Construction safety devices

Abstract

The present invention provides a construction safety device for use on construction machinery comprising a main body and a movable body that moves relative to the main body, which can prevent the restricted area from becoming unduly large. [Solution] A construction safety device 1 is installed and used in a construction machine 3 which is composed of a main body 5 and a movable body 7 that moves relative to the main body 5. The construction safety device 1 has a detection unit 11 that detects the position of the movable body 7 using a sensor 15, and an area setting unit 13 that sets a predetermined area as a no-entry area 17 based on the position of the movable body 7 detected by the detection unit 11.

Description

Technical Field

[0001] The present invention relates to a safety device for construction work, and relates to setting a restricted entry area around a moving body that moves relative to the main body of a construction machine that automatically performs operations such as machine stop in response to entry into a set restricted entry area.

Background Art

[0002] There is known a safety device installed in a construction vehicle that detects an object in front of the construction vehicle with a sensor of the safety device and restricts the movement of the construction vehicle when this detection is made (see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, construction machines such as backhoes include a main body equipped with crawlers or the like, and a moving body such as a bucket that moves relative to this main body. A safety device is attached to such a construction machine to set a restricted entry area around the construction machine. And when it is detected by the sensor of the safety device that a person (worker) has entered the restricted entry area, an alarm may be generated or the like.

[0005] However, in the above safety device, since the restricted entry area is set regardless of the position of the moving body with respect to the main body, the restricted entry area may become unduly wide.

[0006] The present invention aims to provide a construction safety device that can prevent the restricted area from becoming unreasonably large, in a construction machine that is installed and used on a construction machine comprising a main body and a movable body that moves relative to the main body. [Means for solving the problem]

[0007] A construction safety device according to an aspect of the present invention is a construction safety device used when installed on a construction machine comprising a main body and a movable body installed on the main body and moving relative to the main body, the construction safety device having a detection unit that detects the position of the movable body using a sensor, and an area setting unit that sets a predetermined area as a no-entry area based on the position of the movable body detected by the detection unit.

[0008] A construction safety device according to an aspect of the present invention is a construction safety device comprising: a detection unit configured to detect the position of an object to be detected using the sensor; a determination unit that determines whether or not the object detected by the detection unit is located within a restricted area set by the area setting unit; and an alarm generation unit that issues a first alarm when the determination unit determines that the object detected by the detection unit is located within the restricted area set by the area setting unit.

[0009] A construction safety device according to an aspect of the present invention includes a prediction unit that predicts whether or not an object detected by the detection unit is likely to cross a first boundary, which is the outer edge of the restricted area, and an alarm generation unit that issues a second alarm when the prediction by the prediction unit indicates that the object is likely to cross the first boundary and enter the restricted area.

[0010] A construction safety device according to an aspect of the present invention is a construction safety device in which the detection unit is configured to detect the position of the moving object and the position of the object to be detected using at least two types of sensors selected from a LiDAR camera, a millimeter-wave radar detector, and an ultrasonic radar as the sensors.

[0011] A construction safety device according to an aspect of the present invention is a construction machine comprising an operating unit and a machine control unit, wherein the operating unit is operated by an operator of the construction machine, and the moving body moves under the control of the machine control unit, and the alarm generating unit is configured to send a predetermined signal to the machine control unit when the determination unit determines that an object detected by the detection unit is inside a no-entry area set by the area setting unit, and the machine control unit, upon receiving the predetermined signal from the alarm generating unit, is configured to stop the movement of the moving body or to control the movement speed of the moving body, even though the operating unit is being operated.

[0012] A construction safety device according to an aspect of the present invention is a construction safety device in which the area setting unit is configured to set a three-dimensional space of a predetermined size as a no-entry area, centered on at least one of the parts of the moving body that has the widest range of movement relative to the main body, or the part of the moving body that moves the fastest relative to the main body.

[0013] A construction safety device according to an aspect of the present invention is a construction machine that is a backhoe equipped with a travel section and a slewing section, wherein the travel section is configured to include a travel section body and crawlers provided on both sides of the travel section body, the slewing section is installed above the travel section body and supported by the travel section body, and is configured to rotate about a central axis extending vertically relative to the travel section body, the moving body moves relative to the slewing section, and the sensor is installed on the slewing section.

[0014] A construction safety device according to an aspect of the present invention is a construction safety device having a detection unit for detecting the rotation angle of the swivel unit relative to the main body of the traveling unit, and a display unit for displaying the rotation angle of the swivel unit relative to the main body of the traveling unit detected by the detection unit. [Effects of the Invention]

[0015] According to the present invention, a construction safety device installed and used on construction machinery comprising a main body and a movable body that moves relative to the main body has the effect of preventing the restricted area from becoming unduly large. [Brief explanation of the drawing]

[0016] [Figure 1] This is a side view of a backhoe equipped with a safety device according to an embodiment of the present invention. [Figure 2] This is a view from arrow II in Figure 1. [Figure 3] This is a block diagram of a construction safety device according to an embodiment of the present invention. [Figure 4] This is a flowchart showing the operation of a construction safety device according to an embodiment of the present invention. [Figure 5] This diagram corresponds to Figure 1 and shows the positional relationship between the restricted area set by the area setting unit and a person. [Figure 6] This diagram corresponds to Figure 5 and shows the positional relationship between conventional restricted areas and people. [Figure 7] This is a view from the direction of arrow VII in Figure 5(a). [Figure 8] This diagram corresponds to Figure 7 and shows the state in which the slewing section of the backhoe is rotated relative to the running section. [Figure 9] This diagram shows the rotational state of the slewing section relative to the travel section of the backhoe, as displayed on the display unit. [Figure 10] This is a side view of a crane equipped with a safety device according to an embodiment of the present invention. [Modes for carrying out the invention]

[0017] The construction safety device 1 according to an embodiment of the present invention is installed and used on a construction machine 3 as shown in FIGS. 1, 2, etc. The construction machine 3 includes a main body 5 and a moving body (movable body) 7 that is supported by the main body 5, installed on the main body 5, and moves within a predetermined range with respect to the main body 5. The main body 5 is adapted to travel and move on the ground surface 9, but the main body 5 may be stationary on the ground surface 9. Further, the movement of the moving body 7 includes not only translational movement in a three-dimensional space but also rotation about a predetermined central axis as a rotation center.

