JP2003105807A - Stop control method in intrusion-prohibitive region for service car and its controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a stop control method in an intrusion-prohibitive region for a service car and its controller, by which the proper intrusion-prohibitive region can be set in response to the work contents of an intrusion article in the case of the intrusion of the article into a working region and the operating efficiency of the service car can be improved maximally. SOLUTION: In the step control method in the intrusion-prohibitive regions for the service car in which the intrusion-prohibitive regions are preset around the service car (1) and the service car is stopped when the intrusion article such as an operator intruding into the service region (4) enters into the preset intrusion-prohibitive regions, the intrusion-prohibitive regions (2 and 3) can be changed in response to the work contents of the intrusion articles. The intrusion-prohibitive regions (2 and 3) are changed by selecting one from a plurality of the preset intrusion-prohibitive regions (2 and 3). An identifying mark or an identification code displayed on the intrusion article may also be qualified by image data processing in the detection of the work contents (approach permission levels). The signal of the identification code from an infrared signal transmitter (9) installed to the instruction article may also be received by a three-dimensional infrared signal receiver (8).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for monitoring an intruder in a work area of a work vehicle such as a hydraulic excavator or a mobile crane to control starting and stopping of the work vehicle.

[0002]

2. Description of the Related Art Conventionally, an intruder (obstacle such as a human being or another vehicle) into a work area of a work vehicle such as a hydraulic excavator or a mobile crane is monitored to control start and stop of the work vehicle. Control devices (so-called work area monitoring devices) have been proposed. For example, Japanese Laid-Open Patent Publication No. 5-65725 discloses a turning safety device for an upper turning construction machine such as a hydraulic excavator and a work vehicle. According to the publication, a sensing sensor such as an ultrasonic sensor capable of transmitting / receiving to / from a construction machine having an upper revolving structure is arranged, a sensing area by the sensing sensor is divided into a plurality of ranges in a plan view, and the divided range Of the upper revolving superstructure and its work attachment, the areas near the outer periphery of the upper revolving superstructure and its work attachment are adjacent to the outer circumference of the swivel stop area, and the ranges of positions slightly apart from the upper revolving superstructure and its work attachment are defined. It is set in the turning low speed area. Then, when a person or an obstacle enters the turning stop area during the turning operation of the upper swing body, the turning operation of the upper swing body is stopped, and when the turning of the upper swing body stops, the person or the obstacle enters the turning stop area. If so, the subsequent turning start is stopped, and when a person or an obstacle enters the turning low speed area, the maximum turning speed is limited to a predetermined low speed.

[0003]

However, the safety device described in Japanese Patent Laid-Open No. 5-65725 has the following problems. That is, the sensing area of the safety device is divided into a plurality of areas such as a turning stop area and a turning low speed area according to the distance from the upper swing body of the construction machine and its work attachment, and the worker and the obstacles respectively When entering an area, although restrictions are imposed such as stopping the swinging motion of the upper swing body or limiting the maximum swing speed to a predetermined low speed, depending on the area, in the actual work site the worker In many cases, there is no choice but to work in the turning stop area for the purpose of assisting the work on the construction machine, so that the turning operation is frequently stopped or the turning maximum speed is limited. For this reason, since the turning operation is frequently interrupted, there is a problem that the working efficiency of the construction machine is reduced.

On the other hand, in order to carry out the work without interrupting the turning operation as described above, it is unavoidable that the above-mentioned area setting is eliminated so that the turning operation is not stopped and the maximum turning speed is not restricted. . However, in a situation where the area is not set, there is a problem that the safety device cannot be operated when performing work that does not require auxiliary work.

The present invention has been made paying attention to the above-mentioned problems, and when an intruder enters the work area of a work vehicle, an appropriate invasion prohibition area can be set according to the work content of the intruder. Therefore, it is an object of the present invention to provide a stop control method and a control device for the stop control in an invasion prohibited area of a work vehicle, which can maximize the work efficiency of the work vehicle.

[0006]

In order to achieve the above-mentioned object, the first aspect of the present invention is to set a forbidden area around a work vehicle in advance so that a worker or the like who has entered the work area can enter the work area. In a stop control method for a work vehicle in an intrusion prohibited area, which detects the position of an intruding object and stops the work vehicle when the intruding object enters the set intrusion prohibited area, The method is such that the intrusion prohibited area can be changed according to the work content of the intruder.

According to the first aspect of the invention, the intrusion prohibited area can be changed according to the work content of an intruder such as a worker, so that the intrusion prohibited area can be always set in accordance with the work content. Therefore, in the case of an auxiliary worker of the work vehicle, the work vehicle can work efficiently without frequent stoppages by setting the required minimum intrusion prohibited area, and in the case of a worker unrelated to the work, the work vehicle It is possible to widen the applicable range of the work vehicle, such as high safety can be secured by setting the intrusion prohibited area in a range away from.

A second aspect of the present invention is the method according to the first aspect of the present invention, wherein the intrusion prohibited area is changed by selecting one from a plurality of preset intrusion prohibited areas.

