CN118202122A - Work machine, method of controlling work machine, and system - Google Patents

Abstract

The working machine comprises: a vehicle body; a driving wheel; a steering actuator; an articulation actuator; a steering angle sensor; an articulation angle sensor; an object sensor; and a controller. The vehicle body comprises: a rear frame; and a front frame. The front frame is connected to the rear frame so as to be rotatable left and right. The steering actuator steers the driving wheel left and right. The articulation actuator changes the articulation angle between the rear frame and the front frame. The object sensor detects an object around the working machine and outputs a signal indicating the presence or absence of the object. The controller sets a detection range around the working machine. The controller sets the detection range according to the steering angle and the articulation angle.

Description

Working machine, method and system for controlling working machine

Technical Field

The present invention relates to a working machine, and a method and system for controlling a working machine.

Background technique

In the past, in working machines, a technology for detecting people or obstacles in the surrounding area by using sensors such as radars was used. For example, Patent Document 1 discloses a forklift truck equipped with an object detection system. The object detection system includes a radar device such as a millimeter wave radar. The radar device detects whether there is an object by emitting radio waves or ultrasonic waves and receiving the radio waves or ultrasonic waves reflected by the object.

In the above object detection system, when all objects that enter the detectable range of the radar device are detected and an alarm is issued, the alarm is frequently issued. Therefore, in the above object detection system, the controller sets a detection range around the forklift truck, and when an object is detected within the detection range, an alarm is issued. In addition, the detection range changes according to the vehicle speed and steering angle of the forklift truck.

Prior art literature

Patent document: (Japan) Patent Publication No. 2021-28266

Summary of the invention

Problems to be solved by the invention

In the above object detection system, the detection range is changed according to the vehicle speed and the steering angle, thereby being able to appropriately determine whether there is an object around the forklift. However, for a working machine such as a motor grader with a large degree of freedom in the body posture, it is not enough to simply apply the above technology. The purpose of the present invention is to be able to appropriately determine whether there is an object around the working machine.

Solutions to Solve Problems

The working machine of the first embodiment of the present invention comprises: a vehicle body; a traveling wheel; a steering actuator; an articulation actuator; a steering angle sensor; an articulation angle sensor; an object sensor; and a controller. The vehicle body includes: a rear frame; and a front frame. The front frame is connected to the rear frame so as to be rotatable left and right. The traveling wheel is supported on the vehicle body. The steering actuator steers the traveling wheel left and right. The articulation actuator changes the articulation angle between the rear frame and the front frame. The steering angle sensor detects the steering angle of the traveling wheel. The articulation angle sensor detects the articulation angle. The object sensor detects objects around the working machine and outputs a signal indicating the presence or absence of the object. The controller sets a detection range around the working machine. The controller determines the presence or absence of an object within the detection range based on the signal from the object sensor. The controller sets the detection range according to the steering angle and the articulation angle.

The method of the second mode of the present invention is a method for controlling a working machine. The working machine includes: a rear frame; a vehicle body; traveling wheels; a steering actuator; and an articulation actuator. The vehicle body includes: a rear frame; and a front frame. The front frame is connected to the rear frame so as to be rotatable left and right. The traveling wheels are supported on the vehicle body. The steering actuator steers the traveling wheels left and right. The articulation actuator changes the articulation angle between the rear frame and the front frame. The method comprises: detecting a steering angle; detecting an articulation angle; receiving a signal indicating the presence or absence of an object around the working machine; setting a detection range around the working machine according to the steering angle and the articulation angle; and determining the presence or absence of an object within the detection range based on a signal from an object sensor.

The third mode of the system of the present invention is a system for controlling a working machine. The working machine includes: a rear frame; a vehicle body; a traveling wheel; a steering actuator; and an articulation actuator. The vehicle body includes: a rear frame; and a front frame. The front frame is connected to the rear frame so as to be rotatable left and right. The traveling wheel is supported on the vehicle body. The steering actuator steers the traveling wheel left and right. The articulation actuator changes the articulation angle between the rear frame and the front frame. The system includes: a steering angle sensor; an articulation angle sensor; an object sensor; and a controller. The steering angle sensor detects the steering angle of the traveling wheel. The articulation angle sensor detects the articulation angle. The object sensor detects objects around the working machine and outputs a signal indicating the presence or absence of the object. The controller sets a detection range around the working machine. The controller determines the presence or absence of an object within the detection range based on the signal from the object sensor. The controller sets the detection range according to the steering angle and the articulation angle.

Effects of the Invention

In the present invention, the detection range of the object around the working machine is set based on the steering angle and the articulation angle, thereby making it possible to appropriately determine whether there is an object around the working machine.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view showing a working machine according to the embodiment.

FIG. 2 is a side view showing the working machine.

FIG. 3 is a plan view showing the front portion of the working machine.

FIG. 4 is a front view showing the front portion of the working machine.

FIG. 5 is a schematic diagram showing the configuration of a control system for a working machine.

FIG. 6 is a plan view showing an example of a detection range.

FIG. 7 is a flowchart showing a process for setting a detection range.

FIG. 8 is a flowchart showing a process for setting a detection range.

FIG. 9 is a plan view showing a detection range according to the process of Modification 1. FIG.

FIG. 10 is a plan view showing a detection range according to the process of Modification 2. FIG.

FIG. 11 is a plan view showing a detection range according to the process of Modification 3. FIG.

FIG. 12 is a plan view showing a detection range according to the process of Modification 3. FIG.

FIG. 13 is a plan view showing a detection range according to the process of Modification 4. FIG.

FIG. 14 is a plan view showing a detection range according to the process of Modification 5. FIG.

FIG. 15 is a plan view showing a detection range according to the process of Modification 5. FIG.

FIG. 16 is a plan view showing a detection range according to the process of Modification 6. FIG.

FIG. 17 is a plan view showing a detection range according to the process of Modification 7. FIG.

FIG. 18 is a plan view showing a detection range according to the process of Modification 7. FIG.

FIG. 19 is a plan view showing a detection range according to the process of Modification 8. FIG.

FIG. 20 is a plan view showing the detection range according to the process of Modification 8. FIG.

FIG. 21 is a plan view showing a detection range according to the process of Modification 9. FIG.

FIG. 22 is a plan view showing a detection range according to the process of Modification 9. FIG.

FIG. 23 is a plan view showing a detection range according to the process of Modification 9. FIG.

FIG. 24 is a plan view showing the detection range according to the process of Modification 9. FIG.

FIG. 25 is a plan view showing a detection range of a modified example.

Detailed ways

The embodiment of the present invention will be described with reference to the following drawings. FIG1 is a perspective view of a working machine 1 according to the embodiment. FIG2 is a side view of the working machine 1. As shown in FIG1, the working machine 1 includes: a vehicle body 2; running wheels 3A, 3B, 4A-4D; and a working machine 5. The vehicle body 2 includes: a front frame 11; a rear frame 12; a driving section 13; and a power room 14.

The rear frame 12 is connected to the front frame 11. The front frame 11 is connected to the rear frame 12 so as to be rotatable relative to the rear frame 12. As described later, the front frame 11 is rotatable left and right relative to the rear frame 12.

It should be noted that in the following description, the front, rear, left and right directions of the vehicle body 2 are defined when the hinge angle of the front frame 11 relative to the rear frame 12 is zero, that is, when the front frame 11 and the rear frame 12 are straight.

