Construction machinery

Abstract

To provide a construction machine capable of determining whether or not a sensor for detecting an object functions normally before starting work.SOLUTION: A construction machine has an object detection sensor that is installed in a vehicle and detects a position of an object existing around the vehicle, a control device that outputs an object detection signal indicating that the object exists around the construction machine when the position of the object detected by the object detection sensor is within a predetermined first range, and a notification device to notify an operator of the detection of the object responding to the object detection signal output from the control device. The control device outputs a detection abnormal signal indicating the abnormality of the object detection sensor when the object detection sensor does not detect the object within a second range that is a detection range wider in lower direction than the first range when starting the construction machine. The notification device notifies the operator of the abnormality of the object detection sensor responding to the detection abnormal signal output from the control device.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to construction machinery.

Background Art

[0002] As construction machinery operating at a work site, for example, as described in Patent Document 1, there is known a machine having a function of detecting an object around the machine body for the purpose of improving safety. Patent Document 1 discloses a dirt determination device for an obstacle detection sensor in a work machine equipped with an obstacle detection sensor and a vehicle body information detection sensor. The device calculates an undetected period, which is a period during which the number of obstacles detected by the obstacle detection sensor is less than or equal to a predetermined number. If the calculated undetected period is greater than or equal to a predetermined value, and at least one of the following conditions is satisfied: the traveling distance of the work machine during the undetected period and the steering continuous period, which is the period during which a steering amount greater than or equal to a predetermined value continues, is greater than or equal to a predetermined value, it is determined that there is dirt.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above prior art, when the traveling distance or the steering continuous period during a period in which the number of detected obstacles is less than or equal to a predetermined number becomes greater than or equal to a predetermined value, that is, when the number of detected obstacles is less than expected despite traveling or steering, it is determined that there is dirt on the obstacle detection sensor. However, since it is necessary to travel or steer before determining that there is dirt on the obstacle detection sensor, there is a concern that the operator may start and continue work without noticing that there is a high possibility that an obstacle is not detected.

[0005] The present invention has been made in view of the above, and aims to provide a construction machine that can determine whether or not an object detection sensor is functioning properly before commencing work. [Means for solving the problem]

[0006] The present invention includes several means for solving the above problem, but one example is an object detection sensor installed on the vehicle body that detects the position of an object present around the vehicle body, and when the position of the object detected by the object detection sensor is within a predetermined first range, Vehicle body A construction machine comprising a control device that outputs an object detection signal indicating the presence of an object in its vicinity, and a notification device that notifies the operator that an object has been detected in response to the object detection signal output from the control device, wherein the control device is Vehicle body When the device is started, if the object detection sensor does not detect an object within a second range which has a wider detection range downward than the first range, the device outputs a detection abnormality signal to the notification device indicating that the object detection sensor is malfunctioning. The notification device then notifies the operator that the object detection sensor is malfunctioning in response to the detection abnormality signal output from the control device. [Effects of the Invention]

[0007] According to the present invention, it is possible to determine whether or not the object detection sensor is functioning correctly before starting work. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic side view showing the external appearance of a hydraulic excavator, an example of construction machinery, along with its detection range in normal operation mode. [Figure 2] This is a schematic rear view showing the external appearance of a hydraulic excavator, an example of construction machinery, along with its detection range in normal operation mode. [Figure 3] This is a schematic top view showing the external appearance of a hydraulic excavator, an example of construction machinery, along with its detection range in normal operation mode. [Figure 4] This is a schematic side view showing the external appearance of a hydraulic excavator, an example of construction machinery, along with the detection range in operation confirmation mode. [Figure 5] This is a schematic rear view showing the external appearance of a hydraulic excavator, an example of construction machinery, along with the detection range in operation confirmation mode. [Figure 6] This is a schematic top view showing the external appearance of a hydraulic excavator, an example of construction machinery, along with the detection range in operation confirmation mode. [Figure 7] This is a functional block diagram showing the controller's processing functions along with their related configurations. [Figure 8] This is a flowchart showing the details of the object detection process. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to Figures 1 to 8. In these embodiments, a hydraulic excavator is used as an example of construction machinery, but the invention is applicable to any machinery equipped with sensors for detecting surrounding objects. Furthermore, the present invention can be applied to other construction machinery, such as construction machinery driven by power sources other than hydraulics, such as electric-driven construction machinery, and construction machinery other than hydraulic excavators, such as wheel loaders.