According to the second aspect of the present invention, one of a plurality of preset intrusion prohibited areas is selected and the intrusion prohibited area is changed, so that a simple setting error when directly setting the intrusion prohibited area is eliminated. You can

In a third aspect of the present invention, an intrusion-prohibited area is preset around the work vehicle, the position of an intruder such as a worker who invades the work area is detected, and the intruder is set in the intrusion-prohibited area. In the stop control method in the invasion prohibited area of the work vehicle, which is designed to stop the work vehicle when entering
A first step of pre-storing a plurality of different intrusion prohibition areas corresponding to the work content of an intruder such as a worker, and a second step of presetting an intrusion permission level according to the work content of each intruder. A third step of detecting the position of an intruder that has entered the work area of the work vehicle and the entry permission level, and a fourth step of reading out the entry prohibition area corresponding to the detected level from the stored plurality. The method further comprises a fifth step of comparing the detected position of the intruder with the read-out intrusion prohibited area and stopping the work vehicle when the intruder invades the intrusion prohibited area.

According to the third aspect of the present invention, an intrusion permission level corresponding to the work content of each intruder is set in advance, and the position and the intrusion permission level of the intruder that has entered the work area of the work vehicle are detected. Read out an intrusion prohibition area corresponding to the detected intrusion prohibition level from a plurality of intrusion prohibition areas stored in advance according to the intrusion prohibition level, and check whether the intruder has intruded into the intrusion prohibition area. I did it. Therefore, the stop control of the work vehicle is performed by the intrusion prohibition area that is appropriately set according to the work content, such as an auxiliary worker working in the vicinity of the work vehicle or a worker unrelated to the work. Can be operated efficiently. Also, even if there are multiple different intruders in the same work area,
Since the intrusion stop processing is performed by comparing the intrusion prohibited area suitable for each intruder and the position of the intruder, the work vehicle can be driven with maximum efficiency.

A fourth invention is the same as the second invention according to the third invention.
The setting of the intrusion permission level in the step is to represent an identification mark or an identification code in advance for each intruder, and the detection of the intrusion permission level in the third step is to identify the intrusion mark. Alternatively, the method is to certify the identification code.

According to the fourth invention, the intrusion permission level can be detected reliably and easily by recognizing the identification mark or the identification code displayed on the intruder. Therefore, the work machine is inefficient due to the intrusion permission level being erroneously recognized. Stoppage can be reduced.

According to a fifth aspect of the present invention, an invasion prohibited area is preset around the work vehicle, the position of an intruding object such as a worker invading the work area is detected, and the intruding object is set in the intrusion prohibited area. In the stop control device in the invasion prohibited area of the work vehicle, which is configured to stop the work vehicle when entering
Intrusion-prohibited area storage means for storing a plurality of different intrusion-prevented areas set in advance corresponding to the work content of intruders such as workers, and level identification means for identifying the intrusion permission level preset for each intruder Position detecting means for detecting the position of an intruding object that has entered the work area of the work vehicle, and an intrusion prohibition area corresponding to the intrusion permission level identified by the level identifying means, read out from the intrusion inhibition area storage means, and the position is detected. As a configuration including a monitoring determination unit that compares the position of the intruder detected by the means with the read-out intrusion prohibited area and stops the work vehicle when the intruder invades the intrusion prohibited area. There is.

According to the fifth aspect of the present invention, the intrusion permission level is preset for each work content of each intruder, and different intrusion prohibition areas are stored in accordance with the intrusion permission level of each intruder. When the intruder is stored in the means and enters the work area, the position of the intruder is detected by the position detecting means, and the intrusion permission level of the intruder is identified by the level identifying means. The intrusion prohibited area corresponding to the intrusion permitted level is read from the intrusion prohibited area storage means, the position of the intruder is compared with this intrusion prohibited area, and it is checked whether or not the intrusion prohibited area is entered. Therefore, since the intrusion prohibited area can be changed according to the work content (intrusion permission level) of the intruder, it is appropriate depending on the work content such as an auxiliary worker working in the vicinity of the work vehicle or a worker unrelated to the work. Since the stop control of the work vehicle is performed by the intrusion prohibition area set to, the work vehicle can be efficiently operated. Further, even if there are a plurality of different intruders in the same work area, the intrusion stop processing is performed by comparing the intrusion prohibition area suitable for each intruder and the position of the intruder, so that the work vehicle can be efficiently used. Can be driven.

According to a sixth aspect of the present invention, in the fifth aspect, an identification mark or an identification code corresponding to the intrusion permission level is visibly displayed on an intruder, and the level identification means is the identification mark on the intruder. Alternatively, the identification code is identified by image data processing.

According to the sixth aspect of the present invention, the identification mark or identification code displayed on the intruder is identified by image data processing, so that the intrusion permission level of the intruder can be detected easily and reliably. As a result, the work vehicle stop control process according to the intrusion permission level of the intruder can be reliably executed.

In a seventh aspect based on the fifth aspect, an infrared signal transmitter for transmitting an identification code set in correspondence with the intrusion permission level as an infrared signal is attached to an intruding object in advance, and the level identifying means comprises: The three-dimensional infrared signal receiver receives the identification code signal from the infrared signal transmitter mounted on the intruder for identification.

According to the seventh aspect of the invention, since the infrared signal of the identification code transmitted from the infrared signal transmitter mounted on each intruder is received by the three-dimensional infrared signal receiver, the identification of each intruder is possible. The code, that is, the intrusion permission level can be surely detected, and the intrusion prohibited area stop control of the work vehicle according to the present invention can be surely performed. Further, the intrusion permission level can be detected with a simple and inexpensive structure.