[0018] Examples of the construction machine 3 include construction vehicles such as backhoes and construction machines such as cranes. Further, not only new construction vehicles but also existing construction machines 3 that have already been used can be cited as the construction machine 3. First, the case where the construction safety device 1 is installed on a backhoe 3 will be described as an example.

[0019] Here, for the convenience of explanation, a predetermined horizontal one direction is defined as the X direction, a predetermined other horizontal direction that is orthogonal to the X direction is defined as the Y direction, and a direction orthogonal to the X direction and the Y direction is defined as the Z direction (vertical direction). Note that the X direction and the Y direction may be inclined at a predetermined angle with respect to the horizontal plane.

[0020] As shown in FIG. 3, the construction safety device 1 includes a detection unit 11 and a region setting unit 13. The detection unit 11 is adapted to detect the position of the moving body 7 with respect to the main body 5 of the construction machine 3 using a sensor 15, for example. The region setting unit 13 is adapted to set a predetermined region as a restricted entry region 17 for a person 19 (for example, a worker performing construction work) based on the position of the moving body 7 detected by the detection unit 11.

[0021] The area setting unit 13 shown in Figure 3 sets a three-dimensional space of a predetermined size as a no-entry zone 17, centered on a predetermined position of a specific part of the mobile body 7 shown in Figures 5 and 6 (for example, the position of the center of gravity of the bucket 21 of the backhoe 3). The volume of the three-dimensional space forming the no-entry zone 17 is larger than the volume of the bucket 21, and the bucket 21 is located within the no-entry zone 17, for example, in the center of the no-entry zone 17. In addition, the backhoe 3 may be equipped with other attachments such as a hydraulic cutter instead of the bucket 21.

[0022] The detection unit 11 detects the position of the moving object 7, and the area setting unit 13 sets the restricted area 17, both at short time intervals (for example, 0.01 seconds to 0.05 seconds). In other words, the detection unit 11 detects the position of the moving object 7 by continuously tracking the moving object 7, person 19, etc. As the moving object 7 moves relative to the main unit 5, the position of the restricted area 17 is updated at short time intervals.

[0023] In other words, as the mobile body 7 moves relative to the main body 5, the position of the restricted area 17 relative to the main body 5 changes. While the shape and volume of the restricted area 17 remain unchanged even when the mobile body 7 moves relative to the main body 5, the shape and volume of the restricted area 17 may change when the mobile body 7 moves relative to the main body 5. Furthermore, the position of the mobile body 7 within the restricted area 17 may change when the mobile body 7 moves relative to the main body 5.

[0024] The detection unit 11 shown in Figure 3 is configured to detect the position of the object to be detected (for example, a person) 19 relative to the main body 5 of the construction machine 3 using a sensor 15. The construction safety device 1 is also configured to include a judgment unit 23 and an alarm generation unit 25 (see Figure 3). In addition to people 10, other objects to be detected may include vehicles, structures such as bridge piers, and tools 61, which will be described later. Vehicles may include passenger cars, totack trucks, dump trucks, and other construction vehicles.

[0025] The determination unit 23 shown in Figure 3 is configured to determine whether or not an object (for example, a person) 19 detected by the detection unit 11 exists within the restricted area 17 set by the area setting unit 13. The determination unit 23 determines that the person 19 detected by the detection unit 11 is inside the restricted area 17 set by the area setting unit 13. Then, the alarm generation unit 25 is configured to issue a first alarm (first warning) to the 19 people inside the restricted area 17. The determination unit 23's determination is also made in a continuous, tracking manner.

[0026] Sensor 15 can include a LiDAR 15A, a camera 15B, and a millimeter-wave radar detector (not shown). The detection unit 11 is configured to detect the position of the moving object 7 and the position of the object to be detected (e.g., a person) 19 using at least two types of sensors from among the LiDAR 15A, camera 15B, millimeter-wave radar detector (not shown), and ultrasonic radar (not shown). In other words, the detection unit 11 uses two types of sensors and composite detection to detect the position of the moving object 7 and the position of the object to be detected (e.g., a person) 19.

[0027] The ultrasonic radar uses ultrasound instead of radio waves to detect objects (e.g., people) 19. The detection unit 11 may also be configured to detect the position of the moving body 7 and the position of the objects (e.g., people) 19 using at least one of the following sensors: LiDAR 15A, camera 15B, millimeter-wave radar detector (not shown), and ultrasonic radar (not shown).

[0028] As shown in Figures 1 and 2, the construction machine 3 is configured to include an operating unit 27 and a machine control unit 29. The operating unit 27 is operated by the operator of the construction machine 3, and the mobile body 7 moves under the control of the machine control unit 29. In addition, the main body 5 travels and the swivel unit 33 rotates relative to the main body 35 of the traveling unit when the operating unit 27 is operated by the operator of the construction machine 3. Details of the main body 35 of the traveling unit and the swivel unit 33 will be described later.

[0029] The alarm generation unit 25 is configured to send a predetermined signal (a signal indicating that a detected object (for example, a person) 19 detected by the detection unit 11 into the restricted area 17 set by the area setting unit 13) when the determination unit 23 determines that the object (for example, a person) 19 detected by the detection unit 11 is inside the restricted area 17.

[0030] The machine control unit 29, upon receiving a predetermined signal from the alarm generation unit 25, is configured to either stop the movement of the mobile body 7 or slow down its movement speed, even if the operation unit 27 is being operated. Furthermore, the machine control unit 29, upon receiving a predetermined signal from the alarm generation unit 25, is configured to either stop the movement of the main body 5 or slow down its movement speed, even if the operation unit 27 is being operated. In addition, the machine control unit 29, upon receiving a predetermined signal from the alarm generation unit 25, is configured to either stop the rotation of the swivel unit 33 or slow down its rotation speed, even if the operation unit 27 is being operated.

[0031] The area setting unit 13 is configured to set a three-dimensional space of a predetermined size centered on the part of the mobile body 7 that has the widest range of movement relative to the main body 5 as a no-entry area 17. Alternatively, the area setting unit 13 may be configured to set a three-dimensional space of a predetermined size centered on the part of the mobile body 7 that has the fastest movement speed relative to the main body 5 as a no-entry area 17. The bucket 21 can be cited as the part with the widest range of movement and the part with the fastest movement speed.

[0032] The backhoe 3 is comprised of a travel section 31 and a slewing section 33. The travel section 31 comprises a travel section body 35 and crawlers 37 provided on both sides of the travel section body 35. The slewing section 33 is installed above the travel section body 35 and supported by the travel section body 35, and is configured to rotate around a central axis C1 that extends vertically relative to the travel section body 35, in response to operation by the operating section 27 (see Figures 7 and 8). The central axis C1 that extends vertically, for example, passes approximately through the center between the travel section body 35 and the slewing section 33.

[0033] The mobile body 7 is supported by the swivel section 33 and moves relative to the swivel section 33. The sensor 15 is integrally installed on the swivel section 33.

[0034] Furthermore, in the above configuration, the detection unit 11 uses at least two types of sensors from among the LiDAR 15A, camera 15B, millimeter-wave radar detector, and ultrasonic radar to detect the position of the moving body 7 relative to the rotating unit 33 and the position of the object to be detected (for example, a person) 19. Here, the detection unit 11 may be configured to detect the position of the moving body 7 relative to the rotating unit 33 using an encoder such as a rotary encoder.

[0035] To explain further, the backhoe 3 is configured as a mobile body 7, comprising a boom 39, an arm 41, and a bucket 21. The boom 39 rotates relative to the slewing section 33, the arm 41 rotates relative to the boom 39, and the bucket 21 rotates relative to the arm 41.

[0036] In this configuration, a first rotary encoder is provided to detect the rotation angle of the boom 39 relative to the slewing section 33, and a second rotary encoder is provided to detect the rotation angle of the arm 41 relative to the boom 39. Furthermore, a third rotary encoder is provided to detect the rotation angle of the bucket 21 relative to the arm 41. The rotation angles detected by the first rotary encoder, the second rotary encoder, and the third rotary encoder are then used to detect the position of the moving body 7 (position of the bucket 21) relative to the slewing section 33.

[0037] Furthermore, as shown in Figure 3, the construction safety device 1 is configured to include a detection unit 43 and a display unit 45. The detection unit 43 is configured to detect the rotation angle of the swivel unit 33 relative to the main body 35 of the travel unit. The display unit 45 is configured to display the rotation angle of the swivel unit 33 relative to the main body 35 of the travel unit detected by the detection unit 43. The above rotation angle does not necessarily have to be shown numerically. That is, it may be configured to be displayed digitally, analogously, or both.

[0038] The detection unit 43 uses the rotation angle detected by the fourth rotary encoder, which detects the rotation angle of the slewing unit 33 relative to the main body 35 of the traveling unit, to detect the front-rear direction of the backhoe 3 and to detect the rotation angle of the slewing unit 33 relative to the main body 35 of the traveling unit.

[0039] Alternatively, instead of the fourth rotary encoder, the sensor 15 of the detection unit 11 located on the slewing unit 33 may be used to detect the forward and backward direction of the backhoe 3 by photographing the main body of the traveling unit 35, the crawler 37, and the dozer blade 47. Furthermore, the sensor 15 of the detection unit 11 located on the slewing unit 33 may be configured to detect the rotation angle of the slewing unit 33 relative to the main body of the traveling unit 35.

[0040] Alternatively, the sensor 15 of the detection unit 11, which detects the position of the moving body 7, may be integrally installed on the main body 35 of the traveling unit rather than on the rotating unit 33. In this case, the sensor 15 of the detection unit 11 that detects the position of the moving body 7 shall be integrally installed on the main body 35 of the traveling unit and shall be located on the upper end of a sensor support (not shown) that is erected above the main body 35 of the traveling unit. The sensor 15 of the detection unit 11 shall be capable of simultaneously photographing the entire construction machine 3 and its surrounding area.

[0041] During construction work, the swivel section 33 rotates relative to the main body of the travel unit 35, which can cause the forward (rear) direction of the swivel section 33 and the forward (rear) direction of the main body of the travel unit 35 to be different from each other. In other words, the state shown in Figure 7 may change to the state shown in Figure 8.

[0042] In the display unit 45, for example, the front-to-back direction of the swivel unit 33 is always considered to be the up-and-down direction on the screen. Also, in the display unit 45, the front and rear sides of the main body 35 of the running unit are indicated on the screen with arrows. In the configuration shown in Figure 9(a), the front of the swivel unit 33 and the rear of the main body 35 of the running unit are aligned. In the configuration shown in Figure 9(b), the front of the swivel unit 33 and the rear of the main body 35 of the running unit are offset by an angle θ1 (see Figure 8).

[0043] Here, we will explain the construction safety device 1 in more detail. LiDAR 15A is called "Light Detection and Ranging, Laser Imaging Detection and Ranging". As camera 15B, for example, a monocular camera (more specifically, a monocular camera that takes images using a fixed focal length lens is used, but a stereo camera may also be used as camera 15B.)

[0044] The LiDAR 15A, camera 15B, millimeter-wave radar detector, and ultrasonic radar are all capable of detecting the distance between these devices and the object to be detected (e.g., a person) 19 and the moving object 7. For distance measurement using a monocular camera, techniques such as those utilizing lens aberration are employed (see, for example, Japanese Patent Publication No. 2023-19521).