[0010] Figures 1 to 6 schematically show the external appearance of a hydraulic excavator, which is an example of a construction machine to which the present invention is applied. Figures 1 and 4 are side views, Figures 2 and 5 are rear views, and Figures 3 and 6 are top views.

[0011] In Figures 1 to 6, the hydraulic excavator 100 is generally composed of a lower traveling body 101, an upper rotating body 102 that is rotatably mounted on the upper part of the lower traveling body 101 and together with the lower traveling body 101 constitutes the body of the hydraulic excavator 100, and a multi-jointed front working machine 103 that is mounted in front of the upper rotating body 102.

[0012] The front work implement 103 is constructed by rotatably connecting a plurality of driven members (boom 31, arm 32, and bucket 33) that each rotate vertically. The base end of the boom 31 is rotatably supported at the front of the upper slewing body 102 via a boom pin, and one end of the arm 32 is rotatably connected to the tip of the boom 31 via an arm pin. The bucket 33 is rotatably connected to the other end (tip) of the arm 32 via a bucket pin. The boom 31 is driven by a boom cylinder 34, the arm 32 is driven by an arm cylinder 35, and the bucket 33 is driven by a bucket cylinder 36. Hereafter, the boom cylinder 34, arm cylinder 35, and bucket cylinder 36 may simply be referred to as hydraulic actuators.

[0013] The lower running body 101 is equipped with tracks 11 that are wrapped around it in the front-rear direction on both sides, and a hydraulic motor 12 that drives the tracks 11 to perform the running motion. In addition, a blade 13 is provided on one side of the lower running body 101 in the front-rear direction, which is driven to rotate vertically by a hydraulic actuator (not shown). With the blade 13 lowered, it can perform tasks such as pushing soil and leveling the ground.

[0014] The upper slewing body 102 is rotatably mounted on the upper part of the lower traveling body 101 and is driven to rotate by a slewing hydraulic motor (not shown). Hereafter, the slewing hydraulic motor may be simply referred to as a hydraulic actuator. Although not shown, the vehicle frame of the upper slewing body 102 is equipped with an engine, which is the prime mover, a hydraulic pump driven by the engine, and control valves that control the flow rate and direction of pressurized oil discharged from the hydraulic pump and supplied to each hydraulic actuator in response to signals output by a vehicle control device that controls the overall operation of the hydraulic excavator 100.

[0015] On the upper part of the upper revolving body 102, there is a driver's cab 104 for an operator who operates the hydraulic excavator 100. The driver's cab 104 is provided with a seat 21 on which the operator sits, a key switch 25 (see FIG. 7 later) for starting the engine (in other words, starting the hydraulic excavator 100), and an operation lever device 22 that outputs an operation signal for operating each hydraulic actuator. Further, in front of the driver's cab 104 and at a position where it does not obstruct the view when the operator sitting on the seat 21 works with the front working machine 103, there is a monitor 24 for notifying the operator of various information. Also, at a position that is assumed to be within the visual field range of the operator sitting on the seat 21 and does not obstruct the operator's view, there is a stacked signal lamp (warning lamp) 23 that notifies the operator of information by lighting, extinguishing, or flashing a plurality of lamps of different colors arranged in a row.

[0016] Also, near the driver's cab 104 or around it, there are arranged a buzzer 26 (see FIG. 7 later) for notifying the operator of various information by sound, a speaker 27 (see FIG. 7 later) for notifying the operator of various information by voice, and the like.

[0017] Behind the driver's seat 104 of the upper slewing body 102 that constitutes the body of the hydraulic excavator 100 (for example, at the upper rear end of the body cover and above the counterweight, in other words, on the upper surface of the upper slewing body 102), an object detection sensor 105 for detecting whether there is an object within a predetermined detection range is provided. The object detection sensor 105 is a ranging sensor such as an infrared sensor, for example, and measures the distance and position to an object existing within the detectable range in terms of specifications. The detection result of the object detection sensor 105 is sent to a controller 200 described later, and by comparing the position or distance of the detected object with a predetermined detection range, it is determined whether there is an object within that detection range. Note that the rear of the upper slewing body 102 is continuously arranged with the body cover and is covered by an engine cover provided to be slidable and opened / closed or rotatable and opened / closed in the vertical direction. The engine cover is outside the detection range of the object detection sensor 105 in the closed position and overlaps the detection range of the object detection sensor 105 in the open position.

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

[0019] FIG. 7 is a functional block diagram showing the processing contents of the controller.

[0020] The controller 200 controls the object detection process of detecting an object around the hydraulic excavator 100 according to the detection result from the object detection sensor 105 and notifying the operator, and is arranged at a predetermined position of the upper slewing body 102.

[0021] In FIG. 7, the controller 200 includes a detection mode control unit 201, a detection range setting unit 202, an object detection unit 203, and a notification control unit 204.

[0022] The detection mode control unit 201 selectively switches the state (detection mode) of the controller 200 between an operation confirmation mode, which checks whether the object detection sensor 105 is functioning correctly, and a normal operation mode, which uses the object detection sensor 105 to detect objects around the hydraulic excavator 100, based on the start signal from the key switch 25 to start the engine (in other words, to start the hydraulic excavator 100) and the detection result from the object detection unit 203. Specifically, when the start signal is output from the key switch 25, the detection mode control unit 201 switches the detection mode to the operation confirmation mode. If an object is detected by the object detection unit 203 in the operation confirmation mode (in other words, if an object detection signal indicating that an object has been detected is received from the object detection unit 203), the detection mode control unit 201 assumes that the object detection sensor 105 is functioning correctly in the operation confirmation mode and switches to the normal operation mode. If no object detection signal is received from the object detection unit 203 in the operation confirmation mode, the operation confirmation mode is continued.

[0023] The detection range setting unit 202 sets the detection range for objects according to the detection mode set by the detection mode control unit 201. Figures 1 to 3 show examples of setting the detection range 105a (first range) in normal use mode, and Figures 4 to 6 show examples of setting the detection range 105b (second range) in operation confirmation mode.

[0024] As shown in Figures 1 to 3, the detection range 105a in normal operation mode is set to extend diagonally downward and spread planarly in the left-right direction when viewed from the rear of the object detection sensor 105, and to not include the ground 300 (contact surface of the tracks 11) surrounding the hydraulic excavator 100 at the work site. In other words, the detection range 105a is set to be closer to the ground 300 than the ground when viewed from the object detection sensor 105.

[0025] As shown in Figures 4 to 6, the detection range 105b in operation confirmation mode is set to extend diagonally downward and spread planarly in the left-right direction when viewed from the rear of the object detection sensor 105, and to include the surrounding ground 300 (contact surface of the tracks 11) where the hydraulic excavator 100 is positioned at the work site. The detection range 105b is set, for example, based on the maximum distance that can be measured according to the specifications of the object detection sensor 105.

[0026] Although not shown in the diagram, in normal operation mode and operation confirmation mode, the vicinity of the object detection sensor 105 is excluded from the detection range in order to ensure detection accuracy and suppress false detections. Specifically, for example, the range of distance to the nearest structure of the hydraulic excavator 100 (for example, a pillar supporting the roof located above the driver's seat 104) in the direction along the detection ranges 105a and 105b of the object detection sensor 105 is excluded from the detection range.