According to an eighth aspect of the present invention, in addition to the fifth aspect, a setting means is provided for setting the intrusion prohibited area. According to the eighth aspect of the invention, since the intrusion prohibition area can be arbitrarily set by the setting means, the intrusion permission level and the intrusion prohibition area can be easily set according to various work contents, and the range of application of the work vehicle can be expanded. You can

[0021]

DETAILED DESCRIPTION OF THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. First, a first embodiment will be described with reference to FIGS. FIG. 1 shows a schematic configuration of this embodiment. For example, in a predetermined position in the area of the construction site, hydraulic excavator,
A work vehicle 1 such as a crane and a forklift is arranged, and a worker A who assists the work in the vicinity of the work machine of the work vehicle 1 in the work area of the work vehicle 1 is directly related to the work. Other workers B who do not work, and other obstacles C such as dump trucks working in the work area enter and leave at any time. An image pickup camera 5 is installed above the center of the work vehicle 1 at a position where the area can be overlooked. The image pickup camera 5 is attached to a predetermined fixed structure 31 so as to be movable in the horizontal directions of two substantially orthogonal X and Y axes, and is moved from the management device 20 via a drive device (not shown). It is adapted to be driven in the XY axis directions by a command. Further, the image pickup signal of the image pickup camera 5 is input to the management device 20.

The management device 20 is mainly composed of a high-speed arithmetic device such as a microcomputer and a high-speed numerical arithmetic processor, performs predetermined image data processing on the basis of the image pickup signal of the image pickup camera 5, and positions the work vehicle 1. The positions of the workers A and B invading the preset work area of the work vehicle 1 and the position of the obstacle C are calculated. Then, as will be described later in detail, the calculated positional information and the preset work area information are compared and calculated, and the workers A, B and the obstacle C in the work area are calculated based on the calculation result. Monitor for intrusion into the specified intrusion-prohibited area. When it is determined by this monitoring that the vehicle is invading, the management device 20 transmits to the work vehicle 1 a stop command or a deceleration command for driving or driving the work machine. This transmission is performed by, for example, the antennas 27a, 1
It can be performed by wireless communication via 7a or by wire via a communication cable (not shown).

FIG. 2 is an explanatory diagram of the intrusion prohibited area of the work vehicle 1. The body of the work vehicle 1 (including the lower traveling body and the upper revolving body in the case of the upper swing type) and the working machine (the boom, arm, bucket, working machine attachment of the hydraulic excavator, the telescopic boom of the crane, the jib, and the forklift). A first intrusion-prohibiting area 2 is set around the outer periphery of the fork, mast, etc.), and a second intrusion-prohibiting area 3 is provided in a predetermined range outside the first intrusion-prohibition area 2.
However, the work area 4 of the work vehicle 1 is set further outside including the second intrusion prohibition area 3. The worker A is permitted to work in the second intrusion prohibition area 3,
When the worker A is outside the first intrusion prohibition area 2 and inside the second intrusion prohibition area 3, the work vehicle 1 can travel and drive the work implement at a predetermined speed that does not hinder work. When the vehicle enters the first intrusion-prohibited area 2, the traveling and the working machine drive are stopped. Further, the worker B and the obstacle C (such as a dump truck) are allowed to work in the work area 4, and the work vehicle 1 has the worker B and the obstacle C outside the second intrusion prohibition area 3 and While in the work area 4, it is possible to travel or drive the work machine at a predetermined speed that does not hinder work, and when the worker B enters the second intrusion prohibition area 3, the travel or work machine drive is stopped. ing.

In order to identify the intrusion permission level of the areas to which the workers A, B and the obstacle C are permitted to intrude, they are worked with predetermined identification marks. The identification mark is visibly displayed on the surface facing upward so that the image can be easily picked up by the image pickup camera 5. For example, in the case of the workers A and B, the identification mark is displayed on the upper surface of the helmet, or the dump truck or the like. In the case of a vehicle, it is shown on the upper surface of the cab. The shape, color, and pattern of the identification mark are predetermined according to the intrusion permission levels for the respective intrusion prohibited areas 2, 3 and the work area 4.
Identification is made based on at least one of these shapes, colors, and patterns. The example shown in FIG. 2 is an example in which only the shape is identified, and the mark that permits the work in the second intrusion prohibition area 3 is the “+” (or “x”) mark, and the outside of the second intrusion prohibition area 3 In addition, the mark that permits the work in the work area 4 is a “◯” mark. In addition,
The identification mark can be represented by painting, printing, engraving, sticking a sticker, displaying on a display, or the like.

Further, the ranges of the invasion prohibited areas 2 and 3 and the work area 4 are preset for each work vehicle 1 in accordance with the work content. In the present embodiment, the function formula data and coordinate data representing the boundary line that defines each range on the XY coordinates are set and stored. For example, the boundary line of the first intrusion prohibition area 2 stores the coordinate data of the intersection of the straight line portion, the curve formula data of the curve portion and the coordinate data of the start point and the end point thereof, and the boundary line of the second intrusion prohibition area 3 The line stores the functional expression data of the circle, and the boundary line of the work area 4 stores the coordinate data of the intersection of the straight lines.

Next, the control function configuration according to the present invention will be described with reference to the control function block diagram shown in FIG. As shown in FIG. 3, the management device 20 includes a position detection means 21, a level identification means 22, a monitoring determination means 23, a transceiver 27, an intrusion prohibited area storage means 28, and a setting means 29. Further, the work vehicle 1 includes a vehicle control unit 14, a warning unit 15, and a transceiver 17. Each will be described below.