[0045] For example, in a configuration in which the detection unit 11 detects an object to be detected (for example, a person) 19 and a moving object 7 using LiDAR 15A and camera 15B, the detection of a person 19, etc. by the detection unit 11 is performed when a person 19 (object to be detected) is detected by LiDAR 15A and a person 19, etc. is detected by camera 15B.

[0046] Furthermore, in the configuration in which the detection unit 11 detects people 19 etc. using LiDAR 15A and millimeter-wave radar detector, the detection of people 19 etc. by the detection unit 11 is performed as follows: when people 19 etc. are detected by LiDAR 15A and also detected by millimeter-wave radar detector.

[0047] Furthermore, in the configuration in which the detection unit 11 detects a person 19 or the like (object to be detected) using the camera 15B and the millimeter-wave radar detector, the detection of a person 19 or the like by the detection unit 11 is performed when a person 19 or the like is detected by both the camera 15B and the millimeter-wave radar detector.

[0048] Furthermore, in an embodiment in which the detection unit 11 detects a person 19, etc. using LiDAR 15A, camera 15B, millimeter-wave radar detector, and ultrasonic radar, the detection of a person 19, etc. by the detection unit 11 is performed as follows: That is, the detection is performed when a person 19, etc. is detected by at least two of the sensors among LiDAR 15A, camera 15B, millimeter-wave radar detector, and ultrasonic radar.

[0049] In an embodiment in which the detection unit 11 detects a person 19, etc. using LiDAR 15A, camera 15B, millimeter-wave radar detector, and ultrasonic radar, the detection of a person 19, etc. by the detection unit 11 may be performed as follows: That is, detection may be performed when a person 19, etc. is detected by all sensors (all four types of sensors) of LiDAR 15A, camera 15B, millimeter-wave radar detector, and ultrasonic radar. Alternatively, detection may be performed when a person 19, etc. is detected by at least three of the four types of sensors.

[0050] As described above, in the construction safety device 1, the detection unit 11 may be configured to detect people 19, etc., using an ultrasonic measuring instrument (ultrasonic detector; ultrasonic radar) in addition to the LiDAR 15A, camera 15B, and millimeter-wave radar detector.

[0051] To explain further, the data obtained from the LiDAR 15A, camera 15B, millimeter-wave radar detector, and ultrasonic radar (point cloud data, image data, etc.) is sent to the computer 49 (see Figure 3), where it is processed as appropriate by the data processing units of the computer 49, such as the image processing unit 51. The detection unit 11 of the computer (e.g., PC) 49 then detects the object to be detected (e.g., a person) 19 and the moving object 7. The computer 49 is configured to include a CPU and memory (not shown).

[0052] The computer 49 includes a detection unit 11, a region setting unit 13, a judgment unit 23, a display unit 45, and an image processing unit 51, as well as a prediction unit 53 and a pattern storage unit 55. Details of the prediction unit 53 and the pattern storage unit 55 will be described later. In addition, the display unit 45 includes an input / output unit 57 which is composed of a touch panel or the like.

[0053] The sensor components 59 that make up the LiDAR 15A, camera 15B, etc., are installed in close proximity to each other. The sensor component 59 of the LiDAR 15A is composed of a laser light emitter and a light receiver for the laser light emitted from the laser light emitter and reflected back by the object to be detected (e.g., a person) 19. The sensor component 59 of the camera 15B is composed of the lens of the camera 15B and an image sensor such as a CMOS sensor. The sensor component 59 of the millimeter-wave radar detector is composed of a millimeter-wave emitter (radio wave oscillator) and a millimeter-wave receiver (radio wave receiver) that emits the millimeter-waves emitted from the millimeter-wave emitter and reflected back by the object to be detected (e.g., a person) 19. In an ultrasonic radar, the sensor component 21 can include an ultrasonic wave emitter and an ultrasonic wave detection unit that emits the ultrasonic waves emitted from the ultrasonic wave emitter and reflected back by the object to be detected (e.g., a person) 19. In any case, the sensor component 59 is a part of the sensor that directly receives light (including laser light), electromagnetic waves, and ultrasonic waves from the object to be measured, and also directly emits light (including laser light), electromagnetic waves, and ultrasonic waves toward the object to be measured.

[0054] An example is provided in which the sensor components 59 are installed in close proximity to each other. The distance between the laser light emitter and laser light receiver of the LiDAR 15A and the lens and image sensor of the camera 15B is within 50 cm (preferably 30 cm, more preferably 20 cm, and even more preferably 10 cm). The distance between the sensor component 59 and the person 19 is used as the distance between the sensor 15 and the person 19, etc. For distance measurements in the LiDAR 15A, camera 15B, and millimeter-wave radar detector, for example, the average of the distance values ​​detected by the two sensors 15 is adopted.

[0055] The determination unit 23 determines whether the object detected by the detection unit 11 (for example, a person) 19 (either the whole person 19 or a part of the person 19) has entered the restricted area 17. In the configuration shown in Figure 5(a), a part of person 19A has entered the restricted area 17. In the configuration shown in Figure 7, a part of person 19D has entered the restricted area 17.

[0056] As shown in Figures 5 and 7, the restricted area 17 is defined in three-dimensional space, so the boundary, which is the outer edge of the restricted area 17, is actually a boundary surface. Details of the area setting unit 13 will be described later.

[0057] As is already understood, in addition to detecting a person 19 with the detection unit 11, the detection unit 11 may also detect objects to be detected, such as tools (road construction tools such as shovels and rakes) 61 (see Figure 5(a), etc.) used by the person 19. The judgment unit 23 may be configured to determine whether at least one of the objects to be detected, such as the person 19 detected by the detection unit 11 or the tools 61 (either the entire tool 61 or a part of the tool 61), has entered the restricted area 17.

[0058] When the detection unit 11 detects a person 19 or a tool 61 (either the whole person 19 or a part of the person 19; or the whole tool 61 or a part of the tool 61), the determination unit 23 determines that the person has entered the restricted area 17. At this time, the alarm generation unit 25 is configured to emit a first alarm (first warning) so that it reaches the person 19 (the person 19 who has entered the restricted area 17). For example, no alarm is emitted for people 19B and 19C shown in Figure 5(a), and people 19E to 19I shown in Figure 7, but the first alarm is emitted for person 19A shown in Figure 5(a) and person 19D shown in Figure 7.

[0059] In other words, the alarm generating unit 25 is configured to individually issue a first alarm to each of the multiple people 19, specifically to people 19A and 19D, so that only those people 19A and 19D who have entered the restricted area 17 can be recognized.

[0060] Furthermore, the system may be configured to issue a first alarm to all of the people 19 when some of the people 19A, 19D enter the restricted area 17. Additionally, the system may be configured to issue a first alarm to some of the people 19A, 19D and to any people 19 working near them when some of the people 19A, 19D enter the restricted area 17. The alarm generation unit 25 may also be configured to issue an alarm for detection targets such as tools 61 held by a person 19.

[0061] Incidentally, suppose that only one of the LiDAR 15A, camera 15B, or millimeter-wave radar detector detects a person 19, etc., and the determination unit 23 determines that the detected person 19, etc. has entered the restricted area 17. At this time, the alarm generation unit 25 may be configured to issue a separate alarm. This alarm is directed only at the operator (see Figure 8) 20 of the construction machine 3 on which the construction safety device 1 is installed. Note that the reference numeral 20A in Figure 8 represents the operator's 20 eye. The operator's 20 eye 20A is looking towards the moving object 7.

[0062] Furthermore, it is desirable that the above-mentioned separate alarm includes the instruction to "visually confirm whether or not a person has entered the restricted area." If the operator 20 visually confirms that the detected person 19 has actually entered the restricted area 17, the operator 20 of the construction machine 3 may, for example, manually issue an alarm to the person 19.

[0063] Alternatively, instead of or in addition to the driver 20, an alarm may be issued to the construction site supervisor that includes the instruction to "visually confirm whether or not a person has entered a restricted area."

[0064] As described above, the construction safety device 1 is equipped with a prediction unit 53 (see Figure 3). The prediction unit 53 predicts whether or not a person 19, etc. (either the whole person 19, etc. or a part of the person 19, etc.) detected by the detection unit 11 is likely to enter the restricted area 17. The prediction in the prediction unit 53 is also designed to continuously track the person 19, etc. In addition, the prediction unit 53 may also predict whether or not a tool 61 (either the whole tool 61 or a part of the tool 61) is likely to enter the restricted area 17.

[0065] Suppose the prediction unit 53 determines that all or part of the person 19 may enter the restricted area 17. In this case, the alarm generation unit 25 is configured to issue a second alarm (second warning) to reach the person 19 who may enter the restricted area 17, similar to when the first alarm was issued.

[0066] Furthermore, the prediction unit 53 is configured to predict whether or not there is a risk of the person 19 entering the restricted area 17, using the position, direction of movement, and speed of movement of the person 19 detected by the detection unit 11.

[0067] Let's explain the prediction made by the prediction unit 53 with an example. The detection unit 11 detects a person 19, etc., and at the same time, the detection unit 11 detects the movement speed and direction of the person 19, etc., in a plan view, etc., while the detection is taking place. The detection of movement speed and direction of movement is done by the detection unit 11 detecting the person 19, etc., at short time intervals (for example, 0.01 seconds to 0.05 seconds). In other words, the detection unit 11 detects (detects) the person 19, etc., by continuously tracking the person 19, etc. When the direction of movement of the detected person 19, etc., is towards the first boundary 65, the prediction unit 53 makes a determination based on the distance between the detected person 19, etc., and the first boundary 65, according to the movement speed of the person 19, etc. That is, the prediction unit 53 determines whether or not there is a risk that the person 19, etc., will enter the restricted area 17.

[0068] For example, if the distance is "L" and the speed of movement is "V", the prediction unit 53 will determine that there is a risk of a person 19 entering the restricted area 17 when "L / V" becomes smaller than a predetermined threshold (for example, 2 seconds).

[0069] Furthermore, the detection by the detection unit 11 and the prediction by the prediction unit 53 are performed at predetermined short time intervals (for example, 0.05 seconds to 0.5 seconds). For example, the detection by the detection unit 11 and the prediction by the prediction unit 53 are performed every 0.1 seconds.

[0070] Here, we will explain another method of prediction in the prediction unit 53. The pattern storage unit 55 of the computer 49 stores multiple types (multiple types; multiple sets) of movement patterns of people 19, etc. The detection unit 11 determines whether the movement pattern of people 19, etc. detected by the detection unit 11 matches or is extremely similar to one of the multiple types of movement patterns of people 19, etc. stored in the pattern storage unit 55. The prediction unit 53 may then be configured to make a prediction based on this determination.

[0071] Specifically, the pattern of movement of a person 19 etc. stored in the pattern memory unit 55 is a pattern in which the pattern of change in the position of the person 19 etc., the pattern of change in the movement speed of the person 19 etc., and the pattern of change in the direction of movement of the person 19 etc. are related to each other. The pattern memory unit 55 stores multiple sets of movement patterns of people 19 etc.

[0072] All of the multiple sets of movement patterns for people 19 etc. stored in the pattern memory unit 55 are patterns in which people 19 etc. do not enter the restricted area 17. For example, in a plan view, people 19 etc. are moving along a predetermined arc at a predetermined speed. This movement pattern is one in which it is predicted that people 19 etc. will not enter the restricted area 17.

[0073] Furthermore, the system determines that the movement pattern of the person 19 detected by the detection unit 11 matches or is very similar to one of the many movement patterns of the person 19 stored in the pattern storage unit 55. In this case, it is determined that there is no risk of the person 19 entering the restricted area 17.

[0074] In the above explanation, the prediction unit 53 predicts whether or not there is a risk of people 19 entering the restricted area 17. However, the prediction unit 53 may also predict the movement of the moving object 7 in the same manner as when predicting the movement of people 19, and determine whether or not there is a risk of people 19 entering the restricted area 17.

[0075] Furthermore, the area setting unit 13 of the construction safety device 1 may be configured to set a warning area 63 in addition to the no-entry area 17. The first boundary surface 65 shown in Figures 5 to 7 indicates the outer edge of the no-entry area 17. The second boundary surface 67 shown in Figures 5 to 7 indicates the outer edge of the warning area 63.

[0076] The restricted area 63 is located outside the restricted area 17, surrounding it.

[0077] In the configuration in which a warning area 63 is set, the determination unit 23 is configured to determine whether or not the person 19 or tool 61 detected by the detection unit 11 has entered the warning area 63. In the configuration shown in Figures 5(a) and 7, some of the people 19B, 19E, 19F, and 19G have entered the warning area 63.

[0078] Furthermore, in the configuration in which the alert area 63 is set, the alarm generation unit 25 determines when a person 19 or a tool 61 enters the alert area 63, and the determination unit 23 determines this. At this time, the system is configured to issue a second alarm (second warning) that reaches, for example, only people 19B, 19E, 19F, and 19G. The determination unit 23 makes the determination of whether or not a person 19 or a tool 61 has entered the alert area 63 by considering the whole person 19, a part of the person 19, the whole tool 61, or a part of the tool or other detectable object.

[0079] As shown in Figure 3, the alarm generation unit 25 is provided with a first alarm generation device 25A and a second alarm generation device 25B. The first alarm generation device 25A, for example, employs a speaker that emits an alarm sound, and is integrally provided with the backhoe 3 (see Figure 1, etc.).

[0080] A speaker 25A with directional properties may be used. A directional speaker 25A is designed to be as unaffected as possible by ambient noise. The directional speaker 25A is configured to rotate and position relative to the backhoe 3. For example, when one of several people 19 enters the restricted area 17, the speaker 25A is rotated and positioned to emit an alarm sound that reaches only the person 19 who has entered the restricted area 17. Examples of alarm sounds that could be used include "Caution: Deviation Limit," "Mr. / Ms. XX, Deviation Limit," or "Mr. / Ms. XX, Return."

[0081] Furthermore, the speaker 25A may be an omnidirectional type, and when one of the multiple people 19 enters the restricted area 17, it may emit an alarm sound that reaches all of the multiple people 19.

[0082] As a second alarm generating device 25B, each of the multiple people 19 can hold up a portable terminal 69 that they are carrying. The portable terminal 69 is designed to emit vibrations and sounds that can only be felt by the person 19 carrying it. When one of the multiple people 19 enters the restricted area 17, only the portable terminal 69 of the person 19 who entered the restricted area 17 will emit an alarm (sound and vibration).

[0083] Although the computer 49, LiDAR 15A, and camera 15B are connected to each other by wire, the computer 49, LiDAR 15A, and camera 15B may also be connected to each other wirelessly. Although the computer 49 and the first alarm generator 25A are connected to each other by wire, the computer 49 and the first alarm generator 25A may also be connected to each other wirelessly. The computer 49 and the second alarm generator 25B (portable terminal 69) are connected to each other wirelessly.

[0084] As shown in Figure 1, the driver's seat 71, the control unit 27, and the input / output unit 57 of the computer 49 of the backhoe 3 are located in the slewing section 33. A support column 73 extends upward from the slewing section 33 to a predetermined height, and a canopy 75 is provided at the upper end of the support column 73. The first alarm generator 25A is installed, for example, on the support column 73, but the first alarm generator 25A may be installed on another part, such as the canopy 75. The sensors 15 (15A, 15B) are installed, for example, on the canopy 75 (on the underside of the canopy 75, in the center of the canopy 75), but the sensors 15 (15A, 15B) may be installed on another part, such as the support column 73.

[0085] The display content shown in Figure 9(a) on the display unit 45 shows the case where the value of "θ1" shown in Figure 8 is "0°". The arrows shown in Figure 9(a) indicate the front and rear sides of the backhoe 3 (travel unit 31).

[0086] The display content shown in Figure 9(b) on the display unit 45 indicates the case where the value of "θ1" shown in Figure 8 is other than "0°". The arrows shown in Figure 9(b) indicate the front and rear sides of the backhoe 3 (travel unit 31).

[0087] In the backhoe 3 shown in Figure 2, the moving body 7 protrudes in the X direction from the center of the slewing section 33 in the Y direction. However, as shown by the dashed line in Figure 2, the moving body 7 may be offset and protrude in the X direction from one end away from the center of the slewing section 33 in the Y direction.

[0088] Furthermore, in the above description, the construction safety device 1 sets a no-entry area 17 and a warning area 63 according to the position of the moving body 7. However, as shown in Figure 8, a no-entry area 77 and a warning area 81 may also be set on the front and rear sides of the construction machine 3 (traveling section 31). Reference numeral 79 in Figure 8 indicates the first boundary surface which is the outer edge of the no-entry area 77, and reference numeral 83 indicates the first boundary surface which is the outer edge of the warning area 81. In addition, the no-entry area 77 and the warning area 81 are set in the area setting unit 13 using a sensor 89 similar to the sensor 15.

[0089] Incidentally, the restricted area 17 (first boundary surface 65; the value of distance L1 shown in Figure 5) and the alert area 63 (second boundary surface 67; the value of distance L2 shown in Figure 5) may be configured to be set in multiple stages. Furthermore, the system may be configured to allow for the exclusion of the restricted area 17 and the alert area 63.

[0090] Furthermore, an inclinometer and an accelerometer (not shown) may be installed to display the incline angle on the backhoe 3 using a display unit 45, and the system may also detect the backhoe 3's tipping limit and issue an alarm and output a detection signal to the machine control unit 29. This will automatically restrict the movement of the mobile body 7 and prevent the backhoe 3 from tipping over.

[0091] Next, the operation of the construction safety device 1 will be explained with reference to Figure 4. First, the detection unit 11 detects the bucket 21 (S1). Next, the area setting unit 13 sets the no-entry area 17 (S3). Next, the detection unit 11 detects a person 19, etc. (S5). Next, the judgment unit 23 determines whether or not the person 19, etc. has entered the no-entry area 17 (S7).

[0092] Incidentally, an identification mark (not shown) may be placed on the moving object such as the bucket 21. Then, in step S1, the identification mark may be detected (recognized) instead of the moving object such as the bucket 21, and this may be used in place of detecting the moving object such as the bucket 21. Alternatively, in step S1, if at least one of the moving object such as the bucket 21 or the identification mark is detected, it may be considered that the bucket 21 has been detected.

[0093] In step S7, when it is determined that a person 19 or the like has entered (intruded into) the restricted area 17, the alarm generation unit 25 generates a first alarm and outputs a predetermined signal to the construction machine 3 (S9).

[0094] If step S7 determines that no person 19 has entered the restricted area 17, the detection unit 11 detects the person 19 (S11). Subsequently, the judgment unit 23 determines, based on the prediction results from the prediction unit 53, whether or not there is a risk of the person 19 entering the restricted area 17 (S13). If step S13 determines that there is a risk of the person 19 entering the restricted area 17, the alarm generation unit 25 generates a second alarm and outputs a predetermined signal to the construction machine 3 (S15). If step S13 determines that there is no risk of the person 19 entering the restricted area 17, the process returns to step S1.

[0095] Although the first alarm pattern and the second alarm pattern are identical, the first alarm pattern and the second alarm pattern may be different from each other.

[0096] Furthermore, although the above operation description explains the case when a person 19 enters the restricted area 17, the system operates similarly when a person 19 enters the alert area 63. In this case, in step S9, the alarm generating unit 25 emits a third alarm, and in step S15, the alarm generating unit 25 emits a fourth alarm.

[0097] The form of the third alarm and the form of the fourth alarm are the same, but the form of the third alarm and the form of the fourth alarm may be different from each other. Furthermore, the form of the third alarm and the form of the fourth alarm are different from the form of the first alarm and the form of the second alarm.

[0098] The construction safety device 1 comprises a detection unit 11 that detects the position of the moving object 7 using a sensor 15, and an area setting unit 13 that sets a predetermined area as a no-entry zone 17 based on the position of the moving object 7 detected by the detection unit 11. This makes it possible to set a narrow predetermined area around the moving object 7 (for example, the minimum necessary area) as the no-entry zone 17, compared to setting a predetermined area around the main body 5 of the construction machine 3 as the no-entry zone 17. This prevents the no-entry zone 17 from becoming unduly large.

[0099] To further explain, in Figure 5(a), a restricted area 17 and a caution area 63 are defined based on the position of the mobile body 7 (bucket 21). The first boundary surface 65, which indicates the outer edge of the restricted area 17, is located at a distance L1 from the bucket 21. The second boundary surface 67, which indicates the outer edge of the caution area 63, is located at a distance L1+L2 from the bucket 21. In Figure 5(a), the first boundary surface 65 is located at a distance LA2 (LA1+L1) from the central axis C1 of the construction machine 3. Distance LA1 is the distance from the central axis C1 of the construction machine 3 to the bucket 21, and it changes as the position of the bucket 21 relative to the main body 5 changes.

[0100] In Figure 5(b), the restricted area 17 and the alert area 63 are defined based on the position of the mobile body 7 (bucket 21). The first boundary surface 65, which indicates the outer edge of the restricted area 17, is located at a distance L1 from the bucket 21. The second boundary surface 67, which indicates the outer edge of the alert area 63, is located at a distance L1+L2 from the bucket 21. In Figure 5(b), the first boundary surface 65 is located at a distance LB2(LB1+L1) from the central axis C1 of the construction machine 3. Distance LB1 is the distance from the central axis C1 of the construction machine 3 to the bucket 21, and changes as the position of the bucket 21 relative to the main body 5 changes.

[0101] Furthermore, the distance LA1 shown in Figure 5(a) is smaller than the distance LB1 shown in Figure 5(b), and the distance LA2 shown in Figure 5(a) is smaller than the distance LB2 shown in Figure 5(b).

[0102] Here, we will explain the case where, as in the conventional method, a predetermined area around the main body 5 of the construction machine 3 is set as a no-entry zone 17, with the main body 5 as the center. The first boundary surface 65 that indicates the outer edge of the no-entry zone 17 and the second boundary surface 67 that indicates the outer edge of the caution zone 63 are set based on the position of the main body 5, regardless of the position of the movable body 7 (bucket 21) relative to the main body 5.

[0103] The first boundary surface 65 is located at a distance LC2 from the central axis C1 of the construction machine 3, and the second boundary surface 67 is located at a distance LC2+L2 from the central axis C1 of the construction machine 3 (traveling section 31, slewing section 33). Person 19J shown in Figure 6 is in the restricted area 17.

[0104] The distances LA2 and L1 shown in Figure 6 are the same as those shown in Figure 5(a). The value of distance LC2 from the central axis C1 of the construction machine 3 to the first boundary 65 of the restricted area 17 is greater than the value of distance LA2. As a result, in the configuration shown in Figure 5 compared to Figure 6, it is possible to prevent the restricted area 17 from becoming unduly large. In other words, it is possible to prevent it from becoming unnecessarily large by a distance of LC1.

[0105] The construction safety device 1 is configured such that when the judgment unit 23 determines that a person 19 or the like detected by the detection unit 11 is inside the restricted area 17 set by the area setting unit 13, the alarm generation unit 25 issues a first alarm (first warning). Furthermore, as described above, it is possible to prevent the restricted area 17 from becoming unduly large, thus preventing unnecessary alarms from being triggered when a person 19 or the like enters an unduly large restricted area 17. This also helps to avoid unnecessary interruptions to work.

[0106] Furthermore, in the construction safety device 1, the sensor 15 is configured to detect the position of people 19, etc., using at least two types of sensors from among LiDAR 15A, camera 15B, and millimeter-wave radar detector. This minimizes false detections of people 19, etc., and prevents work from being interrupted.