The cab 13 and the power room 14 are arranged on the rear frame 12. A driver's seat (not shown) is arranged on the cab 13. The power room 14 is arranged behind the cab 13. The front frame 11 extends forward from the rear frame 12.

The running wheels 3A, 3B, 4A-4D are rotatably supported on the vehicle body 2. The running wheels 3A, 3B, 4A-4D include: front wheels 3A, 3B; and rear wheels 4A-4D. The front wheels 3A, 3B are arranged away from each other in the left-right direction. The front wheels 3A, 3B are mounted on the front frame 11. The rear wheels 4A-4D are mounted on the rear frame 12.

The working machine 5 is movably connected to the vehicle body 2. The working machine 5 includes a support member 15 and a bulldozer 16. The support member 15 is movably connected to the vehicle body 2. The support member 15 supports the bulldozer 16. The support member 15 includes a drawbar 17 and a rotating disk 18. The drawbar 17 is arranged below the front frame 11.

The tow bar 17 is connected to the front portion 19 of the front frame 11. The tow bar 17 extends rearward from the front portion 19 of the front frame 11. The tow bar 17 is supported by the front frame 11 so as to be swingable in at least the up-down direction and the left-right direction of the vehicle body 2. For example, the front portion 19 includes a ball joint. The tow bar 17 is connected to the front frame 11 via the ball joint so as to be rotatable.

The rotating disk 18 is connected to the rear portion of the drawbar 17. The rotating disk 18 is supported rotatably with respect to the drawbar 17. The bulldozer 16 is connected to the rotating disk 18. The bulldozer 16 is supported on the drawbar 17 via the rotating disk 18. As shown in FIG. 2 , the bulldozer 16 is supported rotatably on the rotating disk 18 around a tilting shaft 21. The tilting shaft 21 extends in the left-right direction.

FIG3 is a top view of the front part of the working machine 1. As shown in FIG3, the working machine 1 includes: a first steering shaft 43A; a second steering shaft 43B. The first steering shaft 43A and the second steering shaft 43B are provided on the front frame 11. The first steering shaft 43A and the second steering shaft 43B extend in the up-down direction. The front wheel 3A is supported rotatably around the first steering shaft 43A. The front wheel 3B is supported rotatably around the second steering shaft 43B. That is, the front wheels 3A and 3B are steerable running wheels.

The working machine 1 includes a plurality of steering actuators 41A and 41B for steering the front wheels 3A and 3B. The plurality of steering actuators 41A and 41B are used to steer the front wheels 3A and 3B. For example, the plurality of steering actuators 41A and 41B may be hydraulic cylinders. The plurality of steering actuators 41A and 41B are connected to the front wheels 3A and 3B, respectively. The plurality of steering actuators 41A and 41B are extended and retracted by oil pressure. In the following description, the extension and retraction of the hydraulic cylinders including the plurality of steering actuators 41A and 41B is referred to as "stroke action".

The plurality of steering actuators 41A and 41B include a left steering cylinder 41A and a right steering cylinder 41B. The left steering cylinder 41A and the right steering cylinder 41B are arranged to be spaced apart from each other in the left-right direction.

The left steering cylinder 41A is connected to the front frame 11 and the front wheel 3A. The right steering cylinder 41B is connected to the front frame 11 and the front wheel 3B. The front wheels 3A, 3B are steered according to the stroke motion of the left steering cylinder 41A and the right steering cylinder 41B.

The working machine 1 includes an articulation shaft 44. The articulation shaft 44 is provided on the front frame 11 and the rear frame 12. The articulation shaft 44 extends in the up-down direction. The front frame 11 and the rear frame 12 are connected to each other rotatably around the articulation shaft 44.

It should be noted that in the following description, the state in which the vehicle body 2 is bent due to the rotation of the front frame 11 and the rear frame 12 around the hinge shaft 44 is referred to as the "articulated state". In addition, the state that is not the articulated state, that is, the state in which the front frame 11 and the rear frame 12 are arranged in a straight line is referred to as the "straight line state".

The working machine 1 includes a plurality of articulated actuators 27 and 28. The plurality of articulated actuators 27 and 28 are used to rotate the front frame 11 relative to the rear frame 12. For example, the plurality of articulated actuators 27 and 28 are hydraulic cylinders. The plurality of articulated actuators 27 and 28 are connected to the front frame 11 and the rear frame 12. The plurality of articulated actuators 27 and 28 are extended and retracted by oil pressure.

The plurality of articulation actuators 27 and 28 include a left articulation cylinder 27 and a right articulation cylinder 28. The left articulation cylinder 27 and the right articulation cylinder 28 are disposed to be separated from each other in the left-right direction.

The left articulation cylinder 27 is connected to the front frame 11 and the rear frame 12 on the left side of the vehicle body 2. The right articulation cylinder 28 is connected to the front frame 11 and the rear frame 12 on the right side of the vehicle body 2. The front frame 11 rotates left and right relative to the rear frame 12 through the stroke action of the left articulation cylinder 27 and the right articulation cylinder 28.

FIG. 4 is a front view of the front part of the working machine 1. As shown in FIG. 4, the working machine 1 includes a tilting mechanism 6. The tilting mechanism 6 tilts the front wheels 3A and 3B to the left and right. The tilting mechanism 6 includes a front bridge 56, a roll bar 57, and a roll actuator 60. The front bridge 56 extends to the left and right from the front frame 11. The front bridge 56 is supported on the front frame 11 so as to be rotatable around a pivot 58.

The front axle bridge 56 is connected to the front wheel 3A via the wheel bracket 59A. The front axle bridge 56 supports the front wheel 3A rotatably around the roll axis 54A. The front axle bridge 56 is connected to the front wheel 3B via the wheel bracket 59B. The front axle bridge 56 supports the front wheel 3B rotatably around the roll axis 54B. The roll axes 54A, 54B extend in the front-rear direction.

The roll bar 57 extends to the left and right through the front frame 11. The roll bar 57 connects the front wheels 3A and 3B to each other. The roll bar 57 is connected to the front wheel 3A via a wheel bracket 59A. The roll bar 57 is connected to the front wheel 3B via a wheel bracket 59B.

The roll actuator 60 is used to tilt (tilt) the front wheels 3A and 3B. For example, the roll actuator 60 is a hydraulic cylinder. The roll actuator 60 is connected to the front frame 11 and the front wheels 3A and 3B. The roll actuator 60 is extended and retracted by oil pressure. That is, by the extension and retraction of the roll actuator 60, the front wheels 3A and 3B rotate around the roll axes 54A and 54B. As a result, the front wheels 3A and 3B tilt to the left and right.

As shown in Fig. 2, the working machine 1 includes a plurality of actuators 22-26 for changing the posture of the working machine 5. For example, the plurality of actuators 22-25 are hydraulic cylinders. The actuator 26 is a rotary actuator. In the present embodiment, the actuator 26 is a hydraulic motor. The actuator 26 may also be an electric motor.

The plurality of actuators 22-25 are connected to the working machine 5. The plurality of actuators 22-25 are extended and retracted by hydraulic pressure. The plurality of actuators 22-25 change the posture of the working machine 5 relative to the vehicle body 2 by extending and retracting.

Specifically, the plurality of actuators 22 - 25 include: a left lift cylinder 22 ; a right lift cylinder 23 ; a drawbar shift cylinder 24 ; and a bulldozer blade tilt hydraulic cylinder 25 .

The left lift cylinder 22 and the right lift cylinder 23 are arranged to be spaced apart from each other in the left-right direction. The left lift cylinder 22 and the right lift cylinder 23 are connected to the drawbar 17. The left lift cylinder 22 and the right lift cylinder 23 are connected to the front frame 11 via the lifter bracket 29. The drawbar 17 swings up and down according to the stroke action of the left lift cylinder 22 and the right lift cylinder 23. As a result, the dozer blade 16 moves up and down.

The drawbar shift cylinder 24 is connected to the drawbar 17 and the front frame 11. The drawbar shift cylinder 24 is connected to the front frame 11 via the lifter bracket 29. The drawbar shift cylinder 24 extends obliquely downward from the front frame 11 toward the drawbar 17. The drawbar 17 swings left and right according to the stroke action of the drawbar shift cylinder 24.

The bulldozer blade tilt hydraulic cylinder 25 is connected to the rotating disk 18 and the bulldozer blade 16. The bulldozer blade 16 rotates around the tilt shaft 21 according to the stroke action of the bulldozer blade tilt hydraulic cylinder 25.

The actuator 26 is connected to the drawbar 17 and the rotating disk 18. The actuator 26 rotates the rotating disk 18 relative to the drawbar 17. Thereby, the blade 16 rotates around the rotation axis extending in the up-down direction.

FIG5 is a schematic diagram showing the structure of the control system of the working machine 1. As shown in FIG5, the working machine 1 includes: a driving source 31; a hydraulic pump 32; and a power transmission device 33. The working machine 1 includes: a steering valve 42A; an articulation valve 42B; a roll valve 42C; and a working machine valve 34. The driving source 31 is, for example, an internal combustion engine. Alternatively, the driving source 31 may be an electric motor or a hybrid power of an internal combustion engine and an electric motor.

The hydraulic pump 32 is driven by the driving source 31 to discharge the working oil. The hydraulic pump 32 supplies the working oil to the steering valve 42A, the hinge valve 42B, the roll valve 42C and the working machine valve 34. As a result, the plurality of steering actuators 41A, 41B, the plurality of hinge actuators 27, 28, the roll actuator 60 and the plurality of actuators 22-26 operate. It should be noted that only one hydraulic pump 32 is shown in FIG. 5, but a plurality of hydraulic pumps may also be provided.

The steering valve 42A is connected to the hydraulic pump 32 and the plurality of steering actuators 41A, 41B via a hydraulic circuit. The steering valve 42A controls the flow rate of the hydraulic oil supplied from the hydraulic pump 32 to the plurality of steering actuators 41A, 41B. The plurality of steering actuators 41A, 41B perform stroke operations by supplying the hydraulic oil of the hydraulic pump 32 to the steering valve 42A.

The articulation valve 42B is connected to the hydraulic pump 32 and the plurality of articulation actuators 27 and 28 via a hydraulic circuit. The articulation valve 42B controls the flow rate of the hydraulic oil supplied from the hydraulic pump 32 to the plurality of articulation actuators 27 and 28. The plurality of articulation actuators 27 and 28 perform stroke operations by supplying the hydraulic oil of the hydraulic pump 32 to the articulation valve 42B.

The roll valve 42C is connected to the hydraulic pump 32 and the roll actuator 60 via a hydraulic circuit. The roll valve 42C controls the flow rate of hydraulic oil supplied from the hydraulic pump 32 to the roll actuator 60. The roll actuator 60 performs a stroke operation by supplying hydraulic oil from the hydraulic pump 32 to the roll valve 42C.

The working machine valve 34 is connected to the hydraulic pump 32 and the plurality of actuators 22 to 26 via a hydraulic circuit. The working machine valve 34 includes a plurality of valves connected to the plurality of actuators 22 to 26, respectively. The working machine valve 34 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 32 to the plurality of actuators 22 to 26.

The power transmission device 33 transmits the driving force from the driving source 31 to the rear wheels 4A-4D. The power transmission device 33 may also include a torque converter and/or a plurality of speed gears. Alternatively, the power transmission device 33 may also be a transmission such as HST (Hydraulic Static Transmission) or HMT (Hydraulic Mechanical Transmission).

The working machine 1 includes a steering operating member 45 , an articulation operating member 46 , a roll operating member 47 , a working machine operating member 48 , a shift operating member 49 , and an accelerator operating member 50 .

The steering operating member 45 can be operated by the operator to steer the front wheels 3A, 3B. The steering operating member 45 is a lever such as a joystick. Alternatively, the steering operating member 45 may be a member other than a lever. For example, the steering operating member 45 may be a steering wheel. The steering operating member 45 outputs a steering operating signal indicating the operator's operation of the steering operating member 45.

The hinge operating member 46 can be operated by an operator to rotate the front frame 11 relative to the rear frame 12. The hinge operating member 46 is a lever such as a joystick. Alternatively, the hinge operating member 46 may be a member other than a lever. The hinge operating member 46 outputs a hinge operating signal indicating the operator's operation of the hinge operating member 46.

The tilt operating member 47 can be operated by the operator to tilt the front wheels 3A, 3B. The tilt operating member 47 is a lever such as a joystick. Alternatively, the tilt operating member 47 may be another member such as a switch or a touch panel. The tilt operating member 47 outputs a tilt operating signal indicating the operator's operation on the tilt operating member 47.

The work machine operating member 48 can be operated by the operator to change the posture of the work machine 5. The work machine operating member 48 includes, for example, a plurality of work machine levers. Alternatively, the work machine operating member 48 may also be other members such as a switch or a touch panel. The work machine operating member 48 outputs a signal indicating the operator's operation on the work machine operating member 48.

The shift operating component 49 can be operated by an operator to switch the forward and reverse directions of the working machine 1. The shift operating component 49 includes, for example, a shift lever. Alternatively, the shift operating component 49 may be another component such as a switch or a touch panel. The shift operating component 49 outputs a signal indicating the operator's operation on the shift operating component 49.

The accelerator operating member 50 can be operated by an operator to drive the working machine 1. The accelerator operating member 50 includes, for example, an accelerator pedal. Alternatively, the accelerator operating member 50 may be another member such as a switch or a touch panel. The accelerator operating member 50 outputs a signal indicating the operation of the accelerator operating member 50 by the operator.

As shown in FIG5 , the working machine 1 includes a controller 37. The controller 37 includes a storage device 38 and a processor 39. The processor 39 is, for example, a CPU, and executes a program for controlling the working machine 1. The storage device 38 includes a memory such as a RAM and a ROM, and an auxiliary storage device such as an SSD or a HDD. The storage device 38 stores programs and data for controlling the working machine 1.

The controller 37 controls the power transmission device 33 according to the operation of the shift operating member 49. As a result, the travel direction of the working machine 1 can be switched between forward and reverse. In addition, the speed level of the power transmission device 33 can be switched. Alternatively, the shift operating member 49 can also be mechanically connected to the power transmission device 33. It is also possible to switch the forward and reverse gears or the speed change gears of the power transmission device 33 by mechanically transmitting the action of the shift operating member 49 to the power transmission device 33.

The controller 37 controls the driving source 31 and the power transmission device 33 according to the operation of the accelerator operating member 50. Thus, the working machine 1 is driven. In addition, the controller 37 controls the hydraulic pump 32 and the working machine valve 34 according to the operation of the working machine operating member 48. Thus, the working machine 5 is operated.

The controller 37 obtains the operation amount of the steering operation member 45 based on the steering operation signal from the steering operation member 45. The controller 37 controls the steering valve 42A based on the steering operation signal, thereby extending and retracting the plurality of steering actuators 41A, 41B. Thus, the controller 37 changes the steering angle θs of the front wheels 3A, 3B.

As shown in Fig. 3, the steering angle θs is an angle at which the front wheels 3A, 3B rotate relative to the front frame 11 about the first steering shaft 43A and the second steering shaft 43B. Specifically, the steering angle θs is an angle at which the front wheels 3A, 3B rotate relative to the first center line L1 of the front frame 11. The first center line L1 extends in the front-rear direction of the front frame 11.

The steering angle θs changes from the neutral position to the left and right according to the stroke action of the plurality of steering actuators 41A, 41B. The steering angle θs at the neutral position is zero degrees. The front wheels 3A, 3B are arranged parallel to the first center line L1 of the front frame 11 at the neutral position. It should be noted that in FIG. 3 , 3A' and 3B' show the front wheels in a state where the steering angle θs is turned rightward from the neutral position.

The controller 37 obtains the operation amount of the hinge operation member 46 according to the hinge operation signal from the hinge operation member 46. The controller 37 controls the hinge valve 42B. For example, the controller 37 controls the hinge valve 42B according to the hinge operation signal, thereby extending and retracting the left hinge cylinder 27 and the right hinge cylinder 28. As a result, the controller 37 changes the hinge angle θa.

3 , the hinge angle θa is an angle at which the front frame 11 rotates relative to the rear frame 12 about the hinge shaft 44. Specifically, the hinge angle θa is an angle formed by a first center line L1 of the front frame 11 and a second center line L2 of the rear frame 12.

The second center line L2 extends in the front-to-rear direction of the rear frame 12. The second center line L2 passes through the articulation shaft 44 when looking down at the working machine 1. The articulation angle θa changes from the neutral position to the left and right. The articulation angle θa at the neutral position is zero. The articulation angle θa to the left is a positive value, and the articulation angle θa to the right is a negative value.

When the articulation angle θa is zero, the direction of the second center line L2 coincides with the direction of the first center line L1. That is, when the articulation angle θa is zero, the vehicle body 2 is in a straight state. It should be noted that FIG. 3 shows a state where the front frame 11 is rotated about the articulation axis 44 by the articulation angle θa.

The controller 37 obtains the operation amount of the roll operating member 47 according to the roll operation signal from the roll operating member 47. The controller 37 controls the roll valve 42C. For example, the controller 37 controls the roll valve 42C according to the roll operation signal to extend or retract the roll actuator 60. Thus, the controller 37 changes the roll angle θ1 according to the operation of the roll operating member 47 by the operator.

As shown in Fig. 4, the roll angle θ1 is the tilt angle of the front wheels 3A, 3B in the left-right direction when the vehicle body 2 is viewed from the front. For example, the roll angle θ1 is the tilt angle of the front wheels 3A, 3B around the roll axes 54A, 54B when the vehicle body 2 is viewed from the front.

In the following description, the state in which the front wheels 3A and 3B are upright relative to the horizontal plane (3A and 3B shown by the solid line) is referred to as the neutral position of the front wheels 3A and 3B. The front wheels 3A and 3B are in the neutral position, and the roll angle θ1 is zero degrees. It should be noted that in FIG. 4, 3A' and 3B' show the front wheels tilted to the left by the roll angle θ1 from the neutral position.

The working machine 1 includes a steering angle sensor 51, an articulation angle sensor 52, and a roll angle sensor 53. The steering angle sensor 51 detects a steering angle θs of the front wheels 3A and 3B. The steering angle sensor 51 outputs a signal indicating the steering angle θs.

The articulation angle sensor 52 detects the articulation angle of the front frame 11 relative to the rear frame 12. The articulation angle sensor 52 outputs a signal indicating the articulation angle θa. The roll angle sensor 53 detects the roll angle θl of the front wheels 3A, 3B. The roll angle sensor 53 outputs a signal indicating the roll angle θl.

The steering angle sensor 51, the articulation angle sensor 52, and the roll angle sensor 53 may also be an IMU (Inertial Measurement Unit), respectively. Alternatively, the steering angle sensor 51, the articulation angle sensor 52, and the roll angle sensor 53 may also be a camera, respectively. In this case, the controller 37 may also calculate the steering angle θs, the articulation angle θa, and the roll angle θl by analyzing the images obtained by each sensor 51-53.

Alternatively, the steering angle sensor 51, the articulation angle sensor 52, and the roll angle sensor 53 may be sensors that detect the strokes of the steering actuators 41A, 41B, the strokes of the articulation cylinders 27, 28, and the strokes of the roll actuator 60. In this case, the controller 37 may calculate the steering angle θs, the articulation angle θa, and the roll angle θl based on the strokes of the steering actuators 41A, 41B, the strokes of the articulation cylinders 27, 28, and the strokes of the roll actuator 60.

Alternatively, the steering angle sensor 51 may directly detect the steering angle θs. The articulation angle sensor 52 may directly detect the articulation angle θa. The roll angle sensor 53 may directly detect the roll angle θl.

As shown in FIG5 , the working machine 1 includes object sensors 61 and 62 and an output device 63. The object sensors 61 and 62 detect objects around the working machine 1. The object sensors 61 and 62 are radar devices such as millimeter wave radars. Alternatively, the object sensors 61 and 62 may be other types of sensors such as ultrasonic sensors, cameras, and LIDAR (Light Detection and Ranging) devices. The object sensors output signals indicating the presence or absence of objects around the working machine 1.

The object sensors 61 and 62 include: a first object sensor 61; and a second object sensor 62. The first object sensor 61 detects an object in front of the vehicle body 2. The first object sensor 61 is installed on, for example, the front frame 11. Alternatively, the first object sensor 61 may also be installed at other locations such as the driving part 13. The second object sensor 62 detects an object behind the vehicle body 2. The second object sensor 62 is installed on, for example, the rear frame 12. Alternatively, the second object sensor 62 may also be installed at other locations such as the driving part 13 or the power room 14.

The output device 63 is, for example, a display. The output device 63 displays an image according to a command signal from the controller 37. Alternatively, the output device 63 may be a speaker. The output device 63 may also output a voice according to a command signal from the controller 37.

The controller 37 sets detection ranges 71 and 72 around the working machine 1, and determines the presence or absence of an object within the detection ranges 71 and 72 based on the signals from the object sensors 61 and 62. For example, as shown in FIG6 , the controller 37 sets the first detection range 71 in front of the vehicle body 2. The controller 37 sets the second detection range 72 behind the vehicle body 2. When an object 100 is detected within the detection ranges 71 and 72, the controller 37 causes the output device 63 to output an alarm.

The controller 37 stores a first reference range 73 of the first detection range 71 and a second reference range 74 of the second detection range 72. The first reference range 73 and the second reference range 74 are set based on the width (hereinafter referred to as "vehicle width") L0 of the vehicle body 2. The width of the first reference range 73 and the width of the second reference range 74 are respectively the same as the maximum vehicle width L0 of the working machine 1 other than the working machine 5.

The controller 37 sets the detection ranges 71 and 72 according to the steering angle θs, the articulation angle θa, and the roll angle θl. The controller 37 changes the detection ranges 71 and 72 from the reference ranges 73 and 74 according to the steering angle θs, the articulation angle θa, and the roll angle θl. Hereinafter, a method for setting the detection ranges 71 and 72 by the controller 37 will be described. FIG. 7 and FIG. 8 are flowcharts showing the processing for setting the detection ranges 71 and 72 executed by the controller 37.

As shown in FIG. 7 , in step S1, the controller 37 obtains the steering angle θs. The controller 37 obtains the steering angle θs based on the signal from the steering angle sensor 51. In step S2, the controller 37 obtains the articulation angle θa. The controller 37 obtains the articulation angle θa based on the signal from the articulation angle sensor 52. In step S3, the controller 37 obtains the roll angle θl. The controller 37 obtains the roll angle θl based on the signal from the roll angle sensor 53.

In step S4, the controller 37 determines whether the steering angle θs is 0 degrees. In step S5, the controller 37 determines whether the articulation angle θa is 0 degrees. In step S6, the controller 37 determines whether the roll angle θl is 0 degrees.

When the steering angle θs, the articulation angle θa, and the roll angle θl are 0 degrees, in step S7, the controller 37 sets the reference ranges 73 and 74 as the detection ranges 71 and 72. That is, when the working machine 1 is not turning or rolling and is moving forward in a straight line, the controller 37 sets the reference ranges 73 and 74 as the detection ranges 71 and 72. Specifically, as shown in FIG6 , the controller 37 sets the first reference range 73 as the first detection range 71. In addition, the controller 37 sets the second reference range 74 as the second detection range 72.

In step S6, if the roll angle θ1 is not 0 degrees, the process proceeds to step S8. In step S8, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of modification 1. FIG9 is a plan view showing the detection ranges 71 and 72 according to the process of modification 1.

As shown in FIG9 , in the process of Change 1, the controller 37 expands the detection ranges 71 and 72 to the same side as the direction in which the front wheels 3A and 3B roll in the left-right direction (hereinafter referred to as the "roll direction"). That is, when the working machine 1 is not turning and is moving straight while rolling in a straight state, the controller 37 expands the detection ranges 71 and 72 to the same side as the roll direction.

For example, when the front wheels 3A, 3B roll to the left, the controller 37 expands the first detection range 71 to the left from the first reference range 73. The controller 37 expands the second detection range 72 to the left from the second reference range 74. In addition, the controller 37 does not expand the detection ranges 71, 72 to the right. In this case, the widths Lall of the detection ranges 71, 72 are as shown in the following formula (1).

Lall＝L0+Ll (1)

L1 is the increment of the detection range during the roll. The increment L1 during the roll represents the displacement of the front wheels 3A, 3B to the left and right outer sides due to the roll. The increment L1 during the roll is expressed by the following formula (2).

Ll＝D×cosθl (2)

As shown in Fig. 4, D is the outer diameter of the front wheels 3A, 3B. It should be noted that, although not shown in the figure, in the process of Change 1, when the front wheels 3A, 3B tilt to the right, the controller 37 expands the first detection range 71 from the first reference range 73 to the right and expands the second detection range 72 from the second reference range 74 to the right.

In step S5, when the articulation angle θa is not 0 degrees, the process proceeds to step S9. In step S9, the controller 37 determines whether the roll angle θl is 0 degrees. In step S9, when the roll angle θl is 0 degrees, the process proceeds to step S10.

In step S10, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of Change 2. FIG. 10 is a top view showing the detection ranges 71 and 72 according to the process of Change 2. As shown in FIG. 10, in the process of Change 2, the controller 37 bends the detection ranges 71 and 72 according to the turning radius of the working machine 1 corresponding to the articulation angle θa. That is, when the working machine 1 turns in the articulated state without turning or tilting, the detection ranges 71 and 72 are bent in combination with the turning trajectories A1 and A2 of the working machine 1.

For example, when the working machine 1 turns left in the articulated state, the controller 37 bends the detection ranges 71 and 72 to the left. The controller 37 stores data indicating the relationship between the articulation angle θa and the turning radius of the working machine 1, and can calculate the turning radius from the articulation angle θa by referring to the data. The width Lall of the detection ranges 71 and 72 is the same as the width of the reference ranges 73 and 74, as shown in the following formula (3).

Lall＝L0 (3)

Although not shown in the figure, in the process of the modification 2, when the working machine 1 turns right in the articulated state, the controller 37 curves the detection ranges 71 and 72 to the right.

In step S9, if the roll angle θ1 is not 0 degrees, the process proceeds to step S11. In step S11, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of modification 3. FIG. 11 and FIG. 12 are top views showing the detection ranges 71 and 72 according to the process of modification 3.

As shown in FIG. 11 and FIG. 12, in the process of Change 3, the controller 37 bends the detection ranges 71 and 72 according to the turning radius of the working machine 1 corresponding to the articulation angle θa and the roll angle θl, and expands the detection ranges 71 and 72 to the same side as the roll direction. That is, when the working machine 1 does not turn and turns in an articulated state while rolling, the controller 37 bends the detection ranges 71 and 72 in accordance with the turning trajectory of the working machine 1, and expands the detection ranges 71 and 72 to the same side as the roll direction, as in the process of Change 2. For example, the controller 37 may store data indicating the relationship between the articulation angle θa and the roll angle θl and the turning radius of the working machine 1, and calculate the turning radius of the working machine 1 from the articulation angle θa and the roll angle θl by referring to the data.

For example, as shown in FIG11, when the working machine 1 is tilting to the left and turning to the left in an articulated state, the controller 37 bends the detection ranges 71 and 72 to the left and expands the detection ranges 71 and 72 to the left by an increment L1. As shown in FIG12, when the working machine 1 is tilting to the right and turning to the left in an articulated state, the controller 37 bends the detection ranges 71 and 72 to the left and expands the detection ranges 71 and 72 to the right by an increment L1. The width Lall of the detection ranges 71 and 72 is as shown in the above formula (1).

It should be noted that, although not shown in the figure, in the process of Change 3, when the working machine 1 turns right in the articulated state, the controller 37 bends the detection ranges 71, 72 to the right and expands the detection ranges 71, 72 to the side in the same direction as the roll direction.

In step S4, when the steering angle θs is not 0 degrees, the process proceeds to step S12 as shown in FIG. 8. In step S12, the controller 37 determines whether the articulation angle θa is 0 degrees. In step S13, the controller 37 determines whether the roll angle θl is 0 degrees. When both the articulation angle θa and the roll angle θl are 0 degrees, the process proceeds to step S14.

In step S14, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of Change 4. FIG. 13 is a top view showing the detection ranges 71 and 72 according to the process of Change 4. As shown in FIG. 13, in the process of Change 4, the controller 37 bends the detection ranges 71 and 72 according to the turning radius of the working machine 1 corresponding to the steering angle θs. That is, when the working machine 1 does not roll and turns by steering in a straight state, the detection ranges 71 and 72 are bent in accordance with the turning trajectory of the working machine 1.

For example, as shown in FIG13 , when the working machine 1 turns to the left by steering, the controller 37 bends the detection ranges 71 and 72 to the left. For example, the controller 37 may also store data indicating the relationship between the steering angle θs and the turning radius of the working machine 1, and calculate the turning radius from the steering angle θs by referring to the data. The width Lall of the detection ranges 71 and 72 is the same as the width of the reference ranges 73 and 74, as shown in the above formula (3). It should be noted that, although the illustration is omitted, in the processing of Change 4, when the working machine 1 turns to the right by steering, the controller 37 bends the detection ranges 71 and 72 to the right.

In step S13, if the roll angle θ1 is not 0 degrees, the process proceeds to step S15. In step S15, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of modification 5. FIG. 14 and FIG. 15 are top views showing the detection ranges 71 and 72 according to the process of modification 5.

As shown in FIG. 14 and FIG. 15, in the process of change 5, the controller 37 bends the detection ranges 71 and 72 according to the turning radius of the working machine 1 corresponding to the steering angle θs and the roll angle θl, and expands the detection ranges 71 and 72 to the same side as the roll direction. That is, when the working machine 1 is in a straight state and turns by steering while rolling, the controller 37 bends the detection ranges 71 and 72 in accordance with the turning trajectory of the working machine 1, and expands the detection ranges 71 and 72 to the same side as the roll direction. The controller 37 stores data indicating the relationship between the steering angle θs and the roll angle θl and the turning radius of the working machine 1, and can calculate the turning radius of the working machine 1 from the steering angle θs and the roll angle θl by referring to the data.

For example, as shown in FIG14, when the working machine 1 is turning to the left while tilting to the left, the controller 37 bends the detection ranges 71 and 72 to the left and expands the detection ranges 71 and 72 to the left by an increment L1. As shown in FIG15, when the working machine 1 is turning to the left while tilting to the right, the controller 37 bends the detection ranges 71 and 72 to the left and expands the detection ranges 71 and 72 to the right by an increment L1. The width Lall of the detection ranges 71 and 72 is as shown in the above formula (1).

Although not shown in the figure, in the process of modification 5, when the working machine 1 turns right by steering, the controller 37 bends the detection ranges 71 and 72 to the right and expands the detection ranges 71 and 72 to the same side as the roll direction.

In step S12, when the articulation angle θa is not 0 degrees, the process proceeds to step S16. In step S16, the controller 37 determines whether the steering angle θs is the same as the value opposite to the articulation angle θa (i.e., θs=-θa). In the case that the steering angle θs is the same as the value opposite to the articulation angle θa, the process proceeds to step S17. In step S17, the controller 37 determines whether the roll angle θl is 0 degrees. In the case that the roll angle θl is 0 degrees, the process proceeds to step S18.

In step S18, the controller 37 changes the reference ranges 73 and 74 according to the process of the modification 6, thereby setting the detection ranges 71 and 72. Fig. 16 is a plan view showing the detection ranges 71 and 72 according to the process of the modification 6.

As shown in FIG. 16 , when the steering angle θs is equal to a value opposite to the articulation angle θa, the working machine 1 is traveling straight in an articulated state. In the process of Change 6, the controller 37 expands the reference ranges 73 and 74 in the left-right direction according to the articulation angle θa. The controller 37 expands the first detection range 71 from the first reference range 73 on the side opposite to the bending direction of the front frame 11 relative to the rear frame 12 in the left-right direction (hereinafter referred to as the "articulation direction"). In addition, the controller 37 expands the second detection range 72 from the second reference range 74 on the same side as the articulation direction.

For example, as shown in FIG16 , when the front frame 11 is bent to the left relative to the rear frame 12 and the working machine 1 is moving straight, the controller 37 expands the first detection range 71 to the right from the first reference range 73 and expands the second detection range 72 to the left from the second reference range 74. In this case, the widths Lall of the detection ranges 71 and 72 are as shown in the following formula (4).

Lall＝L0+La (4)

La is the increment of the detection range in the articulated state. As shown in Fig. 4, the increment La in the articulated state represents the displacement of the front wheels 3A, 3B to the left and right sides in the articulated state. The increment La in the articulated state is expressed as the following formula (5).

La＝Lf×sinθa (5)

As shown in Fig. 3, Lf is the distance between the hinge shaft 44 and the center P1 of the front bridge 56. It should be noted that, although not shown in the figure, in the process of Change 6, when the front frame 11 is moving straight while being bent to the right relative to the rear frame 12, the controller 37 expands the first detection range 71 to the left from the first reference range 73 and expands the second detection range 72 to the right from the second reference range 74.

In step S17, if the roll angle θ1 is not 0 degrees, the process proceeds to step S19. In step S19, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of modification 7. FIG. 17 and FIG. 18 are top views showing the detection ranges 71 and 72 according to the process of modification 7.

As shown in Fig. 17, in the process of Change 7, the controller 37 expands the reference ranges 73 and 74 in the left-right direction according to the articulation angle θa, and expands the detection ranges 71 and 72 on the same side as the roll direction. That is, when the working machine 1 is moving straight in an articulated state while rolling, the controller 37 expands the detection ranges 71 and 72 from the reference ranges 73 and 74 in the left-right direction according to the articulation angle θa, and expands the detection ranges 71 and 72 from the reference ranges 73 and 74 on the same side as the roll direction.

For example, as shown in FIG. 17 , when the working machine 1 is moving straight in a hinged state to the left while leaning to the left, the controller 37 expands the first detection range 71 to the right by an increment La, and expands the first detection range 71 to the left by an increment L1. In addition, the controller 37 expands the second detection range 72 to the left by an increment La, and expands the second detection range 72 to the left by an increment L1. In this case, the widths Lall of the detection ranges 71 and 72 are as shown in the following formula (6).

Lall＝L0+La+Ll (6)

18, when the roll direction is opposite to the articulation direction, the controller 37 does not expand the increment L1 when rolling the detection ranges 71 and 72. That is, the controller 37 performs the above-mentioned modification 7 when the roll direction is the same as the articulation direction.

It should be noted that, although not shown in the figure, in the process of Change 7, when the front frame 11 is moving straight in a rightward hinged state while tilting to the right, the controller 37 expands the first detection range 71 to the left by an increment La, and expands the first detection range 71 to the right by an increment L1. In addition, the controller 37 expands the second detection range 72 to the right by an increment La, and expands the second detection range 72 to the right by an increment L1.

In step S16 , when the steering angle θs and the value having the opposite sign to the articulation angle θa are different (that is, θs≠θa), the process proceeds to step S20 .

In step S20, the controller 37 determines whether the roll angle θ1 is 0 degrees. When the roll angle θ1 is 0 degrees, the process proceeds to step S21. In step S21, according to the process of modification 8, the reference ranges 73 and 74 are changed to set the detection ranges 71 and 72. FIG. 19 and FIG. 20 are top views showing the detection ranges 71 and 72 according to the process of modification 8.

As shown in Fig. 19, in the process of Change 8, when the turning direction and the articulation direction of the working machine 1 are the same, the controller 37 bends the detection ranges 71 and 72 according to the turning radius of the working machine 1 corresponding to the articulation angle θa and the steering angle θs. That is, when the working machine 1 turns according to the articulation angle θa and the steering angle θs without rolling, the detection ranges 71 and 72 are bent in accordance with the turning trajectory of the working machine 1.

For example, when the working machine 1 turns to the left according to the articulation angle θa and the steering angle θs (θs>-θa), the controller 37 bends the detection ranges 71 and 72 to the left. The controller 37 stores data indicating the relationship between the articulation angle θa and the steering angle θs and the turning radius of the working machine 1, and can also calculate the turning radius from the articulation angle θa and the steering angle θs by referring to the data. The width Lall of the detection ranges 71 and 72 is the same as the width of the reference ranges 73 and 74, as shown in the above formula (3).

It should be noted that, although the illustration is omitted, in the processing of change 8, the turning direction and the articulation direction of the working machine 1 are the same. When the working machine 1 turns to the right according to the articulation angle θa and the steering angle θs (θs＜-θa), the controller 37 bends the detection ranges 71 and 72 to the right.

As shown in Figure 20, in the processing of change 8, when the steering angle θs and the value opposite to the articulation angle θa are different, and the turning direction and the articulation direction of the working machine 1 are opposite, the controller 37 bends the detection ranges 71 and 72 according to the turning radius of the working machine 1 corresponding to the articulation angle θa and the steering angle θs, and expands the reference ranges 73 and 74 to the left and right directions according to the articulation angle θa.

For example, as shown in FIG20 , when the articulation direction is left and the turning direction of the working machine 1 is right, the controller 37 expands the first detection range 71 from the first reference range 73 to the right and bends the first detection range 71 to the right. In addition, the controller 37 expands the second detection range 72 from the second reference range 74 to the left and bends the second detection range 72 to the right. In this case, the width Lall of the detection ranges 71 and 72 is as shown in the above formula (4).

It should be noted that, although not shown in the figure, in the process of Change 8, when the steering angle θs is different from the value opposite to the articulation angle θa, the articulation direction is right, and the turning direction of the working machine 1 is left, the controller 37 expands the first detection range 71 from the first reference range 73 to the left, and bends the first detection range 71 to the left. In addition, the controller 37 expands the second detection range 72 from the second reference range 74 to the right, and bends the second detection range 72 to the left.

In step S20, if the roll angle θ1 is not 0 degrees, the process proceeds to step S22. In step S22, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of modification 9. FIG. 21 to FIG. 24 are top views showing the detection ranges 71 and 72 according to the process of modification 9.

As shown in FIG. 21 and FIG. 22, in the process of the modification 9, when the articulation direction and the turning direction of the working machine 1 are the same, the controller 37 bends the detection ranges 71 and 72 according to the turning radius of the working machine 1 corresponding to the articulation angle θa, the steering angle θs, and the roll angle θl, and expands the detection ranges 71 and 72 on the same side as the roll direction. That is, the controller 37 may bend the detection ranges 71 and 72 according to the turning trajectory of the working machine 1 and expand the detection ranges 71 and 72 on the same side as the roll direction when the working machine 1 turns according to the articulation angle θa and the steering angle θs while rolling. The controller 37 stores data indicating the relationship between the articulation angle θa, the steering angle θs, the roll angle θl, and the turning radius of the working machine 1, and calculates the turning radius of the working machine 1 from the articulation angle θa, the steering angle θs, and the roll angle θl by referring to the data.

For example, as shown in FIG21, when the working machine 1 turns leftward according to the articulation angle θa and the steering angle θs while tilting to the left, the controller 37 bends the detection ranges 71 and 72 to the left and expands the detection ranges 71 and 72 to the left by an increment L1. As shown in FIG22, when the working machine 1 turns leftward according to the articulation angle θa and the steering angle θs while tilting to the right, the controller 37 bends the detection ranges 71 and 72 to the left and expands the detection ranges 71 and 72 to the right by an increment L1. The width Lall of the detection ranges 71 and 72 is as shown in the above formula (1).

It should be noted that, although the illustration is omitted, in the processing of change 9, when the articulation direction and the turning direction of the working machine 1 are the same and the working machine 1 turns to the right, the controller 37 bends the detection range 71, 72 to the right, and expands the detection range 71, 72 on the side that is the same as the roll direction.

As shown in Figure 23, in the processing of change 9, when the articulation direction is opposite to the turning direction of the working machine 1 and the roll direction is the same as the articulation direction, the controller 37 bends the detection ranges 71, 72 according to the turning radius of the working machine 1 corresponding to the articulation angle θa, the steering angle θs and the roll angle θl, expands the reference ranges 73, 74 to the left and right directions according to the articulation angle θa, and expands the detection ranges 71, 72 on the same side as the roll direction.

For example, as shown in FIG. 23, when the articulation direction is left, the turning direction of the working machine 1 is right, and the rolling direction is left, the controller 37 expands the first detection range 71 from the first reference range 73 to the right by the increment La in the articulation state, expands the first detection range 71 from the first reference range 73 to the left by the increment L1 in the rolling state, and bends the first detection range 71 to the right. In addition, the controller 37 expands the second detection range 72 from the second reference range 74 to the left by the increment La, expands the second detection range 72 from the second reference range 74 to the left by the increment L1, and bends the second detection range 72 to the right. In this case, the widths Lall of the detection ranges 71 and 72 are as shown in the above formula (6).

It is worth noting that, although not shown in the figure, when the articulation direction is right, the turning direction of the working machine 1 is left, and the rolling direction is right, the controller 37 expands the first detection range 71 from the first reference range 73 to the left by an increment La, expands the first detection range 71 from the first reference range 73 to the right by an increment L1, and bends the first detection range 71 to the left. In addition, the controller 37 expands the second detection range 72 from the second reference range 74 to the right by an increment La, expands the second detection range 72 from the second reference range 74 to the right by an increment L1, and bends the second detection range 72 to the left.

However, as shown in Fig. 24, in the process of Change 9, when the articulation direction is opposite to the turning direction of the working machine 1 and the roll direction is opposite to the articulation direction, the increment L1 when the roll is expanded is not performed on the detection ranges 71 and 72. In this case, the width Lall of the detection ranges 71 and 72 is as shown in the above formula (4).

In the working machine 1 of the present embodiment described above, the detection ranges 71 and 72 of the object around the working machine 1 are set based on the articulation angle θa, the roll angle θl, and the steering angle θs. This makes it possible to appropriately determine whether there is an object around the working machine 1.

As mentioned above, although one embodiment of the present invention has been described, the present invention is not limited to the above-mentioned embodiment, and various modifications can be made within the scope not departing from the gist of the invention.

The structure of the working machine 1 is not limited to the above content, and can also be changed. For example, the structure of the working machine 5 can also be changed. A part of the control system of the working machine 1 can also be configured outside the working machine 1. For example, various operating components 46-50 and the output device 63 of the working machine 1 can also be configured outside the working machine 1.

The controller 37 may be composed of a plurality of controllers. The above-mentioned processing may be distributed and executed by a plurality of controllers. Some of the plurality of controllers may be arranged outside the working machine 1.

The processing when an object is detected in the detection ranges 71 and 72 is not limited to the above-described embodiment and may be modified. For example, when an object is detected in the detection ranges 71 and 72, the controller 37 may stop the work machine 3 and/or the vehicle body 2 or restrict the operation.

