JP7805738B2 - Obstacle detection warning system, obstacle detection warning method, and work machine - Google Patents

Description

The present disclosure relates to an obstacle detection and warning system, an obstacle detection and warning method, and a work machine.

Patent Document 1 describes a technology in which obstacle determination means, which determines whether an obstacle is present around the upper rotating body using obstacle sensors located on the left and right sides of the upper rotating body that detect the distance to the obstacle, are used to prevent the upper rotating body from coming into contact with the obstacle while maintaining good workability when performing trench digging work near obstacles. The obstacle determination means determines whether an obstacle is present around the upper rotating body using a reference distance (X + α) obtained by adding a fixed distance (α) to the lateral distance (X) between the other lateral end of the bucket and the obstacle sensor when the swing post is swung to the farthest left and right side so that the work implement is parallel to the traveling direction of the undercarriage. According to this technology, when the work implement is translated left and right to perform trench digging work, the presence of an obstacle around the upper rotating body is determined using a reference distance (X + α) obtained by adding a fixed distance to the distance between the end of the bucket and the obstacle sensor as a threshold. Therefore, when performing trench digging work near a side wall or the like, it is possible to avoid the side wall or the like being identified as an obstacle around the upper rotating body.

Japanese Patent Application Laid-Open No. 2017-172223

However, the technology in Patent Document 1 is designed to prevent side walls and the like from being identified as obstacles around the upper rotating structure when the obstacle sensor and the work equipment have a specific positional relationship, so there is a problem in that when the work equipment is swung, it may be identified as an obstacle and an alarm may be inappropriately output.

This disclosure has been made in consideration of the above circumstances, and aims to provide an obstacle detection and warning system, an obstacle detection and warning method, and a work machine that can appropriately issue a warning about obstacles around the work machine.

To solve the above problems, the obstacle detection and warning system disclosed herein includes an obstacle detection unit that detects obstacles around a work machine having a swingable work implement, and an alarm issuing unit that issues an alarm when the obstacle detection unit detects an obstacle in a first warning area when the work machine is swinging, and that issues an alarm when the obstacle detection unit detects an obstacle in a second warning area that is wider than the first warning area when the work machine is not swinging.

The obstacle detection and warning method disclosed herein also includes the steps of acquiring the detection results of an obstacle around a work machine having a swingable work implement by an obstacle detection unit, and issuing a warning when the obstacle detection unit detects an obstacle in a first warning area while the work machine is swinging, and issuing a warning when the obstacle detection unit detects an obstacle in a second warning area that is wider than the first warning area while the work machine is not swinging.

The work machine disclosed herein is a work machine with a swingable work implement, and is equipped with an obstacle detection and warning system having an obstacle detection unit that detects obstacles around the work machine, and an alarm issuing unit that issues an alarm when the obstacle detection unit detects an obstacle in a first warning area while the work machine is swinging, and that issues an alarm when the obstacle detection unit detects an obstacle in a second warning area that is wider than the first warning area while the work machine is not swinging.

The obstacle detection and warning system, obstacle detection and warning method, and work machine disclosed herein can appropriately issue a warning about obstacles around the work machine.

1 is a side view showing an outline of the configuration of a work machine according to an embodiment of the present disclosure. 1 is a plan view showing an outline of the configuration of a work machine according to an embodiment of the present disclosure. FIG. 2 is a plan view schematically illustrating an example of operation of a work machine according to an embodiment of the present disclosure. FIG. 1 is a perspective view schematically illustrating an example configuration of a driver's cab according to an embodiment of the present disclosure. FIG. 2 is a perspective view illustrating a configuration example of a swing detection unit according to an embodiment of the present disclosure. FIG. 2 is a perspective view illustrating a configuration example of a swing detection unit according to an embodiment of the present disclosure. FIG. 10 is a perspective view illustrating an example of operation of a swing detection unit according to an embodiment of the present disclosure. FIG. 10 is a perspective view illustrating an example of operation of a swing detection unit according to an embodiment of the present disclosure. FIG. 10 is a perspective view illustrating an example of operation of a swing detection unit according to an embodiment of the present disclosure. 10 is a diagram for explaining an example of the operation of a swing detection unit according to an embodiment of the present disclosure. FIG. 2 is a plan view schematically illustrating a detection area of an obstacle detection unit according to an embodiment of the present disclosure. FIG. 10 is a plan view schematically illustrating an alarm region according to an embodiment of the present disclosure. FIG. 10 is a plan view schematically illustrating an alarm region according to an embodiment of the present disclosure. FIG. 10 is a plan view schematically illustrating an alarm region according to an embodiment of the present disclosure. 1 is a system diagram illustrating an outline of a drive system according to an embodiment of the present disclosure. 1 is a block diagram illustrating an overview of an obstacle detection and warning system according to an embodiment of the present disclosure. 1 is a diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. 2 is a transition diagram for explaining an example of operation of the obstacle detection alarm system according to the embodiment of the present disclosure. FIG. 2 is a transition diagram for explaining an example of operation of the obstacle detection alarm system according to the embodiment of the present disclosure. 10 is a flowchart for explaining an example of the operation of the obstacle detection alarm system according to an embodiment of the present disclosure. 10 is a flowchart for explaining an example of the operation of the obstacle detection alarm system according to an embodiment of the present disclosure. 10 is a flowchart for explaining an example of the operation of the obstacle detection alarm system according to an embodiment of the present disclosure. 10 is a flowchart for explaining an example of the operation of the obstacle detection alarm system according to an embodiment of the present disclosure. 10 is a flowchart for explaining an example of the operation of the obstacle detection alarm system according to an embodiment of the present disclosure. 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. 1 is a block diagram illustrating a basic configuration example of an obstacle detection alarm system according to an embodiment of the present disclosure. 1 is a block diagram illustrating a basic configuration example of an obstacle detection alarm system according to an embodiment of the present disclosure. 1 is a block diagram illustrating a basic configuration example of an obstacle detection alarm system according to an embodiment of the present disclosure.

Embodiments of the present disclosure will be described below with reference to the drawings. Note that the same or corresponding components in each drawing will be designated by the same reference numerals, and descriptions will be omitted where appropriate.

