JP7058569B2 - Work machine - Google Patents

Description

The present invention relates to a working machine.

In order to prevent contact accidents, work machines such as hydraulic excavators detect obstacles such as people or objects around the work machine, and notify or detect the existence of the work machine operator. Some are equipped with an ambient monitoring device that controls the operation of the work machine according to the result. On the other hand, in an actual work site, there are many cases where the work machine is intentionally operated while recognizing the worker who works in the vicinity of the work machine, such as when the worker performs auxiliary work. In such an environment, despite recognizing that the necessary workers are in the vicinity, the surrounding monitoring device causes the worker's approach notification and the operation restriction of the work machine to be performed more than necessary, resulting in work efficiency. Will lead to a decline in.

As a technique for solving such a problem, for example, in Patent Document 1, the danger range around the work machine is calculated based on at least one of the posture and the movement of the work machine, and the obstacle detected around the work machine is detected. A peripheral monitoring device for a work machine that displays a warning when an object is within the danger range is disclosed.

Further, in Patent Document 2, the user sets an arbitrary monitoring area according to the work content through an operation on the monitor, and depending on whether or not a worker has invaded the set monitoring area. A peripheral monitoring device for a work machine that reduces excessive notification by performing notification is described.

Japanese Patent No. 5676638

Japanese Patent No. 5395266A

However, in the prior art described in Patent Document 1, since the peripheral monitoring device of the work machine automatically determines the danger range, for example, the operator recognizes the worker existing in the operation direction of the work machine. Even if the work machine is operated with care so as not to touch the worker, an alarm is output from the device when it is determined to be in the dangerous range, which is a cause of annoyance. There is a possibility of becoming.

Further, in the prior art described in Patent Document 2, the user can suppress unnecessary notification by arbitrarily setting the monitoring area, but the user quantifies the operating range of the work machine in setting the monitoring area. There is a possibility that there is a discrepancy between the monitoring area intended by the user and the monitoring area actually set in the device, and as a result, unnecessary notification is not effectively suppressed. Further, since the user manually inputs the monitoring area through the operation on the monitor, there is a problem that the setting time is large and an interface with a high degree of freedom is required for the input.

The present invention has been made in view of the above, and an object of the present invention is to provide a work machine in which an operator can intuitively and easily set an arbitrary notification area according to the operation of the work machine.

The present application includes a plurality of means for solving the above problems, and to give an example thereof, a vehicle body, a work device attached to the vehicle body, and a posture information acquisition device for detecting posture information of the work device. An object detection device that detects an object existing around the work machine having the vehicle body and the work device and calculates the relative position of the detected object with respect to the work machine, and an operator of information about the object. In a work machine provided with a notification device for notifying the work machine and a control device for controlling the operation of the work machine, the control device sets a normal mode in which work is performed by the work device and a notification area to be notified of the object. The mode switching unit that selectively switches to any of the notification area setting modes to be set and the posture information obtained while the mode switching unit is switched to the notification area setting mode are stored and stored. Detected by the position history management unit that calculates the movement range of the work machine from the information, the notification area setting unit that sets the notification area so as to include the movement range calculated by the position history management unit, and the object detection device. A notification determination unit that determines whether or not the object is inside the notification area set by the notification area setting unit, and a notification determination unit that determines that the object is inside the notification area. It shall be equipped with a notification control unit that notifies the operator via the notification device.

According to the present invention, the operator can intuitively and easily set an arbitrary notification area according to the operation of the work machine.

It is a figure which shows roughly the structure of the hydraulic excavator which is an example of the work machine which concerns on one Embodiment of this invention. Among the processing functions of the control device, it is a functional block diagram which shows the functional part as a surrounding monitoring device together with the related configuration. It is a figure which shows the flow of the process of a mode switching part. It is a figure explaining the posture information, and is the side view of the hydraulic excavator. It is a figure explaining the posture information, and is the top view of the hydraulic excavator. It is a figure which shows the flow of the process of a position history management part. It is a figure which shows the flow of the process of the work determination part outside the notification area. It is a figure which shows the flow of the process of a traveling determination part. It is a figure which shows the flow of the process of the notification area setting part. It is a figure which shows an example of the range (minimum turning angle, maximum turning angle) of a maximum turning radius and a turning angle. It is a figure which shows an example of the notification area set based on the movement range shown in FIG. It is a figure which shows an example of the notification area in a traveling operation. It is a figure which shows the flow of the process of a notification determination unit. It is a figure which shows the vehicle body coordinate system. It is a figure which shows the swivel body coordinate system. It is a figure which shows an example of the operation of a hydraulic excavator in setting of a notification area. It is a figure which shows the display example of the touch panel monitor before the start of work. It is a figure which shows the display example of the touch panel monitor when the notification area setting mode (new) is selected, and is the figure which shows the display content immediately after selecting a notification area setting mode (new). It is a figure which shows the display example of the touch panel monitor when the notification area setting mode (new) is selected, and is the figure which shows the display content after performing a setting operation. It is a figure which shows the display example of the touch panel monitor of the normal mode after the end of the notification area setting mode (new), and is the figure which shows the display content when the object (obstacle) has not invaded into the notification area. It is a figure which shows the display example of the touch panel monitor of the normal mode after the end of the notification area setting mode (new), and is the figure which shows the display content when an object (obstacle) invades into a notification area. It is a figure which shows the display content when the work outside the notification area is performed in the work in a normal mode. It is a figure which shows the display example of the touch panel monitor when the notification area setting mode (addition) is selected.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram schematically showing a configuration of a hydraulic excavator which is an example of a work machine according to an embodiment of the present invention. Further, FIG. 2 is a functional block diagram showing a functional unit as a surrounding monitoring device among the processing functions of the control device together with a related configuration.