The process for setting the detection ranges 71 and 72 is not limited to the above-described embodiment and may be changed. The controller 37 may also set the detection range to only one of the front and rear of the vehicle body 2. When the working machine 1 moves forward, the controller 37 may also set the first detection range 71 to the front of the vehicle body 2. When the working machine 1 moves backward, the controller 37 may also set the second detection range 72 to the rear of the vehicle body 2.

The thresholds of the articulation angle θa, the steering angle θs, and the roll angle θl used in the process of determining the change of the detection ranges 71 and 72 are not limited to 0 degrees, and may be other values. For example, the threshold of the articulation angle θa may be a value so small that the working machine 1 is considered to be in a straight state. The threshold of the steering angle θs may be a value so small that the working machine 1 is considered to be not turned left or right. The threshold of the roll angle θl may be a value so small that the working machine 1 is considered to be not tilted left or right. The change of the detection ranges 71 and 72 according to the roll direction may also be omitted.

The controller 37 may add any margin width considering the detection error to the width Lall of the above-mentioned detection ranges 71 and 72. For example, as shown in FIG. 25 , the controller 37 may set the detection ranges 71 and 72 by adding a margin width Lt to the left and right of the reference ranges 73 and 74. Similarly, for the detection ranges 71 and 72 determined by the above-mentioned processing of Changes 1 to 9, the margin width Lt may be added to the left and right of the detection ranges 71 and 72, respectively.

In the above embodiment, the front width and rear width of the vehicle body 2 are the same, but the front width and rear width of the vehicle body 2 may be different. In this case, the controller 37 may calculate the width of the first detection range 71 by taking the front width of the vehicle as the width of the first reference range 73. The controller 37 may calculate the width of the second detection range 72 by taking the rear width of the vehicle as the width of the second reference range 74.

Industrial Applicability

According to the present invention, it is possible to appropriately determine whether or not there is an object around the working machine.

Description of Reference Numerals

2: vehicle body, 3A, 3B: driving wheels, 11: front frame, 12: rear frame, 27, 28: articulation actuator, 37: controller, 41A, 41B: steering actuator, 51: steering angle sensor, 52: articulation angle sensor, 53: roll angle sensor, 60: roll actuator, 61, 62: object sensor, 71, 72: detection range, 73, 74: reference range, θa: articulation angle, θl: roll angle, θs: steering angle.

Claims (19)

1. A working machine, characterized by comprising: A vehicle body, comprising a rear frame and a front frame connected to the rear frame so as to be rotatable left and right; Traveling wheels supported on the vehicle body; A steering actuator, which turns the travel wheels left and right; an articulation actuator that changes an articulation angle between the rear frame and the front frame; A steering angle sensor, which detects the steering angle of the travel wheel; an articulation angle sensor, which detects the articulation angle; an object sensor that detects an object around the working machine and outputs a signal indicating the presence or absence of the object; a controller that sets a detection range around the working machine and determines the presence or absence of the object within the detection range based on a signal from the object sensor, The controller sets the detection range according to the steering angle and the articulation angle. 2. The working machine according to claim 1, characterized in that: The controller sets a reference range of the detection range based on the width of the vehicle body. The detection range is changed from the reference range according to the articulation angle. 3. The working machine according to claim 2, characterized in that: When the working machine turns according to the articulation angle, the controller curves the detection range according to a turning radius of the working machine corresponding to the articulation angle. 4. The working machine according to claim 2 or 3, characterized in that: When the direction of the articulation angle is opposite to the turning direction of the working machine, the controller expands the detection range from the reference range in the left-right direction according to the articulation angle. 5. The working machine according to claim 4, characterized in that: When the detection range is set in front of the front frame, the controller expands the detection range from the reference range on the same side as the rear frame with respect to the front frame in the left-right direction. 6. The working machine according to claim 4, characterized in that: When the detection range is set to the rear of the rear frame, the controller expands the detection range from the reference range on the same side as the front frame with respect to the rear frame in the left-right direction. 7. The working machine according to claim 2, further comprising: A roll actuator, which changes the roll angle of the running wheel; a roll angle sensor, which detects the roll angle, The controller changes the detection range from the reference range according to the roll angle. 8. The working machine according to claim 7, characterized in that: The controller expands the detection range from the reference range on the side in the left-right direction which is the same as the rolling direction of the running wheel. 9. The working machine according to claim 8, characterized in that: When the turning direction of the working machine is opposite to the direction of the articulation angle and the direction in which the traveling wheels roll coincides with the turning direction of the working machine, the controller does not expand the detection range corresponding to the roll angle. 10. A method for controlling a working machine, characterized in that: The working machine includes: a vehicle body including a rear frame and a front frame connected to the rear frame so as to be rotatable left and right; a travel wheel supported by the vehicle body; a steering actuator for steering the travel wheel left and right; and an articulation actuator for changing an articulation angle between the rear frame and the front frame. The method comprises: detecting a steering angle of the travel wheel; detecting the articulation angle; receiving a signal indicating the presence or absence of an object around the working machine; setting a detection range around the working machine according to the steering angle and the articulation angle; The presence or absence of the object within the detection range is determined based on the signal from the object sensor. 11. The method according to claim 10, further comprising: Setting a reference range of the detection range based on the width of the vehicle body; The detection range is changed from the reference range according to the articulation angle. 12. The method according to claim 11, further comprising: When the working machine turns according to the articulation angle, the detection range is curved according to a turning radius of the working machine corresponding to the articulation angle. 13. The method according to claim 11 or 12, further comprising: When the direction of the articulation angle is opposite to the turning direction of the working machine, the detection range is expanded from the reference range in the left-right direction according to the articulation angle. 14. The method according to claim 13, further comprising: When the detection range is set in front of the front frame, the detection range is expanded from the reference range on the same side as the rear frame with respect to the front frame in the left-right direction. 15. The method according to claim 13, further comprising: When the detection range is set to the rear of the rear frame, the detection range is expanded from the reference range on the same side as the front frame with respect to the rear frame in the left-right direction. 16. The method according to claim 11, characterized in that The working machine further comprises: a roll actuator which changes the roll angle of the traveling wheel. The method also has: detecting the roll angle; The detection range is changed from the reference range according to the roll angle. 17. The method according to claim 16, further comprising: The detection range is expanded from the reference range on the same side in the left-right direction as the direction in which the running wheel rolls. 18. The method according to claim 17, characterized in that When the turning direction of the working machine and the direction of the articulation angle are opposite and the direction in which the traveling wheels roll coincide with the turning direction of the working machine, the detection range is not expanded in accordance with the roll angle. 19. A system for controlling a working machine, characterized in that: The working machine includes: a vehicle body having a rear frame and a front frame connected to the rear frame so as to be rotatable left and right; a travel wheel supported by the vehicle body; a steering actuator for steering the travel wheel left and right; and an articulation actuator for changing an articulation angle between the rear frame and the front frame. The system includes: A steering angle sensor, which detects the steering angle of the travel wheel; an articulation angle sensor, which detects the articulation angle; an object sensor that detects an object around the working machine and outputs a signal indicating the presence or absence of the object; a controller that sets a detection range around the working machine and determines the presence or absence of the object within the detection range based on a signal from the object sensor, The controller sets the detection range according to the steering angle and the articulation angle.