor 10 illustrated in Fig. 3 is installed on the moving body 2. Therefore, the sensor 10 can detect the inside of the space between the legs 9 in addition to the outside.

[0040] When the switching unit switches from the traveling detection area S1 to the lateral movement detection area S2 by the switching step, the range on the front side in the lateral movement direction x of the moving object 2 is set as the lateral movement detection area S2. As illustrated in Fig. 4, for sensors 10a and 10d located on the front side in the lateral movement direction x, the lateral movement detection area S2 is the outside of the space between the legs 9. For sensors 10b and 10c located on the rear side in the lateral movement direction x, the lateral movement detection area S2 is the inside of the space between the legs 9.

[0041] When the moving body 2 moves laterally, vehicles, workers, etc. that try to pass inside the space between the legs 9 can be detected as obstacles. This is advantageous for improving safety when the moving body 2 moves laterally.

[0042] 5, the sensor 10 may have main sensors 10a-d that emit electromagnetic waves or the like in at least the traveling direction y, and auxiliary sensors 10e, 10f that emit electromagnetic waves or the like in at least the lateral direction x. The auxiliary sensors 10e-f are configured to emit electromagnetic waves or the like only when detection is performed in the lateral detection area S2. In other words, the auxiliary sensors 10e-f are configured not to emit electromagnetic waves or the like when detection is performed in the traveling detection area S1.

[0043] 5, the four main sensors 10a-d are arranged with their front faces facing the direction of travel y. The two auxiliary sensors 10e-f are arranged with their front faces facing the lateral direction x and toward the outside of the space between legs 9. The main sensors 10a-d are installed, for example, near the ends of the lower horizontal member 4 in the direction of travel y, and the auxiliary sensors 10e-f are installed, for example, near the center of the lower horizontal member 4 in the direction of travel y.

[0044] When the moving object 2 is traveling, the main sensors 10a and 10d detect the presence or absence of an obstacle in the traveling detection area S1. In this embodiment, only the main sensors 10a and 10d operate when the moving object 2 is traveling. As illustrated in FIG. 6, when the moving object 2 is traveling laterally, a lateral movement detection area S2 is set on the front side in the lateral movement direction x (upper part of FIG. 6). In this lateral movement detection area S2, the presence or absence of an obstacle is detected by the main sensors 10a and 10d and the auxiliary sensor 10e. In this embodiment, both the main sensors 10a and 10d and the auxiliary sensor 10e operate when the moving object 2 is traveling laterally.

[0045] Detection by the main sensors 10b and 10c may be performed on the rear side in the lateral direction x on the left side of FIG. 6 (lower side of FIG. 6). In this case, the detection area S2 during lateral movement is set inside the space between the legs 9. This makes it possible to detect obstacles inside the space between the legs 9. In this embodiment, the front of the auxiliary sensor 10f faces outside the space between the legs 9 (lower side of FIG. 6), so it cannot be used to detect obstacles inside the space between the legs 9. The moving direction of the moving object 2 during lateral movement is different on the left and right sides of FIG. 6.

[0046] As shown in FIG. 6, the auxiliary sensors 10e-f can expand the detection area S2 during lateral movement, making it easier to detect obstacles without missing any. The use of the main sensors 10a-d and the auxiliary sensors 10e-f can increase the density of the electromagnetic waves irradiated onto the detection area S2 during lateral movement, which is advantageous for improving the accuracy of obstacle detection. Furthermore, compared to the embodiment shown in FIGS. 3-4, the detection area S2 during lateral movement can be expanded, making it easier to detect obstacles that are relatively far away from the moving object 2.

[0047] Because the auxiliary sensors 10e-f can detect ranges that cannot be detected by the main sensors 10a-d during lateral movement, the main sensors 10a-d with a relatively small measurement range (the roughly sector-shaped range indicated by the dashed-dotted line) can be used. A sensor 10 with a smaller measurement range makes it easier to increase the measurement frequency. A sensor 10 with a smaller measurement range can reduce the time required to measure the entire preset measurement range, thereby increasing the number of measurements per unit time. By increasing the measurement frequency, the detection system 1 can more easily detect obstacles with high accuracy, even if they move relatively fast.

[0048] As shown in Fig. 7, auxiliary sensors 10e-f may be combined with the embodiment shown in Fig. 3. In this embodiment, both the main sensors 10a-d and the auxiliary sensors 10e-f are installed with their fronts facing the lateral movement direction x and toward the outside of the space between the legs 9. By combining the auxiliary sensors 10e-f, it is possible to expand the range of the lateral movement detection region S2 and improve the density of the electromagnetic waves irradiated to the lateral movement detection region S2.

[0049] As shown in Fig. 8, the sensor 10 may be installed on a member that rotates around the vertical direction z as a central axis when the movement direction of the moving body 2 switches between the traveling direction y and the lateral direction x. The member that rotates around the vertical direction z as a central axis may be, for example, a bogie or tire 3a of the traveling device 3. In this embodiment, the sensor 10 is installed on the bogie. Furthermore, the detection system 1 in this embodiment does not include auxiliary sensors 10e-f.

[0050] As shown in Figure 8, when the moving object 2 is traveling, the front of the sensor 10 faces the traveling direction y. When the traveling direction of the moving object 2 switches from the traveling direction y to the lateral direction x, the direction of the front of the sensor 10 changes as the bogie turns. Accordingly, the measurement range of the sensor 10 also moves.

[0051] As shown in the left side of Figure 9, the bogies turn 90° toward the front side of the moving body 2 during lateral movement, for example. Specifically, the bogies on which sensors 10a-b are installed turn 90° counterclockwise, and the bogies on which sensors 10c-d are installed turn 90° clockwise. For the sake of explanation, the turning directions of the bogies are indicated by arrows in Figure 9. The front faces of all sensors 10 face the front side of the moving body 2 in the lateral movement direction x (upward in Figure 9).

[0052] The sensors 10a and 10d detect a lateral movement detection area S2 that is set on the front side in the lateral movement direction x and outside the space between the legs 9. The sensors 10b and 10c detect a lateral movement detection area S2 that is set on the front side in the lateral movement direction x and inside the space between the legs 9.

[0053] As shown in the right side of Fig. 9, even when the moving body 2 has the lower side of Fig. 9 as the front, the bogie turns 90° toward the front side. Specifically, the bogie on which the sensors 10a-b are installed turns 90° clockwise, and the bogie on which the sensors 10c-d are installed turns 90° counterclockwise.

[0054] When the moving body 2 switches its movement direction between the running direction y and the lateral direction x, the direction of the front of the sensor 10 can be changed, making it easier to appropriately set the detection area S whether the moving body 2 is running or lateral moving.

[0055] In this embodiment, the detection system 1 may also include auxiliary sensors 10e-f, which may be mounted on a rotating member, such as a bogie, or on a non-rotating member, such as the lower horizontal member 4.

[0056] As illustrated on the left side of Fig. 10, a configuration may be adopted in which main sensors 10b-c irradiate electromagnetic waves, etc. onto a lateral movement detection area S2 on the inside of the space between legs 9, and auxiliary sensor 10e irradiates electromagnetic waves, etc. onto a lateral movement detection area S2 on the outside of the space between legs 9. As illustrated on the right side of Fig. 10, when the moving direction of the moving object 2 is downward in Fig. 10, main sensors 10a and 10d irradiate electromagnetic waves, etc. onto a lateral movement detection area S2 on the inside of the space between legs 9, and auxiliary sensor 10f irradiates electromagnetic waves, etc. onto a lateral movement detection area S2 on the outside of the space between legs 9.

[0057] In this embodiment, the main sensors 10a-d irradiate electromagnetic waves, etc. to one of the lateral detection areas S2 on the inside or outside of the leg space 9, and the auxiliary sensors 10e-f irradiate electromagnetic waves, etc. to the other lateral detection area S2.

[0058] In this embodiment, the main sensors 10a-d are fixed to a member such as a bogie that rotates around a central axis in the vertical direction z. When traveling, the front faces of the main sensors 10a-d face the traveling direction y, as in the embodiment illustrated in Figure 5. When traveling laterally, the front faces of the main sensors 10a-d face the inside of the space between legs 9, as illustrated in Figure 10.

[0059] 10, auxiliary sensors 10e-f are installed with the outer side of leg space 9 facing forward. Auxiliary sensors 10e-f are fixed to a member that does not rotate when the moving direction of movable body 2 is changed, such as lower horizontal member 4.

[0060] As shown in Fig. 10, during lateral travel, a lateral travel detection area S2 is set on the front side in the lateral travel direction x and outside the space between the legs 9. This lateral travel detection area S2 is measured by auxiliary sensors 10e-f. Furthermore, a lateral travel detection area S2 is set on the front side in the lateral travel direction x and inside the space between the legs 9. This lateral travel detection area S2 is measured by main sensors 10a-d.

