Surroundings monitoring device for industrial machinery
The surrounding monitoring device for cranes addresses false detections by excluding parts of the crane using distance detection and exclusion target determination, enhancing monitoring accuracy and ease, even with deformable parts, without additional complexity.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- SUMITOMO HEAVY IND CONSTR CRANES CO LTD
- Filing Date
- 2022-03-30
- Publication Date
- 2026-06-01
Smart Images
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Abstract
Description
Technical Field
[0001] The present invention relates to a surrounding monitoring device for a working machine.
Background Art
[0002] A conventional monitoring device for a crane as a working machine detects an object within a set monitoring range and warns an operator. It was possible to change the monitoring range according to the presence or absence of a separable configuration such as a counterweight, etc., and optimize the monitoring range (see, for example, Patent Document 1).
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] However, when detecting an object within the monitoring range, the above monitoring device may erroneously detect a part of its own machine. In particular, when the working machine has a configuration such as a jack-up device or a crawler whose left-right position expands and contracts, and the shape easily changes, the influence of false detection becomes significant, and countermeasures are complicated.
[0005] An object of the present invention is to more easily optimize the surrounding monitoring range.
Means for Solving the Problems
[0006] The present invention is a surrounding monitoring device that displays an overhead view of the surroundings of a working machine, distance detection means for acquiring distance information to an object around the working machine, display means for displaying the object in a first mode in reflection of the distance information, In a predetermined detection mode, the system includes an exclusion target determination means that determines at least a portion of objects whose distance detected by the distance detection means falls within a predetermined range as objects to be excluded, The exclusion target determination means can determine, in the detection mode, that at least a portion of surrounding objects different from the work machine, whose distance detected by the distance detection means is within a predetermined range, are objects to be excluded. The aforementioned display means is In the detection mode described above, after determining the object to be excluded, During operation, the system is configured to display the surrounding objects in the first manner, excluding objects detected by the distance detection means that have been determined to be excluded by the exclusion target determination means. Furthermore, other inventions include: A surrounding monitoring device that provides an overhead view of the area around a work machine, Distance detection means for acquiring distance information to objects around the aforementioned work machine, A display means that displays the object in a first manner, reflecting the distance information, The system includes an exclusion target determination means that, in a predetermined detection mode, determines that at least a portion of objects whose distance detected by the distance detection means falls within a predetermined range are to be excluded, During operation, the display means displays the surrounding objects in the first manner, excluding objects detected by the distance detection means that have been determined to be excluded by the exclusion target determination means. In the detection mode, the device has a selection means for selecting objects to be excluded and objects not to be excluded from among objects whose distance detected by the distance detection means is within a predetermined range. The distance detection means has an object type identification means that identifies whether or not the object detected is a component of the work machine, When the aforementioned work machine starts moving, The display means is configured to display objects that have been determined to be excluded by the exclusion determination means, but which have been identified by the object type identification means as not being components of the work machine. [Effects of the Invention]
[0007] According to the present invention, it becomes possible to optimize surrounding environment monitoring more easily. [Brief explanation of the drawing]
[0008] [Figure 1] This is a side view of a crane equipped with a surrounding monitoring device according to an embodiment of the present invention. [Figure 2] This is a block diagram showing the configuration of a crane control device and its surrounding area. [Figure 3] This is an example of displaying an unprocessed detection image based on detection information from the surrounding detection device. [Figure 4] This is an example of displaying a detection image based on detection information from the ambient detection device in detection mode. [Figure 5] This is an example of displaying a processed detection image, which has been processed to suppress the display of unnecessary detections in the unprocessed detection image. [Figure 6]This is an example of a display when the warning range is displayed on a display device. [Figure 7] This is a flowchart showing the flow of ambient monitoring control performed by the detection processing unit and the monitoring processing unit. [Figure 8] This is an example of a display of a detection image based on detection information obtained by implementing a detection mode in an environment having an installation. [Figure 9] This is an example of a display showing a processed detection image obtained by performing processing to suppress the display of an unnecessary detection of a part of a crane and an installation obtained in a detection mode for an unprocessed detection image. [Figure 10] This is an example of a display showing a processed detection image in which an installation is displayed due to the traveling of a crane.
Embodiments for Carrying Out the Invention
[0009] [Schematic Configuration of Crane] FIG. 1 is a side view of a crane as a work machine equipped with a surrounding monitoring device according to an embodiment of the present invention. The crane 1 is a so-called mobile crawler crane. Regarding the description of the crane 1, the front-back, left-right directions as seen from the operator (rider) of the upper slewing body 3 are described as the front-back, left-right directions of the crane 1. In addition, unless otherwise specified, in principle, the front-back, left-right of the crane 1 is described assuming that the lower traveling body 2 is in a state where the front-back direction coincides with that of the upper slewing body 3 (reference posture). Also, in some cases, the up-down direction in the crane 1 in a state where the crane 1 is placed on a horizontal plane is referred to as the vertical direction.