The position detection means 21 detects the position and orientation of each object such as the work vehicle 1, the workers A and B, and the obstacle C. In this embodiment, each object within the work area 4 is detected. The position and the direction on the XY coordinate of are detected. That is, each pixel signal of the bird's-eye view imaging signal of the entire work area 4 input from the imaging camera 5 is binarized or multi-level binarized to obtain two-dimensional image data at predetermined time intervals. By performing feature point extraction of each object by the data processing of, in the image data at each time,
The position of the work vehicle 1 and the work machine direction (turning position), the position and direction of the obstacle C (front-back direction), and the positions of the workers A and B are specified, and work is performed based on these position data and direction data. The absolute coordinate data and the direction in the area 4 are calculated and obtained. The obtained coordinate data and orientation of each object are output to the monitoring determination means 23.

Further, the work area 4 may be enlarged, reduced or moved depending on the work content of the work vehicle 1. In this case, the image pickup camera 5 is located at a substantially central position of the work area 4 newly set. , Along the structure 31
-Move in the Y-axis direction. The position detection means 21 inputs the position of the imaging camera 5 on the X-Y axis by a detection sensor (not shown), and obtains the absolute position of the work vehicle 1 or the like based on the position of the imaging camera 5.

The level identification means 22 detects the identification mark, and the areas where the work is permitted based on the detected identification mark are the work area 4, the first intrusion prohibited area 2 and the second intrusion prohibited. It is determined which one of the areas 3 is. That is, in this example, the identification mark is pattern-recognized by the data processing of the two-dimensional image data obtained from the image pickup signal of the image pickup camera 5, and the type of the recognized identification mark is specified from the preset marks. Then, the identified identification mark type is output to the monitoring determination unit 23.

The intrusion-prohibited area storage means 28 stores the range data of each of the work area 4, the first intrusion-prohibited area 2 and the second intrusion-prohibited area 3 described above, and in this example, corresponds to each area. The function formula data representing the boundary line, the coordinate data, and the like are stored. When the orientation of the first intrusion prohibition region 2 changes depending on the orientation of the work vehicle 1 (the turning position of the working machine) as in the case of this example, the above-described functional expression data and coordinate data of the work vehicle 1 are used. It is preferable to store the data so that it can be calculated in association with the turning angle. The setting means 29 is a data input means for setting the range data in advance and storing it in the intrusion prohibition area storage means 28. For example, an input section having a keyboard and / or a dedicated data input switch, the input data and the setting data are set. It is provided with a display for confirming data.
Further, the setting means 29 is a device for storing and setting data stored in a portable memory such as a floppy (registered trademark) disk or an IC memory card, or a device for inputting and receiving data from a host computer (not shown) by supervising. It can also be configured.

The monitoring determination means 23 detects the position and orientation of the work vehicle 1 detected by the position detection means 21, the positions of the workers A and B, the position and orientation of the obstacle C, and the level identification means 2.
Based on the type of identification mark for each object determined in 2 and the range data of each area stored in the intrusion prohibited area storage unit 28, the work vehicle 1 should decelerate, or the traveling and the working machine drive should be stopped. I'm judging you. That is, based on the range data of each area of the intrusion prohibited area storage means 28, the function formula data and the coordinate data of each area corresponding to the position and direction of the work vehicle 1 at each time point are calculated, and the calculated range data is obtained. Based on this, the boundary line of each area is obtained. Then, for each object, the boundary line of the area corresponding to the identification mark type of the object is compared with the position of the object to check whether each object is in the intrusion prohibited area, and the intrusion prohibited area. When it is within the area, a stop command is transmitted to the work vehicle 1 via the transceiver 27.

The vehicle control means 14 controls the running of the work vehicle 1 and the start and stop of the work machine drive, and comprises a travel control section and a work machine control section. The traveling control unit
It has means for forcibly stopping the traveling drive or limiting the traveling speed when the operator operates the traveling. Further, the work implement control section has means for forcibly stopping the work implement drive when the operator operates the work implement. When the stop command is received from the management device 20 via the transmitter / receiver 17, the traveling control unit and the working machine control unit stop the traveling and the driving of the working machine.

When the warning means 15 receives the stop command via the transmitter / receiver 17, the operator and the work vehicle 1
It is for notifying the workers A, B, etc. around the user of this, and is composed of, for example, a patrol light, an alarm buzzer, an alarm message display, etc., or a combination thereof.

The operation of the above configuration will be described with reference to the control flowchart shown in FIG. First, step S1
Then, the image pickup camera 5 images the work vehicle 1 and its surroundings. The image signal is taken into the position detecting means 21 and the level identifying means 22 of the management device 20. Next, in step S2, the position detecting means 21 detects the position and orientation of the work vehicle 1 by image data processing, and in step S3, detects the position of an object around the work vehicle 1 in the work area 4. After that, in step S4, the level identification means 22 detects the identification mark of the detected object by image data processing and identifies its type. Next, in step S5, the monitoring determination means 2
3 calculates the boundary line of each of the intrusion prohibition areas 2 and 3 corresponding to the detected position and orientation of the work vehicle 1 and calculates the intrusion prohibition areas 2 and 3 corresponding to the detected mark type specified in step S6 and The position of the detected object is compared. Then, in step S7, it is determined whether or not the detected object is in the corresponding intrusion prohibition area.
In step 8, a stop command is sent to the work vehicle 1 to stop traveling and driving of the working machine, and a warning command is sent to the warning means 15 to alert the operator, the workers A, B and the like. Then, the process returns to step S1 and the above process is repeated. When the detected object is not in the corresponding intrusion prohibition area in step S7, the stop command for the work vehicle 1 is released and the warning command is stopped in step S9. After this,
Returning to step S1, the above process is repeated.

