PROBLEM TO BE SOLVED: To provide a collision avoidance device of a boom for a working machine in which an artificial setting of a work regulation range is unnecessary, and the work can be started quickly and safely even if a person is present in the vicinity or even to an obstacle of a complicated shape.SOLUTION: A collision avoidance device of a boom for a working machine of the present invention includes: a video camera 10 provided in the tip 4 t of the boom 4 of a crane body 1; an image processing unit 20 for tracking natural feature points existing in an image photographed with the video camera 10 when performing a boom hoisting or a turning motion of the boom 4, and generating the information of an obstacle having a risk of colliding to the boom 4 based on results of the tracking natural feature points; and a collision avoidance control unit 30 for performing collision avoidance control to avoid collision between the boom 4 and the obstacle based on the information of the obstacle generated by the image processing unit 20.SELECTED DRAWING: Figure 1
【課題】人為的な作業規制範囲の設定が不要であり、複雑形状の障害物に対しても迅速に且つ近傍に人がいても安全に作業を開始することができる作業機用ブーム衝突回避装置を提供する。【解決手段】この作業機用ブーム衝突回避装置は、クレーン本体1のブーム4の先端4tに設けられたビデオカメラ10と、ビデオカメラ10で撮影したブーム4の起伏または旋回動作を行った際の画像に存する自然特徴点を追跡し、その自然特徴点の追跡結果に基づいてブーム4に衝突するおそれのある障害物の情報を生成する画像処理部20と、画像処理部20で生成された障害物の情報に基づいてブーム4と障害物との衝突を回避する衝突回避制御を行う衝突回避制御部30とを備える。【選択図】図1
COLLISION AVOIDANCE DEVICE OF BOOM FOR WORKING MACHINE
作業機用ブーム衝突回避装置
21.04.2016
Patent
Elektronische Ressource
Japanisch
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