[0027] The object detection unit 203 determines whether or not there is an object within the detection ranges 105a and 105b based on the detection result from the object detection sensor 105 and the detection ranges 105a and 105b set by the detection range setting unit 202, and outputs the determination result to the detection mode control unit 201 and the notification control unit 204.

[0028] When the detection mode control unit 201 switches to normal operation mode and the detection range setting unit 202 sets the detection range 105a, it is determined whether the position of the object detected by the object detection sensor 105 is within the detection range 105a, that is, whether there is an object within the detection range 105a. If it is determined that there is an object within the detection range 105a, an object detection signal indicating that an object has been detected is output as a detection result to the detection mode control unit 201 and the notification control unit 204. In this embodiment, the case where no signal is output when there is no object within the detection range 105a is described as an example, but it may also be configured to output a signal indicating that no object has been detected.

[0029] Furthermore, when the detection mode control unit 201 switches to operation confirmation mode and the detection range setting unit 202 sets the detection range 105b, it is determined whether the position of the object detected by the object detection sensor 105 is within the detection range 105b, that is, whether there is an object within the detection range 105b. At this time, since the detection range 105b is set to include the ground 300 surrounding the hydraulic excavator 100 at the work site, if the object detection sensor 105 is operating normally, it is determined that there is ground 300 as an object within the detection range 105a, and an object detection signal indicating that an object has been detected is output as a detection result to the detection mode control unit 201 and the notification control unit 204.

[0030] On the other hand, if the ground 300 is not detected as an object due to a malfunction in the object detection sensor 105, it is determined that there is no object within the detection range 105b. For example, if the object detection sensor 105 is an infrared sensor, malfunctions of the object detection sensor 105 could include not only a failure of the infrared sensor itself, but also the adhesion of water droplets, dust, mud, or other contaminants to the lens surface of the infrared irradiation unit or the reflected wave receiving unit. In this case, the infrared rays emitted from the infrared sensor are blocked by the contaminants on the lens surface before they reach the target object, and the infrared rays are not emitted correctly.

[0031] In this embodiment, the example described is one in which no signal is output when no object is present within the detection range 105a. However, the system may also be configured to output a signal indicating that no object has been detected.

[0032] The notification control unit 204 outputs an object detection signal indicating that there is some kind of obstacle (object) behind the hydraulic excavator 100, or a detection error signal indicating that the object detection sensor 105 is not functioning properly, to the notification device, such as the monitor 24, stacked signal light 23, buzzer 26, and speaker 27, according to the detection mode set by the detection mode control unit 201 and the detection result from the object detection unit 203.

[0033] For example, if the detection mode set by the detection mode control unit 201 is the operation confirmation mode, and the object detection unit 203 determines that there is no object in the detection range 105b, it outputs a detection abnormality signal to the notification device indicating that the object detection sensor 105 is not functioning correctly. Also, if the detection mode control unit 201 determines that there is an object in the detection range 105b in operation confirmation mode, it switches to normal operation mode, and if there is an object in the detection range 105a, it outputs an object detection signal to the notification device indicating that there is some kind of obstacle (object) behind the hydraulic excavator 100.

[0034] The processing principle of the notification control unit 204 is as follows: For example, when the unit switches to operation confirmation mode in response to a start signal from the key switch 25 and the detection range 105b is set, if the object detection sensor 105 is functioning normally, it is determined that at least the ground 300 (object) is within the detection range 105b. Also, if the hydraulic excavator 100 is located in a hangar, for example, it is determined that objects such as walls and pillars are within the detection range 105b. In other words, if it is determined in operation confirmation mode that an object is present in the detection range 105b, it can be said that the object detection sensor 105 is functioning normally. To put it another way, if it is determined that no object is present in the detection range 105b, it can be said that the object detection sensor 105 is not functioning normally.

[0035] If there is no signal output from the notification control unit 204, the stacked signal light 23, which is a notification device, will have a lamp (for example, a green lamp) lit to indicate that it is in operation, and the buzzer 26 will be silent. If a detection abnormality signal is output from the notification control unit 204, the stacked signal light 23 will flash a lamp (for example, a red lamp) indicating that an abnormality has occurred, and the buzzer 26 will emit a continuous warning sound to inform the operator that there is some kind of abnormality in the object detection sensor 105 and that it is not functioning normally. If an object detection signal is output from the notification control unit 204, the stacked signal light 23 will light up a lamp (for example, a red lamp) indicating that an abnormality has occurred, and the buzzer 26 will emit an intermittent warning sound to inform the operator that there is an obstacle such as soil, a structure, or a worker behind the hydraulic excavator 100, which is a blind spot for the operator operating it from the driver's seat 104.

[0036] Monitor 24 is a display device that displays images and text corresponding to the notification content. When a detection abnormality signal is output from the notification control unit 204, it displays information (images and text) indicating that some kind of abnormality has occurred in the object detection sensor 105 and it is not operating normally, and notifies the operator. In addition, when an object detection signal is output from the notification control unit 204, Monitor 24 displays information indicating that there is an obstacle such as a worker behind the hydraulic excavator 100 and notifies the operator.

[0037] Similarly, if the notification control unit 204 outputs a detection abnormality signal, the speaker 27 will inform the operator by voice that there is some kind of abnormality in the object detection sensor 105 and that it is not functioning properly. In addition, if the notification control unit 204 outputs an object detection signal, the speaker 27 will inform the operator by voice that there is an obstacle such as a worker behind the hydraulic excavator 100.

[0038] In this embodiment, the example described is the case where an object detection signal or detection anomaly signal is output to a notification device to notify the operator of the information. However, the invention is not limited to this. For example, when the controller 200 outputs an object detection signal or detection anomaly signal, it may output a deceleration control signal to reduce the operating speed of the hydraulic excavator 100 (construction machine) or a stop control signal to stop its operation to the vehicle control device that controls the overall operation of the hydraulic excavator 100. The vehicle control device may then output a signal to a control valve or the like in response to the deceleration control signal or stop control signal, thereby stopping the operation of the hydraulic excavator 100 or reducing its operating speed. Alternatively, the controller 200 may output an object detection signal or detection anomaly signal to the vehicle control device, and the vehicle control device may output a signal to a control valve or the like in response to the object detection signal or detection anomaly signal, thereby stopping the operation of the hydraulic excavator 100 or reducing its operating speed. It is also possible to consider the controller 200 and the vehicle control device as an integrated control device, and consider this control device to output a signal to a control valve or the like in response to the detection result of the object detection sensor 105.

[0039] Figure 8 is a flowchart showing the contents of the object detection process.

[0040] In Figure 8, when the key switch 25 is operated and a start signal is output (step S100), the controller 200 starts up in operation confirmation mode and determines whether or not it has detected any object in the detection range 105b (step S120).

[0041] If the result of the determination in step S120 is NO, that is, if no object is detected in the detection range 105b, the notification device will notify the operator that the object detection sensor 105 is malfunctioning (i.e., not functioning properly) (step S121), and the process will end.

[0042] Furthermore, if the determination result in step S120 is YES, that is, if an object is detected in the detection range 105b, the system switches to normal operation mode (step S130). In normal operation mode, the system determines whether the position of the object detected by the object detection sensor 105 is within the detection range 105a (step S140). If the determination result is NO, that is, if it is determined that there is no object within the detection range 105a, the system repeats the process in step S140 and waits.

[0043] Furthermore, if the result of the determination in step S140 is YES, that is, if it is determined that there is an object within the detection range 105a, the notification device is activated to notify the operator that there is an obstacle such as a worker behind the hydraulic excavator 100 (step S150), and the process returns to step S140.

[0044] The effects of this embodiment, configured as described above, will now be explained.

[0045] If an object detection sensor is not functioning properly due to dirt or other reasons, there is a high probability that obstacles will not be detected. It is necessary to prevent operators from starting or continuing work without realizing this condition.

