JPH0694682B2 - Safety monitoring system for unmanned construction vehicles - Google Patents
Safety monitoring system for unmanned construction vehiclesInfo
- Publication number
- JPH0694682B2 JPH0694682B2 JP1325807A JP32580789A JPH0694682B2 JP H0694682 B2 JPH0694682 B2 JP H0694682B2 JP 1325807 A JP1325807 A JP 1325807A JP 32580789 A JP32580789 A JP 32580789A JP H0694682 B2 JPH0694682 B2 JP H0694682B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- construction vehicle
- detects
- unmanned
- safety monitoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000010276 construction Methods 0.000 title claims description 34
- 238000012544 monitoring process Methods 0.000 title claims description 7
- 230000003287 optical effect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 5
- 241000282412 Homo Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Landscapes
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、オペレーターを必要としない無人で動く建設
車両の安全監視システムに関する。Description: FIELD OF THE INVENTION The present invention relates to a safety monitoring system for unmanned construction vehicles that does not require an operator.
従来ブルドーザやパワーショベルのような建設車両の場
合は、オペレーターが運転中、建設車両の前後・左右の
対人・対物の有無の確認を行い、必要に応じ、停止・迂
回警報等の処置を行っている。In the case of conventional construction vehicles such as bulldozers and excavators, while the operator is driving, check the front and rear, left and right of the construction vehicle, the presence or absence of objectives, and if necessary, take measures such as stop and detour warnings. There is.
なお、ブルドーザの無人運転システムに関して、本出願
人は特願平１−174247号を特許出願している。Regarding the unmanned operation system of the bulldozer, the present applicant has filed a patent application for Japanese Patent Application No. 1-174247.
従来はオペレーターが建設車両の操作を行っていたの
で、物事に対し柔軟に臨機応変に対処していたが、一
方、不注意まんねりにより、操作する人間が、気付かな
い事により、事故が発生していた。In the past, operators used to operate construction vehicles, so they flexibly deal with things flexibly and flexibly, but on the other hand, due to carelessness, an accident occurred because the person operating it did not notice it. Was there.
本発明は、建設現場等で自動運転する建設車両におい
て、人間又は固定物体との衝突防止及び車両の横転防止
を達成する安全監視システムを提供することを目的とす
るものである。It is an object of the present invention to provide a safety monitoring system for a construction vehicle that automatically operates at a construction site or the like, which prevents collision with a human or a fixed object and prevents the vehicle from rolling over.
（１）建設車両の作業範囲を赤外線により確定する赤外
線センサー、 （２）建設車両から検出物（人、機械等）までの距離、
角度を検出し、更に検出物が移動物体か固定物体かを識
別する超音波センサー、 （３）建設車両周囲の物体を検出する光センサー、 （４）作業中に建設車両の姿勢計測を行う傾斜計、を設
置する。(1) Infrared sensor that determines the working range of the construction vehicle by infrared rays, (2) Distance from the construction vehicle to the detected object (human, machine, etc.),
An ultrasonic sensor that detects the angle and further identifies whether the detected object is a moving object or a fixed object, (3) an optical sensor that detects objects around the construction vehicle, and (4) an inclination that measures the attitude of the construction vehicle during work. Install a meter.
赤外線センサーは建設車両の作業範囲を赤外線により確
定し、人間・機械等が赤外線を切断すると無線により停
止信号を選出する。The infrared sensor determines the work range of the construction vehicle by infrared rays, and when a human or machine cuts off the infrared rays, it wirelessly selects a stop signal.
超音波センサーはモータ付回転計に取り付けられ、人間
・機械等を検出し、その際、建設車両から検出物までの
角度と距離により検出物の位置を求める。また、回転機
構により検出物が移動物から固定物か識別する。The ultrasonic sensor is attached to a tachometer with a motor to detect humans and machines, and at that time, the position of the detected object is obtained from the angle and distance from the construction vehicle to the detected object. Further, the rotating mechanism identifies whether the detected object is a fixed object or a moving object.
光センサーは人間・機械等を建設車両の前後・左右につ
いて検出し、停止信号を送出する。The optical sensor detects humans, machines, etc. in the front, rear, left and right of the construction vehicle and sends a stop signal.