In FIG. 1, the hydraulic excavator 1 which is a work machine is rotatably attached to the upper part of a crawler type lower traveling body 1e and the lower traveling body 1e, and together with the lower traveling body 1e, constitutes an upper portion of a vehicle body 1B of the working machine. It is equipped with a swivel body 1d. The lower traveling body 1e is driven by the left and right traveling hydraulic motors 3e and 3f (only one is shown in FIG. 1 and only the reference numerals are shown in parentheses for the other). The upper swing body 1d is driven by the torque generated by the swing hydraulic motor 3d, and swings in the left-right direction with respect to the lower traveling body 1e.

A driver's cab 1f is installed on the upper swivel body 1d, and an articulated work device 1A for forming a target terrain or the like is attached to the side of the driver's cab 1f in front of the upper swivel body 1d.

The working device 1A is configured by connecting a boom 1a, an arm 1b, and a bucket 1c that rotate in the vertical direction, respectively, and is driven by a boom cylinder 3a, an arm cylinder 3b, and a bucket cylinder 3c, respectively. .. The base end of the boom 1a is rotatably supported in the vertical direction with respect to the upper swivel body 1d, and the boom 1a, the arm 1b, and the bucket 1c have a relative angle of the boom 1a with respect to the upper swivel body 1d. Angle sensors 8a, 8b, 8c are provided as posture information acquisition devices that detect the relative angle of the arm 1b with respect to the boom 1a and the relative angle of the bucket 1c with respect to the arm 1b as posture information, respectively. Further, the upper swivel body 1d is provided with an angle sensor 8d as a posture information acquisition device that detects the swivel angle (relative angle) of the upper swivel body 1d with respect to the lower traveling body 1e as posture information. As the angle sensors 8a to 8d, an IMU (Inertial Measurement Unit) that measures the angular velocity and acceleration can be used, and the relative angle may be obtained from the measured values.

Cameras 13a, 13b, 13c, and 13d for taking images in each direction are installed behind, to the right, to the left, and to the front of the upper swivel body 1d, respectively. Regarding the upper swivel body 1d, the direction in which the work device 1A is installed is the front when viewed from the swivel center of the upper swivel body 1d with respect to the lower traveling body 1e.

An operation signal (pilot pressure in the case of a hydraulic drive system) for driving a boom cylinder 3a, an arm cylinder 3b, a bucket cylinder 3c, a swing hydraulic motor 3d, and a traveling hydraulic motor 3e, 3f is operated in the cab 1f. An operation lever (not shown) for operating the boom 1a, the arm 1b, the bucket 1c, the upper swivel body 1d, and the lower traveling body 1e according to the direction and the operation amount, and the operator. A buzzer 15b (notification device) for notifying that an object (obstacle) has been detected around the hydraulic excavator, and a function for displaying various information to the operator (a notification device for notifying the detection of obstacles). A touch panel monitor 15a having input functions such as various settings by the operator, an image processing device 14a for processing images taken by the cameras 13a to 13d, and a control device 20 for controlling the overall operation of the hydraulic excavator 1. And are arranged.

The operation lever is provided with pressure sensors 9a, 9b, 9c, 9d (operation signal detection device) for detecting an operation signal (here, pilot pressure) output from the operation lever by the operator. The pressure sensor 9a detects an operation signal (pilot pressure) for operating the drive of the traveling hydraulic motors 3e and 3f, and the pressure sensors 9b to 9d use the boom cylinder 3a, the arm cylinder 3b, and the bucket cylinder 3c, respectively. Detects the operation signal (pilot pressure) for operation.

In the present embodiment, the touch panel monitor 15a is used as a device having a function as an output device for displaying various information to the operator and a function as an input device for performing various inputs by the operator. Alternatively, a device having an input device function (for example, a switch) and a device having an output device function (for example, a monitor) may be provided.

The control device 20 constitutes a function as a surrounding monitoring device together with an object detection device 10 composed of cameras 13a to 13d and an image processing device 14a. The surrounding monitoring device in the present embodiment is an object detected by the object detection device 10 by setting a notification area around the hydraulic excavator 1 in consideration of the operating range of the working device 1A of the hydraulic excavator 1 and the vehicle body 1B. When (obstacle) exists in the notification area, the surrounding monitoring is performed to notify the operator of the fact.

The object detection device 10 detects the presence of an object (obstacle) existing around the hydraulic excavator 1 and calculates the position thereof, and includes cameras 13a to 13d for taking an image of the surroundings of the hydraulic excavator 1. It is composed of an image processing device 14a that detects an object (obstacle) based on the images taken by the cameras 13a to 13d and calculates the position of the detected obstacle. The image processing device 14a outputs the coordinates of an object (obstacle) in the coordinate system (camera coordinate system) based on the installation position and installation direction of the cameras 13a to 13d as the detection position. As a method of detecting an object (obstacle) in the image processing device 14a, for example, a method of matching images taken by cameras 13a to 13d with teacher data, or a plurality of images taken from a plurality of different viewpoints. A method of acquiring the depth information of the shooting area by obtaining the parallax based on the parallax and detecting the object in the image from the depth information can be considered. In addition, a detection device capable of detecting the position of an object such as LiDAR (Light Detection and Ranging) or an ultrasonic sensor may be used.

In FIG. 2, the control device 20 includes a mode switching unit 21, a position history management unit 22, a notification area setting unit 23, a notification determination unit 24, a work determination unit outside the notification area 25, a travel determination unit 26, a notification control unit 27, and a vehicle body. It includes a data storage unit 28, an installation parameter storage unit 29, and a display pattern storage unit 30.

The mode switching unit 21 sets the monitoring mode of the hydraulic excavator 1 by a notification area setting mode for setting a notification area which is a target range for notification of an object (obstacle) and a monitoring mode other than the notification area setting mode. It is set by selectively switching to any one of the normal modes in which the operator performs the work by the work device 1A or the like while monitoring the surroundings based on the notified notification area.

There are two notification area setting modes selected by the mode switching unit 21: a new setting mode (hereinafter referred to as a notification area setting mode (new)) and an additional setting mode (hereinafter referred to as a notification area setting mode (addition)). There is a mode. The notification area setting mode (new) is a mode in which the notification area set up to that point is reset (cancelled) and a new notification area is set, and the notification area setting mode (addition) is the current notification area. This mode is for setting the notification area including. The notification area setting mode (new) and the notification area setting mode (additional) are collectively referred to as the notification area setting mode, and when the operator selects the notification area setting mode, the notification area setting mode (new) and the notification area setting are set. Select and set either mode (addition).

FIG. 3 is a diagram showing a processing flow of the mode switching unit.

In FIG. 3, the mode switching unit 21 acquires an input (touch event) from the operator via the touch panel monitor 15a (step 21a), and determines whether or not the notification area setting mode is selected by the operator (step 21b). ..

If the notification area setting mode is not selected in step 21b (when the determination result is NO), the monitoring mode is set to the normal mode, and the mode information indicating the setting content of the monitoring mode is provided in the position history management unit 22. Is output to the notification area setting unit 23 (step 21c).

If the notification area setting mode is set in step 21b (when the determination result is YES), the monitoring mode is set to the notification area setting mode (either of the notification area setting mode (new) / (addition)). (Step 21d), mode information indicating the setting content of the monitoring mode is output to the position history management unit 22, the notification area setting unit 23, and the notification control unit 27, and a touch event is acquired (step). 21e), it is determined whether or not the operator has selected the end of the notification area setting mode (step 21f).

If the end of the notification area setting mode is not selected in step 21f (when the determination result is NO), the acquisition of the touch event is repeated until the determination result becomes NO (step 21e), and the notification area setting mode is set. When end is selected (when the determination result is YES), the end trigger of the notification area setting mode is output to the position history management unit 22, the notification area setting unit 23, and the notification control unit 27 (step 21g). ..

In the present embodiment, in step 21f, the end of the notification area setting mode is determined based on an explicit selection through some operation by an operator such as a touch event, but it is determined in advance, for example. It is considered that the end of the notification area setting mode is selected by detecting that there is no machine operation for a certain period of time or that the work by the work device 1A or the like is continued within a certain range, and the end of the notification area setting mode is indicated. The end trigger may be automatically output.

The position history management unit 22 stores the posture information obtained while the mode switching unit 21 is switched to the notification area setting mode, and the hydraulic excavator 1 (working device 1A and the upper swivel body) calculated from the stored posture information. The movement range (position history) of 1d) is calculated. That is, each time the position history management unit 22 selects the notification area setting mode in the mode switching unit 21, the position history management unit 22 of the hydraulic excavator 1 until the notification area setting mode is terminated (that is, in the notification area setting mode). Attitude information is stored, and the maximum turning radius (maximum turning radius), maximum turning angle (maximum turning angle), and minimum turning angle (minimum turning angle) in the notification area setting mode are calculated from the stored posture information . Then, it is output to the notification area setting unit 23 as indicating the movement range of the hydraulic excavator 1 (working device 1A and upper swivel body 1d).

4 and 5 are views for explaining posture information, FIG. 4 shows a side view of the hydraulic excavator, and FIG. 5 shows a top view.

As shown in FIGS. 4 and 5, the posture information is a relative rotation angle with respect to a straight line connecting the rotation centers of the boom 1a, the arm 1b, and the bucket 1c constituting the working device 1A, and It is a relative turning angle of the upper turning body 1d with respect to the lower running body 1e. For example, a line connecting the rotation center on the proximal end side of the boom 1a and the rotational center on the distal end side (boom reference line) and a reference plane provided on the upper swing body 1d (for example, the hydraulic excavator 1 is arranged on a horizontal plane). In this case, the relative angle with the rotation center of the boom 1a on the base end side of the upper swing body 1d and the plane set parallel to the horizontal plane) is the boom angle, and the line connecting the rotation centers at both ends of the arm 1b (arm). The relative angle between the reference line) and the boom reference line is defined as the arm angle, and the relative angle between the line connecting the rotation center of the bucket 1c and the tip of the toe (bucket reference line) and the arm reference line is defined as the bucket angle. Further, when the hydraulic excavator 1 is viewed from above on the turning axis, the coordinates for setting the coordinate axes passing through the turning center in the traveling direction of the lower traveling body 1e when the traveling lever is tilted forward and in the direction perpendicular to the traveling direction. The system is defined as the vehicle body coordinate system, and the relative angle between the coordinate axis in the traveling direction of the vehicle body coordinate system and the direction in which the work device 1A faces is defined as the turning angle. At this time, the turning angle to the right in the traveling direction of the lower traveling body 1e from the turning center is positive, and the turning angle to the left is negative.

FIG. 6 is a diagram showing a processing flow of the position history management unit.

