JP7498539B2 - Work vehicle and notification method - Google Patents

Description

The present invention relates to a work vehicle and a notification method.

The surroundings monitoring device for a work vehicle described in Patent Document 1 includes a human detection sensor, a human presence determination means, and three alarm output units. The human detection sensor is a device for detecting people present around the work vehicle. The human presence determination means determines whether there are people present around the work vehicle based on the output of the human detection sensor. All three alarm output units output an alarm based on the determination result of the human presence determination means.

JP 2014-181508 A

However, with the surroundings monitoring device for a work vehicle in Patent Document 1, it may not be possible to intuitively recognize in which direction a person (detectable object) is present around the work vehicle.

The present invention was made in consideration of the above problems, and its purpose is to provide a work vehicle and a notification method that allows the user to intuitively recognize the direction in which a detected object is located relative to the work vehicle.

According to one aspect of the present invention, a work vehicle includes a working section, a detection unit, an identification section, and an alarm section. The working section performs work. The detection unit detects the state of the environment surrounding the work vehicle. The identification section identifies a monitoring area in which a detectable object exists from among multiple monitoring areas set within the detectable area of the detection unit based on the detection result of the detection unit. The alarm section notifies the presence of the detectable object in the monitoring area based on the identification result of the identification section. The alarm section notifies the presence of the detectable object in the monitoring area in a manner according to the distance between the detection unit and the detectable object.

According to another aspect of the present invention, the notification method is performed by a work vehicle having a working section that performs work and a detection unit. The notification method includes a step in which the detection unit detects the state of the environment surrounding the work vehicle, a step in which an identification unit identifies a monitoring area in which a detectable object exists from among a plurality of monitoring areas set within the detectable area of the detection unit based on the detection result of the detection unit, and a step in which the notification unit notifies the presence of the detectable object in the monitoring area based on the identification result of the identification unit, and notifies the presence of the detectable object in the monitoring area in a manner according to the distance between the detection unit and the detectable object.

The present invention allows users to intuitively recognize the direction in which a detected object is located relative to the work vehicle.

1 is a perspective view showing a work vehicle according to an embodiment of the present invention. 1 is a block diagram showing a work vehicle according to an embodiment of the present invention; 1 is a perspective view showing a control cabin of a work vehicle according to an embodiment of the present invention. 2 is a diagram showing a monitoring area set in the work vehicle according to the present embodiment. FIG. 2 is a diagram showing a monitoring area set in the work vehicle according to the present embodiment. FIG. 4 is a diagram showing a table stored in a storage unit of the control device according to the embodiment; FIG. 4 is a flowchart showing the first stage of a notification method executed by the work vehicle according to the present embodiment. 6 is a flowchart showing the latter part of the notification method executed by the work vehicle according to the present embodiment.

The following describes an embodiment of the present invention with reference to the drawings. However, the present invention is not limited to the following embodiment. Note that where the explanation overlaps, it may be omitted as appropriate. In addition, in the drawings, the same or equivalent parts are given the same reference symbols and explanations are not repeated.

First, a work vehicle 1 according to an embodiment of the present invention will be described with reference to FIG. 1. Below, this embodiment will be described using an example in which the work vehicle 1 is a hydraulic excavator. A hydraulic excavator is an example of a construction machine.

Figure 1 is a perspective view showing a work vehicle 1 according to this embodiment. As shown in Figure 1, the work vehicle 1 according to this embodiment includes a vehicle body 2, a traveling device 7, and a working unit 8.

The vehicle body 2 is supported by the running gear 7. Specifically, the vehicle body 2 is disposed on the upper part of the running gear 7, for example, via a swivel bearing. The vehicle body 2 is supported by the running gear 7 so as to be freely rotatable.

The vehicle body 2 also includes a cockpit 6. Hereinafter, in this specification, "right" refers to the right when looking forward from the cockpit 6. "Left" refers to the left when looking forward from the cockpit 6. In the example of FIG. 1, the cockpit 6 is located in the left area of the vehicle body 2. In this embodiment, the cockpit 6 includes a first frame 6a and a second frame 6b that extend along the height direction. The first frame 6a is located, for example, on the left front side of the cockpit 6. The second frame 6b is located, for example, on the right rear side of the cockpit 6.

The vehicle body 2 further includes a detection unit 20. The detection unit 20 is, for example, a range sensor such as a TOF (Time Of Flight) camera. The TOF camera is, for example, a lidar.

The detection unit 20 detects the state of the environment surrounding the work vehicle 1. Specifically, the detection unit 20, for example, emits light around the work vehicle 1 and receives the reflected light. The detection unit 20 then outputs a signal corresponding to the received reflected light as the detection result of the detection unit 20 to the identification unit 12 described later. In other words, the detection unit 20 outputs a signal indicating the state of the environment surrounding the work vehicle 1 to the identification unit 12 described later. The detection unit 20 may be, for example, a millimeter wave radar, a camera, or a stereo camera.

The detection unit 20 includes, for example, multiple detection units 20a. In this embodiment, the detection unit 20 includes three detection units 20a. The detection unit 20 is arranged, for example, in the cockpit 6. That is, the multiple detection units 20a are arranged, for example, in the cockpit 6. When the detection unit 20 is arranged in the cockpit 6, for example, if the cockpit 6 has been anti-vibration treated, the anti-vibration treatment for the detection unit 20 may be omitted. The cockpit 6 is supported, for example, by a frame (turning frame) provided in the vehicle body 2 via anti-vibration rubber.

One of the multiple detection units 20a, detection unit 21, is disposed, for example, on the left side of the cockpit 6, above the front of the cockpit 6. Specifically, detection unit 21 is supported, for example, by a support member 21a, such as a bracket, disposed on the upper part of the first frame 6a. Hereinafter, detection unit 21 may be referred to as "first detection unit 21." Note that, for example, a camera may be attached to support member 21a. The camera attached to support member 21a captures, for example, an image of the environment to the left of the work vehicle 1.

The other detector 22 of the multiple detectors 20a is disposed, for example, on the right side of the cockpit 6, above the rear of the cockpit 6. Specifically, the detector 22 is supported, for example, by a support member 22a, such as a bracket that is hung from the top surface of the cockpit 6 to the second frame 6b. Hereinafter, the detector 22 may be referred to as the "second detector 22." Note that, for example, a camera may be attached to the support member 22a. The camera attached to the support member 22a captures an image of the environment to the right of the work vehicle 1, for example.

Furthermore, another one of the multiple detection units 20a, a detection unit 23, is disposed, for example, on the right side of the cockpit 6, below the rear of the cockpit 6. Specifically, the detection unit 23 is supported, for example, by a support member 23a, such as a bracket, disposed at the bottom of the second frame 6b of the cockpit 6. Hereinafter, the detection unit 23 may be referred to as the "third detection unit 23." Note that, for example, a camera may be attached to the support member 23a. The camera attached to the support member 23a captures, for example, an image of the environment behind the work vehicle 1.

The arrangement of each of the multiple detection units 20a will vary depending on the structure of the work vehicle 1.

The working unit 8 performs work. In this embodiment, the working unit 8 includes a boom 3, an arm 4, a bucket 5, a boom actuator 50, an arm actuator 60, and an attachment actuator 70.

The boom 3 is supported by the vehicle body 2 so that it can swing freely around the first rotation fulcrum R1 (see Figure 5).

The boom actuator 50 operates the boom 3. Specifically, the boom actuator 50 is driven by hydraulic oil and swings the boom 3 around the first rotation fulcrum R1. The boom actuator 50 includes a boom cylinder 51 and a boom piston 52. The boom cylinder 51 moves the boom piston 52 forward and backward using hydraulic oil to operate the boom 3.

The arm 4 is supported by the boom 3 so that it can swing freely around the second rotation fulcrum R2.

The arm actuator 60 operates the arm 4. Specifically, the arm actuator 60 is driven by hydraulic oil and swings the arm 4 around the second rotation fulcrum R2. The arm actuator 60 includes an arm cylinder 61 and an arm piston 62. The arm cylinder 61 uses hydraulic oil to move the arm piston 62 forward and backward to operate the arm 4.

The bucket 5 is a type of attachment. The bucket 5 is supported by the arm 4 so that it can swing freely around the third rotation fulcrum R3.

The attachment actuator 70 operates the bucket 5. Specifically, the attachment actuator 70 is driven by hydraulic oil and swings the bucket 5 around the third rotation fulcrum R3. The attachment actuator 70 includes an attachment cylinder 71 and an attachment piston 72. The attachment cylinder 71 moves the attachment piston 72 back and forth using hydraulic oil to operate the bucket 5.