傾斜計は建設車両の作業中、姿勢計測を行い、車両が前
後・左右の設定角以上に傾斜すると、停止信号を送出す
る。The inclinometer measures the posture of the construction vehicle while it is working, and sends a stop signal when the vehicle tilts more than the set angles of front, rear, left and right.
第１図乃至第３図において、 １は光センサー、２は超音波センサー、３は傾斜計、４
はモータ付回転計、５は変換器、６は変換器、７は変換
器、８はカウンター、９はI/Oボード、10はコンピュー
タ、11は無線機、12は赤外線センサー、13は変換器、14
は無線機、15は無人建設車両である。1 to 3, 1 is an optical sensor, 2 is an ultrasonic sensor, 3 is an inclinometer, 4
Is a tachometer with a motor, 5 is a converter, 6 is a converter, 7 is a converter, 8 is a counter, 9 is an I / O board, 10 is a computer, 11 is a wireless device, 12 is an infrared sensor, and 13 is a converter. ,14
Is a radio and 15 is an unmanned construction vehicle.
第１図は、安全監視システムのブロック図、第２図及び
第３図は、無人建設車両における安全監視システムの各
装置の配置図である。FIG. 1 is a block diagram of a safety monitoring system, and FIGS. 2 and 3 are layout diagrams of respective devices of the safety monitoring system in an unmanned construction vehicle.
第１図において、光センサー１は、対人・対物等の検出
信号を変換器５に送出する。変換器５は、受けた検出信
号を情報信号として、I/Oボード９を介してコンピュー
タ10に送出する。In FIG. 1, the optical sensor 1 sends a detection signal such as an interpersonal / objective to a converter 5. The converter 5 sends the received detection signal as an information signal to the computer 10 via the I / O board 9.
超音波センサー２はモータ付回転計４によって首振りを
行い、対人・対物等の検出信号を変換器６に送出する。
変換器６は受けた検出信号を情報信号として、I/Oボー
ド９を介してコンピュータ10に送出する。また同時に変
換器６は検出物までの距離情報も送出する。The ultrasonic sensor 2 oscillates with a tachometer 4 with a motor, and sends a detection signal of a person, an object, etc. to a converter 6.
The converter 6 sends the received detection signal as an information signal to the computer 10 via the I / O board 9. At the same time, the converter 6 also sends distance information to the detected object.
モータ付回転計４は、超音波センサー２が対人・対物等
を検出した時の角度信号を、カウンター８を介してコン
ピュータ10に送出する。The motor-equipped tachometer 4 sends an angle signal to the computer 10 via the counter 8 when the ultrasonic sensor 2 detects a person, an object or the like.
傾斜計３は、建設車両の前後・左右の２軸の傾斜角信号
を変換器７に送出する。変換器７は、受けた傾斜角信号
を情報信号として、I/Oボード９を介してコンピュータ1
0に送出する。The inclinometer 3 sends to the converter 7 the inclination angle signals of the two axes of the front and rear and left and right of the construction vehicle. The converter 7 uses the received tilt angle signal as an information signal via the I / O board 9 for the computer 1.
Send to 0.
赤外線センサー12は、対人・対物等により赤外線が遮断
されると、検出信号を変換器13に送出する。変換器13は
無線機14と無線機11を介して情報信号をコンピュータ10
に送出する。The infrared sensor 12 sends a detection signal to the converter 13 when the infrared rays are blocked by a person, an object, or the like. The converter 13 transmits an information signal to the computer 10 via the radio 14 and the radio 11.
Send to.
コンピュータ10は、各センサーから情報信号によって、
無人建設車両15の停止・走行等を判断し、各油圧バルブ
を制御する。The computer 10 uses the information signal from each sensor to
The hydraulic valves are controlled by determining whether the unmanned construction vehicle 15 is stopped or running.
実際の作業状況を第２図及び第３図に基づいて説明す
る。赤外線センサー12は無人建設車両15の作業範囲を確
定し、その作業範囲に進入する対人・対物等を検出し、
無線機11,14によって無人建設車両15に搭載したコンピ
ュータ10に送信する。The actual work situation will be described with reference to FIGS. 2 and 3. The infrared sensor 12 determines the work range of the unmanned construction vehicle 15, detects the person, the objective, etc. entering the work range,
It transmits to the computer 10 mounted on the unmanned construction vehicle 15 by the wireless devices 11 and 14.
傾斜計３は無人建設車両15に取付け作業中、前後・左右
の設定角以上に無人建設車両15が傾くと検出信号をコン
ピュータ10に送出し、コンピュータ10は停止制御を行
う。When the inclinometer 3 is mounted on the unmanned construction vehicle 15 and the unmanned construction vehicle 15 is tilted more than the set angles of the front and rear and the right and left during the work, the detection signal is sent to the computer 10, and the computer 10 performs stop control.
超音波センサー２は、無人建設車両15の前後に取付けら
れ、作業中はモータ付回転計４によって首振りを行い、
対人・対物等を検出すると、無人建設車両15を一時停止
し、首振りを固定し、一定時間計測を行う。またこの
際、超音波センサー２により距離計測とモータ付回転計
４による角度計測を行い検出物位置をコンピュータ10が
認識する。一定時間経過すると再度首振りを行い検出物
の有無を確認し、検出物がある場合は上記の作業を繰返
し行いこの作業によって固定物と移動物を識別する。The ultrasonic sensors 2 are attached to the front and rear of the unmanned construction vehicle 15, and the work is carried out by a tachometer 4 with a motor.
When the person / object is detected, the unmanned construction vehicle 15 is temporarily stopped, the swing is fixed, and measurement is performed for a certain period of time. At this time, the ultrasonic sensor 2 measures the distance and the motor-equipped tachometer 4 measures the angle, and the computer 10 recognizes the detected object position. After a certain period of time, the head is swung again to confirm the presence or absence of the detected object, and if there is the detected object, the above-mentioned work is repeated and the fixed object and the moving object are distinguished by this work.
光センサー１について前後用光センサーは、超音波セン
サー２が首振り動作を行っていることにより検出できな
い急な飛出しに対し、検出を用うまた左右用光センサー
は無人建設車両15の左右側面の検出を行う。Optical sensor 1 The front and rear optical sensors are used for detection of sudden jumps that cannot be detected because the ultrasonic sensor 2 is swinging. The left and right optical sensors are the left and right side surfaces of the unmanned construction vehicle 15. Is detected.
本発明による無人建設車両の安全監視システムは、建設
車両の作業範囲の周辺に設置され、前記作業範囲に進入
する人間、機械等を検出する赤外線センサーと、前記赤
外線センサーによる検出信号を建設車両に連絡する無線
機と、建設車両に搭載され、車両周囲の移動物体及び固
定物体の識別・検出を行う超音波センサーと、車両周囲
の障害物を検出する光センサーと、車両の前後・左右の
傾斜角を検出する傾斜計と、前記各センサー及び計器か
らの信号に基づいて車両の運転・停止を制御するコンピ
ュータとを具えたことにより、次の効果を有する。An unmanned construction vehicle safety monitoring system according to the present invention is installed in the vicinity of a work range of a construction vehicle, and an infrared sensor for detecting a person, a machine, or the like entering the work range, and a detection signal by the infrared sensor to a construction vehicle. A radio that communicates, an ultrasonic sensor that is mounted on a construction vehicle and that identifies and detects moving and fixed objects around the vehicle, an optical sensor that detects obstacles around the vehicle, and the front and rear and left and right tilt of the vehicle By having an inclinometer for detecting an angle and a computer for controlling driving / stopping of the vehicle based on signals from the respective sensors and instruments, the following effects can be obtained.
（１）有人運転の場合におけるオペレータの不注意やま
んねり化等による対人・対物衝突事故、或は車両の横転
事故を防止することができる。(1) In the case of manned driving, it is possible to prevent a human-object / objective collision accident or a rollover accident of a vehicle due to an operator's carelessness or imbalance.
（２）第３者災害、重機災害の防止が可能になる。(2) It becomes possible to prevent third party disasters and heavy machinery disasters.