[0046] Therefore, in this embodiment, when the hydraulic excavator 100 is started, it is determined whether or not the object detection sensor 105 has detected an object. If it is determined that no object has been detected, a detection error signal indicating that the object detection sensor 105 is malfunctioning is output to the notification device (for example, stacked signal light 23, monitor 24, buzzer 26, speaker 27). The notification device is configured to notify the operator that the object detection sensor 105 is malfunctioning in response to the detection error signal output from the controller 200. Thus, it is possible to determine whether or not the object detection sensor is functioning normally before starting work.

[0047] <Note> It should be noted that the present invention is not limited to the embodiments described above, and includes various modifications and combinations that do not depart from the spirit of the invention.

[0048] For example, in this embodiment, the case in which one object detection sensor 105 is installed so that the rear of the hydraulic excavator 100 is within its detection range was described as an example, but the invention is not limited to this, and for example, multiple object detection sensors may be provided, each with a detection range on the left and right sides of the hydraulic excavator 100, and the same processing may be performed.

[0049] Furthermore, the present invention is not limited to having all the configurations described in the above embodiments, but also includes configurations in which some of the configurations are omitted. In addition, some or all of the above configurations, functions, etc. may be realized by designing them, for example, as integrated circuits. In addition, each of the above configurations, functions, etc. may be realized in software by having a processor interpret and execute a program that realizes each function. [Explanation of symbols]

[0050] 11...Tracks, 12...Traction hydraulic motor, 13...Blade, 21...Seat, 22...Operating lever device, 23...Stackable signal light, 24...Monitor, 25...Key switch, 26...Buzzer, 27...Speaker, 31...Boom, 32...Arm, 33...Bucket, 34...Boom cylinder, 35...Arm cylinder, 36...Bucket cylinder, 100...Hydraulic excavator, 101...Lower traveling body, 102...Upper rotating body, 103...Front work implement, 104...Driver's seat, 105...Object detection sensor, 105a,105b...Detection range, 200...Controller, 201...Detection mode control unit, 202...Detection range setting unit, 203...Object detection unit, 204...Notification control unit, 300...Ground

Claims

1. An object detection sensor installed on the vehicle body detects the position of objects present around the vehicle body, A control device that outputs an object detection signal indicating the presence of an object around the vehicle body when the position of the object detected by the object detection sensor is within a predetermined first range, A construction machine comprising a notification device that notifies the operator that an object has been detected in response to the object detection signal output from the control device, When the vehicle is started, if the object detection sensor does not detect an object within a second range which has a wider detection range downward than the first range, the control device outputs a detection error signal to the notification device indicating that the object detection sensor is malfunctioning. The notification device is characterized in that, in response to the detection abnormality signal output from the control device, it notifies the operator that the object detection sensor is malfunctioning.

2. In the construction machine described in claim 1, The first range is set to a range that does not include the ground contact surface of the construction machine, The construction machine is characterized in that the second range is set to include the ground contact surface.

3. In the construction machine described in claim 2, Lower running body and An upper rotating body is provided on top of the lower traveling body so as to be rotatable, Equipped with, The construction machine is characterized in that the object detection sensor is mounted on the upper surface of the upper rotating body and installed so that the detection direction extends diagonally downward.

4. In the construction machine described in claim 1, The notification device is characterized by comprising at least one of the following: a buzzer that emits a sound corresponding to a signal output by the control device; a stacked signal light having multiple lights of different colors arranged in a row that light up or flash according to a signal output by the control device; and a speaker that outputs sound corresponding to a signal output by the control device.

5. In the construction machine described in claim 1, Work equipment and A hydraulic actuator that drives the aforementioned work machine, A control valve controls the flow rate and direction of pressurized oil supplied to the hydraulic actuator in accordance with the signal output by the control device. Equipped with, The control device is characterized in that, when it outputs the detected abnormality signal, it outputs a deceleration control signal to the control valve to reduce the operating speed of the construction machine, or a stop control signal to stop the operation of the construction machine.

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