[0010] As shown in FIG. 1, the crane 1 includes a self-propelled crawler-type lower traveling body 2, an upper slewing body 3 as a slewing part rotatably mounted on the lower traveling body 2, and a boom 4 attached to the front side of the upper slewing body 3 so as to be able to rise and fall.
[0011] The lower traveling body 2 includes a main body body 21 and crawlers 22 provided on both the left and right sides of the main body body 21. The left and right crawlers 22 are rotationally driven by traveling hydraulic motors (not shown).
[0012] The lower end of the boom 4 is supported on the front side of the upper slewing body 3. Furthermore, the lower end of the mast 31 is supported behind the boom support position on the upper slewing body 3. Furthermore, the upper rotating body 3 is driven to rotate around a vertical axis relative to the lower traveling body 2 by a rotating hydraulic motor (not shown).
[0013] A counterweight 5 is attached to the rear of the upper slewing body 3 to balance the weight of the boom 4 and the suspended load. The number of counterweights 5 can be increased or decreased as needed.
[0014] A luffing winch (not shown) for luffing the boom 4 is located in front of the counterweight 5, and a hoisting winch (not shown) for winding and unwinding the hoisting rope 32 is located in front of it. The hoisting winch uses a hoisting hydraulic motor (not shown) to wind and unwind the hoisting rope 32, thereby raising and lowering the hook 34 and the suspended load. Furthermore, a cab 33 is positioned on the front right side of the upper rotating body 3.
[0015] The boom 4 is mounted to the upper slewing body 3 in a luffable manner. The boom 4 comprises a lower boom 41 and an upper boom 42. A sheave 43, which guides the hoisting rope 32, is rotatably attached to the upper end of the upper boom 42.
[0016] The mast 31 is equipped with an upper spreader 35 at its upper end, and the upper spreader 35 is connected to the other end of a pendant rope 44, one end of which is connected to the upper end of the boom 4. Below the upper spreader 35 is a lower spreader 36, and when the luffing rope 37, which is wrapped multiple times between these, is wound up or unwound by the luffing winch, the distance between the upper spreader 35 and the lower spreader 36 changes, causing the boom 4 to luff. The boom luffing winch is driven by a luffing hydraulic motor (not shown).
[0017] [Crane control system] The cab 33 of the upper slewing body 3 is equipped with a crane control device 60. Figure 2 is a block diagram showing the configuration of the control device 60 and its surroundings. The control device 60 is a control terminal mounted on the crane 1 and mainly controls various operations of the crane 1, such as travel, slewing, and load lifting, as well as performing monitoring of the area around the crane 1. The control device 60 includes a controller 61 which is configured to include a arithmetic processing unit having a CPU, memory devices such as ROM and RAM, and other peripheral circuits. The controller 61 includes software modules for a detection processing unit 611 that optimizes and presents detection information from the surrounding detection device 634 (described later), and a monitoring processing unit 612 that performs surrounding monitoring processing. Note that either or both of the detection processing unit 611 and the monitoring processing unit 612 may be configured as hardware.
[0018] The detection processing unit 611, monitoring processing unit 612, input unit 621, display device 622 (as a display means), and memory 625 function as an surrounding monitoring device that displays an overhead image of the crane 1 and its surroundings. The function as an surrounding monitoring device will be described later.
[0019] The controller 61 is connected to an input unit 621, a display device 622 as a display means, an alarm 623, an operating lever 624, and a memory 625, and these constitute the control device 60. Furthermore, the controller 61 is connected to a load cell 631, a boom angle sensor 632, a slewing amount sensor 633, an ambient detection device 634 as a distance detection means, and a control valve 635.
[0020] The input unit 621 is located inside the cab 33 and is, for example, an input interface such as a touch panel, which outputs control signals to the controller 61 in response to operations from the operator. The operator can use the input unit 621 to input various settings and controls necessary for operation, such as the length of the boom 4 and the weight of the hook 34. The display device 622 is located inside the cab 33 and includes a touch panel display that is also used as an input unit 621, for example. Based on the control signals output from the controller 61, it displays information such as the weight of the suspended load, the boom angle, and the slewing angle of the upper slewing body 3 on the display screen. The alarm device 623 generates an alarm based on the control signal output from the controller 61.
[0021] The operating lever 624 is located inside the cab 33 and, for example, manually inputs operations to cause the crane 1 to perform various actions, and inputs a control signal corresponding to the amount of operation of the operating lever 624 to the controller 61. For example, the operating lever 624 can be used to input operations for the movement of the lower traveling body 2, the rotation of the upper slewing body 3, the luffing and lowering of the boom 4, and the winding and unwinding of the hoisting rope 32 by the hoisting winch.
[0022] The load cell 631 is attached to the end of the luffing rope 37, which is wrapped multiple times around the upper spreader 35 and the lower spreader. It detects the tension acting on the luffing rope 37 when the boom 4 is raised and lowered, and outputs a control signal corresponding to the detected tension to the controller 61. The load cell 631 can be placed anywhere as long as it can indirectly measure the luffing force of the boom 4. For example, it may be installed at the attachment point (not shown) of the pendant rope 44 at the tip of the boom 4 to detect the tension on the pendant rope 44.
[0023] The boom angle sensor 632 is attached to the base end of the boom 4 and detects the elevation angle of the boom 4 (hereinafter also referred to as the boom angle), and outputs a control signal corresponding to the detected boom angle to the controller 61. The boom angle sensor 632 detects, for example, the angle to the ground, which is the angle with respect to the horizontal plane, as the boom angle.
[0024] The rotation amount sensor 633 is mounted between the lower traveling body 2 and the upper rotating body 3, and detects the rotation angle of the upper rotating body 3 and outputs a control signal corresponding to the detected rotation angle to the controller 61. The rotation amount sensor 633 detects the angle around the vertical axis as the rotation angle, for example.
[0025] The control valve 635 consists of multiple valves that can be switched according to a control signal from the controller 61. For example, the control valve 635 includes valves that control the rotational drive of the left and right crawlers 22 of the lower traveling body 2, valves that control the rotational movement of the upper rotating body 3, valves that control the rotational drive of the luffing winch, valves that control the rotational drive of the hoisting winch, and so on.
[0026] [Surroundings detection device] The surrounding detection device 634 is a distance measuring instrument that uses a sensor, such as a laser scanner like LiDAR (Light Detection and Ranging), to detect the distance to objects present in the surrounding area of the surrounding detection device 634. Note that the "objects" to be detected include not only objects but also people. As shown in Figure 1, the surrounding detection device 634 is attached to the bottom surface of the rear end of the upper rotating body 3 (the rear end when the counterweight 5 is not installed). The surrounding detection device 634 uses a fan-shaped horizontal two-dimensional plane as one of its detection planes, with a radius of the straight line LB extending horizontally backward from the pivot center of the crane 1, and extending 135° to the left and right (270° in total) from the surrounding detection device 634. Furthermore, the surrounding detection device 634 can perform distance detection to an object in a three-dimensional range by tilting the fan-shaped detection plane upward and downward at angles of 90 degrees or less around a horizontal axis that penetrates the surrounding detection device 634 in the left-right direction. Specifically, the surrounding detection device 634 scans the laser beam on a two-dimensional plane within a range of 135° to the left and right of the straight line LB, and further performs distance detection in a three-dimensional range by changing the scanning on the two-dimensional plane by a small angle of 90 degrees or less vertically around the horizontal axis. As described above, the surrounding detection device 634 detects the distance of objects in all directions around it, so the detection processing unit 611 can generate detection image data that associates the direction with the surrounding detection device 634 and the distance from that detection information.
[0027] In the following explanation, the "slewing radius" is defined as the distance from the pivot center to the furthest point on the upper slewing body 3 (including the counterweight 5, but excluding the boom 4) in the horizontal direction, and the "slewing range" is defined as the area enclosed by the circumference of the slewing radius from the pivot center. Here, the example given is that the "slewing radius" is the distance from the pivot center to the rear end of the counterweight 5. Furthermore, the length of the straight line LB mentioned above is the turning radius plus a few meters, and the area enclosed by the circumference of a circle with the straight line LB as the radius from the turning center is defined as the "presentation range F". The presentation range F is the area in which the operator is shown a display or warning when the presence of an object is detected.
[0028] Since the surrounding detection device 634 utilizes irradiation such as laser light, the area of the crane 1 that is illuminated by the laser light is also detected as an object. The detection processing unit 611, which will be described later, performs processing to suppress the display of unnecessary detections caused by reflections of parts of the crane 1, and displays the detection information of the surrounding detection device 634 on the display device 622. The details of the processing performed by the detection processing unit 611 to suppress the display of unnecessary detections of the crane 1 will be described later.
[0029] Regarding the surrounding detection device 634, the length of the straight line LB and the left / right and up / down angle ranges for detection are examples only and are not limited to the values mentioned above. Alternatively, the surrounding detection device 634 may perform detection by rotating a detection plane parallel to the vertical direction left and right around an axis along the vertical direction. Furthermore, the surrounding detection device 634 may be provided at multiple locations on the vehicle body, such as the left end, right end, and front end of the upper rotating body 3.
[0030] In the context of crane 1, "horizontal direction" refers to the direction along a plane perpendicular to the rotation axis of the upper rotating body 3, and is parallel to the aforementioned front-to-back and left-to-right directions. Furthermore, in crane 1, "vertical direction" refers to the direction parallel to the rotation axis of the upper rotating body 3, and is parallel to the vertical direction.
[0031] [Detection Processing Unit] Figures 3 and 5 show detection images (overhead views) G1 and G3, which reflect detection information when surrounding objects are detected within the three-dimensional display range F by the surrounding detection device 634. Detection image G1 is a detection image before processing to suppress the display of unnecessary detections due to the inclusion of part of the crane 1 (referred to as unprocessed detection image G1), and detection image G3 is a detection image after the same processing has been performed (referred to as processed detection image G3). The detection processing unit 611 displays only the processed detection image G3 on the display device 622, and does not display the unprocessed detection image G1, but it is shown for comparison.
[0032] The detection processing unit 611 projects all the detected positions of the surrounding object surfaces detected within the three-dimensional display range F by the surrounding detection device 634 onto a horizontal plane using orthogonal projection, and displays the generated detection image on the display device 622. The detected images G1 and G3 are generated by projecting the detection position by the surrounding detection device 634 onto a horizontal plane using orthogonal projection. Furthermore, the detected images G1 and G3 include an icon Ic representing the crane 1 in a plan view, scaled to a level corresponding to the distance scale within the image.
[0033] Next, we will describe the process performed by the detection processing unit 611 to suppress the display of unnecessary detections of the crane 1. In order to suppress the display of unnecessary detections of crane 1 and display surrounding objects other than crane 1, it is necessary to remove the dots indicating the detection location corresponding to a part of crane 1 from the unprocessed detection image G1 described above.
[0034] Therefore, when the crane 1 is not in operation, the detection processing unit 611 performs object detection around the crane 1 using the surrounding detection device 634, provided that there are no objects other than the crane 1 that can be detected by the surrounding detection device 634. Hereinafter, this will be referred to as the "detection mode". The above detection mode may be executed, for example, by an operator inputting an execution command from the input unit 621. Here, "work" in non-working mode refers to any operation involving the movement or transport of a suspended load or hook, such as the travel operation of the crane 1, the luffing operation of the boom 4, or the winding and unwinding of the hoisting rope 32 by the hoisting winch.
[0035] Figure 4 shows an example of the display of the detection image (overhead view) G2 based on the detection information from the surrounding detection device 634 in detection mode. In detection mode, the detection processing unit 611 controls the display device 622 to display the detection image G2 based on the detection information. In detection mode, object detection is performed in an environment that excludes objects around crane 1 prepared by the worker. Ideally, as shown in Figure 4, only detection information indicating the distance from the surrounding detection device 634 to the part of crane 1 that is captured within the detection range E is acquired.
[0036] In detection mode, the detection range E of the surrounding detection device 634 (the range centered on the surrounding detection device 634) does not necessarily have to coincide with the presentation range F. Preferably, the radius centered on the surrounding detection device 634 that indicates the radial range of the detection range E of the surrounding detection device 634 in detection mode is greater than or equal to the turning radius and less than or equal to the radius of the presentation range F (straight line LB). Furthermore, the input unit 621 allows the radius of the detection range E to be arbitrarily set within the above range.
[0037] Then, in detection mode, the detection processing unit 611 determines that objects within the detection range E detected by the surrounding detection device 634 are objects to be excluded. Furthermore, when the crane 1 is in operation (operation mode), the surrounding detection device 634 excludes detection information that is at the same position as the distance detected in the detection mode from the detection information and displays it on the display device 622, thereby providing control to the operator.
[0038] In other words, in the operation mode, the detection processing unit 611 uses the surrounding detection device 634 to detect the surrounding distance within the presented range F, and when position coordinates indicating the distance to the surface of an object present in the surroundings are obtained, it excludes all position coordinates that match the position coordinates indicating the distance to the surface of an object obtained in the aforementioned detection mode from these position coordinates, generates an overhead image based on the remaining detection information, and controls the display device 622 to display it as a processed detection image G3. Therefore, the detection processing unit 611 functions as an "exclusion target determination means". Furthermore, the determination of a match in the above position coordinates does not necessarily require an exact match. For example, it is preferable to pre-set a range of numerical values that can be considered to match, and to allow deviations within that range when determining a match. Furthermore, the detection processing unit 611, which is used as a means for determining objects to be excluded, displays detected objects other than those to be excluded at positions corresponding to the detected distance and direction. This display mode is defined as the "first mode."
[0039] As can be seen when comparing it with the unprocessed detection image G1, the processed detection image G3 has had the unnecessary detection portion, which corresponds to a part of crane 1 in the unprocessed detection image G1, removed.
[0040] Furthermore, the crane 1 may have parts that are subject to deformation, disassembly, or assembly. Deformation refers to cases where a part of the crane's structure is movable or shifted, and includes the rotation of the upper slewing body 3, the rotation of the boom 4, the expansion and contraction of the distance between the left and right crawlers 22 during transport and work, the operation of the jack-up device, and the extension and contraction of the beam. Disassembly refers to the removal of parts of the crane's components, while assembly refers to the attachment of parts of the crane's components. Furthermore, disassembly and assembly are defined as those performed at the work site. For example, components connected by pins that can be removed on-site are included in "disassembly and assembly" as defined here, but components that are connected by pins but have a coating over the connection point and cannot be removed simply by tapping the pins, or components that are welded together and are not intended to be removed on-site, are not included. Specifically, the attachment and removal of counterweights 5, the increase or decrease in their number, and the removal and attachment of the left and right crawlers 22 may be included in assembly and disassembly. As described above, if the crane 1 is equipped with a component (referred to as a changeable part) that deforms or changes its posture depending on the situation, and there is a possibility that the changeable part will enter the detection range E of the surrounding detection device 634, then a situation may arise where the detection information of the changeable part does not match between the detection mode and the work mode. For example, a change that is not detected in one mode may be detected in the other mode, or the same change may be detected in different shapes in the detection mode and the work mode. In that case, it may not be possible to properly remove the portion corresponding to the change from the unprocessed detection image G1, and the change may remain in the processed detection image G3.
[0041] To avoid this, it is preferable to execute the detection mode as close as possible to the start of work by crane 1 (for example, immediately before the start of work). This is because if these timings are close together, the possibility of deformation or changes in posture of the changeable part is reduced. Furthermore, the above-mentioned change unit may be provided with a sensor for detecting changes in status, or a detection means for detecting an execution command for the operation of the change unit, and when a change in the status of the change unit is recognized from these, a notification process may be performed via the display device 622 to prompt the re-execution of the detection mode.
[0042] Furthermore, depending on the rotation angle of the upper rotating body 3, the area of the crane 1 that receives the laser beam from the surrounding detection device 634 may change. Therefore, it is preferable that detection by the surrounding detection device 634 in detection mode be performed for each of several different rotation angles of the upper rotating body 3. The more rotation angles there are in detection mode, the better. For example, the surrounding detection device 634 rotates together with the upper rotating body 3, and the surrounding detection device 634 performs detection while the rotation amount sensor 633 detects the rotation angle. Furthermore, the control device 60 may be configured to include a position determination means that identifies the position information of an object within the detection range E based on the detection results from the surrounding detection device 634 and the rotation angle information of the upper rotating body 3 detected by the rotation amount sensor 633. The position determination means acquires detection information for each rotation angle from the surrounding detection device 634 for the entire rotation angle range of the upper rotating body 3 in units of a certain rotation angle, associates it with the rotation angle at the time of detection, and stores it as the above position information. In the operation mode, it is preferable to detect the current rotation angle of the upper rotating body 3 using the rotation amount sensor 633, read the detection information from the surrounding detection device 634 in detection mode that matches the current rotation angle from the position information, generate a processed detection image G3, and display it on the display device 622.
[0043] [Monitoring Processing Unit] The monitoring processing unit 612 determines whether there are any objects within the alarm range W, which is within the indicated range F, based on the detection information in the work mode described above, and executes notification processing if there are objects. In this case, unnecessary detection parts (excluded objects) corresponding to a part of the crane 1 described above are excluded from the determination of whether there are objects within the alarm range W.
[0044] Figure 6 shows an example of a display when the display range F is shown on the display device 622 and notification processing is performed. As shown in the diagram, an alarm range W is set inside the above-mentioned range F. This alarm range W is set in stages according to the distance from the crane 1, in a concentric circle around the pivot center of the upper rotating body 3, into a first alarm range (W11~W14) and a second alarm range (W21~W24).
[0045] The first alarm range is defined as a radius from the center of rotation that is narrower than the indicated range F, and the second alarm range is even narrower than the first alarm range. Furthermore, the first and second alarm ranges may be divided into multiple sections in the circumferential direction centered on crane 1, such as the first alarm range W11-W14 and the second alarm range W21-W24. Figure 6 shows an example of four divisions, but the number of divisions can be changed arbitrarily.
[0046] As mentioned above, if an object is detected within the alarm range W, the monitoring processing unit 612 executes a notification process to alert the operator controlling the crane 1. As described above, if the alarm range W is divided into multiple parts, for example, the monitoring processing unit 612 may perform alarm control such as highlighting the range in which an object is detected within the first alarm range W11 to W14 and the second alarm range W21 to W24 by adding color, increasing brightness, or flashing. In that case, as shown in Figure 6, when an object h is detected in each range, it is preferable to display a more emphasized indicator for the second alarm range W21 to W24, which is closer to the crane 1, than for the first alarm range W11 to W14, which is further away from the crane 1. An emphasized indicator may include, for example, a display with darker colors, a display with brighter colors, a flashing indicator for the corresponding range, or a flashing indicator with a faster speed.
[0047] Furthermore, when the circumferential direction centered on crane 1 is divided into multiple sections, such as the first alarm range W11-W14 and the second alarm range W21-W24, it is possible to clearly and quickly recognize in which direction object h is located.
[0048] [Processing as a surrounding monitoring device] The flow of ambient monitoring control performed by the detection processing unit 611 and the monitoring processing unit 612 as an ambient monitoring device will be explained based on the flowchart in Figure 7. Note that the processes shown in this flowchart are executed repeatedly in short cycles.
[0049] First, the detection processing unit 611 determines whether or not there is an execution command for the detection mode (step S1). If an execution command is received, the surrounding detection device 634 detects the distance to surrounding objects, records the detection information of objects within the detection range E in the memory 625 (step S3), and proceeds to step S5. Furthermore, if there is no command to execute the detection mode, the process proceeds to step S5.
[0050] In step S5, the surrounding distance is detected by the surrounding detection device 634 while the crane 1 is operating. Then, the detection processing unit 611 compares the detection information of an object within the presented range F with the detection information of an object in the most recent detection mode and determines whether or not there is detection information with the same position coordinates (step S7).
[0051] Then, if the detection processing unit 611 has detection information for an object with the same position coordinates, it excludes the detection information for an object in detection mode from the detection information for an object in work mode to generate a processed detection image G3 and displays it on the display device 622 (step S9). Furthermore, if there is no detection information with the same position coordinates, the detection processing unit 611 displays the processed detection image G3, which consists of the object detection information itself in the work mode, on the display device 622 (step S11).
[0052] Next, the monitoring processing unit 612 determines whether or not the alarm range W is set within the indicated range F (step S13). If the alarm range W is not set, the surrounding monitoring and control process will terminate.
[0053] On the other hand, if an alarm range W is set, the monitoring processing unit 612 determines whether the object detection information in work mode includes position coordinates within the alarm range W (step S15). If the position coordinates are not within the alarm range W, the surrounding monitoring and control process is terminated.
[0054] On the other hand, if the object detection information in work mode includes position coordinates within the alarm range W, the monitoring processing unit 612 further identifies whether those position coordinates belong to the first alarm range W11-W14 or the second alarm range W21-W24, and executes display control of the display device 622 to display the corresponding alarm ranges W11-W14 and second alarm ranges W21-W24 in the processed detection image G3, thereby terminating the ambient monitoring control process.
[0055] [Technical Effects of Embodiments of the Invention] As described above, the detection processing unit 611 of the controller 61 of crane 1 acquires detection information indicating the distance from the surrounding detection device 634 to a part of crane 1 in detection mode, determines objects to be excluded from this detection information, and in work mode, controls the display device 622 to display a processed detection image G3 that is generated by excluding detection information that is at the same position as the detection information (objects to be excluded) detected in detection mode from the detection information detected by the surrounding detection device 634 during work. Therefore, the chances of part of Crane 1 being mistakenly displayed as a surrounding object are reduced, making it possible to improve the accuracy of surrounding area monitoring.
[0056] Furthermore, although the crane 1 has a deformable part that is deformed, disassembled, or assembled, even in such cases, by performing the detection mode as close as possible to the start of work, it is possible to reduce the chance of the deformable part being mistakenly displayed as an object in the surrounding area. This makes it possible to easily improve the surrounding environment monitoring even with a crane 1 that has a deformable part, without performing any special setting work or providing any special detection means.
[0057] Furthermore, in detection mode, the detection processing unit 611 can acquire detection information for multiple rotation angles by having the surrounding detection device 634 rotate together with the upper rotating body 3 of the crane 1 and detecting the distance from the surrounding detection device 634 to a part of the crane 1. Then, based on the detection results from the surrounding detection device 634 and the rotation angle information of the upper rotating body 3, the detection processing unit 611 identifies the position information of the object and performs processing as a position identification means. This allows the system to select the appropriate detection information for the detection mode based on the rotation angle of the upper rotating body 3, even if the detection information differs depending on the rotation angle of the upper rotating body 3 in the work mode. This makes it possible to optimize surrounding monitoring even when the upper rotating body 3 is rotating.
[0058] Furthermore, in detection mode, the radial range to be detected can be set and adjusted from the input unit 621. Therefore, in detection mode, a portion of the crane 1 detected as an object by the surrounding detection device 634 can be detected as detection information without any excess or deficiency, making it possible to detect an appropriate range for the crane 1 while optimizing the data size of the detection information and speeding up processing in detection mode.
[0059] [Other examples of processing as a surrounding monitoring device] When the detection processing unit 611 executes the detection mode, it is preferable to prepare an environment in which there are no objects other than the crane 1 that can be detected by the surrounding detection device 634, and then perform object detection around the crane 1. However, for example, it may not be possible to create an environment where all objects other than crane 1 are removed from the detection range E around crane 1, or the burden of removal may become too great. On the other hand, if the object other than crane 1 is not a moving object, but an object of a height that does not pose a risk of interference with the rotation of the upper slewing body 3 (such as a fixed object, building, or installation; hereinafter referred to as installation T), then no interference with crane 1 will occur during operation, and the detection mode may be performed without removing the object. Figure 8 shows an example of the display of a detection image (overhead view) G4 based on the detection information acquired by performing the detection mode in an environment with such installation T.
[0060] In the above detection mode, the detection processing unit 611 acquires detection information that excludes a portion of the crane 1 and the installed object T that have entered the detection range E and been captured in the image from the surrounding detection device 634. The detection processing unit 611 then displays the detected image G4 based on the above detection information on the display device 622. At this time, the detection processing unit 611 receives and records a designation input from the input unit 621 to distinguish the detection information showing a part of the crane 1 and the detection information showing the installed object T as separate pieces of detection information.
[0061] At this time, the input unit 621 can distinguish between the crane 1 and the installed object T from among the objects whose distance detected by the surrounding detection device 634 included in the detection information of the detection mode is within a predetermined range. For example, when the input unit 621, which consists of an input interface such as a mouse, receives input specifying that it is a part of the crane 1 and that it is an installation object T, respectively, by range specification operation using frames L1 and L2, the detection processing unit 611 can distinguish and record the detection information acquired in detection mode as detection information for a part of the crane 1 and detection information for the installation object T. In this case, the input unit 621 can, for example, use the aforementioned frames L1 and L2 to separate the crane 1 from the objects to be excluded and the installed object T from the objects to be excluded. In this case, the input unit 621 functions as a sorting means. Furthermore, the input unit 621 can, for example, use the aforementioned frames L1 and L2 to distinguish between the crane 1 as a component of the crane 1 and the installed object T as something other than a component of the crane 1. In this case, the input unit 621 functions as a means for identifying the type of object.
[0062] Assuming that both crane 1 and installation object T are to be excluded, the detection processing unit 611 obtains detection information from the detection information acquired by the surrounding detection device 634 in work mode, excluding those that match the position coordinates of the detection information of a portion of crane 1 and the detection information of installation object T acquired in detection mode, and displays the processed detection image G5 shown in Figure 9. As can be seen by comparing it with the unprocessed detection image G1 in Figure 3, the processed detection image G5 has had unnecessary detection parts, corresponding to a portion of the crane 1 and the installed object T in the unprocessed detection image G1, removed.
[0063] Furthermore, as shown in the processed detection image G3 of Figure 5, unnecessary detection parts corresponding to a portion of the crane 1 may be completely excluded and not displayed. However, as shown in the processed detection image G5 of Figure 9, unnecessary detection parts corresponding to a portion of the crane 1 and the installed object T may be displayed in a second mode different from the first mode, which displays objects detected during operation, so that they can be distinguished from other detection parts. In the processed detection image G5 of Figure 9, a portion of the crane 1 and the installed object T are displayed with dotted lines, but the second mode is not limited to this, and may take the form of changing the color, changing the density, or making them blink, for example. In that case, it is preferable to display a portion of the crane 1 and the installed object T in a manner that is less conspicuous than other detection parts. In addition, it may be possible to select from multiple types of second modes. Furthermore, even when performing the processing to display the processed detection image G3 in Figure 5, which excludes only a portion of crane 1 as an unnecessary detection portion (exclusion target), the unnecessary detection portion corresponding to a portion of crane 1 may be displayed in a second manner different from the object detected during the operation, so that it can be distinguished from other detection portions.
[0064] Furthermore, the aforementioned monitoring processing unit 612 performs notification processing when an object is found within the alarm range W which is within the indicated range F. However, in addition to the unnecessary detection portion corresponding to a part of the crane 1, the installed object T is also excluded from the determination of whether it is an object within the alarm range W as it is an unnecessary detection portion.
[0065] As mentioned above, even if the installed object T is included in the list of items to be excluded, if the crane 1 does not perform any movement by traveling or if the installed object T is at a height where it does not interfere, there will be no interference between the installed object T and the crane 1, and therefore no problem will arise. On the other hand, if the installed object T is an object that is difficult to remove in detection mode and may interfere with the crane 1, the input unit 621, which is the sorting means described above, sorts the crane 1 into an object to be excluded and the installed object T into an object to be excluded. For example, the detection processing unit 611 does not exclude the detection information of the installed object T and displays it in the same manner as the object detected during the operation without distinguishing it from other detection parts, and performs display control to display it as the processed detection image G6 shown in Figure 10. Furthermore, when the monitoring processing unit 612 detects an installed object T, it determines that if it is within the alarm range W, it should be the target for triggering an alarm.
[0066] On the other hand, if the crane 1 moves by traveling, there is a risk of interference between the installed object T and the crane 1. In such cases, it is preferable to distinguish the installed object T from other components of the crane 1 using the input unit 621, which is the aforementioned object type identification means. In this case, when the crane 1 starts traveling, the detection processing unit 611 identifies the installed object T as an object that is not a component of the crane 1, even if it is excluded from detection, and displays it in the same manner as objects detected during operation without distinguishing it from other detection parts, and performs display control to display it as shown in the processed detection image G6 in Figure 10. Furthermore, when the monitoring processing unit 612 detects an installed object T, it determines that if it is within the alarm range W, it should be the target for triggering an alarm.
[0067] As described above, by distinguishing the installed object T from the crane 1 and setting it not to be excluded, or by setting the installed object T as an object that is not a component of the crane 1, it is possible to perform appropriate display control of the installed object T according to the situation. Furthermore, by setting the installation object T not to be excluded or by setting it not to be a component of crane 1, the removal work of installation object T can be avoided, and the detection mode can be easily executed when the removal of installation object T is difficult. Furthermore, if the installed object T is not a component of the crane 1, when the crane 1 moves, the detection processing unit 611 displays the installed object T on the display device 622 in the same manner as other detected objects, and the monitoring processing unit 612 also notifies the crane 1 in the same way as other detected objects. This makes it possible to avoid or reduce interference between the crane 1 and the installed object T when the crane moves.
[0068] [others] The details shown in the embodiments of the invention described above can be modified as appropriate without departing from the spirit of the invention. For example, the configuration for the surrounding monitoring device in the crane 1 described above is not limited to crawler cranes, but can be applied to any crane with a winch drum, including other mobile cranes such as wheel cranes and truck cranes, as well as port cranes, overhead cranes, jib cranes, gantry cranes, unloaders, and fixed cranes. Furthermore, the surrounding monitoring system can be applied to other types of machinery besides cranes, such as hydraulic excavators and foundation machinery.
[0069] Furthermore, the surrounding detection device 634 (distance detection means) is not limited to a laser scanner; any means that can detect the distance to an object numerically, such as a camera (including a stereo camera) or ultrasound, can also be used for distance detection. Furthermore, the ambient detection device 634 may be configured to have separate devices for detection mode and work mode. In that case, the detection methods of each ambient detection device 634 do not have to be the same.
[0070] Furthermore, while the detection image displayed the entire image, including the object, at a constant scaling factor, it is also acceptable to display a different scaling factor for certain areas.
[0071] Furthermore, although the above embodiment shows an example of displaying the detected image (overhead view) on the display device 622 provided on the crane 1, the target of displaying the detected image is preferably the operator, but it may also be someone other than the operator. In addition, the detected image (overhead view) may be displayed on a mobile terminal, a person outside the crane, or more preferably on another display device viewed by the operator. [Explanation of Symbols]
[0072] 1. Crane (working machine) 2 Lower running body 3. Upper rotating body (rotating section) 4 Boom 5 Counterweight 22 Crawler 60 Control device 61 Controllers 611 Detection Processing Unit 612 Monitoring Processing Unit 621 Input section (sorting means) 622 Display device (display means) 633 Turning amount sensor 634 Surroundings detection device (distance detection means) E Detection range F. Scope of presentation G1 Unprocessed detection image G2, G4 detection images G3, G5, G6 processed detection images T installation W Alarm Range W11~W24 Alarm Range h object
Claims
1. A surrounding monitoring device that provides an overhead view of the area around a work machine, Distance detection means for acquiring distance information to objects around the aforementioned work machine, A display means that displays the object in a first manner, reflecting the distance information, The system includes an exclusion target determination means that, in a predetermined detection mode, determines that at least a portion of objects whose distance detected by the distance detection means falls within a predetermined range are to be excluded, In the detection mode, the exclusion determination means can also determine that at least some of the surrounding objects that are different from the work machine and whose distance detected by the distance detection means is within a predetermined range are also objects to be excluded. The display means, in the detection mode, determines the objects to be excluded, and during operation, excludes the objects detected by the distance detection means that have been determined to be excluded by the exclusion target determination means, and displays the surrounding objects in the first manner.
2. In the detection mode, the distance detection means performs detection while rotating together with the rotating part of the work machine. The system includes a position identification means that identifies the position information of the object based on the detection result by the distance detection means and the rotation angle information of the rotation part. A device for monitoring the surroundings of a work machine as described in claim 1.
3. The display means displays the objects determined to be excluded by the exclusion determination means in a second manner different from the first manner. A device for monitoring the surroundings of a work machine according to claim 1 or claim 2.
4. In the detection mode, the distance detection means has a selection means for the operator to select which objects to exclude and which not to exclude from among objects whose distance is within a predetermined range. The display means displays the surrounding objects in the first manner, excluding the objects that have been excluded by the sorting means. A device for monitoring the surroundings of a work machine according to any one of claims 1 to 3.
5. A surrounding monitoring device that provides an overhead view of the area around a work machine, Distance detection means for acquiring distance information to objects around the aforementioned work machine, A display means that displays the object in a first manner, reflecting the distance information, The system includes an exclusion target determination means that, in a predetermined detection mode, determines that at least a portion of objects whose distance detected by the distance detection means falls within a predetermined range are to be excluded, During operation, the display means displays the surrounding objects in the first manner, excluding objects detected by the distance detection means that have been determined to be excluded by the exclusion target determination means. In the detection mode, the device has a selection means for selecting objects to be excluded and objects not to be excluded from among objects whose distance detected by the distance detection means is within a predetermined range. The distance detection means has an object type identification means that identifies whether or not the object detected is a component of the work machine, When the aforementioned work machine starts moving, The display means will display objects that have been determined to be excluded by the exclusion determination means, but which have been identified by the object type identification means as not being components of the work machine. Surrounding monitoring device for industrial machinery.