第１図は本発明の実施例におけるブロック図、第２図は
本発明を実施する無人土工作業の概念図、第３図は無人
建設車両の概略図である。 １…光センサー、２…超音波センサー、 ３…傾斜計、４…モータ付回転計、 5,6,7,13…変換器、 ８…カウンター、９…I/Oボード、 10…コンピュータ、11,14…無線機、 12…赤外線センサー。FIG. 1 is a block diagram of an embodiment of the present invention, FIG. 2 is a conceptual diagram of unmanned earthworking work for carrying out the present invention, and FIG. 3 is a schematic diagram of an unmanned construction vehicle. 1 ... Optical sensor, 2 ... Ultrasonic sensor, 3 ... Inclinometer, 4 ... Motor tachometer, 5,6,7,13 ... Converter, 8 ... Counter, 9 ... I / O board, 10 ... Computer, 11 , 14… radio, 12… infrared sensor.
Claims (1)
センサーと、前記赤外線センサーによる検出信号を建設
車両に連絡する無線機と、 建設車両に搭載され、 車両周囲の移動物体及び固定物体の識別・検出を行う超
音波センサーと、車両周囲の障害物を検出する光センサ
ーと、車両の前後・左右の傾斜角を検出する傾斜計と、
前記赤外線センサーの無線機からの信号を受ける無線機
と、前記各センサー及び計器からの信号に基づいて車両
の運転、停止を制御するコンピュータと を具えたことを特徴とする無人建設車両の安全監視シス
テム。1. An infrared sensor which is installed around the work range of a construction vehicle and detects humans, machines and the like entering the work range, and a radio which communicates a detection signal from the infrared sensor to the construction vehicle. An ultrasonic sensor mounted on the vehicle that identifies and detects moving and fixed objects around the vehicle, an optical sensor that detects obstacles around the vehicle, and an inclinometer that detects the front and rear and left and right inclination angles of the vehicle. ,
Safety monitoring of an unmanned construction vehicle, comprising: a wireless device that receives a signal from the infrared sensor wireless device; and a computer that controls the driving and stopping of the vehicle based on the signals from the sensors and instruments. system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1325807A JPH0694682B2 (en) | 1989-12-18 | 1989-12-18 | Safety monitoring system for unmanned construction vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1325807A JPH0694682B2 (en) | 1989-12-18 | 1989-12-18 | Safety monitoring system for unmanned construction vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03187423A JPH03187423A (en) | 1991-08-15 |
| JPH0694682B2 true JPH0694682B2 (en) | 1994-11-24 |
Family
ID=18180821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1325807A Expired - Fee Related JPH0694682B2 (en) | 1989-12-18 | 1989-12-18 | Safety monitoring system for unmanned construction vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0694682B2 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0549850U (en) * | 1991-12-12 | 1993-07-02 | 株式会社小松エスト | Blade interference prevention device for motor grader |
| US5553407A (en) | 1995-06-19 | 1996-09-10 | Vermeer Manufacturing Company | Excavator data acquisition and control system and method of use |
| JP3743582B2 (en) * | 1996-02-21 | 2006-02-08 | 株式会社小松製作所 | Fleet control device and control method for unmanned vehicle and manned vehicle mixed running |
| WO2002033443A2 (en) | 2000-06-14 | 2002-04-25 | Vermeer Manufacturing Company | Utility mapping and data distribution system and method |
| JP2002049403A (en) | 2000-08-07 | 2002-02-15 | Shin Caterpillar Mitsubishi Ltd | Voice operated controller for construction equipment |
| EP2825901A1 (en) | 2012-03-12 | 2015-01-21 | Vermeer Manufacturing Co., Inc | Offset frequency homodyne ground penetrating radar |
| US9739133B2 (en) | 2013-03-15 | 2017-08-22 | Vermeer Corporation | Imaging underground objects using spatial sampling customization |
| EP3742725B1 (en) * | 2015-11-30 | 2024-03-20 | Sumitomo Heavy Industries, Ltd. | Surroundings monitoring system for work machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5826130A (en) * | 1981-08-10 | 1983-02-16 | Meidensha Electric Mfg Co Ltd | Method of construction work |
-
1989
- 1989-12-18 JP JP1325807A patent/JPH0694682B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH03187423A (en) | 1991-08-15 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |