JPH0523175U - Peripheral monitoring equipment for construction machinery - Google Patents
Peripheral monitoring equipment for construction machineryInfo
- Publication number
- JPH0523175U JPH0523175U JP7000691U JP7000691U JPH0523175U JP H0523175 U JPH0523175 U JP H0523175U JP 7000691 U JP7000691 U JP 7000691U JP 7000691 U JP7000691 U JP 7000691U JP H0523175 U JPH0523175 U JP H0523175U
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- Prior art keywords
- light
- reflecting mirror
- obstacle
- calibration plate
- person
- Prior art date
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Abstract
(57)【要約】
【目的】 操作員の死角に入る人や障害物を確実に検出
する。
【構成】モータ５を起動して、傾斜反射面が投光器１、
２及び受光器７、８と検査範囲１１とに対面している反
射鏡４を繰り返し往復回転させているときに、投光器
１、２からの光を反射鏡４の傾斜反射面へ射出し、ここ
で検出範囲１１の方向に変向させて、検出範囲１１を照
射し、ここに人や障害物が存在していれば、これに当た
って反射する反射光を反射鏡４の傾斜反射面→受光器
７，８へ導いて、人や障害物を検出し、このときの人や
障害物の方向をモータ５の回転角検出用エンコーダ６に
より検知する。また反射鏡４の傾斜反射面は、往復動の
折り返し点で、投光量確認用校正板３の方向を向くの
で、投光器１、２からの光を反射鏡４の傾斜反射面→投
光量確認用校正板３へ入れ、さらに同校正板３からの反
射光を反射鏡４の傾斜反射面→受光器７、８へ入れて、
例えば気温や電源電圧の変動による投光量の変化を検出
する。
(57) [Summary] [Purpose] To reliably detect people and obstacles that enter the blind spots of operators. [Structure] The motor 5 is started and the inclined reflecting surface is projected by the projector 1.
2 and the light receivers 7 and 8 and the reflecting mirror 4 facing the inspection range 11 are repeatedly reciprocally rotated, the light from the projectors 1 and 2 is emitted to the inclined reflecting surface of the reflecting mirror 4, To change the direction of the detection range 11 to irradiate the detection range 11, and if a person or an obstacle is present there, the reflected light reflected by hitting the person or obstacle is inclined from the reflecting surface of the reflecting mirror 4 to the light receiver 7 , 8 to detect a person or an obstacle, and the direction of the person or the obstacle at this time is detected by the rotation angle detection encoder 6 of the motor 5. Further, since the inclined reflecting surface of the reflecting mirror 4 faces the direction of the calibration plate 3 for checking the projected amount at the turning point of the reciprocating movement, the light from the projectors 1 and 2 is used for checking the inclined reflecting surface of the reflecting mirror 4 → the projected amount. It is put into the calibration plate 3, and the reflected light from the calibration plate 3 is further put into the inclined reflecting surface of the reflecting mirror 4 → the light receivers 7 and 8,
For example, it detects a change in the light projection amount due to a change in temperature or power supply voltage.
Description
【０００１】[0001]
本考案は、例えば建設機械の周りに障害物が存在するか否かを監視する建設機 械等の周辺監視装置に関するものである。 The present invention relates to a peripheral monitoring device such as a construction machine for monitoring whether or not an obstacle exists around the construction machine.
【０００２】[0002]
従来、大型の建設機械では、操作員からの死角が広くて、死角内に人や他の障 害物が入っても、それに気付かずに操作や移動を行った場合、事故が発生する。 このため、従来は、図３に示すように建設機械１０の死角、例えば後方の死角 に人や障害物が入っても、それが判るように、建設機械１０の後部に超音波セン サ１２を設け、人や障害物が検査範囲１１に入ったときに、人や障害物からの反 射波を検出し、警報を発して、操作員にその旨を知らせるようになっている。 Conventionally, in large construction machines, the blind spot from the operator is wide, and even if people or other obstacles enter the blind spot, an accident occurs if they are operated or moved without noticing them. Therefore, conventionally, as shown in FIG. 3, even if a person or an obstacle enters a blind spot of the construction machine 10, for example, a blind spot in the rear, the ultrasonic sensor 12 is installed at the rear of the construction machine 10 so that it can be seen. When a person or an obstacle enters the inspection range 11, a reflected wave from the person or the obstacle is detected and an alarm is issued to notify the operator of that fact.