In FIG. 6, the position history management unit 22 first acquires the currently selected monitoring mode from the mode switching unit 21 (step 21a), and whether or not the notification area setting mode is selected, that is, the notification area setting. It is determined whether or not the mode is ON (step 21b). When it is determined in step 21b that the notification area setting mode is not selected (that is, when the determination result is NO), the process of step 22a is repeated. Further, when it is determined in step 21b that the notification area setting mode is selected (that is, when the determination result is YES), the posture information stored before the current selection of the notification area setting mode is reset. (Step 22c), the posture information which is the detection result of the angle sensors 8a to 8d is stored in the storage area (not shown) for the position history management unit 22 (step 22d). Subsequently, in the operation of the hydraulic excavator 1 in the notification area setting mode, based on the stored posture information and the vehicle body data (data related to the size of the vehicle body of the hydraulic excavator 1) obtained from the vehicle body data storage unit 28. The maximum turning radius, the minimum turning angle, and the maximum turning angle are calculated and output to the notification area setting unit 23 (step 22e). Subsequently, it is determined whether or not a trigger indicating the end of the notification area setting mode is output from the mode switching unit 21, that is, whether or not the notification area setting mode is OFF (step 22f), and the notification area setting mode is ON. In a certain case (that is, when the determination result is NO), the processing of steps 22d and 22e is repeated until the determination result becomes YES, and when the notification area setting mode is OFF (that is, the determination result is YES). In the case), the process returns to the process of step 22a.

The work outside the notification area work determination unit 25 determines whether or not the work device 1A is operating outside the notification area set by the notification area setting unit 23.

FIG. 7 is a diagram showing a processing flow of the work determination unit outside the notification area.

In FIG. 7, the work determination unit 25 outside the notification area first acquires the turning radius and the turning angle representing the range of the notification area currently set by the operator from the notification area setting unit 23 (step 25a), and the angle sensor. Calculates the turning radius and turning angle in the current posture of the working device 1A based on the detection result output of 8a to 8d and the car body data (data related to the size of the car body of the hydraulic excavator 1) from the car body data storage unit 28. (Step 25b), based on the notification area acquired in step 25a and the turning radius and turning angle acquired in step 25b, the current turning radius and turning angle are inside the notification area (hereinafter, the boundary between the inside and outside of the notification area). (Including) is determined (step 25c). When the determination result in step 25c is NO, that is, when it is determined that the work is not performed inside the notification area, "1" is set in the work flag outside the notification area and the notification area setting unit 23 and It is output to the notification control unit 27 (step 25d). If the determination result in step 25c is YES, that is, if it is determined that work is being performed inside the notification area, "0 (zero)" is set in the work flag outside the notification area for notification. It is output to the area setting unit 23 and the notification control unit 27 (step 25e).

The travel determination unit 26 determines whether or not the hydraulic excavator 1 is operating.

FIG. 8 is a diagram showing a processing flow of the traveling determination unit.

In FIG. 8, the travel determination unit 26 first acquires and detects the detection result from the pressure sensor 9a that detects the operation signal (pilot pressure) for operating the drive of the travel hydraulic motors 3e and 3f (step 26a). Based on the result, it is determined whether or not the traveling operation is performed (step 26b). If the determination result in step 26b is YES, that is, if it is determined that the traveling operation is being performed, "1" is set in the traveling flag and output to the notification area setting unit 23 and the notification control unit 27. (Step 26c). Further, when the determination result in step 26b is NO, that is, when it is determined that the traveling operation is not performed, "0 (zero)" is set in the traveling flag and the notification area setting unit 23 and the notification control Output to unit 27 (step 26d). As a method of determining whether or not the vehicle is performing the traveling operation in step 26b, an operation signal when the vehicle body starts the traveling operation is experimentally obtained based on the vehicle body characteristics, the operating environment, and the like, and based on the value. It is conceivable to determine whether or not the vehicle body is performing a running operation by comparing the magnitude of the set threshold value with the operation signal. In the present embodiment, it is determined whether or not the traveling operation is performed based on the operation signal. However, the GNSS (Global Navigation Satellite System) and the inertial sensor are mounted, and the traveling is performed from the movement of the hydraulic excavator 1. It may be determined whether or not the operation is performed.

The notification area setting unit 23 includes the maximum turning radius calculated by the position history management unit 22, the minimum turning angle, and the movement range of the hydraulic excavator 1 (working device 1A and upper turning body 1d) indicated by the maximum turning angle. It sets the notification area.

FIG. 9 is a diagram showing a processing flow of the notification area setting unit.

In FIG. 9, the notification area setting unit 23 first acquires the currently selected monitoring mode from the mode switching unit 21 (step 23a), and the current monitoring mode is the normal mode, the notification area setting mode (new), and , It is determined which of the notification area setting modes (additions) is set (step 23b).

If it is determined in step 23b that the monitoring mode is set to the notification area setting mode (new), the previously set value of the notification area is reset (step 23c), and the notification area is temporarily maximized (maximum). It is set in the notification area) and output to the notification determination unit 24 and the work determination unit 25 outside the notification area (step 23d). If it is determined in step 23b that the monitoring mode is set to the notification area setting mode (addition), the process proceeds to step 23d while maintaining the previously set value of the notification area. The maximum notification area in step 23d is a notification area in which the object detection device 10 sets the maximum range (maximum detection range) in which an object (obstacle) can be detected.

When the process of step 23d is completed, the hydraulic excavator 1 (working device 1A and upper swivel body 1d) represented by the maximum swivel radius, the minimum swivel angle, and the maximum swivel angle acquired from the position history management unit 22 is subsequently completed. The notification area is calculated so as to include the movement range (step 23e), and it is determined whether or not the notification area setting mode has ended (step 23f). If the determination result in step 23f is NO, the process of step 23e is repeated until the determination result becomes YES. If the determination result in step 23f is YES, the notification area calculated in step 23e is determined, and instead of the notification area temporarily set in step 23d, the notification determination unit 24 and the work determination outside the notification area are determined. Output to unit 25 (step 23g). In step 23g, when it is determined in step 23b that the notification area setting mode (overwrite) is set, the current setting value is superimposed on the previous setting value of the notification area to create a new notification area. do.

FIG. 10 is a diagram showing an example of a range of a maximum turning radius and a turning angle (minimum turning angle, maximum turning angle). Further, FIG. 11 is a diagram showing an example of a notification area set based on the movement range shown in FIG.

In FIGS. 10 and 11, the notification area 904 is set by adding the surplus range 903 to the movement range 902 so as to include the movement range 902 of the working device 1A and the upper swivel body 1d. The surplus range is the amount of movement when a worker tries to enter the operation range, such as variations in operation when actually performing work for the operation performed by the operator during the notification area setting mode, erroneous operation during work, and so on. It is desirable to set it based on the dynamic characteristics and visibility of the work machine, the speed of moving objects that may enter the operating range, and so on.

Further, when the notification area setting unit 23 determines in step 23b that the monitoring mode is set to the normal mode, the notification area setting unit 23 determines whether or not the travel flag acquired from the travel determination unit 26 is “1”. (Step 23h) If the determination result is YES, that is, if it is determined that the traveling operation is being performed, the notification area is temporarily set to the maximum notification area, and the notification determination unit 24 and the outside of the notification area are set. Output to the work determination unit 25 (step 23j). Further, when the determination result in step 23h is NO, that is, when it is determined that the traveling flag is "0 (zero)" and the traveling operation is not performed, the work determination unit 25 outside the notification area It is determined whether or not the acquired work flag outside the notification area is "1" (step 23i), and if the determination result is YES, that is, if it is determined that the work outside the notification area is being performed, notification is performed. The area is temporarily set to the maximum notification area, and output to the notification determination unit 24 and the work determination unit 25 outside the notification area (step 23j). Further, when the determination result in step 23i is NO, that is, when the work flag outside the notification area is "0 (zero)" and it is determined that the work is being performed inside the notification area, it is currently The set notification area is maintained and output to the notification determination unit 24 and the work determination unit 25 outside the notification area (step 23k).

In the present embodiment, the notification area is set to the maximum notification area in the process of step 23i performed during the traveling operation or the work outside the notification area, but the present invention is not limited to this, and the vehicle body dynamic characteristics and visual recognition are not limited to this. The configuration may be such that a notification area prepared in advance is set in consideration of the nature and the operating environment. For example, the notification area is not set as the maximum notification area during the traveling operation, and as shown in FIG. 12, the area where the detection of an object (obstacle) may be particularly necessary in the traveling operation is estimated and set as the notification area 1001. It is possible to reduce excessive notification while sufficiently detecting an object (obstacle) during a traveling operation.

The notification determination unit 24 determines whether or not the object (obstacle) detected by the object detection device 10 is inside the notification area set by the notification area setting unit 23.

FIG. 13 is a diagram showing a processing flow of the notification determination unit.

In FIG. 13, the notification determination unit 24 first acquires an installation parameter consisting of information such as an installation position and an installation direction of the cameras 13a to 13d with respect to the hydraulic excavator 1 from the installation parameter storage unit 29, and uses the installation parameter to obtain an object. The detection position (positional coordinates) of the detected object (obstacle) output from the image processing device 14a of the detection device 10 is converted from the camera coordinate system to the swivel body coordinate system and output to the notification control unit 27 (step). 24a). Further, the notification determination unit 24 converts the notification area obtained from the notification area setting unit 23 from the vehicle body coordinate system to the swivel body coordinate system using the posture information which is the detection result of the angle sensors 8a to 8d (step). 24b).

FIG. 14 is a diagram showing a vehicle body coordinate system. Further, FIG. 15 is a diagram showing a swivel body coordinate system.

As shown in FIG. 14, the vehicle body coordinate system has a traveling direction of the lower traveling body 1e when the traveling lever is tilted forward and a direction perpendicular to the traveling direction when the hydraulic excavator 1 is viewed from above on the turning axis. It is a coordinate system that sets the coordinate axis passing through the turning center. Further, as shown in FIG. 15, the swivel body coordinate system has a direction in which the working device 1A including the boom 1a, the arm 1b, and the bucket 1c faces the upper swivel body 1d, and a direction perpendicular to the direction. It is a coordinate system that sets the coordinate axis passing through the turning center. Since the cameras 13a to 13d are attached to the upper swivel body 1d, as shown in step 24b, the cameras 13a to 13d are swiveled based on the installation position and the installation direction (installation parameters) of the cameras 13a to 13d with respect to the upper swivel body 1d. It is possible to convert from the camera coordinate system to the swivel body coordinate system regardless of the angle.

Next, when the coordinate system is converted in steps 24a and 24b, whether or not an object (obstacle) detected by the object detection device 10 exists inside the notification area (swivel coordinate system), that is, , It is determined whether or not the position coordinates (swivel body coordinate system) of the object (obstacle) are inside the notification area (swivel body coordinate system) (step 24c), and when the determination result is YES, that is, in the notification area. When it is determined that an object (obstacle) exists inside, the notification flag is set to "1" and output to the notification control unit 27 (step 24d). If the determination result in step 24c is NO, that is, if it is determined that no object (obstacle) exists inside the notification area, the notification flag is set to "0 (zero)" for notification. Output to the control unit 27 (step 24e).