[0107] Furthermore, the construction safety device 1 is configured such that when the machine control unit 29 receives a signal from the alarm generation unit 25 indicating that a person 19 or the like is inside the restricted area 17, it stops the movement of the mobile body 7 even though the operation unit 27 is being operated. Also, when the machine control unit 29 receives a signal from the alarm generation unit 25 indicating that a person 19 or the like is inside the restricted area 17, it is configured to slow down the movement speed of the mobile body 7 even though the operation unit 27 is being operated. As a result, even if the person 19 does not notice the first alarm, the safety of the person 19 can be automatically ensured.

[0108] Furthermore, in the construction safety device 1, the area setting unit 13 is configured to set a three-dimensional space of a predetermined size as a no-entry area 17, centered on at least one of the parts of the moving body 7 that has the widest range of movement or the fastest movement speed. This allows for efficient setting of the no-entry area 17 and effectively prevents unnecessary interruptions to work.

[0109] Furthermore, in the construction safety device 1, the mobile body 7 of the backhoe 3 moves relative to the slewing section 33, and the sensor 15 is installed on the slewing section 33. This makes it easier to secure the detection area of ​​the sensor 15 installed on the slewing section 33, and enables accurate detection of the mobile body 7 and people 19 by the detection unit 11.

[0110] Furthermore, the construction safety device 1 is configured to display the rotation angle of the slewing section 33 relative to the main body 35 of the backhoe 3, which is detected by the detection section 43, on the display section 45. This allows the operator 20 of the backhoe 3 to easily know the rotation angle of the slewing section 33, thereby minimizing the risk of accidentally operating the control section 27 and causing the backhoe 3 to move forward or backward.

[0111] Here, we will explain the case where the construction safety device 1 is installed on a construction machine 3, which is a crane, with reference to Figure 10. Note that the construction safety device 1 is not shown in Figure 10. The crane 3, like the backhoe 3, is composed of a traveling section 31 and a slewing section 33. The traveling section 31 is composed of a traveling section body 35 and a crawler 37. The slewing section 33 is provided with a boom 39 and an arm 41, and a rope (for example, a wire rope) 85 hangs down from the tip of the arm 41. A hook 87 is provided at the lower end of the rope 85.

[0112] The crane 3 can have a boom 39, an arm 41, a rope 85, and a hook 87 as its movable body 7. In the configuration in which the construction safety device 1 is installed on the crane 3, for example, the detection unit 11 detects the position of the hook 87 using a sensor 15. Also in the configuration in which the construction safety device 1 is installed on the crane 3, the area setting unit 13 sets a predetermined area as a no-entry area 17 based on the position of the hook 87 detected by the detection unit 11.

[0113] Although this embodiment has been described above, this embodiment is not limited to these, and various modifications are possible within the scope of the gist of this embodiment. [Explanation of Symbols]

[0114] 1. Safety devices for construction work 3. Construction machinery 5 Main unit 7 Mobile Unit 11 Detection unit 13 Area setting section 15 sensors 15A LiDAR 15B Camera 17 Restricted Areas 19, 61 Detectable objects (people, tools) 21 buckets 23 Judgment Department 25 Alarm generation unit 27 Control section 29. Mechanical Control Unit 31 Running section 33 Swivel section 35 Main body of the running section 37 Crawler 43 Detection unit 45 Display section 53 Prediction Section 87 Hooks

Claims

1. A construction safety device used in construction machinery, comprising a main body and a movable body installed on the main body and moving relative to the main body, A detection unit that detects the position of a target object other than the aforementioned moving object and the position of the aforementioned moving object by combined detection using at least two types of sensors from LiDAR, a camera, a millimeter-wave radar detector, and an ultrasonic radar, A region setting unit sets a predetermined area as a no-entry zone based on the position of the moving object detected by the detection unit, It has, A determination unit determines whether or not an object detected by the detection unit exists within the restricted area set by the area setting unit, When the determination unit determines that the object detected by the detection unit is within the restricted area set by the area setting unit, the alarm generation unit issues a first alarm, It has, A construction safety device configured such that when only one of at least two types of sensors in the detection unit detects a person who is the object to be detected, and the determination unit determines that the detected person has entered the restricted area, the alarm generation unit issues an alarm, and this alarm is issued only to the driver of the construction vehicle.

2. The detection unit has a prediction unit that predicts whether or not there is a risk of the detected object crossing the first boundary, which is the outer edge of the restricted area, into the restricted area. The construction safety device according to claim 1, wherein the prediction unit determines that the object to be detected may cross the first boundary and enter the restricted area, and the alarm generation unit is configured to issue a second alarm.

3. The aforementioned construction machine is configured to include an operating unit and a machine control unit. The operating unit is configured to move under the control of the machine control unit in response to the operation of the operator of the construction machine, The alarm generation unit is configured to send a predetermined signal to the machine control unit when the determination unit determines that the object detected by the detection unit is within the restricted area set by the area setting unit. The construction safety device according to claim 1, wherein the machine control unit, upon receiving a predetermined signal from the alarm generating unit, is configured to stop the movement of the moving body or to slow down the movement speed of the moving body, even though an operation is being performed at the operation unit.

4. The aforementioned construction machine is a backhoe equipped with a traveling section and a rotating section. The aforementioned running unit is configured to include a running unit body and crawlers provided on both sides of the running unit body. The swivel section is installed above the main body of the travel section and supported by the main body of the travel section, and is configured to rotate about a central axis extending vertically relative to the main body of the travel section. The moving body is configured to move relative to the rotating part, The construction safety device according to any one of claims 1 to 3, wherein the sensor is installed in the rotating section.

5. A detection unit for detecting the rotation angle of the swivel section relative to the main body of the travel section, A display unit that displays the rotation angle of the turning part relative to the main body of the traveling part detected by the detection unit, A construction safety device according to claim 4, having the following features.

Images