【０００３】 また図４は、他の従来例を示しており、この場合には、建設機械１０の死角に なる部分に焦電センサ１３を設け、発熱体が検査範囲１１に入ったときに、焦電 センサ１３により発熱体を検出し、警報を発して、操作員にその旨を知らせるよ うになっている。FIG. 4 shows another conventional example. In this case, a pyroelectric sensor 13 is provided in a portion of the construction machine 10 which is a blind spot, and when the heating element enters the inspection range 11, The pyroelectric sensor 13 detects a heating element and issues an alarm to notify the operator of that fact.
【０００４】[0004]
前記図３に示す従来の建設機械の周辺監視装置では、通常、４０ＫＨ2 程度の 周波数き超音波を使用している。しかし建設現場では、各種の建設機械を使用し て、工事を行っており、広範な周波数領域にわたる音響ノイズが発生しているの で、これらのノイズを反射波と誤って検出して、建設機械を誤動作させる。The conventional surroundings monitoring apparatus for construction machines shown in FIG. 3 normally uses ultrasonic waves with a frequency of about 40 KH 2 . However, at construction sites, various types of construction machinery are used for construction work, and acoustic noise is generated over a wide frequency range. Malfunction.
【０００５】 前記図４に示す従来の建設機械の周辺監視装置では、焦電センサ１３を使用し ており、検出範囲１１内を移動する発熱体しか検出できなくて、構造物や人が建 設機械の周辺域に入ったときには、警報を発しないという問題があった。 本考案は前記の問題点に鑑み提案するものであり、その目的とする処は、操作 員の死角に入る人や障害物を確実に検出できる建設機械等の周辺監視装置を提供 しようとする点にある。In the conventional construction machine surrounding monitoring device shown in FIG. 4, the pyroelectric sensor 13 is used, and only a heating element moving within the detection range 11 can be detected. When entering the area around the machine, there was a problem that the alarm was not issued. The present invention is proposed in view of the above problems, and an object of the present invention is to provide a peripheral monitoring device such as a construction machine capable of reliably detecting a person entering a blind spot of an operator or an obstacle. It is in.
【０００６】[0006]
上記の目的を達成するために、本考案の建設機械等の周辺監視装置は、投光器 と、反射率の一定な投光量確認用校正板と、受光器と、上記投光器からの光を回 転する傾斜反射鏡面を経て上記校正板及び検出範囲に存在する監視対象物へ照射 するとともにこれら校正板及び監視対象物からの反射光を同傾斜反射鏡面を経て 上記受光器へ導く反射鏡と、同反射鏡を回転させるモータと、同モータの回転角 度を検出する回転角検出用エンコーダとを具えている。 In order to achieve the above-mentioned object, a peripheral monitoring device for a construction machine or the like according to the present invention rotates a light from an emitter, a calibration plate for confirming the amount of light with a constant reflectance, a light receiver, and the light from the emitter. A reflector that irradiates the calibration plate and objects to be monitored existing in the detection range through the inclined reflecting mirror surface and guides reflected light from these calibration plate and the object to be monitored to the above-mentioned light receiver through the inclined reflecting mirror surface and the same reflection. It has a motor for rotating the mirror, and a rotation angle detection encoder for detecting the rotation angle of the motor.
【０００７】[0007]
本考案の建設機械等の周辺監視装置は前記のように構成されており、モータを 起動して、傾斜反射面が投光器及び受光器と検査範囲とに対面している反射鏡を 繰り返し往復回転させているときに、投光器からの光を反射鏡の傾斜反射面へ射 出し、ここで検出範囲の方向に変向させて、検出範囲を照射し、ここに人や障害 物が存在していれば、これに当たって反射する反射光を反射鏡の傾斜反射面→受 光器へ導いて、人や障害物を検出し、このときの人や障害物の方向をモータの回 転角検出用エンコーダにより検知する。また上記反射鏡の傾斜反射面は、往復動 の折り返し点で、投光量確認用校正板の方向を向くので、投光器からの光を反射 鏡の傾斜反射面→投光量確認用校正板へ入れ、さらに同校正板からの反射光を反 射鏡の傾斜反射面→受光器へ入れて、例えば気温や電源電圧の変動による投光量 の変化を検出する。 The periphery monitoring device of the construction machine of the present invention is configured as described above, and starts the motor to repeatedly reciprocally rotate the reflector whose inclined reflecting surface faces the projector and the receiver and the inspection range. While the beam is being projected, the light from the projector is emitted to the inclined reflecting surface of the reflecting mirror, where it is diverted to the direction of the detection range to illuminate the detection range, and if there are people or obstacles there, The reflected light reflected by this is guided to the inclined reflecting surface of the reflector → receiver to detect a person or obstacle and the direction of the person or obstacle at this time is detected by the rotation angle detection encoder of the motor. To do. Also, since the inclined reflection surface of the reflecting mirror faces the direction of the calibration plate for confirming the projection amount at the turning point of the reciprocating motion, the light from the projector is input from the inclined reflection surface of the reflection mirror → the calibration plate for confirming the projection amount, Further, the reflected light from the calibration plate is introduced into the inclined reflecting surface of the reflecting mirror → the light receiver to detect a change in the light projection amount due to, for example, a change in temperature or power supply voltage.
【０００８】[0008]
次に本考案の建設機械等の周辺監視装置を図１、２に示す一実施例により説明 すると、図２の１０が建設機械、図１の１が同建設機械１０の後部の装置取付面 に固定した投光器の投光回路、２が同投光回路１の直下位置に配設した投光器の 投光光学系で、投光回路１からの光が投光光学系２により適当な径のビーム光に 整形されて、下方に射出される。 Next, the surroundings monitoring device for a construction machine or the like of the present invention will be described with reference to an embodiment shown in FIGS. 1 and 2. 10 in FIG. 2 is a construction machine, and 1 in FIG. 1 is a device mounting surface at the rear of the construction machine 10. The light-projecting circuit 2 of the fixed light-emitter is a light-projecting optical system of the light-emitter installed directly below the light-projecting circuit 1, and the light from the light-projecting circuit 1 is a beam light of an appropriate diameter. It is shaped into and is ejected downward.
【０００９】 ８が投光回路１の隣接位置に固定した受光器の受光回路、７が同受光回路８の 直下位置に配設した受光器の受光光学系である。 ３が上記装置取付面に固定した反射率の一定な投光量確認用校正板、４が反射 鏡で、同反射鏡３は、校正板３に対してはその前方、投光光学系２及び受光光学 系７に対してはその直下に配設されて、上面が傾斜反射面になっている。Reference numeral 8 is a light receiving circuit of a light receiver fixed to a position adjacent to the light projecting circuit 1, and 7 is a light receiving optical system of the light receiver arranged directly below the light receiving circuit 8. Reference numeral 3 is a calibration plate for fixing the projection amount, which is fixed to the device mounting surface and has a constant reflectance, and 4 is a reflecting mirror, which is in front of the calibration plate 3, the projection optical system 2 and the light receiving unit. The optical system 7 is disposed immediately below the optical system 7, and the upper surface thereof is an inclined reflecting surface.
【００１０】 ５が同反射鏡３を回転させるためのモータで、同モータ５が反射鏡３を繰り返 し往復動させるようになっている。また６が同モータ５の回転角を検出するため のエンコーダ、９が上記各機器を覆う透明材製保護カバー、図２の１１が検出範 囲である。 次に前記図１、２に示す建設機械等の周辺監視装置の作用を具体的に説明する 。モータ５を起動し、反射鏡４を回転させて、投光光学系２及び受光光学系７と 検出範囲１１とに対面している反射鏡４の傾斜反射面を繰り返し往復回転させて いるときに、投光回路１からの光を投光光学系２へ導いて、この光を適当な径の ビーム光に整形し、反射鏡４の傾斜反射面へ射出して、ここで検出範囲１１の方 向に変向させ、検出範囲１１を照射して、ここに人や障害物が存在しているか否 かを走査する。Reference numeral 5 denotes a motor for rotating the reflecting mirror 3, and the motor 5 repeats the reflecting mirror 3 to reciprocate. Further, 6 is an encoder for detecting the rotation angle of the motor 5, 9 is a protective cover made of a transparent material for covering the above-mentioned devices, and 11 in FIG. 2 is a detection range. Next, the operation of the peripheral monitoring device for the construction machine shown in FIGS. When the motor 5 is started and the reflecting mirror 4 is rotated, the inclined reflecting surface of the reflecting mirror 4 facing the light projecting optical system 2 and the light receiving optical system 7 and the detection range 11 is repeatedly reciprocally rotated. , The light from the light projecting circuit 1 is guided to the light projecting optical system 2, the light is shaped into a beam light having an appropriate diameter, and the light is emitted to the inclined reflecting surface of the reflecting mirror 4, where the detection range 11 is detected. The detection area 11 is irradiated with the light by changing the direction, and the presence or absence of a person or an obstacle is scanned there.