1 is a side view showing an outline of the configuration of a work machine according to an embodiment of the present disclosure. FIG. 2 is a plan view showing an outline of the configuration of a work machine according to an embodiment of the present disclosure. FIG. 3 is a plan view showing a schematic example of an operation of a work machine according to an embodiment of the present disclosure. FIG. 4 is a perspective view showing a schematic example of a configuration of a driver's cab according to an embodiment of the present disclosure. FIGS. 5 to 9 are perspective views showing an example of the configuration of a swing detection unit according to an embodiment of the present disclosure. FIG. 10 is a diagram for explaining an example of operation of a swing detection unit according to an embodiment of the present disclosure. FIG. 11 is a plan view showing a schematic of the detection area of an obstacle detection unit according to an embodiment of the present disclosure. FIGS. 12 to 14 are plan views showing a schematic of an alarm area according to an embodiment of the present disclosure. FIG. 15 is a system diagram showing an outline of a drive system according to an embodiment of the present disclosure. FIG. 16 is a block diagram showing an outline of an obstacle detection warning system according to an embodiment of the present disclosure. FIG. 17 is a diagram for explaining an example of operation of an obstacle detection warning system according to an embodiment of the present disclosure. FIGS. 18 and 19 are transition diagrams for explaining an example of operation of an obstacle detection warning system according to an embodiment of the present disclosure. 20 to 24 are flowcharts illustrating an example of operation of an obstacle detection warning system according to an embodiment of the present disclosure. 25 to 30 are schematic diagrams illustrating an example of operation of an obstacle detection warning system according to an embodiment of the present disclosure. 31 to 33 are block diagrams illustrating an example of the basic configuration of an obstacle detection warning system according to an embodiment of the present disclosure.

As shown in Figures 1 and 2, in this embodiment, a local coordinate system is set on the work machine 100, and the positional relationships of each part will be described with reference to the local coordinate system. In the local coordinate system, the first axis extending in the left-right direction (vehicle width direction) of the work machine 100 (upper rotating body 120) is the X-axis, the second axis extending in the front-rear direction of the work machine 100 is the Y-axis, and the third axis extending in the up-down direction of the work machine 100 is the Z-axis. The X-axis and Y-axis are perpendicular to each other. The Y-axis and Z-axis are perpendicular to each other. The Z-axis and X-axis are perpendicular to each other. The arrow on the X-axis points leftward, and the opposite direction is rightward. The arrow on the Y-axis points forward, and the opposite direction is rearward. The arrow on the Z-axis points upward, and the opposite direction is downward.

(Configuration example of work machine 100)
FIG. 1 shows an example configuration of a work machine 100 according to an embodiment. The work machine 100 operates at a construction site and works on a construction target such as earth and sand. One example of the work machine 100 according to the embodiment is a hydraulic excavator (compact excavator, mini excavator). The work machine 100 includes a lower traveling body 110, an upper rotating body 120, a work implement 130, and a blade 150. The upper rotating body 120 is equipped with a cab 140, an obstacle detection unit 200, and a swing detection unit 210.

The undercarriage 110 supports the work machine 100 so that it can travel. The undercarriage 110 includes, for example, a pair of left and right tracks 110a (also referred to as left track 110a) and 110b (also referred to as right track 110b). The undercarriage 110 supports the blade 150 so that it can be driven in the vertical direction. The blade 150 is driven by a blade cylinder 150C, which is a hydraulic cylinder.

The upper rotating body 120 is supported on the lower traveling body 110 so that it can rotate around a rotation center c. The working machine 130 is hydraulically driven. The working machine 130 is supported on the front of the upper rotating body 120 so that it can be driven in the vertical direction. The working machine 130 is also supported on the front of the upper rotating body 120 so that it can swing left and right around a pin 130P as the center of swing, as shown in Figure 3.

The cab 140 is a space where the operator (driver) sits and operates the work machine 100. The cab 140 is provided at the front left of the upper rotating body 120. Here, the part of the upper rotating body 120 to which the work implement 130 is attached is referred to as the front. Furthermore, with respect to the upper rotating body 120, the part opposite the front is referred to as the rear, the left part as the left part, and the right part as the right part.

The left and right tracks 110a and 110b can independently drive the drive wheels (forward and reverse). If the left track 110a and the right track 110b are driven forward at the same time, the undercarriage 110 will move forward; if the left track 110a and the right track 110b are driven backward at the same time, the undercarriage 110 will move backward. Furthermore, if the drive wheels of one track and the drive wheels of the other track are driven in opposite directions, for example, if the right track 110b is driven forward and the left track 110a is driven backward at the same time, the undercarriage 110 can rotate around the center of rotation. This type of turning is called a pivot turn.

The center of rotation of the lower running body 110 when it is turned in a pivotal motion may be configured to coincide with the center of rotation c of the upper rotating body 120, or they may be configured to be different.

(Configuration example of work machine 130)
As shown in FIGS. 1 and 2, the work machine 130 includes a boom 131, an arm 132, a bucket 133, a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, and a swing cylinder 134C.

The base end of the boom 131 is supported on the front of the upper rotating body 120 so that it can swing up and down and swing left and right. The arm 132 connects the boom 131 to the bucket 133. The base end of the arm 132 is swingably attached to the tip of the boom 131. The bucket 133 is equipped with a blade for digging soil and sand, and a storage section for storing the excavated soil. The base end of the bucket 133 is swingably attached to the tip of the arm 132.

The boom cylinder 131C is a hydraulic cylinder for operating the boom 131 in the up and down direction. The base end of the boom cylinder 131C is swingably attached to the upper rotating body 120. The tip end of the boom cylinder 131C is attached to the boom 131.

The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. The base end of the arm cylinder 132C is attached to the boom 131. The tip end of the arm cylinder 132C is attached to the arm 132.

The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. The base end of the bucket cylinder 133C is attached to the arm 132. The tip end of the bucket cylinder 133C is attached to a link member connected to the bucket 133.

The swing cylinder 134C is a hydraulic cylinder for swinging the boom 131 left and right. The base end of the swing cylinder 134C is attached to the upper rotating body 120. The tip end of the swing cylinder 134C is attached to the base end of the boom 131.

(Configuration example of the operator's cab 140)
4 shows an example of the internal configuration of the driver's cab 140 according to the embodiment. A driver's seat 141, an operating device 142, and an input/output device 145 are provided in the driver's cab 140.

The operating device 142 is a device for manually operating the lower traveling body 110, upper rotating body 120, work implement 130, and blade 150 by the operator. The operating device 142 includes a left operating lever 142LO, a right operating lever 142RO, a left traveling lever 142LT, a right traveling lever 142RT, a boom swing operating pedal 142BF, a blade operating lever 142BL, and a PPC (Pressure Proportional Control) lock lever 142LL.

The left operating lever 142LO is located on the left side of the driver's seat 141. The right operating lever 142RO is located on the right side of the driver's seat 141.

The left operating lever 142LO is an operating mechanism for, for example, rotating the upper rotating body 120 and performing excavation/dumping operations of the arm 132. Specifically, when the operator of the work machine 100 tilts the left operating lever 142LO forward, the arm 132 performs a dumping operation. When the operator of the work machine 100 tilts the left operating lever 142LO backward, the arm 132 performs an excavation operation. When the operator of the work machine 100 tilts the left operating lever 142LO to the right, the upper rotating body 120 rotates to the right. When the operator of the work machine 100 tilts the left operating lever 142LO to the left, the upper rotating body 120 rotates to the left. In other embodiments, the upper rotating body 120 may rotate right or left when the left operating lever 142LO is tilted forward or backward, and the arm 132 may perform an excavation or dump operation when the left operating lever 142LO is tilted left or right. In other embodiments, the upper rotating body 120 may rotate left or right when the right operating lever 142RO is tilted left or right. These operation settings may be changed using the input/output device 145, for example, or mechanically.

The right operating lever 142RO is an operating mechanism for, for example, performing the digging/dumping operation of the bucket 133 and the raising/lowering operation of the boom 131. Specifically, when the operator of the work machine 100 tilts the right operating lever 142RO forward, the boom 131 is lowered. Conversely, when the operator of the work machine 100 tilts the right operating lever 142RO rearward, the boom 131 is raised. Conversely, when the operator of the work machine 100 tilts the right operating lever 142RO to the right, the bucket 133 is dumped. Conversely, when the operator of the work machine 100 tilts the right operating lever 142RO to the left, the bucket 133 is excavated. Note that in other embodiments, tilting the right operating lever 142RO forward or backward may perform the bucket 133 dumping or excavating operation, and tilting the right operating lever 142RO left or right may perform the boom 131 raising or lowering operation.

The left travel lever 142LT is located on the front left side of the driver's seat 141. The right travel lever 142RT is located on the front right side of the driver's seat 141. The left travel lever 142LT corresponds to the rotational drive of the left track 110a of the undercarriage 110. Specifically, when the operator of the work machine 100 pushes the left travel lever 142LT forward, the left track 110a rotates in the forward direction. Conversely, when the operator of the work machine 100 pushes the left travel lever 142LT backward, the left track 110a rotates in the reverse direction.

The right travel lever 142RT corresponds to the rotational drive of the right crawler 110b of the undercarriage 110. Specifically, when the operator of the work machine 100 tilts the right travel lever 142RT forward, the right crawler 110b rotates in the forward direction. Conversely, when the operator of the work machine 100 tilts the right travel lever 142RT backward, the right crawler 110b rotates in the reverse direction.

The boom swing operation pedal 142BF corresponds to the swing drive of the work implement 130 (boom 131). For example, when the operator of the work machine 100 tilts the boom swing operation pedal 142BF to the left, the work implement 130 swings to the left. When the operator tilts the boom swing operation pedal 142BF to the right, the work implement 130 swings to the right.

The blade operating lever 142BL controls the operation of the blade 150. For example, when the operator of the work machine 100 tilts the blade operating lever 142BL forward, the blade 150 lowers. On the other hand, when the operator tilts the blade operating lever 142BL rearward, the blade 150 raises.

The PPC lock lever 142LL can be locked or unlocked by the operator. When the PPC lock lever 142LL is locked, operation of other levers, pedals, etc. on the operating device 142, except for the PPC lock lever 142LL, is disabled. When the PPC lock lever 142LL is unlocked, operation by the operating device 142 is enabled.

In this embodiment, the levers and pedals of the operating device 142 have the function of outputting hydraulic oil at a pressure corresponding to the operating stroke of each lever or pedal from a valve that controls the pilot pressure for moving the spool of the control valve 303 (described below). However, in other embodiments, the levers and pedals of the operating device 142 may output an electrical signal to control the control valve via an external control device. The left operating lever 142LO or the right operating lever 142RO is an example of a turning operation unit. The left traveling lever 142LT and the right traveling lever 142RT are an example of a traveling operation unit.

The input/output device 145 is a device that displays information related to the multiple functions of the work machine 100, inputs various instruction operations, issues alarm sounds, and displays alarm signals. The input/output device 145 is equipped with a display 145D. The display 145D is configured, for example, from a touch panel. The input/output device 145 also has an alarm buzzer 145B that issues alarm sounds. Note that the display 145D and the alarm buzzer 145B may be installed separately.

(Configuration example of swing detection unit 210)
As shown in FIGS. 5 to 9 , the swing detection unit 210 includes two proximity switches, a proximity switch (1) 211 and a proximity switch (2) 212, and a proximity member 213. FIGS. 5 and 7 to 9 show the state in which the cover 210C is attached, and FIG. 6 shows the state in which the cover 210C is removed. FIGS. 5 to 7 show the working machine 130 facing forward (the swing position in FIG. 3 is neutral (center)), FIG. 8 shows the working machine 130 swung to the left, and FIG. 9 shows the working machine 130 swung to the right. The proximity switches (1) 211 and (2) 212 are fixed to the end of the working machine 130 side, spaced a predetermined distance from each other in the left-right direction in the neutral position. In the neutral position, the proximity switch (1) 211 is located on the right side, and the proximity switch (2) 212 is located on the left side. As shown in Fig. 7 , the proximity member 213 has a shape that allows it to be close to and face both the detection surface 211s of the proximity switch (1) 211 and the detection surface 212s of the proximity switch (2) 212 when the work machine 130 is in the neutral position, and is fixed to the front of the upper rotating body 120. As shown in Fig. 7 , when the work machine 130 is in the neutral position, both the detection surface 211s of the proximity switch (1) 211 and the detection surface 212s of the proximity switch (2) 212 face (are close to) the proximity member 213, so both the proximity switch (1) 211 and the proximity switch (2) 212 are turned on. Also, as shown in Fig. 8 , when the work machine 130 is swung to the left, only the detection surface 212s of the proximity switch (2) 212 faces (is close to) the proximity member 213, so the proximity switch (2) 212 is turned on and the proximity switch (1) 211 is turned off. Also, as shown in Figure 9, when the work machine 130 is swung to the right, only the detection surface 211s of the proximity switch (1) 211 faces (is close to) the proximity member 213, so the proximity switch (1) 211 is turned on and the proximity switch (2) 212 is turned off.

Figure 10 shows the relationship between the operation of the swing detection unit 210 and the swing position. When proximity switch (1) 211 is on and proximity switch (2) 212 is off, the swing position is right. When proximity switch (1) 211 is on and proximity switch (2) 212 is on, the swing position is neutral. When proximity switch (1) 211 is off and proximity switch (2) 212 is on, the swing position is left.

In this embodiment, the swing detection unit 210 detects whether the work machine 130 is swinging to the right, in a neutral state, or swinging to the left based on the outputs of multiple (in this example, two) proximity switches (1) 211 and (2) 212, which have different on/off states when the work machine 130 is swinging to the right, in a neutral state, or in a left-swing state. In this case, the angle detected as the neutral state can be easily adjusted by changing the arrangement of the multiple proximity switches (1) 211 and (2) 212 and the shape of the proximity member 213.

The number of proximity switches may be three or more. Alternatively, the proximity switches may be fixed to the upper rotating body 120, and the proximity member 213 may be fixed to the work machine 130.

(Configuration example of obstacle detection unit 200)
The upper rotating body 120 is provided with an obstacle detection unit 200, which includes multiple millimeter-wave radars (a right-looking radar 201, a left-looking radar 202, and a rearward radar 203) that detect obstacles (detection targets) around the work machine 100. The obstacle detection unit 200 includes the right-looking radar 201, the left-looking radar 202, and the rearward radar 203. The right-looking radar 201, the left-looking radar 202, and the rearward radar 203 detect the angle, distance, and speed of detection targets (people, work structures, etc.) located within a detection area within a predetermined distance, for example, 75 degrees left and right and 5 degrees up and down, and output the detection results. The number of detection targets detected is zero or more. Note that the angle of the detection area, etc., is an example. The obstacle detection unit 200 may also include multiple radars, for example, three or more. FIG. 11 shows examples of detection areas 201s, 202s, and 203s of the right radar 201, the left radar 202, and the rear radar 203.

(Example of warning area configuration)
In this embodiment, four warning areas A1, A2, A3, and A4 are set within the detection area (detection areas 201s, 202s, and 203s) of the obstacle detection unit 200, and the size of the warning areas A1 and A2 is changed depending on the rotation operation state of the upper rotating body 120, the swing position of the work implement 130, and the traveling state of the work machine 100, and control is performed to issue or not issue a warning when an obstacle is detected within the warning areas A1, A2, A3, and A4. Also, in this embodiment, an area where a warning of warning level 1 and an area where a warning of warning level 2 are issued are set within the warning areas A1 and A2, and control is performed to switch between the warning of warning level 1 and the warning of warning level 2. The warning of warning level 2 is issued in a manner that indicates a more severe situation than that of warning level 1 (for example, by changing the cycle or frequency of the alarm sound or the volume of the alarm sound).

With reference to Figures 12 to 14, examples of setting warning areas A1, A2, A3, and A4, areas where a warning level 1 is issued, and areas where a warning level 2 is issued will be described. As shown in Figure 12, warning area A1 is a warning area located on the right side of the upper rotating body 120, and is an area where a risk of contact or the like is expected when the upper rotating body 120 is rotated to the right if a detected object is present within warning area A1. Furthermore, warning area A2 is a warning area located on the left side of the upper rotating body 120, and is an area where a risk of contact or the like is expected when the upper rotating body 120 is rotated to the left if a detected object is present within warning area A2.

The warning area A1 is set within either the warning area A1a when the swing position of the work implement 130 is neutral, as shown in FIG. 12, or the warning area A1b when the swing position of the work implement 130 is to the right, as shown in FIG. 13. The warning area A1b is an area that excludes the area where the work implement 130 may be located (an area where the obstacle detection unit 200 may erroneously detect the work implement 130 as an obstacle) from the warning area A1a, and is a narrower area than the warning area A1a. Furthermore, within the warning area A1 (warning area A1a or A1b), warning level 2 areas and warning level 1 areas, shown as separate areas separated by two-dot chain lines, are set depending on the distance from the work implement 130.

The warning area A2 is set within either the warning area A2a when the swing position of the work implement 130 is neutral, as shown in FIG. 12, or the warning area A2b when the swing position of the work implement 130 is to the left, as shown in FIG. 14. The warning area A2b is the area obtained by excluding the area where the work implement 130 may be located from the warning area A2a, and is a narrower area than the warning area A2a. Furthermore, the warning area A2 (warning area A2a) is set with warning level 2 areas and warning level 1 areas, which are separated by two-dot chain lines, depending on the distance from the work implement 130. Furthermore, the warning area A2 (warning area A2b) is set to all warning level 2.

As shown in FIG. 12, warning area A3 and warning area A4 are both warning areas set behind the upper rotating body 120, with warning area A3 being larger in area than warning area A4. Warning area A3 is a warning area that is effective while the work machine 100 is traveling. Warning area A4 is a warning area that is effective while the work machine 100 is stopped. In the example shown in FIG. 12, the left-right sizes of warning area A3 and warning area A4 are equal, and the front-to-rear size of warning area A3 is larger. Furthermore, the forward ends of warning area A3 and warning area A4 coincide and coincide or nearly coincide with the ends of the upper rotating body 120. In the work machine 100 of this embodiment, warning area A3 and warning area A4 are not affected by the direction of the undercarriage 110 even when the upper rotating body 120 is rotated. In other words, when the work machine 100 is in a traveling state (or in a state where it can travel), warning areas A3 and A4 are always located rearward of the upper rotating body 120. Furthermore, in warning area A3, warning levels 1 and 2 are determined using the speed at which the detected object approaches the work machine 100 and the distance between the detected object and the work machine 100 as parameters. Similarly, in warning area A4, warning levels 1 and 2 are determined using the speed at which the detected object approaches the work machine 100 and the distance between the detected object and the work machine 100 as parameters.

(Outline of the drive system)
Fig. 15 shows an overview of a drive system according to an embodiment of the present disclosure. As shown in Fig. 15, the work machine 100 includes, as drive system components, a drive source 300, a hydraulic pump 301, a hydraulic oil tank 302, a control valve 303, a swing motor 304, a travel motor 305, and a hydraulic rotary joint 306.

The drive source 300 generates a drive force for operating the work machine 100. Examples of the drive source 300 include an internal combustion engine and an electric motor. The hydraulic pump 301 is driven by the drive source 300 and discharges hydraulic oil. At least a portion of the hydraulic oil discharged from the hydraulic pump 301 is supplied via a control valve 303 to each of the boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, swing cylinder 134C, swing motor 304, and travel motor 305. The control valve 303 controls the flow rate and direction of hydraulic oil supplied from the hydraulic pump 301 to each of the boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, swing cylinder 134C, swing motor 304, and travel motor 305 via a hydraulic rotary joint 306, depending on the operating state of the operating device 142.

The sensor unit 400 has multiple PPC pressure sensors, switches, etc., and detects the operating state of the operating device 142 and outputs the detection results.

(Configuration example of an obstacle detection and warning system)
FIG. 16 shows an overview of an obstacle detection alarm system according to an embodiment of the present disclosure. The obstacle detection alarm system 600 shown in FIG. 16 includes an obstacle detection alarm device 500. The obstacle detection alarm device 500 can be configured using hardware such as a computer, such as a microcomputer or a central processing unit (CPU), and peripheral circuits and devices of the computer. The obstacle detection alarm device 500 includes a functional configuration formed by a combination of hardware and software, such as a program executed by the computer, including an obstacle detection result acquisition unit 501, a sensor detection result acquisition unit 502, a swing detection result acquisition unit 503, and an alarm transmission unit 504.

The obstacle detection and warning device 500 may be configured using a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device). Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions implemented by a processor may be implemented by the integrated circuit.

Furthermore, for example, the obstacle detection and warning device 500 may be mounted on the work machine 100, or may be provided in a remote control room located remotely from the work machine 100.

In the example shown in Figure 16, the sensor unit 400, which was outlined with reference to Figure 15, includes a PPC lock lever switch 401, a travel PPC pressure sensor 402, a right-turn PPC pressure sensor 403, and a left-turn PPC pressure sensor 404. The PPC lock lever switch 401 detects whether the PPC lock lever 142LL is locked or unlocked, and outputs the detection result as an on/off signal. The travel PPC pressure sensor 402 turns on its output when the right travel lever 142RT or left travel lever 142LT is operated to instruct travel, and turns off its output when the operation to instruct travel is stopped (or released). The right turn PPC pressure sensor 403 turns on its output when an operation to rotate the upper structure 120 to the right is performed using the left operation lever 142LO or the right operation lever 142RO, and turns off its output when the operation to rotate the upper structure 120 to the right is stopped (or released). The left turn PPC pressure sensor 404 turns on its output when an operation to rotate the upper structure 120 to the left is performed using the left operation lever 142LO or the right operation lever 142RO, and turns off its output when the operation to rotate the upper structure 120 to the left is stopped (or released). The output of the sensor unit 400 may be sent directly to the obstacle detection and warning device 500, or may be sent via another controller.

In the obstacle detection warning device 500, the obstacle detection result acquisition unit 501 repeatedly acquires the detection results from the obstacle detection unit 200 at a predetermined interval.

The sensor detection result acquisition unit 502 repeatedly acquires the detection results from the sensor unit 400 at a predetermined interval.

The swing detection result acquisition unit 503 repeatedly acquires the detection results from the swing detection unit 210 at a predetermined interval.

Based on the information acquired by the obstacle detection result acquisition unit 501, the sensor detection result acquisition unit 502, and the swing detection result acquisition unit 503, the alarm issuance unit 504 performs processes such as determining which alarm area to activate, determining whether to issue an alarm, and, if an alarm is to be issued, determining whether the alarm should be issued at alarm level 2 or alarm level 1, as described below.

(Operation example of obstacle detection alarm device 500)
FIG. 17 shows the correspondence between the alarm activation unit 504's determination of whether each alarm region A1-A4 is enabled or disabled and the combination of the on/off (or unlocked/locked) states of the PPC lock lever switch 401, travel PPC pressure sensor 402, right-turn PPC pressure sensor 403, and left-turn PPC pressure sensor 404. FIG. 17 also shows the vehicle behavior (whether the upper rotating body 120 is turning right or left, and whether the vehicle is traveling) for each correspondence. For example, if the travel PPC pressure sensor 402, right-turn PPC pressure sensor 403, and left-turn PPC pressure sensor 404 are all off, only alarm region A4 is enabled, and an alarm is issued when an obstacle is detected in alarm region A4. Even if an obstacle is detected in the other alarm regions A1-A3, no alarm is issued.

Figure 18 shows, as a state transition diagram, the flow of the process for determining whether the warning area shown in Figure 17 is enabled or disabled. Figure 19 also shows, as a state transition diagram, the flow of the process for determining whether warning area A1 should be set to warning area A1a or warning area A1b, and the flow of the process for determining whether warning area A2 should be set to warning area A2a or warning area A2b, for warning areas A1 and A2.

The state transition diagram shown in Figure 18 includes an initial state, ST0, and states ST1 to ST8. The initial state ST0 is the state before the drive source is activated, and transitions to state ST1 when the drive source is activated. In state ST1, the PPC lock lever 142LL is locked, and all alarm areas A1 to A4 are disabled. When the PPC lock lever 142LL is unlocked, transitions to state ST3. Note that state ST2 includes states ST3 to ST8, and when the PPC lock lever 142LL is locked in any of states ST3 to ST8, the state transitions to state ST1.

State ST3 is a state in which only alarm area A4 is active. State ST4 is a state in which alarm area A2 and alarm area A4 are active. State ST5 is a state in which alarm area A1 and alarm area A4 are active. State ST6 is a state in which alarm area A1 and alarm area A3 are active. State ST7 is a state in which alarm area A3 is active. State ST8 is a state in which alarm area A2 and alarm area A3 are active.

If the driving PPC (pressure sensor) turns on in state ST3, the system transitions to state ST7. If the right-turn PPC (pressure sensor) turns on in state ST3, the system transitions to state ST5. If the left-turn PPC (pressure sensor) turns on in state ST3, the system transitions to state ST4.

If the driving PPC (pressure sensor) turns on in state ST4, the system transitions to state ST8. If the left-turn PPC (pressure sensor) turns off in state ST4, the system transitions to state ST3.

If the driving PPC (pressure sensor) turns on in state ST5, the system transitions to state ST6. If the right turn PPC (pressure sensor) turns off in state ST5, the system transitions to state ST3.

If the driving PPC (pressure sensor) turns off in state ST6, the system transitions to state ST5. If the right-turn PPC (pressure sensor) turns off in state ST6, the system transitions to state ST7.

If the driving PPC (pressure sensor) turns off in state ST7, the system transitions to state ST3. If the right-turn PPC (pressure sensor) turns on in state ST7, the system transitions to state ST6. If the left-turn PPC (pressure sensor) turns on in state ST7, the system transitions to state ST8.

If the driving PPC (pressure sensor) turns off in state ST8, the system transitions to state ST4. If the right turn PPC (pressure sensor) turns off in state ST8, the system transitions to state ST7.

The state transition diagram shown in Figure 19 includes states ST11 to ST13. State ST11 is the state when the swing position is neutral. In state ST11, the warning area A1 is the warning area A1a, and the warning area A2 is the warning area A2a. In state ST12, the warning area A1 is the warning area A1a, and the warning area A2 is the warning area A2b. In state ST13, the warning area A1 is the warning area A1b, and the warning area A2 is the warning area A2a. When the boom swing position moves to the right in state ST11, a transition to state ST13 occurs. When the boom swing position becomes neutral in state ST13, a transition to state ST11 occurs. When the boom swing position becomes left in state ST11, a transition to state ST12 occurs. When the boom swing position becomes neutral in state ST12, a transition to state ST11 occurs.

Next, an example of the operation of the obstacle detection alarm device 500 will be described with reference to the flowcharts shown in Figures 20 to 24. Figure 20 shows the main flow of the example of operation described here. The process shown in Figure 20 is executed repeatedly at a predetermined interval while the drive source is operating and the PPC lock lever 142LL is unlocked.

When the processing shown in FIG. 20 begins, the obstacle detection alarm device 500 acquires the detection results from the obstacle detection unit (step S101), acquires the detection results from the sensor unit (step S102), acquires the swing direction detection results (step S103), and cancels the alert level 1 detection state and the alert level 2 detection state (step S104). Next, the obstacle detection alarm device 500 (alarm issuing unit 504) executes an alert switching and determination process (step S105). In step S105, the alarm issuing unit 504 executes the alert switching and determination process shown in FIG. 21. In the alert switching and determination process of step S105, the detection state is set to either an alert level 1 detection state, an alert level 2 detection state, or neither.

After step S105, the alarm issuing unit 504 determines whether or not an alert level 2 detection state has occurred (step S106). If an alert level 2 detection state has occurred (step S106: Yes), an alert level 2 alert is issued (step S107), and the process shown in FIG. 20 ends. On the other hand, if an alert level 2 detection state has not occurred (step S106: No), the alarm issuing unit 504 determines whether or not an alert level 1 detection state has occurred (step S108). If an alert level 1 detection state has occurred (step S108: Yes), an alert level 1 alert is issued (step S109), and the process shown in FIG. 20 ends. On the other hand, if an alert level 1 detection state has not occurred (step S108: No), the alarm issuing unit 504 ends the process shown in FIG. 20.

Next, with reference to Figure 21, the alarm switching and determination process executed in step S105 of Figure 20 will be described. The process shown in Figure 21 is executed by the alarm issuing unit 504.

The alarm issuing unit 504 first performs an alarm determination for all detection areas (step S201). There are six types of detection areas, as shown below, and in step S201, it determines whether each is inside or outside an alarm level 1 area or an alarm level 2 area (detection areas: alarm areas A1a, A1b, A2a, A2b, A3, and A4). For each of the alarm areas A1a, A1b, A2a, A2b, A3, and A4, the alarm issuing unit 504 determines whether one or more obstacles have been detected, whether the area corresponds to alarm level 1, and whether the area corresponds to alarm level 2.

Next, the alarm issuing unit 504 performs masking of the alarm determination result (alarm areas A1a, A1b) (step S202), masking of the alarm determination result (alarm areas A2a, A2b) (step S203), and masking of the alarm determination result (alarm areas A3, A4) (step S204). In steps S202 to S204, the alarm issuing unit 504 performs masking of the alarm determination result (alarm invalidation) for each detection area.

In the masking process of the alarm determination result in step S202 (alarm areas A1a, A1b), as shown in FIG. 22, the alarm issuing unit 504 first determines whether the right-turn PPC sensor is off (step S301). If the right-turn PPC sensor is off (step S301: Yes), the alarm issuing unit 504 masks the alarm areas A1a and A1b (step S302) and ends the process shown in FIG. 22. If the right-turn PPC sensor is on (step S301: No), the alarm issuing unit 504 determines whether the boom swing position is to the right (step S303). If the boom swing position is to the right (step S303: Yes), the alarm issuing unit 504 masks the alarm area A1a (step S304) and ends the process shown in FIG. 22. If the boom swing position is not to the right (step S303: No), the alarm issuing unit 504 masks the warning area A1b (step S305) and ends the processing shown in FIG. 22.

The condition for executing step S302 is that the upper rotating body 120 is stopped or rotating to the left. The condition for executing step S304 is that the upper rotating body 120 is rotating to the right and the boom swing position is to the right. The condition for executing step S305 is that the upper rotating body 120 is rotating to the right and the boom swing position is neutral or left.

In the masking process of the alarm determination result in step S203 (alarm areas A2a, A2b), as shown in FIG. 23, the alarm issuing unit 504 first determines whether the left-turn PPC sensor is off (step S401). If the left-turn PPC sensor is off (step S401: Yes), the alarm issuing unit 504 masks the alarm areas A2a and A2b (step S402) and ends the process shown in FIG. 23. If the left-turn PPC sensor is on (step S401: No), the alarm issuing unit 504 determines whether the boom swing position is left (step S403). If the boom swing position is left (step S403: Yes), the alarm issuing unit 504 masks the alarm area A2a (step S404) and ends the process shown in FIG. 23. If the boom swing position is not to the left (step S403: No), the alarm issuing unit 504 masks the warning area A2b (step S405) and ends the processing shown in FIG. 23.

The condition for executing step S402 is that the upper rotating body 120 is stopped or rotating to the right. The condition for executing step S404 is that the upper rotating body 120 is rotating to the left and the boom swing position is left. The condition for executing step S405 is that the upper rotating body 120 is rotating to the left and the boom swing position is neutral or right.

In the masking process of the warning determination result in step S204 (warning areas A3, A4), as shown in FIG. 24, the alarm issuing unit 504 first determines whether the traveling PPC sensor is off (step S501). If the traveling PPC sensor is off (step S501: Yes), the alarm issuing unit 504 masks the warning area A3 (step S502) and ends the process shown in FIG. 24. If the traveling PPC sensor is on (step S501: No), the alarm issuing unit 504 masks the warning area A4 (step S503) and ends the process shown in FIG. 24.

Step S502 is executed when the work machine 100 is stopped. Step S503 is executed when the work machine 100 is traveling.

When the processing of step S204 shown in FIG. 21 is completed, the alarm issuing unit 504 executes the processing of steps S205 to S213 for all detection areas (alarm areas A1a, A1b, A2a, A2b, A3, and A4). The processing of steps S205 to S213 is a loop process for checking each detection area. In the loop process, the alarm issuing unit 504 first determines whether the detection area is one for which an alarm is valid (an unmasked detection area) (step S206). If the detection area is not one for which an alarm is valid (step S206: No), the alarm issuing unit 504 executes the loop process for the next detection area (S213).

If the detection area is one for which an alarm is valid (step S206: Yes), the alarm issuing unit 504 determines whether the alarm area being processed is alarm area A3 (step S207). If it is alarm area A3 (step S207: Yes), the alarm issuing unit 504 determines whether all of the detected obstacles are receding obstacles (step S208). In step S208, it determines whether the Y-axis direction of the obstacle's velocity vector is equal to or greater than a predetermined value set by a parameter, thereby determining whether the obstacle is a receding obstacle.

If any of the detected obstacles is not a receding obstacle (step S208: No), or is not in warning area A3 (step S207: No), the alarm issuing unit 504 determines whether warning level 1 has been detected (step S209), and if so (step S209: Yes), sets the warning level 1 detection state (step S210).

If all detected obstacles are receding obstacles (step S208: Yes), or if alarm level 1 has not been detected (step S209: No), or after executing step S210, the alarm issuing unit 504 determines whether alarm level 2 has been detected (step S211), and if so (step S211: Yes), sets the alarm level 2 detection state (step S212).

If alarm level 2 has not been detected (step S211: No), or after executing step S212, the alarm issuing unit 504 performs loop processing for the next detection area (S213).

In the above process, for warning area 3, the warning level 1 detection state is set only if there are approaching obstacles, and if all obstacles are receding, only the warning level 2 detection state can be set.

Through the above processing, in the obstacle detection alarm device 500, the alarm issuing unit 504 can determine which alarm area to activate, whether to issue an alarm, and if an alarm is to be issued, whether to issue the alarm at alarm level 2 or alarm level 1, based on the information acquired by the obstacle detection result acquisition unit 501, the sensor detection result acquisition unit 502, and the swing detection result acquisition unit 503.

(Specific operation example)
Next, a specific example of the operation of the obstacle detection alarm system 600 will be described with reference to FIGS. 25 to 30. FIG. 25 shows an example in which a person H1 is detected in the alarm area A1 while the upper rotating body 120 is turning to the right. In this case, the obstacle detection alarm system 600 issues an alarm at alarm level 1 or alarm level 2. FIG. 26 shows an example in which no obstacle is detected in the alarm area A1 while the upper rotating body 120 is turning to the right, but a person H2 is detected in the alarm area A2. In this case, the obstacle detection alarm system 600 does not issue an alarm. FIG. 27 shows an example in which a person H3 is detected in the alarm area A1 while the upper rotating body 120 is stopped from rotating. In this case, the obstacle detection alarm system 600 does not issue an alarm.

Figure 28 shows an example in which a person H4 is detected in warning area A4 when the work machine 100 is not traveling. In this case, the obstacle detection warning system 600 issues a warning at warning level 1 or warning level 2. Figure 29 shows an example in which a person H5 is detected in warning area A3 when the work machine 100 is traveling. In this case, the obstacle detection warning system 600 issues a warning at warning level 1 or warning level 2. Figure 30 shows an example in which a person H6 is detected in warning area A3 when the work machine 100 is not traveling. In this case, the obstacle detection warning system 600 does not issue a warning.

(Basic Configuration Example of Obstacle Detection and Warning System 600)
Next, we will explain a basic configuration example (minimum configuration example) of the above-mentioned obstacle detection warning system 600. The above-mentioned obstacle detection warning system 600 can be understood as an obstacle detection warning system 601 shown in Fig. 31, an obstacle detection warning system 602 shown in Fig. 32, or an obstacle detection warning system 603 shown in Fig. 33.

The obstacle detection and warning system 601 shown in FIG. 31 includes a swing operation unit 611 (corresponding to the left operation lever 142LO or right operation lever 142RO) that instructs the work machine 100 to swing the upper swing body 120, an obstacle detection unit 200 that detects obstacles around the work machine 100, and an alarm issuing unit 504 that issues an alarm when the obstacle detection unit 200 detects an obstacle in the swing direction of the upper swing body 120 instructed by the swing operation unit 611. The alarm issuing unit 504 stops issuing an alarm when the swing operation unit 611 stops instructing the upper swing body 120 to swing. The alarm issuing unit 504 also changes the manner in which it issues an alarm depending on the distance between the work implement 130 of the work machine 100 and the obstacle detected by the obstacle detection unit 200.

The obstacle detection warning system 602 shown in Figure 32 comprises an obstacle detection unit 200 that detects obstacles around the work machine 100, and an alarm issuing unit 504 that issues an alarm when the obstacle detection unit 200 detects an obstacle in a first alarm area (alarm area A3) while the work machine 100 is traveling, and that issues an alarm when the obstacle detection unit 200 detects an obstacle in a second alarm area (alarm area A4) that is narrower than the first alarm area while the work machine 100 is stopped. The obstacle detection warning system 602 also comprises a travel operation unit 621 (configuration corresponding to the left travel lever 142LT and right travel lever 142RT) that operates the undercarriage 110 of the work machine 100, and the alarm issuing unit 504 stops issuing an alarm when the travel operation unit 621 instructs the undercarriage 110 to stop. In addition, the alarm issuing unit 504 changes the manner in which the alarm is issued depending on the distance between the work machine 100 and the obstacle detected by the obstacle detection unit 000 and the relative speed between the work machine 100 and the obstacle.

The obstacle detection and warning system 603 shown in Figure 33 includes an obstacle detection unit 200 that detects obstacles around a work machine 100 having a swingable work implement 130, and an alarm issuing unit 504 that issues an alarm when the obstacle detection unit detects an obstacle in a first alarm area (alarm areas A1b, A2b) when the work implement 130 is swinging, and that issues an alarm when the obstacle detection unit 200 detects an obstacle in a second alarm area (alarm areas A1a, A2a) that is wider than the first alarm area when the work implement 130 is not swinging. The alarm issuing unit 504 changes the manner in which it issues an alarm depending on the distance between the work implement 130 of the work machine 100 and the obstacle detected by the obstacle detection unit 200. Additionally, the alarm unit 504 determines whether the work machine 130 is swinging based on the outputs of multiple proximity switches (proximity switch (1) 211 and proximity switch (2) 212) that have different on/off states when the work machine 130 is swinging to the right, in a neutral state, or when it is swinging to the left.

(Actions and Effects)
According to the obstacle detection warning system, obstacle detection warning method, and work machine disclosed herein, it is possible to appropriately issue a warning about an obstacle around the work machine.

Although the embodiments of the present invention have been described above with reference to the drawings, the specific configuration is not limited to the above embodiments and includes design modifications within the scope of the invention. Furthermore, part or all of the programs executed by the computer in the above embodiments can be distributed via computer-readable recording media or communication lines.

For example, the obstacle detection unit 200 is not limited to millimeter-wave radar, but may also be configured using a lidar, camera, etc. (or in combination with millimeter-wave radar). Furthermore, the shape of the warning area is not limited to semicircular or rectangular, and can be any shape.

100...work machine, 110...undercarriage, 120...upper rotating body, 130...working machine, 200...obstacle detection unit, 210...swing detection unit, 211...proximity switch (1), 212...proximity switch (2), 500...obstacle detection alarm device, 504...alarm unit, 600, 601, 602, 603...obstacle detection alarm system, 611...swing operation unit, 621...travel operation unit

Claims (6)

an obstacle detection unit that detects obstacles around a work machine that has a lower traveling body, an upper rotating body that is supported so as to be rotatable relative to the lower traveling body, and a work implement that is supported so as to be swingable in the left and right direction relative to the upper rotating body ;
an alarm issuing unit that issues an alarm when the obstacle detection unit detects an obstacle in a first alarm area while the work machine is swinging relative to the upper rotating body, and that issues an alarm when the obstacle detection unit detects an obstacle in a second alarm area that is wider than the first alarm area while the work machine is not swinging relative to the upper rotating body;
An obstacle detection and warning system comprising: The obstacle detection and warning system according to claim 1 , wherein the warning issuing unit changes the manner in which the warning is issued depending on the distance between a work implement of the work machine and the obstacle detected by the obstacle detection unit. The alarm unit determines whether the work machine is swinging based on outputs from a plurality of proximity switches that are in different on/off states when the work machine is swinging to the right, in a neutral state, and when the work machine is swinging to the left.
3. An obstacle detection and warning system according to claim 1 or 2. The second warning area has a larger area identified in a plan view than the first warning area.
The obstacle detection and warning system according to claim 1 . The obstacle detection unit
a step of acquiring a detection result of an obstacle around a work machine having a lower traveling body, an upper rotating body supported so as to be rotatable relative to the lower traveling body, and a work implement supported so as to be further swingable in the left-right direction relative to the upper rotating body ;
issuing an alarm when the obstacle detection unit detects an obstacle in a first alarm area while the work machine is swinging relative to the upper rotating body , and issuing an alarm when the obstacle detection unit detects an obstacle in a second alarm area wider than the first alarm area while the work machine is not swinging relative to the upper rotating body;
An obstacle detection and warning method comprising: A work machine having a lower traveling body, an upper rotating body supported so as to be rotatable relative to the lower traveling body, and a work implement supported so as to be swingable in the left-right direction relative to the upper rotating body,
an obstacle detection unit that detects obstacles around the work machine;
an alarm issuing unit that issues an alarm when the obstacle detection unit detects an obstacle in a first alarm area while the work machine is swinging relative to the upper rotating body, and that issues an alarm when the obstacle detection unit detects an obstacle in a second alarm area that is wider than the first alarm area while the work machine is not swinging relative to the upper rotating body.