[0061] In this embodiment, regardless of which direction the front of the movable body 2 faces during lateral movement, the direction of rotation of members such as bogies is the same. Specifically, the members corresponding to main sensors 10a and 10c rotate 90° clockwise, and the members corresponding to main sensors 10b and 10d rotate 90° counterclockwise. The inside of the space between legs 9 is measured by main sensors 10a-d, and the outside of the space between legs 9 is measured by auxiliary sensors 10e-f.

[0062] Regardless of which direction the front of the moving body 2 faces in the lateral direction x, the direction of rotation of the bogie or other member remains the same. In order to install the detection system 1, it is not necessary to change the rotation direction of the traveling device 3 of the moving body 2 such as a crane. This is advantageous for installing the detection system 1 on an existing moving body 2 such as a crane.

[0063] The direction of rotation of components such as bogies may be opposite to that of the embodiment shown in Fig. 10. As shown in Fig. 11, the front faces of the main sensors 10a-d may face the outside of the space between legs 9 during lateral travel. In this case, the auxiliary sensors 10e-f are installed with their front faces facing the inside of the space between legs 9. The embodiment shown in Fig. 11 can achieve the same effects as the embodiment shown in Fig. 10. [Explanation of symbols]

[0064] 1. Detection System 2. Mobile 3 Running gear 3a tires 4 Lower horizontal member 5 Leg members 6 Beam members 7 Trolley 8 Hanging equipment 9 Between the legs 10 sensors 10a-d Main sensor 10e-f auxiliary sensor 11 Detection area setting mechanism 12 Judgment mechanism x transverse direction y Travel direction z Vertical direction S detection area S1 Detection area while driving S2 Detection area when moving sideways

Claims

1. A detection system comprising: a sensor that is installed on a moving body and emits electromagnetic waves or sound waves while changing the angle in the horizontal and vertical directions and receives the reflected waves; a detection area setting mechanism that pre-sets a detection area at a reflection point where the electromagnetic waves or sound waves are reflected when there is no obstacle; and a determination mechanism that determines the presence or absence of an obstacle based on the reflected waves reflected inside the detection area, The detection system is characterized in that the detection area setting mechanism pre-sets a running detection area used when the moving body moves in the running direction, and a lateral movement detection area used when the moving body moves in a lateral movement direction that crosses the running direction at a right angle, and has a switching unit that switches between the running detection area and the lateral movement detection area.

2. the detection area during travel is on the front side of the moving body when the moving body is traveling and includes at least a range through which a traveling device of the moving body passes in a plan view, The detection system according to claim 1, wherein the detection area during lateral movement is on the front side of the moving body when it is moving laterally and includes at least a range through which a lower horizontal member, which is arranged above the traveling device and extends in the traveling direction, passes in a planar view.

3. The detection system according to claim 2 , wherein the lateral detection areas are set on both the inside and outside of the traveling devices that are spaced apart in the lateral direction.

4. The sensor includes a main sensor having an irradiation direction of electromagnetic waves or sound waves that includes at least a traveling direction, and an auxiliary sensor having an irradiation direction of electromagnetic waves or sound waves that includes at least a lateral direction, 4. The detection system according to claim 1, wherein the auxiliary sensor is configured to irradiate electromagnetic waves or sound waves only when detection is performed in the lateral movement detection area.

5. 4. The detection system according to claim 2, wherein the sensor is installed on a member that rotates about a vertical axis when the moving direction of the moving body switches between a traveling direction and a lateral direction.

6. The sensor includes a main sensor having an irradiation direction of electromagnetic waves or sound waves that includes at least a traveling direction, and an auxiliary sensor having an irradiation direction of electromagnetic waves or sound waves that includes at least a lateral direction, 6. The detection system according to claim 5, wherein the main sensor irradiates electromagnetic waves or sound waves onto one of the lateral detection areas on the inside and outside of the traveling devices that are opposed to each other at a distance in the lateral direction, and the auxiliary sensor irradiates electromagnetic waves or sound waves onto the other lateral detection area.

7. A detection method in which a detection area is set in advance in a peripheral area of ​​a reflection point where electromagnetic waves or sound waves are reflected when there is no obstacle, electromagnetic waves or sound waves are irradiated onto the detection area from a sensor installed on a moving object while changing the angle in the horizontal and vertical directions, the reflected waves are received, and the presence or absence of an obstacle is determined based on the reflected waves reflected within the detection area, A detection method characterized in that a running detection area used when the moving body moves in the running direction and a lateral movement detection area used when the moving body moves in a lateral movement direction perpendicular to the running direction are set in advance, and the method includes a switching step of switching from one of the running detection area and the lateral movement detection area to the other depending on the movement direction of the moving body.

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