【００１１】 もし検出範囲１１に人や障害物が存在していれば、反射鏡４からの反射光は、 人や障害物に当たり、ここで反射して、回転している反射鏡４の傾斜反射面に入 るが、反射鏡４の傾斜反射面は、受光光学系７の方向を向いているので、人や障 害物からの反射光が反射鏡４の傾斜反射面→受光光学系７→受光回路８へ入って 、人や障害物が検出される。そしてモータ５の回転角を検出するエンコーダ６に より、人や障害物の方向が検出される。If a person or an obstacle is present in the detection range 11, the reflected light from the reflecting mirror 4 hits the person or the obstacle, is reflected here, and is obliquely reflected by the rotating reflecting mirror 4. The inclined reflecting surface of the reflecting mirror 4 faces the direction of the light receiving optical system 7, so that the reflected light from a person or an obstacle is the inclined reflecting surface of the reflecting mirror 4 → the light receiving optical system 7 → After entering the light receiving circuit 8, a person or an obstacle is detected. The direction of the person or obstacle is detected by the encoder 6 that detects the rotation angle of the motor 5.
【００１２】 また検出範囲１１に人や障害物が存在していなければ、受光光学系７→受光回 路８で受光量が殆ど検出されなくて、検査範囲１１に人や障害物が存在していな いことが判る。 また上記反射鏡４の傾斜反射面は、往復動の折り返し点で、投光量確認用校正 板３の方向を向くので、投光回路１→投光光学系２からの光が反射鏡４の傾斜反 射面→投光量確認用校正板（反射率が一定、既知の投光量確認用校正板）３へ入 り、さらに同校正板３からの反射光が反射鏡４の傾斜反射面→受光光学系７→受 光回路８へ入って、気温や電源電圧の変動による投光量の変化が検出される。ま たこの校正板３により、投光光量が確認されて、例えば太陽光のような投光光量 以上の強力な外乱光による誤動作が防止される。If there are no persons or obstacles in the detection range 11, almost no amount of received light is detected in the light receiving optical system 7 → light receiving circuit 8, and there are persons or obstacles in the inspection range 11. I know there is no. Further, since the inclined reflecting surface of the reflecting mirror 4 faces the direction of the projection plate 3 for checking the projected amount at the turning point of the reciprocating movement, the light from the light projecting circuit 1 → the projecting optical system 2 tilts the reflecting mirror 4. Reflection surface → Enters the calibration plate for confirming the light emission amount (calibration plate for confirming the known light emission amount with a constant reflectance) 3, and the reflected light from the calibration plate 3 is an inclined reflection surface of the reflecting mirror 4 → reception optics When the system 7 enters the light receiving circuit 8, a change in the amount of light projected due to a change in temperature or power supply voltage is detected. Moreover, the calibration plate 3 confirms the projected light amount, and prevents malfunction due to strong ambient light having a projected light amount or more such as sunlight.
【００１３】[0013]
本考案の建設機械等の周辺監視装置は前記のようにモータを起動して、傾斜反 射面が投光器及び受光器と検査範囲とに対面している反射鏡を繰り返し往復回転 させているときに、投光器からの光を反射鏡の傾斜反射面へ射出し、ここで検出 範囲の方向に変向させて、検出範囲を照射し、ここに人や障害物が存在していれ ば、これに当たって反射する反射光を反射鏡の傾斜反射面→受光器へ導いて、人 や障害物を検出し、このときの人や障害物の方向をモータの回転角検出用エンコ ーダにより検知する。また上記反射鏡の傾斜反射面は、往復動の折り返し点で、 投光量確認用校正板の方向を向くので、投光器からの光を反射鏡の傾斜反射面→ 投光量確認用校正板へ入れ、さらに同校正板からの反射光を反射鏡の傾斜反射面 →受光器へ入れて、例えば気温や電源電圧の変動による投光量の変化を検出する ので、超音波を使用する場合や焦電センサを使用する場合に比べると、操作員の 死角に入る人や障害物を確実に検出できる。 As described above, the peripheral monitoring device of the construction machine or the like of the present invention activates the motor as described above, and when the reflecting mirror whose inclined reflection surface faces the projector and the receiver and the inspection range is repeatedly reciprocally rotated. , The light from the projector is emitted to the inclined reflecting surface of the reflecting mirror, where it is diverted to the direction of the detection range to illuminate the detection range, and if there is a person or obstacle, it is reflected by this. The reflected light is guided to the inclined reflecting surface of the reflecting mirror → the light receiver to detect a person or obstacle, and the direction of the person or obstacle at this time is detected by the encoder for detecting the rotation angle of the motor. In addition, since the inclined reflection surface of the reflecting mirror faces the direction of the calibration plate for checking the amount of light emitted at the turning point of the reciprocating motion, the light from the projector enters the inclined reflection surface of the reflecting mirror → the calibration plate for checking the amount of light emission. Furthermore, the reflected light from the calibration plate is input to the inclined reflecting surface of the reflecting mirror → the light receiver to detect changes in the light projection amount due to changes in temperature and power supply voltage, for example. Compared to when using it, it is possible to detect people and obstacles that enter the blind spot of the operator more reliably.
【図１】本考案の建設機械等の周辺監視装置の一実施例
を示す斜視図である。FIG. 1 is a perspective view showing an embodiment of a perimeter monitoring device for a construction machine or the like according to the present invention.
【図２】その作用説明図である。FIG. 2 is an explanatory diagram of its operation.
【図３】従来の建設機械の周辺監視装置の一例を示す側
面図である。FIG. 3 is a side view showing an example of a conventional surroundings monitoring device for a construction machine.
【図４】従来の建設機械の周辺監視装置の他の例を示す
側面図である。FIG. 4 is a side view showing another example of a conventional surroundings monitoring device for a construction machine.
１ 投光器（投光回路） ２ 〃 （投光光学系） ３ 投光量確認用校正板 ４ 反射鏡 ５ モータ ６ エンコーダ ７ 受光光学系（受光器） ８ 受光回路（受光器） ９ 保護カバー １０ 建設機械 １１ 検出範囲 1 Projector (projection circuit) 2 〃 (projection optical system) 3 Calibration plate for confirming projection amount 4 Reflector 5 Motor 6 Encoder 7 Light receiving optical system (light receiver) 8 Light receiving circuit (light receiver) 9 Protective cover 10 Construction machinery 11 Detection range
Claims (1)
校正板と、受光器と、上記投光器からの光を回転する傾
斜反射鏡面を経て上記校正板及び検出範囲に存在する監
視対象物へ照射するとともにこれら校正板及び監視対象
物からの反射光を同傾斜反射鏡面を経て上記受光器へ導
く反射鏡と、同反射鏡を回転させるモータと、同モータ
の回転角度を検出する回転角検出用エンコーダとを具え
ていることを特徴とした建設機械等の周辺監視装置。1. An object to be monitored existing in the calibration plate and the detection range through a light projector, a calibration plate for confirming a light projection amount with a constant reflectance, a light receiver, and an inclined reflecting mirror surface for rotating the light from the light projector. A reflection mirror that guides the reflected light from the calibration plate and the object to be monitored to the above-mentioned light receiver through the inclined reflection mirror surface, a motor that rotates the reflection mirror, and a rotation angle that detects the rotation angle of the motor. A peripheral monitoring device for construction machinery and the like, which is equipped with a detection encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7000691U JPH0523175U (en) | 1991-09-02 | 1991-09-02 | Peripheral monitoring equipment for construction machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7000691U JPH0523175U (en) | 1991-09-02 | 1991-09-02 | Peripheral monitoring equipment for construction machinery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0523175U true JPH0523175U (en) | 1993-03-26 |
Family
ID=13419089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7000691U Withdrawn JPH0523175U (en) | 1991-09-02 | 1991-09-02 | Peripheral monitoring equipment for construction machinery |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0523175U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005121638A (en) * | 2003-09-09 | 2005-05-12 | Ibeo Automobile Sensor Gmbh | Optoelectronic detection apparatus |
| WO2019004144A1 (en) * | 2017-06-27 | 2019-01-03 | パイオニア株式会社 | Receiving device, control method, program and storage medium |
-
1991
- 1991-09-02 JP JP7000691U patent/JPH0523175U/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005121638A (en) * | 2003-09-09 | 2005-05-12 | Ibeo Automobile Sensor Gmbh | Optoelectronic detection apparatus |
| WO2019004144A1 (en) * | 2017-06-27 | 2019-01-03 | パイオニア株式会社 | Receiving device, control method, program and storage medium |
| JPWO2019004144A1 (en) * | 2017-06-27 | 2020-04-30 | パイオニア株式会社 | Receiver, control method, program and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 19951130 |