When the notification control unit 27 determines that an object (obstacle) is in the notification area by the notification determination unit 24, the notification control unit 27 notifies the operator via the notification device (touch panel monitor 15a, buzzer 15b). Is. The notification control unit 27 uses the display pattern stored in the display pattern storage unit 30, and is output from the attitude information obtained from the angle sensors 8a to 8d, the mode information output from the mode switching unit 21, and the notification determination unit 24. The touch panel monitor 15a displays the contents based on the notification flag, the work flag outside the notification area output from the work determination unit 25 outside the notification area, and the travel flag output from the travel determination unit 26. For example, when the notification flag output from the notification determination unit 24 is "1", the notification control unit 27 causes the touch panel monitor 15a to display a warning message or the like notifying the danger, and also emits a notification sound via the buzzer 15b. Output. When the notification flag is "0", the warning message is not displayed on the touch panel monitor 15a and the notification sound is not output from the buzzer 15b, only the relative position of the detected object (obstacle) with respect to the hydraulic excavator 1. Is displayed on the touch panel monitor 15a. This makes it possible to reduce excessive display and notification sound and reduce annoyance.

Here, the details of the operation in the present embodiment will be described with reference to the drawings showing the display example of the touch panel monitor 15a.

FIG. 16 is a diagram showing an example of the operation of the hydraulic excavator in setting the notification area.

In the setting of the notification area, the operator works between the excavation position and the soil discharge position by the work device 1A in a state where the monitoring mode is switched to the notification area setting mode (new) or the notification area setting mode (addition). The notification area is set by performing the operation. In the example shown in FIG. 16, the notification area setting mode is set to "ON" at the excavation position, the work device 1A is swiveled from the excavation position to the soil discharge position, and then the notification area setting mode is set to "OFF" at the soil discharge position. The notification area is set by setting. The operation of the hydraulic excavator 1 performed in the setting of the notification area may be a pseudo operation similar to the work operation for the setting, or the notification area may be set by actually performing a part of the work. In any case, the maximum notification area is temporarily set as the notification area, so that the object (obstacle) is detected and the operator is notified as appropriate.

FIG. 17 is a diagram showing a display example of the touch panel monitor before the start of work.

In FIG. 17, the display unit 100 of the touch panel monitor 15a shows an icon 101 schematically showing a state in which the hydraulic excavator 1 is viewed from above, a maximum detection range 102 of the object detection device 10 for the hydraulic excavator 1, and a current monitoring mode. A mode display unit 103 for displaying (normal mode), a selection button (New button) 104 for selecting a notification area setting mode (new), and a selection button (Add) for selecting a notification area setting mode (addition). Button) 105 is displayed.

The operator selects either the notification area setting mode (new) or the notification area setting mode (addition) by the selection buttons 104 and 105 on the touch panel monitor 15a in order to set the notification area before starting the work. (Step 21a in FIG. 3). FIG. 17 illustrates a case where the notification area is not set and the maximum notification area (that is, the maximum detection range 102) is set as the initial setting of the notification area, and the range set as the notification area. (Here, the maximum detection range 102) is shown in a different color from other regions. In the following description including FIG. 17, in the case of showing different colors for each range, the difference in color is shown by the difference in hatching (presence / absence) for the convenience of illustration.

18 and 19 are diagrams showing a display example of the touch panel monitor when the notification area setting mode (new) is selected, and FIG. 18 is a diagram showing the display contents immediately after the notification area setting mode (new) is selected. Reference numeral 19 indicates the display contents after the setting operation is performed.

As shown in FIG. 18, when the notification area setting mode (new) is selected, the content indicating that the notification area setting mode (new) is selected for the mode display unit 103 of the display unit 100 of the touch panel monitor 15a (for example). , "Setting mode [New]") is displayed, the selection button 106 for selecting the end of the notification area setting mode (new), and the operation required in the notification area setting mode (new), that is, the operation exemplified in FIG. Message 107 is displayed to prompt the operator. At this time, the maximum notification area (that is, the maximum detection range 102) is temporarily set as the notification area (step 23d in FIG. 9). After selecting the notification area setting mode (new), the operator performs the operation scheduled for the work according to the message 107, and operates the vehicle body.

As shown in FIG. 19, when the operation is performed in the state where the notification area setting mode (new) is set, the hydraulic excavator 1 (working device 1A and the upper part) from the time when the notification area setting mode (new) is selected until that time point is selected. The area 108 including the surplus range in the moving range of the swivel body 1d) is displayed in a color different from that of the other areas. That is, the area 108 represents the range of the notification area set by the operation performed by the operator, and if the area intended by the operator is satisfied, the selection button 106 is selected and the area 108 is confirmed as the notification area. (Steps 23f and 23g in FIG. 9), and the notification area setting mode (new) is terminated.

20 and 21 are diagrams showing a display example of the touch panel monitor in the normal mode after the end of the notification area setting mode (new), and FIG. 20 is a diagram when an object (obstacle) has not invaded the notification area. FIG. 21 shows the display contents when an object (obstacle) invades the notification area. Further, FIG. 22 is a diagram showing display contents when work outside the notification area is performed in the work in the normal mode.

In FIGS. 20 to 22, the area 108 set as the notification area in the notification area setting mode (new) shown in FIG. 19 is displayed in a different color from the other areas, and is within the range of the maximum detection range 102. The positions of the detected objects (obstacles) such as workers are displayed by icons 109, 110 and the like.

As shown in FIG. 20, when an object (obstacle) has not invaded the inside of the notification area (region 108) (including the boundary of the notification area), the position of the object (obstacle) is indicated by the icons 109 and 110. Displayed, but not notified to the operator.

On the other hand, as shown in FIG. 21, when an object (obstacle) such as a worker has invaded the inside of the notification area, a message 111 for calling attention is displayed, and a notification sound is output from the buzzer 15b. To.

Further, as shown in FIG. 22, when it is determined that the work by the work device 1A outside the currently set notification area, that is, the work outside the notification area is being performed, it is temporarily used as the notification area. The maximum notification area (that is, the maximum detection range 102) is set in (step 23j in FIG. 9). That is, since the maximum detection range 102 is temporarily set in the notification range, if an object (obstacle) such as a worker is inside the maximum detection range 102, it will be in a state of invading the inside of the notification area, and the mode display unit. A content indicating that the work is being performed outside the notification area is displayed on the 103, a message 111 for calling attention is displayed on the display unit 100, and a notification sound is output from the buzzer 15b. In this way, when work that exceeds the range assumed when setting the notification area is performed, the operator can be alerted by temporarily expanding the notification area, resulting in work that performs different operations. It is possible to prevent forgetting to reset the notification area when shifting.

FIG. 23 is a diagram showing a display example of the touch panel monitor when the notification area setting mode (addition) is selected in the state shown in FIG.

As shown in FIG. 23, when the notification area setting mode (addition) is selected, the content indicating that the notification area setting mode (addition) is selected for the mode display unit 103 of the display unit 100 of the touch panel monitor 15a (for example). , "Setting mode [Add]") is displayed, the selection button 106 for selecting the end of the notification area setting mode (addition), and the operation required in the notification area setting mode (addition), that is, the operation exemplified in FIG. Message 107 is displayed to prompt the operator. Further, the display unit 100 displays the current notification area display unit 112 indicating the currently set notification area and the post-addition notification area display unit 113 indicating the added notification area. At this time, the maximum notification area (that is, the maximum detection range 102) is temporarily set as the notification area (step 23d in FIG. 9). After selecting the notification area setting mode (addition), the operator performs the operation scheduled for the work according to the message 107, and operates the vehicle body.

When the operation is performed in the state where the notification area setting mode (addition) is set, the hydraulic excavator 1 (working device 1A) from the time when the notification area setting mode (addition) is selected on the notification area display unit 113 after addition to that time is performed. The region 108A including the surplus range in the movement range of the upper swivel body 1d) is displayed in a different color from the other regions. However, this area 108A includes an area 108 indicating the current notification area displayed on the current notification area display unit 112. That is, the area 108A represents the range of the notification area set by the operation performed by the operator, and if the area intended by the operator is satisfied, the selection button 106 is selected and the area 108A is confirmed as the notification area. (Steps 23f and 23g in FIG. 9), and the notification area setting mode (addition) is terminated. After the end of the notification area setting mode (addition), the normal mode is set, and the same operation as that described with reference to FIGS. 20 to 22 is performed.

In the present embodiment configured as described above, since the operator can intuitively and easily set an arbitrary notification area according to the operation of the work machine, more efficient work can be performed.

The features of the present embodiment configured as described above are summarized.

(1) In the above, the vehicle body 1B, the work device 1A attached to the vehicle body, the attitude information acquisition device (for example, angle sensors 8a to 8d) for detecting the attitude information of the work device, and the vehicle. An object detection device 10 that detects an object existing around a work machine having a main body and the work device (for example, a hydraulic excavator 1) and calculates the relative position of the detected object with respect to the work machine, and the object. In a work machine including a notification device (for example, a touch panel monitor 15a, a buzzer 15b) for notifying an operator of information about the work machine and a control device 20 for controlling the operation of the work machine, the control device works by the work device. The mode switching unit 21 that selectively switches between the normal mode for performing the above and the notification area setting mode for setting the notification area to be notified of the object, and the mode switching unit are switched to the notification area setting mode. The position history management unit 22 that stores the posture information obtained during the period and calculates the movement range of the work machine from the stored posture information, and the movement range calculated by the position history management unit are included. The notification area setting unit 23 that sets the notification area, the notification determination unit 24 that determines whether or not the object detected by the object detection device is within the notification area set by the notification area setting unit, and the notification determination unit. It is provided with a notification control unit 27 that notifies the operator via the notification device that the object is determined to be in the notification area.

With such a configuration, the operator can intuitively and easily set an arbitrary notification area according to the operation of the work machine, so that more efficient work can be performed.

(2) In the work machine (for example, hydraulic excavator 1) of the above (1), the control device 20 includes a running determination unit 26 for determining whether or not the work machine is running, and the notification area. The setting unit 23 sets the notification area according to the determination result of the traveling determination unit.

(3) In the work machine (for example, hydraulic excavator 1) of the above (2), the control device 20 operates outside the notification area in which the work device 1A is set by the notification area setting unit 23. A work outside the notification area determination unit 25 is provided for determining whether or not the work is outside the notification area, and the notification area setting unit determines that the work is outside the notification area when the work outside the notification area determination unit determines that the work is outside the notification area. To expand the notification area.

(4) In the work machine (for example, hydraulic excavator 1) of the above (1), the mode switching unit 21 selects either a new setting mode or an additional setting mode as the notification area setting mode. When the mode switching unit switches to the new setting mode, the notification area setting unit 23 cancels the notification area before switching to the new setting mode and sets a new notification area. When the mode is switched to the additional setting mode, a new notification area including the notification area before being switched to the notification area is set.

<Others>
The present invention is not limited to the above-described embodiment, and includes various modifications within the range not deviating from the gist thereof. For example, the present invention is not limited to the one including all the configurations described in the above-described embodiment, and includes the one in which a part of the configurations is deleted. Further, it is possible to add or replace a part of the configuration according to one embodiment with the configuration according to another embodiment.

Further, although the hydraulic excavator has been described above as an example, the present invention can be applied to any work machine (for example, wheel loader, crane) provided with a work device that may obstruct the operator's view from the driver's cab. Is.

Further, each configuration related to the control device 20 and the functions and execution processing of each configuration are realized by hardware (for example, designing the logic for executing each function by an integrated circuit) in part or all of them. You may. Further, the configuration related to the control device 20 may be a program (software) in which each function related to the configuration of the control device 20 is realized by reading and executing by an arithmetic processing unit (for example, a CPU). Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disk, etc.), or the like.

1 ... Hydraulic excavator, 1A ... Working device, 1B ... Vehicle body, 1a ... Boom, 1b ... Arm, 1c ... Bucket, 1d ... Upper swivel body, 1e ... Lower traveling body, 1f ... Driver's cab, 3a ... Boom cylinder, 3b ... Arm cylinder, 3c ... Bucket cylinder, 3d ... Swing hydraulic motor, 3e, 3f ... Travel hydraulic motor, 8a-8d ... Angle sensor, 9a-9d ... Pressure sensor, 10 ... Object detection device, 13a-13d ... Camera, 14a ... image processing device, 15a ... touch panel monitor, 15b ... buzzer, 20 ... control device, 21 ... mode switching unit, 22 ... position history management unit, 23 ... notification area setting unit, 24 ... notification determination unit, 25 ... outside the notification area Work determination unit, 26 ... Travel determination unit, 27 ... Notification control unit, 28 ... Body data storage unit, 29 ... Installation parameter storage unit, 30 ... Display pattern storage unit, 100 ... Display unit, 101 ... Icon, 102 ... Maximum detection Range, 103 ... mode display unit, 104 to 106 ... selection button, 107, 111 ... message, 108, 108A ... area, 109, 110 ... icon, 112 ... current notification area display unit, 113 ... post-addition notification area display unit, 902 ... movement range, 903 ... surplus range, 904, 1001 ... notification area

Claims (4)

With the vehicle body
The work equipment attached to the vehicle body and
An operating device for operating the working device and the vehicle body, and
A posture information acquisition device that detects posture information of the work device and the vehicle body , and
An object detection device that detects an object existing around a work machine having the vehicle body and the work device and calculates the relative position of the detected object with respect to the work machine.
A notification device that notifies the operator of information about the object, and
In a work machine equipped with a control device for controlling the operation of the work machine,
The control device is
A mode switching unit that selectively switches between a normal mode in which work is performed by the work device and a notification area setting mode in which a notification area to be notified of the object is set.
While the mode switching unit is switched to the notification area setting mode, the work device and the vehicle body, which are operated by the operation of the operation device, are stored, and the stored attitude information is used to store the work device and the work device. A position history management unit that calculates the movement range of the work machine, which is composed of the maximum turning radius, the maximum turning angle, and the minimum turning angle of the vehicle body .
A notification area setting unit that sets the notification area so as to include the movement range calculated by the position history management unit, and a notification area setting unit.
A notification determination unit that determines whether or not the object detected by the object detection device is inside the notification area set by the notification area setting unit.
A work machine including a notification control unit that notifies an operator via a notification device that the notification determination unit has determined that the object is inside the notification area. In the work machine according to claim 1,
The control device includes a travel determination unit that determines whether or not the work machine is traveling.
The notification area setting unit is a work machine characterized in that the notification area is set according to the determination result of the travel determination unit. With the vehicle body
The work equipment attached to the vehicle body and
A posture information acquisition device that detects the posture information of the work device, and
An object detection device that detects an object existing around a work machine having the vehicle body and the work device and calculates the relative position of the detected object with respect to the work machine.
A notification device that notifies the operator of information about the object, and
In a work machine equipped with a control device for controlling the operation of the work machine,
The control device is
A mode switching unit that selectively switches between a normal mode in which work is performed by the work device and a notification area setting mode in which a notification area to be notified of the object is set.
A position history management unit that stores the posture information obtained while the mode switching unit is switched to the notification area setting mode and calculates the movement range of the work machine from the stored posture information.
A notification area setting unit that sets the notification area so as to include the movement range calculated by the position history management unit, and a notification area setting unit.
A notification determination unit that determines whether or not the object detected by the object detection device is inside the notification area set by the notification area setting unit.
A notification control unit that notifies the operator via the notification device that the notification determination unit has determined that the object is inside the notification area.
The work device includes a work outside the notification area determination unit for determining whether or not the work is outside the notification area set by the notification area setting unit.
The work machine characterized in that the notification area setting unit expands the notification area when the work determination unit outside the notification area determines that the work is outside the notification area. With the vehicle body
The work equipment attached to the vehicle body and
A posture information acquisition device that detects the posture information of the work device, and
An object detection device that detects an object existing around a work machine having the vehicle body and the work device and calculates the relative position of the detected object with respect to the work machine.
A notification device that notifies the operator of information about the object, and
In a work machine equipped with a control device for controlling the operation of the work machine,
The control device is
A mode switching unit that selectively switches between a normal mode in which work is performed by the work device and a notification area setting mode in which a notification area to be notified of the object is set.
A position history management unit that stores the posture information obtained while the mode switching unit is switched to the notification area setting mode and calculates the movement range of the work machine from the stored posture information.
A notification area setting unit that sets the notification area so as to include the movement range calculated by the position history management unit, and a notification area setting unit.
A notification determination unit that determines whether or not the object detected by the object detection device is inside the notification area set by the notification area setting unit.
The notification control unit is provided with a notification control unit that notifies the operator via the notification device that the notification determination unit has determined that the object is inside the notification area.
The mode switching unit can select either a new setting mode or an additional setting mode as the notification area setting mode.
The notification area setting unit is
When the mode switching unit switches to the new setting mode, the notification area before switching to the new setting mode is canceled and a new notification area is set.
A work machine characterized in that when the mode is switched to the additional setting mode, a new notification area including the notification area before being switched to the notification area is set.

Images