According to this embodiment, the following operational effects can be obtained. The work area 4 of the work vehicle 1 is divided into a plurality of areas. That is, the first intrusion prohibition area 2 is set around the periphery of the outer periphery of the vehicle body of the work vehicle 1 and the working machine in a plan view, and the second intrusion prohibition area 3 is set outside the first intrusion prohibition area 2. Work areas 4 are set outside the second intrusion prohibition area 3, respectively. In addition, an intrusion permission level is set in advance for each area. This intrusion permission level prohibits intrusion into the area,
In addition, work outside of the area is permitted, and depending on the work content, for example, a work party (work assistant, work instructor, etc.), work related person (person related to the work), or work It is divided into multiple levels, such as unrelated persons (people who are general workers such as construction and construction sites and are irrelevant to the work). Further, an identification mark for identifying each intrusion permission level is preset. In addition, identification marks are displayed on intruders such as construction-related workers and vehicles (dump trucks, material transport vehicles, etc.) at the site according to their respective intrusion permission levels. If there is no identification mark on the intruder, it may be determined that the intrusion permission level is the lowest, that is, the intrusion into the work area 4 is not permitted at all.

Therefore, for each object in the work area 4, the worker A involved in the work of each work vehicle 1
It is possible to identify the obstacle C (dump truck or the like) and the worker B or the obstacle C unrelated to the work by the identification mark. Therefore, when each object enters the intrusion prohibition area corresponding to the detected identification mark, that is, the intrusion permission level, the traveling of the work vehicle 1 and the work machine drive can be stopped. Accordingly, as shown in the related art, the work vehicle 1 can be operated by entering one kind of stop area.
As compared with the case where the work vehicle 1 is stopped, the frequency of stopping the work vehicle 1 by the worker A who often works in the vicinity of the work vehicle 1 for work assistance can be extremely reduced, so that the work efficiency of the work vehicle 1 is reduced. (Operating rate) can be increased.
Further, the worker B who is irrelevant to the work is not stopped when approaching the vicinity of the work vehicle 1 (for example, the first intrusion prohibition area 2), but is located far from the work vehicle 1 (for example, the second area). It can be stopped outside the intrusion prohibition area 3), and the safety can be further enhanced.

Since the identification mark is set by the shape, color, pattern and a combination thereof, it can be easily and surely identified by using a visual sensor by image data processing, and the work area monitoring of the work vehicle is highly reliable. The system and its controller can be obtained. Moreover, since a large number of types of identification marks can be set, it is possible to deal with the case where a region is divided and set in multiple types according to various purposes.
In the method of identifying the intrusion permission level by image data processing, the intrusion permission level is not limited to the above identification mark, and may be an identification code (a combination of letters and numbers), for example.

Next, a second embodiment will be described with reference to FIGS. FIG. 5 is a schematic configuration diagram of the present embodiment. It is assumed that a work vehicle 1 is arranged in a predetermined work area of a work site, and that the work vehicles 1 are surrounded by obstacles C such as workers A and B and dump trucks. On the upper surface of the cab 1a of the work vehicle 1, a GPS receiver 6 is attached at a substantially central position, and a three-dimensional scan laser sensor 7 and a three-dimensional infrared signal receiver 8 are coaxially provided vertically at a position near a front end. And it is attached so that it can rotate horizontally. The GPS receiver 6 detects position data of global absolute coordinates based on the received signals from a plurality of GPS satellites ST in the sky, and the detected position data is stored in the control device 10 mounted on the work vehicle 1. It has been entered.

The three-dimensional scan laser sensor 7 is
It has a laser distance sensor which scans vertically from a substantially horizontal position to a downward position by a predetermined angle at a predetermined cycle time, and the laser distance sensor is provided so as to be rotatable around a horizontal plane. The three-dimensional scan laser sensor 7 measures the distance to each object while rotating the laser distance sensor at a predetermined speed, and sets the measured distance data, the rotation angle at that time, and the vertical scan angle as a set, and the control device 1
It outputs to 0.

Similarly, the three-dimensional infrared signal receiver 8 has an infrared signal receiver that vertically scans from a substantially horizontal position to a downward position by a predetermined angle at a predetermined cycle time, and receives the infrared signal. The container is installed so that it can rotate all around in a horizontal plane. The three-dimensional infrared signal receiver 8 receives the infrared signal of the identification code from each infrared signal transmitter 9 described later while rotating the infrared signal receiver at a predetermined speed, and the received identification code and the rotation at that time. The angle and the vertical scan angle are output as a set to the control device 10.

On the other hand, the infrared signal transmitter 9 is attached to each of the workers A and B who perform a predetermined work in the work area 4 and the obstacle C such as a dump truck. The infrared signal transmitter 9 outputs the infrared signal of a predetermined identification code (for example, a combination of letters and numbers) indicating an intrusion permission level according to the work content of each of the workers A, B and the obstacle C to the above-mentioned 3 The signal is transmitted to the three-dimensional infrared signal receiver 8. Further, a management device 20 is arranged at a predetermined position near the work site, and the management device 20 extends from the work vehicle 1 to the antenna 17.
The vehicle information transmitted wirelessly via a and 27a is received and monitored. The intrusion prohibited areas 2 and 3 and the work area 4 corresponding to each intrusion permission level are set in a predetermined range on the outer peripheral portion of the work vehicle 1 as shown in FIG.

The control function configuration of this embodiment will be described with reference to FIG. The work vehicle 1 is provided with a control device 10 mainly including, for example, a microcomputer. The control device 10 includes the GPS receiver 6, the three-dimensional scan laser sensor 7, and the three-dimensional infrared signal receiver 8. Based on the respective detection signals from, the running of the work vehicle 1 and the start / stop of the work machine drive are controlled. Control device 1
0 is the position detecting means 11, the level identifying means 12, the monitoring determining means 13, the vehicle control means 14, the warning means 15, the transmitter / receiver 17, the intrusion prohibited area storage means 18, and the setting means 19.
Is equipped with. Hereinafter, each functional configuration will be described.

The position detecting means 11 takes in the position information of the work vehicle 1 from the GPS receiver 6, and at the same time, based on the measured distance data from the three-dimensional scan laser sensor 7 and the rotation angle and vertical scan angle at that time, each object. The distance between the (workers A, B, obstacle C) and the work vehicle 1 and the direction thereof are obtained, and the relative position of each object is detected based on the position of the work vehicle 1. The detected position information is output to the monitoring determination unit 13.

The level identification means 12 inputs the identification code for each object, the rotation angle and the vertical scan angle at that time from the three-dimensional infrared signal receiver 8, and recognizes the identification code for each object based on these information. After that, the identification code and the relative position information are output to the monitoring determination means 13.

The functions of the intrusion-prohibited area storage means 18 and the setting means 19 are the same as those of the intrusion-prohibited area storage means 28 and the setting means 29 described in the previous embodiment, and therefore the description thereof is omitted here.

The monitoring determination means 13 has substantially the same function as the monitoring determination means 23 described in the previous embodiment. That is, the monitoring determination unit 13 includes the intrusion prohibited area storage unit 18
The absolute position of the work vehicle 1 and the work machine at each determination time based on the range data of each area (in this example, the first intrusion prohibited area 2, the second intrusion prohibited area 3, the work area 4) stored in The functional expression data and coordinate data of each area corresponding to the orientation are calculated, and the boundary line of each area is obtained based on the calculated range data. Then, the position of each object detected by the position detecting means 11 and the position of each object recognized by the level identifying means 12 are collated, and the obtained boundary of the area corresponding to the identification code of the object whose position is matched. The line is compared with the position of the object, and it is checked whether each object is in the intrusion prohibition area. If the vehicle is in the intrusion prohibition area in this check, a stop command is output to the vehicle control means 14 and the warning means 15 is issued.
A warning command is output to. Then, the stop information is transmitted to the management device 20 via the transceiver 17.

The operation of the configuration of this embodiment will be described with reference to the control flowchart shown in FIG. First, in step S11, the position detecting means 11 detects the absolute position of the work vehicle 1 by the GPS receiver 6, and then in step S12,
The position (here, relative position) of each object around the work vehicle 1 is detected by the three-dimensional scan laser sensor 7. Next, in step S13, the level identification means 12 inputs the identification code from the detected object by the three-dimensional infrared signal receiver 8 and recognizes the code, and in step S14, the monitoring determination means 13 recognizes this identification code. The range data of the intrusion prohibited area corresponding to is calculated according to the current position and direction of the work vehicle 1. After that, in step S15, the calculated range data of the intrusion prohibited area and the position of the detected object are compared for each object, and whether each detected object is not in the intrusion prohibited area 2 or 3. If any of the detected objects is in the intrusion prohibited areas 2 and 3, the work vehicle 1 is stopped by the vehicle control means 14 and the warning means 15 warns in step S16. Then, the process returns to step S11 and the above process is repeated. Further, in step S15, when all the detected objects are outside the intrusion prohibited areas 2 and 3, the work vehicle 1
After canceling the stop process and stopping the warning command, the process returns to step S11 and the above process is repeated.

The function and effect of this embodiment will be described. Similar to the first embodiment, a plurality of levels of intrusion prohibited areas are set according to the distance from the work vehicle 1, and the intrusion permission level corresponding to each area is represented by a predetermined identification code. Then, the identification code set for each object is taken in and recognized by the level identification means 22, and the intrusion prohibition area corresponding to the recognized identification code and the position of the detected object in the work area 4 are compared, and the detected object is detected. The work vehicle 1 is stopped when the vehicle enters the intrusion prohibition area corresponding to the identification code. Therefore, when the worker A involved in the work of the work vehicle 1 works near the work vehicle 1, it is less likely that the work vehicle 1 is frequently stopped and the work is interrupted, and the work efficiency can be improved. Further, it is possible to further improve the safety of the worker B who is unrelated to the work by stopping the work at a predetermined position away from the work vehicle 1. When the identification code of the intruder cannot be identified (for example, when the infrared signal transmitter 9 is not attached), the entry permission level is the lowest, that is, entry into the work area 4 is not permitted at all. Just make a decision.

Since the identification code is transmitted as an infrared signal to the three-dimensional infrared signal receiver 8 of the work vehicle 1 by the infrared signal transmitter 9 attached to each object, it has a simple structure and is low in cost. , Can send and receive identification code. Further, by using the identification code, a lot of information can be identified in a short time, which is most suitable for processing such as construction site work management, working time management, or schedule management.