The traveling device 7 drives the work vehicle 1. In this embodiment, the traveling device 7 is a crawler-type traveling device. That is, the traveling device 7 includes a pair of crawlers 7a and a pair of hydraulic motors (not shown).

Next, the work vehicle 1 will be further described with reference to Figures 2 and 3. Figure 2 is a block diagram showing the work vehicle 1. As shown in Figure 2, the work vehicle 1 further includes a control device 10, an alarm device 30, an engine unit 120, a hydraulic pump 200, a control valve 300, and a hydraulic oil tank 400.

The control device 10 controls the notification device 30 and the engine unit 120. The control device 10 is, for example, an ECU (Electronic Control Unit). Specifically, the control device 10 includes a control unit 11 and a memory unit 16.

The storage unit 16 includes a storage device and stores data and computer programs. Specifically, the storage unit 16 includes a main storage device such as a semiconductor memory, and an auxiliary storage device such as a semiconductor memory, a solid-state drive, and/or a hard disk drive. The storage unit 16 may include removable media. The storage unit 16 corresponds to an example of a non-transitory computer-readable storage medium.

The control unit 11 includes a processor such as a CPU (Central Processing Unit). The processor of the control unit 11 executes a computer program stored in the storage device of the memory unit 16 to control the alarm device 30 and the engine unit 120.

The processor of the control unit 11 also functions as the identification unit 12 and the notification control unit 15 by executing a computer program stored in the storage device of the memory unit 16. In other words, the control unit 11 includes the identification unit 12 and the notification control unit 15. The identification unit 12 includes a position identification unit 13 and a type identification unit 14. The notification control unit 15 controls the notification unit 31 and the display unit 34 of the notification device 30. The identification unit 12 and the notification control unit 15 will be described in detail later.

The engine unit 120 includes an engine 121 and an engine control unit 122. The engine control unit 122 is, for example, an ECU. Fuel is supplied to the engine 121 from a fuel tank (not shown).

The engine 121 drives the hydraulic pump 200. As a result, the hydraulic pump 200 sends out pressure oil to the control valve 300. Pressure oil is hydraulic oil that is under pressure. The control valve 300 controls the flow of pressure oil. The control valve 300 supplies pressure oil to the hydraulic motor (not shown) that rotates the vehicle body 2, the boom cylinder 51, the arm cylinder 61, the attachment cylinder 71, and each hydraulic motor (not shown) of the traveling device 7. As a result, the hydraulic motor, the boom cylinder 51, the arm cylinder 61, the attachment cylinder 71, and each hydraulic motor of the traveling device 7 are driven. For example, as the rotation speed of the engine 121 decreases, the amount of oil discharged from the hydraulic pump 200 decreases, and the operating speed of the vehicle body 2, the traveling device 7, and the working unit 8 decreases. Also, for example, as the rotation of the engine 121 stops, the hydraulic pump 200 stops, and the operation of the vehicle body 2, the traveling device 7, and the working unit 8 stops.

The notification device 30 includes a notification unit 31, a display unit 34, and at least one operation unit 40. Specifically, the notification device 30 includes multiple operation units 40 (e.g., three operation units 40).

The alarm unit 31 includes at least one visual alarm unit 32 and an auditory alarm unit 33. Specifically, the alarm unit 31 includes multiple visual alarm units 32 (e.g., three visual alarm units 32) and an auditory alarm unit 33.

The visual alarm unit 32 is, for example, an LED (Light Emitting Diode). That is, the visual alarm unit 32 emits light, for example. The multiple visual alarm units 32 are respectively associated with multiple monitoring areas DA (monitoring areas DA1 to DA3). Hereinafter, the visual alarm unit 32 associated with monitoring area DA1 will be referred to as the "first visual alarm unit 32a." The visual alarm unit 32 associated with monitoring area DA2 will be referred to as the "second visual alarm unit 32b." Furthermore, the visual alarm unit 32 associated with monitoring area DA3 will be referred to as the "third visual alarm unit 32c." The monitoring areas DA (monitoring areas DA1 to DA3) will be described later.

In this embodiment, the auditory notification unit 33 is, for example, a buzzer.

The display unit 34 is configured with a display such as a liquid crystal display or an organic EL display. The display unit 34 displays, for example, the imaging results captured by the cameras attached to the support members 21a, 22a, and 23a.

The operation unit 40 accepts operations from the worker and outputs the operation results to the notification control unit 15. The operation unit 40 is, for example, a push button. In this embodiment, the multiple operation units 40 are respectively associated with multiple monitoring areas DA (monitoring areas DA1 to DA3). Hereinafter, the operation unit 40 associated with monitoring area DA1 will be referred to as the "first operation unit 41." The operation unit 40 associated with monitoring area DA2 will be referred to as the "second operation unit 42." Furthermore, the operation unit 40 associated with monitoring area DA3 will be referred to as the "third operation unit 43." The monitoring areas DA (monitoring areas DA1 to DA3) will be described later.

When the display unit 34 includes a touch panel, the operation unit 40 may be displayed on the display unit 34 as a widget of a GUI (Graphical User Interface). In this case, the display unit 34 displays, for example, a plurality of operation units 40 as widgets. The operation unit 40 may also function as a touch panel included in the display unit 34.

Figure 3 is a perspective view showing the cockpit 6. Note that the roof of the cockpit 6 has been omitted from Figure 3 to make the drawing easier to see.

The cockpit 6 includes a cockpit 6c, multiple control levers 6d, and an operating device 113. An alarm device 30 is also arranged in the cockpit 6. The multiple control levers 6d, the alarm device 30, and the operating device 113 are arranged in front of the cockpit 6c. Although not shown in FIG. 3, an auditory alarm unit 33 is also arranged in the cockpit 6.

An operator sits in the operator's seat 6c. The operator is the operator of the work vehicle 100. Each of the multiple control levers 6d receives operation from the operator. The control levers 6d are operating members for operating the work vehicle 1.

The operation device 113 accepts various operations for the work vehicle 1 and displays various information related to the work vehicle 1.

The notification device 30 is provided with multiple visual notification units 32. Therefore, the worker can view the multiple visual notification units 32 while operating the work vehicle 100 without turning his/her face to the right, left, or rear. As a result, the burden on the worker when viewing the multiple visual notification units 32 can be reduced compared to when the multiple visual notification units are respectively disposed to the right, left, and rear of the driver's seat.

In this embodiment, the first visual alert unit 32a to the third visual alert unit 33c are arranged in a row along the display unit 34 in the alert device 30. Specifically, in the alert device 30, the first visual alert unit 32a is arranged on the left side, the second visual alert unit 32b is arranged between the first visual alert unit 32a and the third visual alert unit 32c, and the third visual alert unit 32c is arranged on the right side. In other words, the first visual alert unit 32a, the second visual alert unit 32b, and the third visual alert unit 32c are arranged so as to correspond to the positions of the monitoring areas DA1 to DA3, respectively. Therefore, because the visual notification unit 32 can be arranged along the edge of the display unit 34, the notification device 30 can be made smaller, while the worker can intuitively recognize that the first visual notification unit 32a, the second visual notification unit 32b, and the third visual notification unit 32c correspond to the monitoring areas DA1, DA2, and DA3, respectively. Monitoring areas DA1 to DA3 will be described later.

In the alarm device 30, the first visual alarm unit 32a to the third visual alarm unit 32c may be arranged to form the vertices of a triangle so that they correspond to the positions of the first detection unit 21 to the third detection unit 23. For example, in the alarm device 30, the third visual alarm unit 32c is arranged on the lower side, the first visual alarm unit 32a is arranged at the upper left of the third visual alarm unit 32c, and the second visual alarm unit 32b is arranged at the upper right of the third visual alarm unit 32c. As a result, the worker can more intuitively recognize that the first visual alarm unit 32a, the second visual alarm unit 32b, and the third visual alarm unit 32c correspond to the monitoring area DA1, the monitoring area DA2, and the monitoring area DA3, respectively.

Furthermore, as an example, the first visual alarm unit 32a and the first operation unit 41 are configured as one unit, the second visual alarm unit 32b and the second operation unit 42 are configured as one unit, and the third visual alarm unit 32c and the third operation unit 43 are configured as one unit. Therefore, the alarm device 30 can be made smaller than when the first visual alarm unit 32a and the first operation unit 41 are configured as separate units. When the first visual alarm unit 32a and the first operation unit 41 are configured as one unit, for example, the first operation unit 41 is a push button, the first visual alarm unit 32a is an LED, and the LED emits light from behind the push button to light up the push button. Specifically, the first visual alarm unit 32a and the first operation unit 41 configure, for example, an illuminated push button switch. The same applies when the second visual alert unit 32b and the second operation unit 42 are configured as one unit, and when the third visual alert unit 32c and the third operation unit 43 are configured as one unit. The first visual alert unit 32a and the first operation unit 41 may be configured as separate units, but in this case, it is preferable that the first visual alert unit 32a and the first operation unit 41 are disposed in close proximity to each other. The same applies when the second visual alert unit 32b and the second operation unit 42 are configured as separate units, and when the third visual alert unit 32c and the third operation unit 43 are configured as separate units.

Next, the monitoring area DA set on the work vehicle 1 will be described with reference to Figures 4 and 5. Figure 4 is a diagram showing the monitoring area DA set on the work vehicle 1 according to this embodiment. Figure 4 shows the work vehicle 1 as viewed from above.

As shown in FIG. 4, the working unit 8 has a movable area MA. The movable area MA is an area that the working unit 8 can reach in a plan view. For example, in a plan view, the movable area MA is an area that the working unit 8 can reach by the vehicle body 2 turning or the working unit 8 extending when the traveling device 7 is stopped. In addition, the outer edge EG of the movable area MA corresponds to the position of the tip 8a of the working unit 8 at its maximum extension in a plan view. In other words, the outer edge EG indicates the maximum position that the working unit 8 can reach in a plan view. Note that the plan view indicates that the work vehicle 1 is viewed vertically from above.

In this embodiment, the movable area MA includes a first area A1 and a second area A2. In this embodiment, the first area A1 is closer to the work vehicle 1 than the second area A2. The first area A1 has, for example, a substantially circular shape. Furthermore, the first area A1 is, for example, an area of the movable area MA that is less than 6 m from the center of the work vehicle 1. The second area A2 has, for example, a substantially circular belt shape. Furthermore, the second area A2 is, for example, an area of the movable area MA that is 6 m or more and less than 7 m from the center of the work vehicle 1.

In this embodiment, the first area A1 includes a third area A3 and a fourth area A4. In this embodiment, the third area A3 is closer to the work vehicle 1 than the fourth area A4. The third area A3 has, for example, a substantially circular shape. The third area A3 is, for example, an area of the first area A1 that is less than 4 m from the center of the work vehicle 1. The fourth area A4 has, for example, a substantially circular belt shape. The fourth area A4 is, for example, an area of the first area A1 that is 4 m or more and less than 5 m from the center of the work vehicle 1.

Furthermore, in this embodiment, the third area A3 includes a fifth area A5 and a sixth area A6. In this embodiment, the fifth area A5 is closer to the work vehicle 1 than the fourth area A4. The fifth area A5 has, for example, a substantially circular shape. The fifth area A5 is, for example, an area of the third area A3 that is less than 3 m from the center of the work vehicle 1. The sixth area A6 has, for example, a substantially circular belt shape. Furthermore, the sixth area A6 is, for example, an area of the third area A3 that is 3 m or more and less than 4 m from the work vehicle 1.

A plurality of monitoring areas DA are set within the detectable area of the detection unit 20. Specifically, the plurality of monitoring areas DA are set, for example, in an area where the movable area MA of the working part 8 and the detectable area of the detection unit 20 overlap. Each of the plurality of monitoring areas DA is set, for example, at an arbitrary position in the area where the movable area MA and the detectable area of the detection unit 20 overlap. For example, in the area where the movable area MA and the detectable area of the detection unit 20 overlap, the plurality of monitoring areas DA are set on one side (left side) of the cockpit 6c, the other side (right side) of the cockpit 6c, and behind the cockpit 6c. Here, the area detectable by the detection unit 20 is the maximum area detectable by the detection unit 20. Hereinafter, the area detectable by the detection unit 20 is referred to as the detectable area NA. The detectable area NA is changed according to the specifications of the detection unit 20.

In this embodiment, the multiple monitoring areas DA are set in an area where the movable area MA and the detectable area of each of the multiple detection sections 20a included in the detection unit 20 overlap. Here, the area detectable by each of the multiple detection sections 20a is the largest area detectable by each of the multiple detection sections 20a. Hereinafter, the detectable area of the first detection section 21 of the multiple detection sections 20a is referred to as the detectable area NA1. Also, the detectable area of the second detection section 22 of the multiple detection sections 20a is referred to as the detectable area NA2. Furthermore, the detectable area of the third detection section 23 of the multiple detection sections 20a is referred to as the detectable area NA3.

Hereinafter, among the multiple monitoring areas DA, the monitoring area DA where the movable area MA and the detectable area NA1 of the first detection unit 21 overlap will be referred to as the monitoring area DA1. That is, the first detection unit 21 corresponds to the monitoring area DA1. In this embodiment, the monitoring area DA1 is set on one side (left side) of the cockpit 6c. The monitoring area DA1 is indicated by diagonal lines. Furthermore, among the multiple monitoring areas DA, the monitoring area DA where the movable area MA and the detectable area NA2 of the second detection unit 22 overlap will be referred to as the monitoring area DA2. That is, the second detection unit 22 corresponds to the monitoring area DA2. In this embodiment, the monitoring area DA2 is set on the other side (right side) of the cockpit 6c. The monitoring area DA2 is indicated by diagonal lines. Furthermore, among the multiple monitoring areas DA, the monitoring area DA where the movable area MA and the detectable area NA3 of the third detection unit 23 overlap will be referred to as the monitoring area DA3. That is, the third detection unit 23 corresponds to the monitoring area DA3. In this embodiment, the monitoring area DA3 is set behind the cockpit 6c. The monitoring area DA3 is indicated by diagonal lines. Therefore, the multiple monitoring areas DA (monitoring areas DA1 to DA3) are set in areas of the surrounding area of the work vehicle 1 that are difficult to see for the operator seated in the cockpit 6c.

In this embodiment, a portion of the monitoring area DA overlaps with a portion of the other monitoring areas DA. For example, a portion of the monitoring area DA1 overlaps with a portion of the monitoring area DA3. Also, for example, a portion of the monitoring area DA2 overlaps with a portion of the monitoring area DA3. Therefore, the area around the work vehicle 1 that falls outside the monitoring area DA from the side to the rear of the work vehicle 1 can be reduced. This makes it possible to reduce the occurrence of missed detection of the object P by the multiple detection units 20a. The object P will be described later.

Figure 5 is a diagram showing the monitoring area DA set on the work vehicle 1 according to this embodiment. Figure 5 shows the work vehicle 1 as viewed from the side.

As shown in FIG. 5, the monitoring area DA is, for example, an area that is at least a first height He1 above the ground Gd that contacts the work vehicle 1. The first height He1 is, for example, 50 cm. The monitoring area DA may be, for example, an area H that is at least the first height He1 and at most a second height He2. The second height He2 indicates the height of the detection unit 20 relative to the ground Gd. When the detection unit 20 includes multiple detection units 20a and the multiple detection units 20a are located at different heights, the second height He2 is set for each monitoring area DA assigned to each of the multiple detection units 20a. The first height He1 is an example of a "predetermined height".

Next, we will continue to refer to FIG. 4 to explain the notification by the notification unit 31.

The identification unit 12 of the control device 10 identifies the monitoring area DA in which the detectable object P exists based on the detection result of the detection unit 20. Specifically, the identification unit 12 analyzes the signal (signal indicating the state of the surrounding environment of the work vehicle 1) output from the detection unit 20 to identify the monitoring area DA in which the detectable object P exists. In this embodiment, the identification unit 12 identifies the monitoring area DA in which the detectable object P exists based on the detection result of each of the multiple detection units 20a. Specifically, the identification unit 12 analyzes the signal (signal indicating the state of the surrounding environment of the work vehicle 1) output from each of the multiple detection units 20a to identify the monitoring area DA in which the detectable object P exists. The detectable object P is, for example, an obstacle present in the monitoring area DA. The obstacle is, for example, an obstacle that hinders the work vehicle 1 when it performs work. Specifically, the obstacle is, for example, a person, a work machine other than the work vehicle 1, a building, a utility pole, or a tree.

For example, in the example shown in FIG. 4, the identification unit 12 identifies a monitoring area DA2 in which the detectable object P exists and a monitoring area DA3 in which the detectable object P exists based on the detection results of each of the multiple detection units 20a. Hereinafter, the detectable object P existing in the monitoring area DA2 may be referred to as the detectable object P1. Also, the detectable object P existing in the monitoring area DA3 may be referred to as the detectable object P2.

The notification control unit 15 controls the notification unit 31 to notify the presence of a detectable object P in the identified monitoring area DA based on the identification result of the identification unit 12. As a result, the notification unit 31 notifies the presence of a detectable object P in the monitoring area DA based on the identification result of the identification unit 12.

Therefore, the worker can recognize that the detectable object P is present in the monitoring area DA, and can intuitively recognize the direction in which the detectable object P is present relative to the work vehicle 1. In other words, the worker can intuitively recognize in which of the multiple monitoring areas DA the detectable object P is present. As a result, the worker can be alerted to avoid contact between the work vehicle 1 and the detectable object P, for example. When the detectable object P is present in an area where part of the monitoring area DA overlaps with part of another monitoring area DA, the notification control unit 15 may control the notification unit 31 to, for example, notify the worker that the detectable object P is present in both the monitoring area DA and the other monitoring area DA.

In this embodiment, the visual notification unit 32 visually notifies that a detectable object P is present in the monitoring area DA identified by the identification unit 12. For example, the visual notification unit 32 visually notifies that a detectable object P is present in the monitoring area DA identified by the identification unit 12 by emitting light. Specifically, for example, the visual notification unit 32 visually notifies that a detectable object P is present in the monitoring area DA identified by the identification unit 12 by blinking.

More specifically, the notification control unit 15 controls the visual notification unit 32 to blink the visual notification unit 32 associated with the monitoring area DA in which the detectable object P exists. As a result, the visual notification unit 32 blinks to visually notify the presence of the detectable object P in the identified monitoring area DA. Thus, the worker can intuitively recognize the direction in which the detectable object P exists with respect to the work vehicle 1. For example, the visual notification unit 32 is continuously lit (sustained lighting) when the detectable object P does not exist in the monitoring area DA. For example, the visual notification unit 32 may be turned off when the detectable object P does not exist in the monitoring area DA. Furthermore, the visual notification unit 32 may be lit in a predetermined color when the detectable object P does not exist in the monitoring area DA, and may be lit in another color in response to the identification unit 12 identifying the monitoring area DA in which the detectable object P exists.

For example, in the example shown in FIG. 4, the identification unit 12 identifies that a detectable object P1 exists in the monitoring area DA2, and that a detectable object P2 exists in the monitoring area DA3. Therefore, the notification control unit 15 controls the second visual notification unit 32b and the third visual notification unit 32c so that the second visual notification unit 32b and the third visual notification unit 32c flash based on the identification result of the identification unit 12. As a result, the second visual notification unit 32b and the third visual notification unit 32c flash. Therefore, the worker can intuitively recognize that the detectable object P1 and the detectable object P2 exist in the directions of the monitoring area DA2 and the monitoring area DA3, respectively, with respect to the work vehicle 1.

As described above with reference to FIG. 5, according to this embodiment, the monitoring area DA is an area where the movable area MA of the working unit 8 and the detectable area NA that can be detected by the detection unit 20 overlap. Therefore, even if a detectable object P that is inside the detectable area NA but outside the movable area MA of the working unit 8 is detected, the alarm unit 31 does not operate. As a result, it is possible to reduce the annoyance of the worker caused by being notified that a detectable object P is present in a position that is not in contact with the working unit 8.

In addition, even if the detectable object P is present in a position that the working unit 8 can reach, if the position where the detectable object P is present is outside the monitoring area DA, the notification unit 31 does not operate. For example, as described with reference to FIG. 5, the monitoring area DA is, for example, an area that is equal to or greater than the first height He1 from the ground Gd that contacts the work vehicle 1. That is, even if the detectable object P is present in a position that the working unit 8 can reach, if the height of the detectable object P is less than the first height He1, the notification unit 31 does not operate. Therefore, it is possible to prevent the presence of the detectable object P whose height is less than the first height He1 from being notified to the worker. For example, if the height of the detectable object P is less than the first height He1, even if the detectable object P comes into contact with the working unit 8, there is a high possibility that the risk is low. Therefore, it is possible to prevent the worker from being annoyed by the presence of the detectable object P that has little effect on the work of the working unit 8.

In this embodiment, the notification control unit 15 controls the notification unit 31 to continue to notify that a detectable object P is present in the monitoring area DA until the operation unit 40 accepts an operation. As a result, the notification unit 31 continues to notify that a detectable object P is present in the monitoring area DA until the operation unit 40 accepts an operation. Specifically, in this embodiment, when the visual notification unit 32 is in a flashing state, the visual notification unit 32 continues to flash until the operation unit 40 is pressed.

In addition, in this embodiment, the notification control unit 15 controls the notification unit 31 to stop notifying that a detectable object P is present in the monitoring area DA in response to the operation of the operation unit 40 being received while the notification unit 31 is notifying that a detectable object P is present in the monitoring area DA. As a result, the notification unit 31 stops notifying that a detectable object P is present in the monitoring area DA in response to the operation of the operation unit 40 being received while the notification unit 31 is notifying that a detectable object P is present in the monitoring area DA. Specifically, in a state in which the visual notification unit 32 is flashing, the visual notification unit 32 stops flashing in response to the operation unit 40 being pressed. Note that the visual notification unit 32 may be turned on or off in response to stopping the flashing.

Therefore, the worker can stop the notification by the notification unit 31 at his/her discretion. For example, when the worker recognizes the direction in which the detectable object P exists relative to the work vehicle 1, the worker stops the notification by the notification unit 31. As a result, the annoyance to the worker caused by the notification unit 31 continuing to issue notifications can be reduced.

In this embodiment, after the operation unit 40 is operated, the notification control unit 15 allows the notification unit 31 to issue a notification in response to the operation of the operation unit 40 again. In other words, when the operation unit 40 is operated and the notification unit 31 stops notifying that a detectable object P exists in the monitoring area DA, the notification control unit 15 causes the notification unit 31 to notify that a detectable object P exists in the monitoring area DA in response to the identification unit 12 identifying the monitoring area DA in which the detectable object P exists.

As described above with reference to FIG. 3, in this embodiment, the first visual alarm unit 32a and the first operation unit 41 are configured as one unit. Therefore, the worker can stop the alarm by the first visual alarm unit 32a by operating the blinking first operation unit 41. As a result, the worker can intuitively stop the alarm by the first visual alarm unit 32a. The same is true when the second visual alarm unit 32b and the second operation unit 42 are configured as one unit, and when the third visual alarm unit 32c and the third operation unit 43 are configured as one unit.

In this embodiment, when at least one of the multiple operation units 40 has received an operation in advance, the notification control unit 15 prohibits in advance the notification of the presence of the detectable object P in the monitoring area DA associated with the operation unit 40 that has received the operation in advance. Specifically, even if the detectable object P exists in the monitoring area DA associated with the operation unit 40 that has received the operation in advance, the notification control unit 15 prohibits the notification unit 31 from notifying the presence of the detectable object P in the monitoring area DA. Therefore, for example, when the worker recognizes in advance the presence of the detectable object P that has little effect on the work by the work unit 8 around the work vehicle 1, the notification of the presence of the detectable object P in the monitoring area DA where the detectable object P exists can be prohibited in advance. As a result, the annoyance of the worker caused by being notified of the presence of the detectable object P whose existence the worker recognizes in advance can be reduced. The notification that is prohibited in advance is at least one of the notification by the visual notification unit 32 and the notification by the auditory notification unit 33.

Specifically, for example, if an obstacle such as a structure is present in the monitoring area DA1, the worker operates the first operation unit 41 that is pre-assigned to the monitoring area DA1. Therefore, while working with the working unit 8, the first visual notification unit 32a does not flash to notify the worker that a detectable object P is present in the monitoring area DA1, and the worker can continue working with the working unit 8. As a result, it is possible to reduce the annoyance to the worker caused by being notified of the presence of a detectable object P whose existence the worker is already aware of.

In this embodiment, even if the operation unit 40 has been operated beforehand, the notification control unit 15 allows the notification unit 31 to notify in response to the operation of the operation unit 40 being operated again. In other words, when the operation unit 40 is operated again while the notification of the presence of a detectable object P in the monitoring area DA is prohibited due to the operation of the operation unit 40, in response to the identification unit 12 identifying the monitoring area DA in which the detectable object P exists, the notification control unit 15 causes the notification unit 31 to notify that a detectable object P exists in the monitoring area DA.

Next, still referring to FIG. 4, we will explain the notification unit 31 and the engine 121 that are controlled according to the detection distance L of the object to be detected P.

In this embodiment, the position identification unit 13 included in the identification unit 12 identifies the position of the detected object P based on the detection result of the detection unit 20. Specifically, the position identification unit 13 calculates the position of the detected object P based on the detection result of the detection unit 20. The position of the detected object P is expressed, for example, by coordinates. Then, the position identification unit 13 identifies the distance between the detection unit 20 and the detected object P.

Specifically, the position identification unit 13 identifies the position of the object P based on the detection results of each of the multiple detection units 20a. Specifically, the position identification unit 13 calculates the position of the object P based on the detection results of each of the multiple detection units 20a. Then, the position identification unit 13 identifies the monitoring area DA in which the object P exists, and identifies the distance between the object P and the detection unit 20a corresponding to the identified monitoring area DA. Specifically, for example, the position identification unit 13 analyzes the signals output from each of the multiple detection units 20a to identify the distance from the position of the detection unit 20a corresponding to the identified monitoring area DA to the position of the object P. More specifically, for example, the position identification unit 13 identifies the distance between the detection unit 20a and the object P based on the time from when each of the multiple detection units 20a emits light to when it receives reflected light. Hereinafter, the distance between the detection unit 20a corresponding to the identified monitoring area DA and the object P may be referred to as the "detection distance L".

For example, in the example shown in FIG. 4, the position identification unit 13 determines that the detection distance L (hereinafter referred to as detection distance L1) between the second detection unit 22 and the detected object P1 is approximately 5.0 m. The position identification unit 13 also determines that the detection distance L (hereinafter referred to as detection distance L2) between the third detection unit 23 and the detected object P2 is approximately 3.5 m.

When the detection unit 20 includes multiple detection units 20a, if a detectable object P exists in an area where a part of a monitoring area DA overlaps with a part of another monitoring area DA, the position identification unit 13 determines, for example, the shorter distance between the distance between the detection unit 20a corresponding to the monitoring area DA and the detectable object P and the distance between the other detection unit 20a corresponding to the other monitoring area DA and the detectable object P as the detection distance L. Also, for example, the position identification unit 13 may determine, for example, the detection distance L as the average value of the distance between the detection unit 20a corresponding to the monitoring area DA and the detectable object P and the distance between the other detection unit 20a corresponding to the other monitoring area DA and the detectable object P.

The notification control unit 15 controls the notification unit 31 to notify the presence of the detectable object P in the monitoring area DA in a manner corresponding to the detection distance L. Specifically, the identification unit 12 outputs instruction information regarding the manner of notification to the notification control unit 15 based on the detection distance L. The notification control unit 15 controls the notification unit 31 in accordance with the instruction information of the identification unit 12. As a result, the notification unit 31 notifies the presence of the detectable object P in the monitoring area DA in a manner corresponding to the detection distance L. Therefore, the worker can intuitively recognize the direction in which the detectable object P exists relative to the work vehicle 1, while intuitively recognizing the distance between the work vehicle 1 and the detectable object P. The instruction information output by the identification unit 12 will be described later.

Specifically, in this embodiment, the position identification unit 13 identifies the area in the monitoring area DA that overlaps with which of the multiple areas of the movable area MA the detectable object P exists based on the identified detection distance L. That is, the position identification unit 13 identifies the area in which the detectable object P exists among the multiple areas of the movable area MA. Then, the identification unit 12 outputs instruction information regarding the notification mode to the notification control unit 15 according to the area in which the detectable object P exists. The notification control unit 15 controls the notification unit 31 according to the instruction information of the identification unit 12. As a result, the notification unit 31 notifies the presence of the detectable object P in the monitoring area DA in a mode corresponding to one of the areas of the movable area MA in the monitoring area DA in which the detectable object P exists. Therefore, the worker can intuitively recognize the direction in which the detectable object P exists with respect to the work vehicle 1, while intuitively recognizing the distance between the work vehicle 1 and the detectable object P.

In this embodiment, the second area A2 is an area where, for example, the visual notification unit 32 starts blinking when a detectable object P exists in the second area A2 when the second area A2 corresponds to the monitoring area DA. The first area A1 is an area where, for example, the blinking period of the visual notification unit 32 becomes shorter than that of the second area A2 when a detectable object P exists in the first area A1 when the first area A1 corresponds to the monitoring area DA. That is, when the detectable object P exists in an area of the monitoring area DA that overlaps with the first area A1, the visual notification unit 32 blinks at a shorter period than when the detectable object P exists in an area of the monitoring area DA that overlaps with the second area A2. Therefore, in response to the presence of the detectable object P in the first area A1, which is closer to the work vehicle 1 than the second area A2, the notification control unit 15 controls the visual notification unit 32 to blink at a shorter period. As a result, the worker can intuitively recognize the sense of distance between the detectable object P and the work vehicle 1.

For example, a case will be described in which the mode of the alarm by the alarm unit 31 when the detectable object P exists in the sixth area A6 is that the visual alarm unit 32 blinks in a short cycle and the auditory alarm unit 33 sounds intermittently in a short cycle. In the example shown in FIG. 4, the position identification unit 13 identifies that the detectable object P2 exists in an area of the monitoring area DA3 that overlaps with the sixth area A6. Then, the identification unit 12 outputs an instruction regarding the mode of the alarm to the alarm control unit 15 in response to the presence of the detectable object P2 in an area of the monitoring area DA3 that overlaps with the sixth area A6. As a result, the alarm control unit 15 controls the third visual alarm unit 32c to blink in a short cycle and controls the auditory alarm unit 33 to sound intermittently in a short cycle. As a result, the third visual alarm unit 32c blinks in a short cycle and the auditory alarm unit 33 sounds intermittently in a short cycle. Therefore, the worker can intuitively recognize that the detected object P2 is present in the direction of the monitoring area DA3 relative to the work vehicle 1, and can also intuitively recognize the distance between the work vehicle 1 and the detected object P2.

Here, in this embodiment, for example, while the visual notification unit 32 is blinking and the auditory notification unit 33 is making a sound, in response to the operation of the operation unit 40 being received, the notification control unit 15 controls the visual notification unit 32 and the auditory notification unit 33 so that the visual notification unit 32 stops blinking and the auditory notification unit 33 stops making a sound. However, the notification control unit 15 may also control the visual notification unit 32 and the auditory notification unit 33 so that the visual notification unit 32 continues blinking and the auditory notification unit 33 stops making a sound in response to the operation of the operation unit 40 being received while the visual notification unit 32 is blinking and the auditory notification unit 33 is making a sound. Also, the notification control unit 15 may control the visual notification unit 32 and the auditory notification unit 33 so that the visual notification unit 32 stops blinking and the auditory notification unit 33 continues making a sound in response to the operation of the operation unit 40 being received while the visual notification unit 32 is blinking and the auditory notification unit 33 is making a sound.

In addition, in this embodiment, for example, while the two visual alarm units 32 are flashing and the auditory alarm unit 33 is making a sound, in response to only the operation unit 40 corresponding to one of the two visual alarm units 32 accepting an operation, the alarm control unit 15 controls the two visual alarm units 32 and the auditory alarm unit 33 so that only the visual alarm unit 32 associated with the operation unit 40 that accepted the operation stops flashing, the visual alarm unit 32 associated with the operation unit 40 that does not accept an operation continues flashing, and the auditory alarm unit 33 continues making a sound. However, while the two visual notification units 32 are flashing and the auditory notification unit 33 is making a sound, in response to only the operation unit 40 corresponding to one of the two visual notification units 32 accepting an operation, the notification control unit 15 may control the two visual notification units 32 and the auditory notification unit 33 so that only the visual notification unit 32 associated with the operation unit 40 that accepted the operation stops flashing, the visual notification unit 32 associated with the operation unit 40 that did not accept an operation continues flashing, and the auditory notification unit 33 stops making a sound.

The engine control unit 122 controls the rotation speed of the engine 121 according to the detection distance L. Specifically, the identification unit 12 outputs instruction information regarding the control of the engine 121 to the engine control unit 122 based on the detection distance L. The engine control unit 122 controls the engine 121 according to the instruction information output by the identification unit 12. Therefore, in response to a change in the rotation speed of the engine 121, the worker can recognize that a detected object P is present near the work vehicle 1.

In this embodiment, for example, the identification unit 12 outputs instruction information to the engine control unit 122 indicating that the rotation speed of the engine 121 is to be reduced in response to the detection distance L becoming shorter. Therefore, the driving force of the hydraulic pump 200 decreases, and the operating speed of the vehicle body 2, the traveling device 7, and the working unit 8 decreases. As a result, the possibility of contact between the working unit 8 and the detected object P can be reduced while alerting the worker that the detected object P is present near the work vehicle 1. Note that, for example, the engine control unit 122 may control the engine 121 so that the rotation speed of the engine 121 becomes zero in response to the detection distance L becoming shorter. In other words, the engine control unit 122 may stop the engine 121 in response to the detection distance L becoming shorter. Therefore, the possibility of contact between the working unit 8 and the detected object P can be further reduced.

For example, a case will be described in which the rotation speed of the engine 121 is limited when the detectable object P exists in the sixth area A6. In the example shown in FIG. 4, the position identification unit 13 identifies that the detectable object P2 exists in an area of the monitoring area DA3 that overlaps with the sixth area A6. Then, the identification unit 12 outputs an instruction to the engine control unit 122 to limit the rotation speed of the engine 121 in response to the presence of the detectable object P2 in an area of the monitoring area DA3 that overlaps with the sixth area A6. As a result, the engine control unit 122 limits the rotation speed of the engine 121. Then, the driving force of the hydraulic pump 200 decreases, and the operating speed of the vehicle body 2, the traveling device 7, and the working unit 8 decreases. Thus, the possibility of contact between the detectable object P2 and the working unit 8 can be further reduced while allowing the operator to intuitively recognize that the detectable object P2 exists in a position close to the direction of the monitoring area DA3.

Next, still referring to FIG. 4, we will explain the notification unit 31 and the engine 121 that are controlled according to the type of the detected object P.

The type identification unit 14 identifies the type of the detected object P based on, for example, the identification result of the position identification unit 13. That is, the type identification unit 14 identifies whether the detected object P is a person or an object based on, for example, the identification result of the position identification unit 13. Specifically, the type identification unit 14 analyzes, for example, the detection result indicating the identified detected object P among the detection results of the detection unit 20, and identifies whether the detected object P is a person or an object. That is, the type identification unit 14 analyzes, for example, the detection result indicating the identified detected object P among the detection results of each of the multiple detection units 20a, and identifies whether the detected object P is a person or an object. More specifically, the type identification unit 14 identifies whether the detected object P is a person or an object based on the intensity of the signal indicating the detected object P among the signals output by each of the multiple detection units 20a. For example, a worker who may be present around the work vehicle 1 may be wearing work clothes with reflective material (e.g., retroreflective material) attached. Therefore, when the strength of a signal indicating the detected object P among the signals output by each of the multiple detection units 20a is equal to or greater than a threshold value, the type identification unit 14 identifies the detected object P as a person. Note that, for example, when the type identification unit 14 identifies the detected object P as not a person, it identifies the detected object P as an object.

For example, in the example shown in FIG. 4, the type identification unit 14 identifies the detected object P1 as an object based on the identification result of the position identification unit 13. The type identification unit 14 also identifies the detected object P2 as a person based on the detection results of each of the multiple detection units 20a and the identification result of the identification unit 12.

The identification unit 12 outputs instruction information to the notification control unit 15 and the engine control unit 122, for example, in response to the type identification unit 14 determining the type of the detectable object P. Specifically, for example, the identification unit 12 outputs instruction information regarding the manner of notification by the notification unit 31 to the notification control unit 15 based on the identification result of the position identification unit 13 and the identification result of the type identification unit 14. Also, for example, the identification unit 12 outputs instruction information regarding control of the engine 121 to the engine control unit 122 based on the identification result of the position identification unit 13 and the identification result of the type identification unit 14.

Specifically, the identification unit 12 outputs instruction information regarding the manner of notification by the notification unit 31 to the notification control unit 15 and instruction information regarding control of the engine 121 to the engine control unit 122 based on the identification result by the position identification unit 13 and the identification result by the type identification unit 14, in accordance with the table Tb stored in the storage unit 16. The table Tb stored in the storage unit 16 will be described later with reference to FIG. 6.

The notification control unit 15 controls the notification unit 31 to notify the presence of the detectable object P in the monitoring area DA in a manner corresponding to the type of the detectable object P. Specifically, the notification control unit 15 controls the notification unit 31 to notify the presence of the detectable object P in the monitoring area DA in accordance with the instruction information output by the identification unit 12. As a result, the notification unit 31 notifies the detectable object P of what the detectable object P is doing in the monitoring area DA in a manner corresponding to the type of the detectable object P. Therefore, the worker can intuitively recognize the type of the detectable object P while intuitively recognizing the direction in which the detectable object P is located relative to the work vehicle 1.

The engine control unit 122 also controls the rotation speed of the engine 121 according to the type of the detectable object P. Specifically, the engine control unit 122 controls the rotation speed of the engine 121 according to the instruction information output by the identification unit 12. For example, when the type of the detectable object P is an object, the identification unit 12 outputs instruction information to the engine control unit 122 indicating that the rotation speed of the engine 121 is to be limited. Also, for example, when the type of the detectable object P is a person, the identification unit 12 outputs instruction information to the engine control unit 122 indicating that the rotation speed is to be limited to be lower than when the type of the detectable object P is an object.

For example, a case will be described in which the manner of notification by the notification unit 31 when the type of the detected object P is a person is that the visual notification unit 32 flashes at short intervals, the auditory notification unit 33 sounds intermittently at short intervals, and the number of revolutions of the engine 121 is limited. In the example shown in FIG. 4, in response to the type identification unit 14 identifying the type of the detected object P2 as a person, the identification unit 12 outputs instruction information regarding the manner of notification by the notification unit 31 to the notification control unit 15 and outputs instruction information regarding the control of the engine 121 to the engine control unit 122. The notification control unit 15 controls the third visual notification unit 32c to flash at short intervals and controls the auditory notification unit 33 to sound intermittently at short intervals according to the instruction information of the identification unit 12. As a result, the third visual notification unit 32c flashes at short intervals and the auditory notification unit 33 sounds intermittently at short intervals. In addition, the engine control unit 122 limits the number of revolutions of the engine 121 according to the instruction information of the identification unit 12. Therefore, the worker can intuitively recognize that the detected object P2 is present in the direction of the monitoring area DA3 relative to the work vehicle 1, while also intuitively recognizing the sense of distance between the detected object P2 and the work vehicle 1 and that the type of detected object P2 is a person.

Next, the instruction information output by the identification unit 12 will be described with reference to Figures 4 and 6. Figure 6 shows a table Tb stored in the memory unit 16 of the control device 10.

The storage unit 16 of the control device 10 stores, for example, a table Tb shown in FIG. 6. In the table Tb, for example, a label, a detection distance L, a distance between the work vehicle 1 and the detected object P, a type of the detected object P, a mode of notification by the visual notification unit 32, a mode of notification by the audio notification unit 33, a limit on the rotation speed of the engine 121, and whether or not the engine 121 is stopped are associated with each other. Specifically, for example, a label of "2", a detection distance L of 4 m or more and less than 7 m, a distance between the work vehicle 1 and the detected object P of 1.7 m or more and less than 4.7 m, a type of the detected object P being an object, the visual notification unit 32 flashing slowly, the audio notification unit 33 not operating, the rotation speed of the engine 121 not being limited, and the engine 121 not being stopped are associated with each other.

In this embodiment, for example, the second area A2 is an area in which the detection distance L is 6 m or more and less than 7 m. For example, if the detectable object P is present in an area of the monitoring area DA1 that overlaps with the second area A2, and the type of the detectable object P is a person, the identification unit 12 outputs instruction information to the notification control unit 15 and the engine control unit 122 according to the row labeled "3" in the table Tb. Specifically, the identification unit 12 outputs instruction information indicating to flash at a long cycle to the notification control unit 15, and outputs instruction information indicating to maintain the rotation speed of the engine 121 to the engine control unit 122. As a result, the notification control unit 15 controls the first visual notification unit 32a to flash at a long cycle. In addition, the engine control unit 122 controls the engine 121 to maintain the rotation speed of the engine 121.

Next, the notification method executed by the work vehicle 1 will be described with reference to Figures 7 and 8. Figure 7 is a flowchart showing the first part of the notification method executed by the work vehicle 1. Figure 8 is a flowchart showing the second part of the notification method executed by the work vehicle 1. As shown in Figures 7 and 8, the notification method includes steps S1 to S13.

As shown in FIG. 7, in step S1, the notification control unit 15 determines whether or not at least one of the multiple operation units 40 has previously received an operation. If a positive determination (Yes) is made in step S1, that is, if at least one of the multiple operation units 40 has previously received an operation, the process proceeds to step S2. If a negative determination (No) is made in step S1, the process proceeds to step S3.

In step S2, the notification control unit 15 preliminarily prohibits notification of the presence of a detectable object P in the monitoring area DA associated with the operation unit 40 that received the operation in step S1.

In step S3, the detection unit 20 detects the state of the environment surrounding the work vehicle 1. That is, each of the multiple detection units 20a detects the state of the environment surrounding the work vehicle 1.

In step S4, the detection unit 20 outputs the detection result to the control unit 11 of the control device 10. That is, each of the multiple detection units 20a outputs the detection result to the control unit 11.

In step S5, the position identification unit 13 analyzes the detection results output to the detection unit 20. That is, the position identification unit 13 analyzes the detection results output to the multiple detection units 20a. The position identification unit 13 then determines whether or not a detectable object P present in the monitoring area DA has been detected. If a positive determination (Yes) is made in step S5, the process proceeds to step S6. On the other hand, if a negative determination (No) is made in step S5, the process proceeds to step S3.

In step S6, the position identification unit 13 identifies the position of the detectable object P. That is, the identification unit 12 identifies the monitoring area DA in which the detectable object P exists, the area in which the detectable object P exists among the multiple areas of the movable area MA, and the detection distance L.

In step S7, the type identification unit 14 identifies the type of the detected object P based on the identification result of the identification unit 12.

In step S8, the identification unit 12 outputs instruction information regarding the mode of notification to the notification control unit 15 based on the identification result of the position identification unit 13 identified in step S6 and the judgment result of the type identification unit 14 identified in step S7, and outputs instruction information regarding the control of the engine 121 to the engine control unit 122. For example, in step S8, the identification unit 12 outputs instruction information regarding the mode of notification to the notification control unit 15 based on the identification result of the position identification unit 13 in step S6, the identification result of the type identification unit 14 in step S7, and table Tb, and outputs instruction information regarding the control of the engine 121 to the engine control unit 122. Next, proceed to step S9 in FIG. 8.

As shown in FIG. 8, in step S9, the notification control unit 15 determines whether or not the instruction information regarding the mode of notification output in step S8 has been previously prohibited in step S2. That is, for example, the notification control unit 15 determines whether or not the instruction information regarding the mode of notification output in step S8 relates to a notification that a detectable object P is present in the monitoring area DA associated with the operation unit 40 that accepted the operation in step S1. If a positive determination (Yes) is made in step S9, the notification control unit 15 ends the process without operating the notification unit 31. On the other hand, if a negative determination (No) is made in step S9, the process proceeds to step S10.

In step S10, the notification control unit 15 controls the notification unit 31 according to the instruction information regarding the notification mode output in step S8. That is, the notification control unit 15 controls the notification unit 31 to notify in a mode corresponding to the detection distance L and the type of the detected object P. As a result, the notification unit 31 notifies that a detected object P is present in the monitoring area DA in a mode corresponding to the detection distance L and the type of the detected object P.

In step S11, the notification control unit 15 determines whether or not the operation unit 40 associated with the notification unit 31 that issued the notification in step S10 has accepted an operation. If a negative determination (No) is made in step S11, the notification control unit 15 causes the notification unit 31 that issued the notification in step S10 to continue issuing the notification. On the other hand, if a positive determination (Yes) is made in step S11, the process proceeds to step S12.

In step S12, the notification control unit 15 stops the notification that a detectable object P exists in the monitoring area DA associated with the operation unit 40 determined in step S11 to have received an operation. In other words, the notification control unit 15 causes the notification unit 31 to stop the notification that a detectable object P exists in the monitoring area DA associated with the operation unit 40 determined in step S11 to have received an operation.

In addition, in step S13, the engine control unit 122 controls the rotation speed of the engine 121 based on the instruction information regarding the control of the engine 121 output in step S8. For example, if the instruction information regarding the control of the engine 121 is instruction information to limit the rotation speed of the engine 121, the engine control unit 122 limits the rotation speed of the engine 121. In addition, for example, if the instruction information regarding the control of the engine 121 is instruction information to not change the rotation speed of the engine 121, the engine control unit 122 maintains the rotation speed of the engine 121.

The above describes the embodiments of the present invention with reference to the drawings. However, the present invention is not limited to the above embodiments, and can be implemented in various aspects without departing from the gist of the present invention. Furthermore, the multiple components disclosed in the above embodiments can be modified as appropriate. For example, a certain component among all the components shown in one embodiment may be added to a component of another embodiment, or some of all the components shown in one embodiment may be deleted from the embodiment.

The drawings are primarily schematic illustrations of each component to facilitate understanding of the invention, and the thickness, length, number, period, etc. of each component shown may differ from the actual configuration due to the convenience of creating the drawings. Furthermore, the configuration of each component shown in the above embodiment is merely an example and is not particularly limited, and it goes without saying that various modifications are possible within a range that does not substantially deviate from the effects of the present invention.

For example, as described with reference to FIG. 2, the control unit 11 of the control device 10 includes the notification control unit 15. However, the notification device 30 may also include the notification control unit 15 as long as the notification control unit 15 controls the notification unit 31.

As described with reference to FIG. 2, the control unit 11 of the control device 10 includes the identification unit 12. However, the detection unit 20 may also include the identification unit 12, so long as the identification unit 12 identifies the monitoring area DA in which the detected object P exists. Also, the control unit 11 may include some of the functions of the identification unit 12, and the detection unit 20 may include some of the functions of the identification unit 12.

As described with reference to FIG. 2, in this embodiment, the visual notification unit 32 is an LED. However, as long as the visual notification unit 32 can visually notify that a detectable object P exists in the monitoring area, the visual notification unit 32 may be a display. When the visual notification unit 32 is a display, for example, the notification control unit 15 controls the visual notification unit 32 to display an image indicating that a detectable object P exists in the identified monitoring area DA. As a result, the display as the visual notification unit 32 visually notifies that a detectable object P exists in the identified monitoring area DA. Specifically, for example, the display as the visual notification unit 32 displays an image showing the surrounding environment of the work vehicle 1, and when a detectable object P exists in the monitoring area DA, the detectable object P identified by the identification unit 12 is displayed so as to stand out, for example, by blinking the detectable object P.

Also, as described with reference to FIG. 2, in this embodiment, the visual notification unit 32 visually notifies the presence of the detectable object P in the identified monitoring area DA. However, as long as the worker can recognize the monitoring area DA in which the detectable object P exists, the auditory notification unit 33 may auditorily notify the presence of the detectable object P in the identified monitoring area DA. In this case, the auditory notification unit 33 auditorily notifies the presence of the detectable object P in the identified monitoring area DA. For example, when the auditory notification unit 33 is a speaker, the notification control unit 15 controls the auditory notification unit 33 to output a sound indicating the presence of the detectable object P in the identified monitoring area DA. As a result, the speaker as the auditory notification unit 33 auditorily notifies the presence of the detectable object P in the identified monitoring area DA. Also, when the auditory notification unit 33 is a buzzer, the notification unit 31 includes, for example, a plurality of auditory notification units 33. For example, the multiple auditory notification units 33 are disposed on one side of the cockpit 6c, on the other side of the cockpit 6c, and behind the cockpit 6c. When a detectable object P is present in the monitoring area DA, the auditory notification unit 33 disposed on the side of the monitoring area DA where the detectable object P is present emits a sound. As a result, the operator can intuitively recognize the monitoring area DA where the detectable object P is present.

Also, as described with reference to FIG. 4, when at least one of the multiple operation units 40 has received an operation in advance, the notification control unit 15 has previously prohibited the notification of the presence of a detectable object P in the monitoring area DA associated with the operation unit 40 that has received the operation. However, unless the notification unit 31 reports that a detectable object P exists in the monitoring area DA, the detection unit 20 may be prohibited from detecting the state of the monitoring area DA associated with the operation unit 40 that has received the operation in advance, among the surrounding environment of the work vehicle 1. Also, when the detection unit 20 includes multiple detection units 20a, the detection unit 20a corresponding to the monitoring area DA associated with the operation unit 40 that has received the operation in advance may be prohibited from detecting the state of the surrounding environment of the work vehicle 1, unless the notification unit 31 reports that a detectable object P exists in the monitoring area DA.

As described with reference to FIG. 4, in this embodiment, the identification unit 12 identifies the position of the detected object P by analyzing a signal corresponding to the reflected light received by the detection unit 20. However, if the detection unit 20 is a camera, the identification unit 12 identifies the position of the detected object P by performing image analysis of the image capture results of the camera. In other words, if each of the multiple detection units 20a is a camera, the identification unit 12 identifies the position of the detected object P by performing image analysis of the image capture results of the multiple cameras.

As described with reference to FIG. 1, in this embodiment, the vehicle body 2 includes a cockpit 6. However, as long as the work vehicle 1 includes a cockpit 6c, the vehicle body 2 does not have to include the cockpit 6.

As described with reference to FIG. 1, in this embodiment, the vehicle body 2 is provided with three detection units 20a. However, as long as the vehicle body 2 is provided with multiple detection units 20a, the vehicle body 2 may be provided with two detection units 20a, or may be provided with four or more detection units 20a.

As described with reference to FIG. 4 and FIG. 6, in this embodiment, the identification unit 12 outputs instruction information regarding the mode of notification to the notification control unit 15 according to the table Tb. However, as long as the notification unit 31 notifies that a detected object P is present in the monitoring area DA in a mode corresponding to the detection distance L, the identification unit 12 may output information indicating a label to the notification control unit 15. In this case, the notification control unit 15 refers to the table Tb stored in the storage unit 16 and controls the notification unit 31 to operate in the operation mode of the notification unit 31 associated with the output label. In this case, the engine control unit 122 stores the same table Tb as the table Tb stored in the storage unit 16. The engine control unit 122 then refers to the table Tb and controls the engine 121 based on whether or not there is a limit on the number of revolutions of the engine 121 associated with the output label and whether or not the engine 121 is stopped.

As described with reference to Figures 4 and 6, in this embodiment, the identification unit 12 outputs instruction information regarding the mode of notification to the notification control unit 15 according to table Tb. However, as long as the notification unit 31 notifies the presence of a detectable object P in the monitoring area DA in a mode corresponding to the detection distance L, the identification unit 12 may output instruction information to the notification control unit 15 and the engine control unit 122 according to the area of the movable area MA in which the detectable object P is present.

As described with reference to FIG. 4, the monitoring area DA is set in an area where the movable area MA of the working part 8 and the area detectable by the detection unit 20 overlap. However, the monitoring area DA may be set to a range wider than the outer edge EG of the movable area MA. In this case, the range of the monitoring area DA wider than the outer edge EG of the movable area MA is set, for example, based on a predetermined ratio to the size of the movable area MA.

In the present embodiment described with reference to Figures 1 to 7, the work vehicle 1 is a hydraulic excavator, but the work vehicle 1 is not limited to a hydraulic excavator. The work vehicle 1 may be any machine whose functions can be set by an operator via a screen. For example, the work vehicle 1 may be another construction machine or an agricultural machine. The construction machine is, for example, a loader such as a wheel loader, or a carrier. The agricultural machine is, for example, a riding tractor, a riding combine, or a riding rice transplanter.

The present invention relates to a work vehicle and a notification method, and has industrial applicability.

REFERENCE SIGNS LIST 1 Work vehicle 6c Driver's seat 8 Working section 12 Identification section 14 Type identification section 15 Notification control section 20 Detection unit 20a Detection section 21 First detection section 22 Second detection section 23 Third detection section 30 Notification device 31 Notification section 32 Visual notification section 33 Auditory notification section 40 Operation section 121 Engine 122 Engine control section DA Monitoring area Gd Ground surface He1 First height MA Movable area NA Detectable area

Claims (12)

A work vehicle,
A working unit that performs a work;
A detection unit that detects a state of an environment surrounding the work vehicle;
an identification unit that identifies a monitoring area in which a detectable object exists from among a plurality of monitoring areas set within a detectable area of the detection unit based on a detection result of the detection unit;
a notification unit that notifies the presence of the detectable object in the monitoring area based on the identification result of the identification unit,
The notification unit notifies the presence of the detected object in the monitoring area in a manner corresponding to a distance between the detection unit and the detected object ,
A plurality of operation units for receiving operations from an operator;
a notification control unit that controls the notification unit;
Further equipped with
the plurality of operation units are respectively associated with the plurality of monitoring areas,
A work vehicle in which, when at least one of the multiple operating units has received the operation in advance, the notification control unit preemptively prohibits notification of the presence of the detectable object in the monitoring area associated with the operating unit that has received the operation in advance. A work vehicle,
A working unit that performs a work;
A detection unit that detects a state of an environment surrounding the work vehicle;
an identification unit that identifies a monitoring area in which a detectable object exists from among a plurality of monitoring areas set within a detectable area of the detection unit based on a detection result of the detection unit;
a notification unit that notifies the presence of the detected object in the monitoring area based on the identification result of the identification unit;
Equipped with
The notification unit notifies the presence of the detected object in the monitoring area in a manner corresponding to a distance between the detection unit and the detected object,
A work vehicle, wherein the monitoring area is an area that is at a predetermined height or more from the ground in contact with the work vehicle. A work vehicle,
A working unit that performs a work;
A detection unit that detects a state of an environment surrounding the work vehicle;
an identification unit that identifies a monitoring area in which a detectable object exists from among a plurality of monitoring areas set within a detectable area of the detection unit based on a detection result of the detection unit;
a notification unit that notifies the presence of the detected object in the monitoring area based on the identification result of the identification unit;
Equipped with
The notification unit notifies the presence of the detected object in the monitoring area in a manner corresponding to a distance between the detection unit and the detected object,
A work vehicle, wherein the multiple monitoring areas are set in an area where a movable area, which is an area that the working unit can reach, and the detectable area overlap. The work vehicle according to claim 1 , wherein the notification unit includes a visual notification unit that visually notifies the user that the object to be detected is present in the monitoring area. The work vehicle according to claim 1 , wherein the notification unit includes an audio notification unit that audiovisually notifies the user that the object to be detected is present in the monitoring area. The plurality of monitoring areas are set in an area where the movable area of the working unit and the detectable area overlap,
The visual notification unit emits light,
The movable region includes a first region and a second region,
the first area is closer to the work vehicle than the second area;
5. The work vehicle according to claim 4, wherein when the detectable object is present in an area of the monitoring area that overlaps with the first area, the visual alarm unit flashes at a shorter period than when the detectable object is present in an area of the monitoring area that overlaps with the second area. A type identification unit that identifies a type of the detected object based on a detection result of the detection unit,
The work vehicle according to claim 1 , wherein the notification unit notifies the presence of the detectable object in the monitoring area in a manner according to the type of the detectable object. The engine,
An engine control unit that controls the engine,
The work vehicle according to claim 1 , wherein the engine control unit controls a rotation speed of the engine in accordance with a distance between the detection unit and the detected object. It also has a cockpit,
The detection unit includes a plurality of detection parts,
The monitoring area corresponding to a first detection unit among the plurality of detection units is set on one side of the cockpit,
The monitoring area corresponding to a second detection unit among the plurality of detection units is set on the other side of the cockpit,
The work vehicle according to claim 1 , wherein the monitoring area corresponding to a third detection unit among the plurality of detection units is set behind the operator's seat. Further comprising an operation unit for receiving an operation from an operator,
The notification unit is
The notification that the object to be detected is present in the monitoring area is continued until the operation unit receives the operation.
10. A work vehicle as described in any one of claims 1 to 9, wherein the notification of the presence of the detectable object in the monitoring area is stopped in response to the operation being accepted by the operating unit while the notification unit is notifying that the detectable object is in the monitoring area. The cockpit and
and an alarm device in which the alarm unit is disposed,
The notification unit includes a plurality of the visual notification units,
The work vehicle according to claim 4 , wherein the notification device is disposed in front of the driver's seat. A notification method performed by a work vehicle having a working unit that performs work and a detection unit,
The detection unit detects a state of an environment surrounding the work vehicle;
A step of an identification unit identifying a monitoring area in which a detectable object exists from among a plurality of monitoring areas set within a detectable area of the detection unit based on a detection result of the detection unit;
a notification unit notifying that the detectable object is present in the monitoring area based on the identification result of the identification unit, and notifying that the detectable object is present in the monitoring area in a manner according to the distance between the detection unit and the detectable object ,
The multiple monitoring areas are set in an area where a movable area, which is an area reachable by the working unit, and the detectable area overlap.

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