In the present embodiment, an example in which a three-dimensional scan laser sensor is used as means for detecting the relative position (distance and azimuth) of an intruding object with reference to the work vehicle 1 has been described. Is not limited to this, as long as the relative position between the work vehicle 1 and the intruder can be detected, for example, 3
A dimensional scanning ultrasonic distance sensor or the like may be used. Further, although an example in which the relative position between the work vehicle 1 and the intruding object is detected and the detected position is compared with a predetermined intrusion prohibited area is shown, the present invention is not limited to this method. For example, it goes without saying that the positions of the work vehicle 1 and the intruding object may be respectively detected by the GPS receiver, and it may be determined whether or not the intruding object enters the intrusion prohibited area based on the positional relationship between the two. . Further, the means for transmitting / receiving the identification code is not limited to the infrared signal transmitter / receiver, and may be another wireless transmitter / receiver or the like.

Next, a third embodiment will be described with reference to FIG. The present embodiment is different from the second embodiment only in the method of changing the setting of the intrusion prohibition area. Only different parts will be described below, and overlapping parts will not be described. In the present embodiment, a plurality of types of intrusion prohibited areas 2 and 3 are preset and stored in the intrusion prohibited area storage unit 18, and the setting unit 19a uses the set values of the plurality of types of intrusion prohibited areas. It is for selecting one of them to change the setting of the intrusion prevention area.

According to this embodiment, the operator selects from among a plurality of intrusion prohibited areas 2 and 3 set in advance according to the work content of the intruder such as the worker or the dump truck (that is, the intrusion permission level). Select one corresponding to the level to change the intrusion prohibition area. Thereby, the intrusion prohibited area can be appropriately set according to the work content. For example, in the case of an auxiliary worker of the work vehicle, the work vehicle is not frequently stopped by setting the minimum invasion prohibited area necessary for holding work, and therefore the work can be performed efficiently, and the work vehicle 1 In the case of a worker unrelated to the work, high safety can be secured by setting the intrusion prohibition area in a range away from the work vehicle 1. As a result, the applicability of the work vehicle can be improved, and a simple setting error in the case of directly inputting and setting the data of the intrusion prohibition area can be eliminated.

In the above embodiments, the number of intrusion permission levels, that is, the types of intrusion prohibited areas is shown as two examples, but the present invention is not limited to this number and may be two or more.

As described above, the present invention has the following effects. According to the present invention, since it is possible to change the intruder-prohibited area, which has been difficult in the past, it is possible to always set the intruder-inhibited area adapted to the work content according to the work content of an intruder such as a worker. Therefore, in the case of an auxiliary worker of a work vehicle, the work vehicle can be efficiently stopped by reducing the frequency of stoppage of the work vehicle, and high safety can be ensured for workers unrelated to the work. You can improve the property.

Further, by detecting the intrusion permission level preset for each intruding object according to the work content thereof and comparing the position of the intruding object with the intrusion prohibited area corresponding to the detected intrusion permitting level. Since it is checked whether or not the intruder has entered the intrusion prohibition area, it is possible to appropriately check the work contents such as an auxiliary worker working in the vicinity of the work vehicle or a worker unrelated to the work, depending on each work content. Since the stop control of the work vehicle is performed by the set intrusion prohibition area, the work vehicle can be efficiently operated. Further, even if there are a plurality of different intruders in the same work area, the intrusion stop processing is performed by comparing the intrusion prohibition area suitable for each intruder and the position of the intruder. Can be driven by.

Since the intrusion permission level is represented in advance as an intrusion permission level by an identification mark or an identification code, and this is identified and certified, the intrusion permission level can be reliably and easily detected. It is possible to reduce inefficient stoppage of the. Furthermore, when the identification mark or the identification code is identified by image data processing, the intrusion permission level of the intruding object can be detected easily and reliably. Therefore, the work vehicle stop control according to the intrusion permission level of the intruding object can be performed. The processing can be executed reliably. Furthermore, for intruders,
If an infrared signal transmitter for transmitting the infrared signal of the identification code is mounted and the three-dimensional infrared signal receiver mounted on the work vehicle side receives this signal to detect the identification code, the identification code of the intruder, that is, Since the intrusion permission level is reliably detected, the stop control in the intrusion prohibited area of the work vehicle according to the present invention can be surely performed.

Further, since the position of at least one of the work vehicle and the intruding object is obtained by the image data processing, it can be obtained reliably and accurately. Furthermore, the position of at least one of the work vehicle and the intruder is measured by GPS.
By receiving, it is possible to reliably and accurately determine. As a result, the stop control of the work vehicle can be accurately performed when an intruder enters the invasion prohibited area.

Further, since the relative position of the intruder with respect to the work vehicle is detected by a relative position sensor such as a three-dimensional scan laser sensor, even if the work vehicle moves or turns, the detected relative position data is obtained. Can be used as it is to easily monitor the intrusion into the intrusion prohibited area by comparing the position of the intruder with the intrusion prohibited area. Moreover, the position of the intruding object can be detected with a simple structure. Further, since the intrusion prohibition area can be arbitrarily set and stored by the setting means, the intrusion permission level and the intrusion prohibition area can be easily set according to various work contents, and the range of application of the work vehicle can be expanded. .

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a first embodiment.

FIG. 2 is an explanatory diagram of an intrusion prohibited area of a work vehicle.

FIG. 3 is a control function block diagram of the first embodiment.

FIG. 4 is a control flowchart of the first embodiment.

FIG. 5 is a schematic configuration diagram of a second embodiment.

FIG. 6 is a control function block diagram of a second embodiment.

FIG. 7 is a control flowchart of the second embodiment.

FIG. 8 is a control function block diagram of a third embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Work vehicle, 2 ... 1st intrusion prohibition area, 3 ... 2nd intrusion prohibition area, 4 ... Work area, 5 ... Imaging camera, 6 ... GPS receiver, 7 ... 3D scan laser sensor, 8 ... 3D infrared Signal receiver, 9 ... Infrared signal transmitter, 10 ... Control device, 11 ... Position detecting means, 12 ... Level identifying means, 13
... monitoring determination means, 14 ... vehicle control means, 15 ... warning means, 17 ... transceiver, 18 ... intrusion prohibited area storage means, 1
9 ... Setting means, 20 ... Management device, 21 ... Position detecting means,
22 ... Level identification means, 23 ... Monitoring determination means, 27 ... Transceiver, 28 ... Intrusion prohibited area storage means, 29 ... Setting means, 31 ... Structure, A, B ... Worker, C ... Obstacle.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) G08B 21/02 G01S 17/88 Z 5J084 F term (reference) 2D015 GA03 GB06 GB07 2F065 AA03 AA37 BB28 CC16 FF04 JJ03 JJ19 MM07 QQ25 QQ31 SS09 TT07 2F069 AA03 AA93 BB40 GG04 GG07 HH30 JJ07 QQ03 5C086 AA22 BA19 CA25 CB36 DA07 DA08 DA14 DA19 DA33 DA40 GA09 5J062 BB01 BB08 CC07 5J084 AB01 AB07 AC02 EA22

Claims (8)

[Claims] 1. An intrusion prohibited area is set in advance around the work vehicle (1), the position of an intruder such as a worker invading the work area (4) is detected, and the intruder is set as described above. In a stop control method for a work vehicle in an intrusion-prohibited area in which a work vehicle is stopped when it enters the intrusion-prohibited area, the intrusion-prohibited area (2, A stop control method in an invasion prohibited area of a work vehicle, characterized in that 3) can be changed. 2. The stop control method for an intrusion prohibited area of a work vehicle according to claim 1, wherein the change of the intrusion prohibited area (2, 3) is performed by setting a plurality of preset intrusion prohibited areas (2, 3). A stop control method in an invasion prohibition area of a work vehicle, which is characterized in that one of them is selected. 3. An intrusion prohibited area is set in advance around the work vehicle (1), the position of an intruder such as a worker invading the work area (4) is detected, and the intruder is set as described above. In a stop control method for a work vehicle in an intrusion-prohibited area, which is configured to stop the work vehicle when the vehicle enters the intrusion-prohibited area, a plurality of different intrusion-prohibition areas are provided according to the work content of an intruder such as a worker. (2,3) is stored in advance, the first step, the intrusion permission level is set in advance for each intruder according to the work content, and the invasion into the work area (4) of the work vehicle (1) A third step of detecting the position of the intruding object and the intrusion permission level, a fourth step of reading out the intrusion prohibited areas (2, 3) corresponding to the detected intrusion permission level from the stored plurality, and the detection. The position of the intruding object and the read-out prohibited area (2, 3) are compared, and Forbidden entry area (2, 3)
And a fifth step of stopping the work vehicle (1) when the work vehicle (1) is stopped. 4. The stop control method for a work vehicle in an invasion prohibited area according to claim 3, wherein in the setting of the intrusion permission level in the second step, an identification mark or an identification code is previously set for each intruding object. The detection of the intrusion permission level in the third step is to certify the identification mark or the identification code displayed on the intruder, and the stop control in the intrusion prohibited area of the work vehicle. Method. 5. A forbidden area is preset around the work vehicle (1), the position of an intruder such as a worker invading the work area (4) is detected, and the intruder is set as described above. In a stop control device for an intrusion-prohibited area of a work vehicle, which is configured to stop the work vehicle when it enters the intrusion-prohibited area, a plurality of different presets corresponding to the work contents of an intruder such as a worker are set. Intrusion-prohibited area storage means (18) for storing the intrusion-prohibited area (2, 3), level identification means (12, 22) for identifying the intrusion permission level preset for each intruder, and work vehicle (1) Position detection means (11) for detecting the position of intruders that have invaded the work area (4) and the intrusion prohibited area (2,3) according to the intrusion permission level identified by the level identification means (12,22) Is read from the intrusion prohibited area storage means (18), and the position of the intruder detected by the position detection means (11) and the readout Comparing with the invasion prohibited area (2,3), when the intruder enters the intrusion prohibited area (2,3), the monitoring determination means (13) for stopping the work vehicle (1). A stop control device in an invasion prohibited area of a work vehicle, characterized by being provided. 6. The stop control device in the invasion prohibition area of a work vehicle according to claim 5, wherein an identification mark or an identification code is visually displayed on an intruding object in association with the intrusion permission level, and the level identifying means ( 22) is a stop control device in an intrusion prohibited area of a work vehicle, characterized in that the identification mark or identification code represented on an intruder is identified by image data processing. 7. The stop control device in the invasion prohibited area of a work vehicle according to claim 5, further comprising an infrared signal transmitter (9) for transmitting an identification code set in correspondence with the intrusion permission level as an infrared signal, The level identification means (12) is mounted on the intruder in advance, and the level identification means (12) receives the identification code signal from the infrared signal transmitter (9) attached to the intruder by the three-dimensional infrared signal receiver (8) for identification. A stop control device in a forbidden area of a work vehicle. 8. The stop control device for an intrusion prohibited area of a work vehicle according to claim 5, wherein the setting means (19) is capable of setting the intrusion prohibited area (2, 3).
A stop control device in a forbidden area of a work vehicle, comprising: