Perimeter monitoring system for work machine, work machine, and perimeter monitoring method for work machine

Abstract

A surrounding monitoring system of a work machine according to the present application includes an object detection device for detecting an object in the surrounding of the work machine having a cab, an external alarm device disposed outside the cab, an operator alarm device disposed inside the cab, and a processor. The processor sets a control mode for controlling the action of the work machine when an object is detected to either an active mode in which at least a part of the action of the work machine is restricted or an inactive mode in which no restriction is made, based on input data from an input device for setting the control mode of the work machine. The processor activates or deactivates the operator alarm device based on the set control mode.

Description

Technical Field

[0001] The technology disclosed in this specification relates to a perimeter monitoring system for operating machinery, the operating machinery itself, and a method for monitoring the perimeter of the operating machinery. Background Technology

[0002] In the field of construction machinery, there is a known type of construction machinery equipped with a perimeter monitoring device, as disclosed in Patent Document 1. In Patent Document 1, the perimeter monitoring device can switch between enabling and disabling the object detection function. If an object is detected when the object detection function is enabled, an alarm is output. When the object detection function is disabled, no alarm is output, thus improving the operator's comfort.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2021-014737 Summary of the Invention

[0004] When operators have the ability to arbitrarily set alarm output and stop, alarms may be set incorrectly.

[0005] According to one aspect of the present invention, a perimeter monitoring system for operating machinery includes an object detection device, an operator alarm device, and a processor. The object detection device detects objects around the operating machinery. The operator alarm device is configured to output an alarm to the operator operating the machinery. Based on input data from an input device for setting a control mode for the operating machinery, the processor sets a control mode that controls the machinery's actions when an object is detected to either an effective mode that restricts at least a portion of the machinery's actions or an ineffective mode that does not restrict them. Based on the set control mode, the processor enables or disables the operator alarm device.

[0006] Based on the above-described configuration, improper alarm settings can be suppressed. Attached Figure Description

[0007] Figure 1 It is a perspective view of the operating machinery used in the implementation of the method.

[0008] Figure 2 This is a diagram showing the cab of a hydraulic excavator according to an embodiment.

[0009] Figure 3 This is a schematic diagram illustrating the detection range and alarm range of the implementation method.

[0010] Figure 4 This is a diagram illustrating a peripheral monitoring display used in an implementation method.

[0011] Figure 5This is a diagram illustrating the operating modes of the external buzzer, the operating modes of the in-cab buzzer, and the control modes of the vehicle body controller in the implementation method.

[0012] Figure 6 This is a functional block diagram illustrating the implementation method of the surrounding monitoring system.

[0013] Figure 7 This is a diagram illustrating a display example of a display device according to an embodiment.

[0014] Figure 8 This is a diagram illustrating a display example of a display device according to an embodiment.

[0015] Figure 9 This is a diagram illustrating a display example of a display device according to an embodiment.

[0016] Figure 10 This diagram illustrates the processing of the forced setting unit in the implementation method.

[0017] Figure 11 This is a flowchart illustrating a peripheral monitoring method for a hydraulic excavator according to an implementation method.

[0018] Figure 12 This is a diagram illustrating a display example of a display device according to an embodiment.

[0019] Figure 13 This is a block diagram illustrating the implementation of a computer system. Detailed Implementation

[0020] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings, but the present disclosure is not limited to these embodiments. The constituent elements of the embodiments described below can be appropriately combined. In addition, there are cases where some constituent elements are not used.

[0021] Operating machinery

[0022] Figure 1 This is a perspective view showing the working machine 1 according to the embodiment. In the embodiment, the working machine 1 is a hydraulic excavator. In the following description, the working machine 1 may be referred to as hydraulic excavator 1.

[0023] like Figure 1 As shown, the hydraulic excavator 1 has an upper slewing body 2, a lower traveling body 3, a working machine 4, a hydraulic cylinder 5, an object detection device 6, an external alarm device 7, and a body controller 8.

[0024] The upper slewing body 2 is supported by the lower traveling body 3 in a rotatable manner. The upper slewing body 2 rotates around the slewing axis RX. The upper slewing body 2 supports the work machine 4. The upper slewing body 2 has a cab 9. The operator of the hydraulic excavator 1 sits in the cab 9. A driver's seat 10 for the operator is provided in the cab 9.

[0025] The lower traveling body 3 moves while supporting the upper rotating body 2. The lower traveling body 3 has a drive wheel 3A and a track 3B. The track 3B rotates based on the rotation of the drive wheel 3A. The lower traveling body 3 moves based on the rotation of the track 3B.

[0026] The work machine 4 is connected to the upper slewing body 2. The work machine 4 includes a boom 4A, a stick 4B, and a bucket 4C. The boom 4A is connected to the upper slewing body 2 in a manner that allows it to rotate around the boom rotation axis AX. The stick 4B is connected to the boom 4A in a manner that allows it to rotate around the stick rotation axis BX. The bucket 4C is connected to the stick 4B in a manner that allows it to rotate around the bucket rotation axis CX.

[0027] The boom rotation axis AX, stick rotation axis BX, and bucket rotation axis CX are parallel to each other. The axis parallel to the boom rotation axis AX is orthogonal to the swing axis RX. In this embodiment, the direction parallel to the swing axis RX can be called the up-down direction, the direction parallel to the boom rotation axis AX can be called the left-right direction, and the direction orthogonal to both the boom rotation axis AX and the swing axis RX can be called the front-back direction. Using the operator seat 10 as a reference, the direction where the bucket 4C is located is forward, and the opposite direction is backward. Using the operator seat 10 as a reference, the direction where the boom 4A is located is right-side, and the opposite direction is left-side. The direction away from the ground contact point of the lower traveling block 3 is upward, and the opposite direction is downward.

[0028] Hydraulic cylinder 5 generates power to drive the work machine 4. Hydraulic cylinder 5 includes boom cylinder 5A, stick cylinder 5B, and bucket cylinder 5C. Boom cylinder 5A drives the boom 4A. Stick cylinder 5B drives the stick 4B. Bucket cylinder 5C drives the bucket 4C.

[0029] The object detection device 6 is used to detect objects around the hydraulic excavator 1. The object detection device 6 includes a camera device 11 for capturing images of the area around the hydraulic excavator 1. The upper rotating body 2 is equipped with multiple camera devices 11. The camera devices 11 include a rear camera device 11A located at the rear of the upper rotating body 2, a right-side camera device 11B and a right-front camera device 11C located at the right side of the upper rotating body 2, and a left-side camera device 11D located at the left side of the upper rotating body 2.

[0030] The rear imaging device 11A captures images of the rear of the upper rotating body 2. The right-side imaging device 11B captures images of the right side and right rear of the upper rotating body 2. The right-front imaging device 11C captures images of the right front of the upper rotating body 2. The left-side imaging device 11D captures images of the left side and left rear of the upper rotating body 2. Each of the multiple imaging devices 11 has an optical system and an image sensor. The image sensor includes a CCD (Couple Charged Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor.

[0031] The external alarm device 7 is a device for outputting an alarm to the outside of the working machinery. In one embodiment, the external alarm device 7 is disposed on the outer surface of the upper rotating body 2. In another embodiment, the external alarm device 7 is disposed on the outside of the cab 9. The external alarm device 7 includes a buzzer that outputs an alarm sound as an alarm. The external alarm device 7 outputs an alarm to the periphery of the hydraulic excavator 1. For example, when there are people around the hydraulic excavator 1, the external alarm device 7 outputs an alarm to the people present around the hydraulic excavator 1. In the following description, the external alarm device 7 may be referred to as the external buzzer 7.

[0032] The body controller 8 includes a computer system. The body controller 8 controls the upper rotating body 2, the lower traveling body 3, the working machine 4, and the external buzzer 7.

[0033] driver's cab

[0034] Figure 2 This is a diagram showing the cab 9 of the hydraulic excavator 1 according to the embodiment. (See diagram below.) Figure 2 As shown, the operator's seat 10 for the hydraulic excavator 1 is located in the cab 9.

[0035] The hydraulic excavator 1 includes an operating device 12 disposed in a cab 9. The operating device 12 is operated by an operator seated in the cab 9. Operation of the operating device 12 causes at least a portion of the hydraulic excavator 1 to perform actions. The hydraulic excavator 1 can perform actions based on the operation of the operating device 12. The body controller 8 controls the actions of the hydraulic excavator 1 based on the operation of the operating device 12. The actions of the hydraulic excavator 1 include at least one of the following: rotation of the upper slewing body 2, travel of the lower traveling body 3, and working action of the work machine 4.

[0036] The operating device 12 includes a left operating lever 12A, a right operating lever 12B, a left travel lever 12C, a right travel lever 12D, a left foot pedal 12E, and a right foot pedal 12F.

[0037] Operating the left working lever 12A and the right working lever 12B causes the upper slewing body 2 to rotate and the work machine 4 to perform working actions. Operating the left working lever 12A in the forward / backward direction causes the boom 4B to extend or dig. Operating the left working lever 12A in the left / right direction causes the upper slewing body 2 to rotate left or right. Operating the right working lever 12B in the left / right direction causes the bucket 4C to dig or tip. Operating the right working lever 12B in the forward / backward direction causes the boom 4A to lower or raise.

[0038] Operate the left travel lever 12C and the right travel lever 12D to make the lower walking body 3 perform a walking action. By operating the left travel lever 12C in the forward / backward direction, the left track 3B of the lower walking body 3 will perform a forward or backward action. By operating the right travel lever 12D in the forward / backward direction, the right track 3B of the lower walking body 3 will perform a forward or backward action. The left foot pedal 12E is linked to the left travel lever 12C. The right foot pedal 12F is linked to the right travel lever 12D. Alternatively, the lower walking body 3 can also perform a forward or backward action by operating the left foot pedal 12E and the right foot pedal 12F.

[0039] The hydraulic excavator 1 is equipped with a peripheral monitoring display 20 located in the cab 9. The peripheral monitoring display 20 is positioned to the right front of the operator's seat 10. The peripheral monitoring display 20 includes an input device 21, a display device 22, an operator alarm device 23, and a peripheral monitoring controller 24.

[0040] The input device 21 is operated by an operator seated in the driver's cab 9. In this embodiment, the input device 21 includes multiple buttons. The input device 21 generates input data through the operator's operation.

[0041] Display device 22 is used to display display data. Display device 22 includes a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OELD).

[0042] The operator alarm device 23 is a device for outputting an alarm to the operator of the operating machinery. The operator alarm device 23 includes a buzzer for outputting an alarm sound as an alert. In this embodiment, the operator alarm device 23 is disposed inside the cab 9. The operator alarm device 23 outputs an alarm to the interior of the cab 9. When the operator of the hydraulic excavator 1 is in the cab 9, the operator alarm device 23 outputs an alarm to the operator. In the following description, the operator alarm device 23 may be referred to as the cab buzzer 23.

[0043] The perimeter monitoring controller 24 includes a computer system. The perimeter monitoring controller 24 controls the input device 21, the display device 22, and the buzzer 23 in the driver's cab.

[0044] The perimeter monitoring controller 24 is used to perform computational processing and image processing. The perimeter monitoring controller 24 performs image processing on the image data acquired by the camera device 11.

[0045] Detection range and alarm range

[0046] Figure 3 This is a schematic diagram illustrating the detection range 13 and alarm range 14 of the embodiment. The detection range 13 and alarm range 14 are defined around the hydraulic excavator 1.

[0047] Detection range 13 is the detection range of object detection device 6. Object detection device 6 detects objects that exist within detection range 13. As an example of an object to be detected by object detection device 6, a person or an obstacle is shown.

[0048] In this embodiment, the detection range 13 of the object detection device 6 includes the field of view (capable of being photographed) of the imaging device 11. The imaging device 11 captures images of the detection range 13 to obtain image data of the detection range 13. The peripheral monitoring controller 24 can detect objects existing within the detection range 13 of the object detection device 6 by performing image processing on the image data acquired by the imaging device 11.

[0049] Furthermore, in this embodiment, there is no detection range 13 in front of and to the left of the cab 9. The operator, seated in the driver's seat 10, can directly visually identify the situation in front of and to the left of the cab 9. Therefore, the hydraulic excavator 1 does not include a camera 11 for acquiring image data representing the front and left of the cab 9. This reduces the number of camera 11s installed in the hydraulic excavator 1. Alternatively, a camera 11 for acquiring image data representing the front and left of the cab 9 may also be provided.

[0050] Alarm range 14 is the range within which at least one of the external buzzer 7 and the cab buzzer 23 is required to output an alarm when the object detection device 6 detects an object. Alarm range 14 is smaller than detection range 13. Alarm range 14 is set to include the hydraulic excavator 1. Alarm range 14 is set inside detection range 13.

[0051] In this embodiment, the alarm range 14 includes a first alarm range 14A and a second alarm range 14B. The first alarm range 14A and the second alarm range 14B are substantially rectangular. The second alarm range 14B is configured to include the hydraulic excavator 1. The second alarm range 14B is smaller than the first alarm range 14A. The second alarm range 14B is defined inside the first alarm range 14A.

[0052] Peripheral monitoring display

[0053] Figure 4 This is a diagram illustrating the peripheral monitoring display 20 of the implementation method. (See diagram for example.) Figure 4 As shown, the peripheral monitoring display 20 has an input device 21 and a display device 22.

[0054] exist Figure 4 In the example shown, the display device 22 displays a peripheral image 30 representing the perimeter of the hydraulic excavator 1 and a baseline 33 representing the alarm range 14.

[0055] The peripheral image 30 is an image showing the surrounding conditions of the hydraulic excavator 1. The peripheral image 30 includes at least one of an overhead view 31 of the perimeter of the hydraulic excavator 1 and a single-lens camera image 32.

[0056] The overhead image 31 refers to an image generated by converting multiple image data acquired by multiple shooting devices 11 into image data observed from an overhead viewpoint and then synthesizing them.

[0057] Single-image device image 32 refers to an image of a portion of the periphery of the hydraulic excavator 1 acquired by one of the multiple imaging devices 11. Figure 4 In the example shown, the single-camera image 32 is a single-camera image representing the situation behind the hydraulic excavator 1, acquired by the rear-view camera 11A.

[0058] exist Figure 4 In the example shown, the overhead view 31 and the single-camera image 32 are arranged horizontally on the display screen of the display device 22. The overhead view 31 is positioned to the left of the single-camera image 32.

[0059] like Figure 4 As shown, the display device 22 displays a vehicle identification mark 1S representing the hydraulic excavator 1 along with the overhead view 31. The vehicle identification mark 1S corresponds to an image of the hydraulic excavator 1 viewed from above. The vehicle identification mark 1S clarifies the positional relationship between the hydraulic excavator 1 and its surroundings.

[0060] The baseline 33 is used to indicate the alarm range 14 in the surrounding image 30. Additionally, the baseline 33 serves as a reference for distance and direction relative to the upper rotating body 2. In the overhead view 31, the baseline 33 is displayed around the vehicle marking 1S. In the single-lens view 32, the baseline 33 is displayed around at least a portion of the hydraulic excavator 1.

[0061] Additionally, the display device 22 displays a status indicator 34 indicating the status of the hydraulic excavator 1. The status indicator 34 is displayed below the peripheral image 30. The status indicator 34 includes: a water temperature gauge 34A for indicating the temperature of the engine's coolant, an oil temperature gauge 34B for indicating the temperature of the hydraulic oil in the hydraulic equipment, and a fuel level gauge 34C for indicating the remaining fuel level.

[0062] Additionally, the display device 22 displays a first identifier 35, a second identifier 36, a third identifier 37, and a fourth identifier 38. The first identifier 35, the second identifier 36, the third identifier 37, and the fourth identifier 38 are displayed in the upper left part of the overhead view 31.

[0063] The first identifier 35 indicates the setting status of the operating mode of the external buzzer 7. The second identifier 36 indicates the setting status of the operating mode of the in-cabin buzzer 23. The third identifier 37 indicates the setting status of the control mode of the body controller 8. The fourth identifier 38 indicates the detection status of the object detection device 6.

[0064] Additionally, the display device 22 displays a direction indicator 39, which indicates the direction of the single-image device 32 displayed on the display device 22 from the viewpoint of the hydraulic excavator 1. The direction indicator 39 is displayed in the upper right corner of the single-image device 32. The direction indicator 39 has four recognition areas corresponding to the rear camera 11A, the right-side camera 11B, the right-front camera 11C, and the left-side camera 11D, respectively. When the single-image device 32 captured by one of the four cameras 11 is displayed on the display device 22, the recognition area corresponding to the camera 11 that captured the single-image device 32 displayed on the display device 22 will be highlighted among the four recognition areas of the direction indicator 39. Figure 4 In the example shown, the single-image device image 32 displayed on the display device 22 is a single-image device image captured by the rear-facing camera 11A, so the recognition area corresponding to the rear-facing camera 11A is highlighted.

[0065] Additionally, the display device 22 displays a job timer identifier 41 indicating the value of the job timer and a job mode identifier 42 indicating the setting status of the job mode. The job timer identifier 41 and the job mode identifier 42 are displayed above the peripheral image 30.

[0066] The input device 21 has multiple function buttons F (F1, F2, F3, F4, F5, F6) located below the display screen of the display device 22. Each function button F is assigned a specific function. Multiple function icons 40 are displayed at the bottom of the display screen of the display device 22. The function icons 40 are displayed directly above the function buttons F. When a function button F is operated by the operator, input data corresponding to the specific function displayed above the function button F is generated. Figure 4 In the example shown, function label 40 includes function label 40A displayed directly above function button F3, function label 40B displayed directly above function button F4, and function label 40C displayed directly above function button F6.

[0067] Action mode and control mode

[0068] Figure 5 This diagram illustrates the operating modes of the external buzzer 7, the operating mode of the in-cabin buzzer 23, and the control mode of the body controller 8 in the embodiment. The operator can set the operating modes of the external buzzer 7, the in-cabin buzzer 23, and the body controller 8 respectively via the operation input device 21. Furthermore, the control mode of the body controller 8 has the same meaning as the control mode of the body motion control unit 58 described later.

[0069] The external buzzer 7 has two operating modes: an active mode and an inactive mode. In the active mode, the external buzzer 7 will output an alarm when the object detection device 6 detects an object within the alarm range 14. In the inactive mode, the external buzzer 7 will not output an alarm even if an object is detected.

[0070] The operating modes of the buzzer 23 in the driver's cab include an effective mode and an ineffective mode. In the effective mode, the buzzer 23 in the driver's cab will output an alarm when the object detection device 6 detects an object within the alarm range 14. In the ineffective mode, the buzzer 23 in the driver's cab will not output an alarm even if an object is detected.

[0071] The control modes of the body controller 8 include an effective mode and an ineffective mode. In the effective mode, when the object detection device 6 detects an object within the alarm range 14, the body controller 8 restricts at least a portion of the actions of the hydraulic excavator 1. In the ineffective mode, even if an object is detected, the body controller 8 does not restrict the actions of the hydraulic excavator 1.

[0072] The operator can use the input device 21 to set the operating mode of the external buzzer 7 when an object is detected within the alarm range 14 to either an active mode or an inactive mode. The input device 21 generates first input data Da for setting the operating mode of the external buzzer 7. Based on the first input data Da from the input device 21, the perimeter monitoring controller 24 sets the operating mode of the external buzzer 7 when an object is detected within the alarm range 14 to either an active mode or an inactive mode.

[0073] The operator can use the input device 21 to set the operating mode of the in-cab buzzer 23 when an object is detected within the alarm range 14 to either an active or inactive mode. The input device 21 generates second input data Db for setting the operating mode of the in-cab buzzer 23. Based on the second input data Db from the input device 21, the perimeter monitoring controller 24 sets the operating mode of the in-cab buzzer 23 when an object is detected within the alarm range 14 to either an active or inactive mode.

[0074] The operator can use the operation input device 21 to set the control mode of the vehicle body controller 8 to either an active mode or an inactive mode when an object is detected within the alarm range 14. The operation input device 21 generates third input data Dc for setting the control mode of the vehicle body controller 8. Based on the third input data Dc from the input device 21, the perimeter monitoring controller 24 sets the control mode of the vehicle body controller 8 to either an active mode or an inactive mode when an object is detected within the alarm range 14.

[0075] By setting the operating mode of the external buzzer 7 to active mode, the external buzzer 7 will output an alarm when someone is within the alarm range 14 around the hydraulic excavator 1. Based on the alarm output from the external buzzer 7, the person within the alarm range 14 can realize that they are approaching the hydraulic excavator 1.

[0076] By setting the operating mode of the external buzzer 7 to an inactive mode, the external buzzer 7 will not emit an alarm even if someone is within the alarm range 14 around the hydraulic excavator 1. For example, if someone around the hydraulic excavator 1 is fully aware of its operating status, an alarm emitted by the external buzzer 7 might cause them annoyance. In other words, depending on the situation around the hydraulic excavator 1, there may be situations where an alarm emitted by the external buzzer 7 is unnecessary. To suppress unnecessary alarms emitted by the external buzzer 7, the operator can set the operating mode of the external buzzer 7 to an inactive mode via the operation input device 21.

[0077] By setting the operating mode of the cab buzzer 23 to active mode, the cab buzzer 23 will output an alarm when someone is within the alarm range 14 around the hydraulic excavator 1. The operator of the hydraulic excavator 1 in the cab 9 can become aware that someone is within the alarm range 14 based on the alarm output from the cab buzzer 23.

[0078] By setting the operating mode of the cab buzzer 23 to an inactive mode, the cab buzzer 23 will not emit an alarm even if someone is within the alarm range 14 around the hydraulic excavator 1. For example, if the operator is fully aware of the surrounding conditions of the hydraulic excavator 1, the operator may become annoyed if the cab buzzer 23 emits an alarm. In other words, depending on the operating conditions of the hydraulic excavator 1, there may be situations where emitting an alarm from the cab buzzer 23 is unnecessary. To suppress unnecessary alarms from the cab buzzer 23, the operator can set the operating mode of the cab buzzer 23 to an inactive mode by operating the input device 21.

[0079] By setting the control mode of the body controller 8 to an active mode, when someone is within the alarm range 14 surrounding the hydraulic excavator 1, the body controller 8 restricts at least a portion of the movements of the hydraulic excavator 1. The movement restrictions on the hydraulic excavator 1 include at least one of the following: restrictions on the rotational movement of the upper slewing body 2, restrictions on the walking movement of the lower traveling body 3, and restrictions on the working movements of the work machine 4. Even if the operator operates the operating device 12, the body controller 8 disables the operation of the operating device 12, thereby restricting the movements of the hydraulic excavator 1. For example, when adjusting the output pressure of the hydraulic oil by operating the operating device 12, and adjusting the hydraulic oil supplied to the hydraulic actuator that causes the hydraulic excavator 1 to perform actions based on the output pressure of the operating device 12, the body controller 8 can disable the operation of the operating device 12 by controlling a valve that can block the output pressure of the operating device 12. For example, when someone is within the alarm range 14, even if the operating device 12 is operated to cause the lower traveling body 3 to perform a walking movement, the body controller 8 restricts the walking movement of the lower traveling body 3. For example, even if the operating device 12 is operated to start the lower walking body 3, the body controller 8 will implement a start-lock control to prevent the lower walking body 3 from starting to move. Additionally, if someone is within the alarm range 14, even if the operating device 12 is operated to maintain the movement of the lower walking body 3, the body controller 8 will implement a stop control to stop the lower walking body 3. Furthermore, if someone is within the alarm range 14, even if the operating device 12 is operated to perform a rotation movement on the upper slewing body 2, the body controller 8 will restrict the rotation movement of the upper slewing body 2. Also, if someone is within the alarm range 14, even if the operating device 12 is operated to perform a work movement on the work machine 4, the body controller 8 will restrict the work movement of the work machine 4.

[0080] By setting the control mode of the body controller 8 to an invalid mode, the body controller 8 will not restrict the movement of the hydraulic excavator 1 even if someone is within the alarm range 14 around the hydraulic excavator 1. The body controller 8 causes the hydraulic excavator 1 to perform actions based on the operation of the operating device 12. The hydraulic excavator 1 performs actions based on the operator's operation of the operating device 12. For example, if the operator is fully aware of the surrounding conditions of the hydraulic excavator 1, and the movement of the hydraulic excavator 1 is restricted, the operator may become frustrated, or the work efficiency may decrease. In other words, depending on the working conditions of the hydraulic excavator 1, there may be situations where restricting the movement of the hydraulic excavator 1 is unnecessary. To prevent the movement of the hydraulic excavator 1 from being unnecessarily restricted, the operator can set the control mode of the body controller 8 to an invalid mode via the operation input device 21.

[0081] Furthermore, in this embodiment, when the operating mode of the external buzzer 7 is set to the active mode, a person (object) being inside the first alarm range 14A or the second alarm range 14B will cause an alarm to be output from the external buzzer 7. When the operating mode of the cab buzzer 23 is set to the active mode, a person (object) being inside the first alarm range 14A or the second alarm range 14B will cause an alarm to be output from the cab buzzer 23. When the control mode of the body controller 8 is set to the active mode, a person (object) being inside the second alarm range 14B will cause at least a portion of the movement of the hydraulic excavator 1 to be restricted.

[0082] Surrounding surveillance system

[0083] Figure 6 This is a functional block diagram illustrating the perimeter monitoring system 50 of the implementation method. The hydraulic excavator 1 is equipped with the perimeter monitoring system 50. The perimeter monitoring system 50 is used to monitor the perimeter of the hydraulic excavator 1.

[0084] The surrounding monitoring system 50 includes an object detection device 6, an input device 21, a display device 22, a buzzer in the driver's cab 23, a surrounding monitoring controller 24, a vehicle body controller 8, and an external buzzer 7.

[0085] The perimeter monitoring system 50 includes an object detection unit 51, an external alarm setting unit 52, an operator alarm setting unit 53, a vehicle motion setting unit 54, a forced setting unit 55, an external alarm control unit 56, an operator alarm control unit 57, a vehicle motion control unit 58, a display control unit 59, and an alarm range storage unit 60. In this embodiment, the perimeter monitoring controller 24 has the functions of the object detection unit 51, the external alarm setting unit 52, the operator alarm setting unit 53, the vehicle motion setting unit 54, the forced setting unit 55, the operator alarm control unit 57, the display control unit 59, and the alarm range storage unit 60, respectively, and the vehicle controller 8 has the functions of the external alarm control unit 56 and the vehicle motion control unit 58.

[0086] The object detection unit 51 detects objects present around the hydraulic excavator 1 based on the detection data from the object detection device 6. In this embodiment, the detection data from the object detection device 6 includes image data of the area around the hydraulic excavator 1 captured by the imaging device 11. The object detection unit 51 acquires the image data from the imaging device 11. Based on the image data, the object detection unit 51 detects objects present around the hydraulic excavator 1. The object detection unit 51 can determine whether an object exists around the hydraulic excavator 1 by performing image processing on the image data.

[0087] Based on the first input data Da from the input device 21, the external alarm setting unit 52 sets the operating mode of the external buzzer 7 when an object is detected within the alarm range 14 to either an effective mode for outputting an alarm or an ineffective mode for not outputting an alarm.

[0088] Based on the second input data Db from the input device 21, the operator alarm setting unit 53 sets the operating mode of the cab buzzer 23 when an object is detected within the alarm range 14 to either an effective mode that outputs an alarm or an ineffective mode that does not output an alarm.

[0089] Based on the third input data Dc from the input device 21, the vehicle motion setting unit 54 sets the control mode of the vehicle motion control unit 58 when an object is detected within the alarm range 14 to either an effective mode that restricts at least a portion of the movement of the hydraulic excavator 1 or an invalid mode that does not restrict the movement of the hydraulic excavator 1.

[0090] When the operating mode of the external buzzer 7 is set to the effective mode based on the first input data Da, the forced setting unit 55 prohibits the operator alarm setting unit 53 from setting the operating mode of the cab buzzer 23, and forcibly sets the operating mode of the cab buzzer 23 to the effective mode.

[0091] In addition, when the control mode of the vehicle body motion control unit 58 is set to the effective mode based on the third input data Dc, the forced setting unit 55 prohibits the operator alarm setting unit 53 from setting the operating mode of the cab buzzer 23, and forcibly sets the operating mode of the cab buzzer 23 to the effective mode.

[0092] The external alarm control unit 56 controls the operation of the external buzzer 7. The external alarm control unit 56 controls the operation of the external buzzer 7 based on the operation mode set by the external alarm setting unit 52.

[0093] The operator alarm control unit 57 controls the operation of the buzzer 23 in the driver's cab. The operator alarm control unit 57 controls the operation of the buzzer 23 in the driver's cab based on the operation mode set by the operator alarm setting unit 53 or the forced setting unit 55.

[0094] The vehicle body motion control unit 58 is used to control the movement of the hydraulic excavator 1. The vehicle body motion control unit 58 controls the movement of the hydraulic excavator 1 based on the operation of the operating device 12. The vehicle body motion control unit 58 controls the movement of the hydraulic excavator 1 based on the control mode set by the vehicle body motion setting unit 54.

[0095] The display control unit 59 causes the display device 22 to display the display data.

[0096] The alarm range storage unit 60 is used to store the alarm range 14 that requires an alarm to be output when an object is detected.

[0097] Display Control Unit

[0098] Figure 7 This is a diagram illustrating a display example of the display device 22 according to the embodiment. The display control unit 59 generates a peripheral image 30 representing the periphery of the hydraulic excavator 1 based on image data captured by the object detection device 6. The display control unit 59 causes the display device 22 to display the peripheral image 30 and a baseline 33 representing the alarm range 14 within the peripheral image 30.

[0099] As described above, the surrounding images 30 include an overhead view 31 of the perimeter of the hydraulic excavator 1 and a single-lens camera image 32 of the perimeter of the hydraulic excavator 1. Figure 7 As shown, the display control unit 59 causes the display device 22 to display an overhead view 31 representing the perimeter of the hydraulic excavator 1, and a reference line 33 disposed in the overhead view 31 around at least a portion of the vehicle marking 1S. The reference line 33 represents the alarm range 14 in the overhead view 31.

[0100] The reference line 33 is displayed in such a way that it includes the vehicle identification mark 1S. In this embodiment, the reference line 33 includes a first reference line 33A representing a first warning range 14A and a second reference line 33B representing a second warning range 14B. The vehicle identification mark 1S is displayed inside the second reference line 33B. The second reference line 33B is displayed inside the first reference line 33A. The area enclosed by the second reference line 33B is smaller than the area enclosed by the first reference line 33A.

[0101] In this embodiment, the first reference line 33A and the second reference line 33B are substantially rectangular. The front end of the first reference line 33A coincides with the front end of the second reference line 33B.

[0102] The rear end of the first reference line 33A is defined behind the rear end of the second reference line 33B.

[0103] The left end of the first reference line 33A is defined to the left of the left end of the second reference line 33B.

[0104] The right end of the first reference line 33A is defined to the right of the right end of the second reference line 33B.

[0105] When the object detection unit 51 detects an object 15 inside the alarm range 14, the display control unit 59 causes the marker 16 to be displayed on the display device 22 so as to overlap with the object 15 presented in the overhead view 31. The marker 16 is an identifier used to highlight the object 15 present within the alarm range 14 on the display screen of the display device 22.

[0106] Figure 8 This is a diagram illustrating a display example of the display device 22 according to the embodiment. (See diagram for example.) Figure 4 , Figure 7 ,and Figure 8 As shown, the display control unit 59 causes the display device 22 to display a first identifier 35 for indicating the operating mode of the external buzzer 7, a second identifier 36 for indicating the operating mode of the in-cabin buzzer 23, and a third identifier 37 for indicating the control mode of the vehicle body motion control unit 58.

[0107] like Figure 8 As shown in the first display pattern, when the external buzzer 7 is in the active mode, the driver's cab buzzer 23 is in the active mode, and the vehicle body motion control unit 58 is in the active mode, the display device 22 displays the first mark 35, the second mark 36, and the third mark 37.

[0108] like Figure 8 As shown in the second display pattern, when the external buzzer 7 is in an invalid mode, the driver's cab buzzer 23 is in an active mode, and the vehicle body motion control unit 58 is in an active mode, the first indicator 35 is not displayed in the display device 22, while the second indicator 36 and the third indicator 37 are displayed in the display device 22.

[0109] like Figure 8 As shown in the third display pattern, when the external buzzer 7 is in the active mode, the driver's cab buzzer 23 is in the active mode, and the vehicle body motion control unit 58 is in the inactive mode, the third indicator 37 is not displayed in the display device 22, while the first indicator 35 and the second indicator 36 are displayed in the display device 22.

[0110] like Figure 8 As shown in the fourth display pattern, when the operating mode of the external buzzer 7 is invalid, the operating mode of the buzzer 23 in the driver's cab is valid, and the control mode of the vehicle body motion control unit 58 is invalid, the first mark 35 and the third mark 37 are not displayed in the display device 22, while the second mark 36 is displayed in the display device 22.

[0111] Figure 9 This is a diagram illustrating a display example of the display device 22 according to the embodiment. (See diagram for example.) Figure 4 , Figure 7 ,and Figure 9 As shown, the display control unit 59 causes the display device 22 to display a fourth indicator 38 indicating the detection status of the object detected by the object detection unit 51.

[0112] like Figure 9As shown in the fifth display pattern, when no person is detected within the alarm range 14, the fourth indicator 38 is displayed in the first color. An example of the first color could be green.

[0113] like Figure 9 As shown in the sixth display pattern, when a person is detected inside the first alarm range 14A and outside the second alarm range 14B, the fourth indicator 38 is displayed in the second color. Yellow can be shown as an example of the second color.

[0114] like Figure 9 As shown in the seventh display pattern, when a person is detected inside the second alarm range 14B, the fourth indicator 38 is displayed in the third color. Red could be an example of the third color.

[0115] Forced Setting Department

[0116] Figure 10 This diagram illustrates the processing of the forced setting unit 55 in the implementation embodiment. In this embodiment, the forced setting unit 55 determines whether to allow or prohibit the operator from setting the operating mode of the in-cabin buzzer 23 based on the operating mode of the external buzzer 7 and the operating mode of the vehicle body motion control unit 58. The operator can set the operating mode of the in-cabin buzzer 23 via the operation input device 21. The operator alarm setting unit 53 sets the operating mode of the in-cabin buzzer 23 based on the second input data Db from the input device 21. Allowing or prohibiting the operator from setting the operating mode of the in-cabin buzzer 23 includes allowing or prohibiting the operator alarm setting unit 53 from setting the operating mode of the in-cabin buzzer 23.

[0117] like Figure 10 As shown, when the operating mode of the external buzzer 7 is set to an active mode based on the first input data Da, the forced setting unit 55 prohibits the operator alarm setting unit 53 from setting the operating mode of the in-cabin buzzer 23. In other words, the forced setting unit 55 prohibits setting the operating mode of the in-cabin buzzer 23 based on the second input data Db. When the operating mode of the external buzzer 7 is set to an active mode based on the first input data Da, the forced setting unit 55 forcibly sets the operating mode of the in-cabin buzzer 23 to an active mode.

[0118] Furthermore, when the control mode of the vehicle motion control unit 58 is set to an active mode based on the third input data Dc, the forced setting unit 55 prohibits the operator alarm setting unit 53 from setting the operating mode of the in-cabin buzzer 23. In other words, the forced setting unit 55 prohibits setting the operating mode of the in-cabin buzzer 23 based on the second input data Db. When the control mode of the vehicle motion control unit 58 is set to an active mode based on the third input data Dc, the forced setting unit 55 forcibly sets the operating mode of the in-cabin buzzer 23 to an active mode.

[0119] In other words, in the implementation, when one or both of the operating mode of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 are set to the effective mode, the operator alarm setting unit 53 is prohibited from setting the operating mode of the in-cabin buzzer 23, and the operating mode of the in-cabin buzzer 23 is forcibly set to the effective mode.

[0120] Furthermore, when one or both of the operating modes of the external buzzer 7 and the control modes of the vehicle body motion control unit 58 are set to active mode, the forced setting unit 55 can also prevent the operator alarm setting unit 53 from acquiring the second input data Db. In other words, it can also prevent the operator alarm setting unit 53 from receiving the second input data Db. Additionally, the forced setting unit 55 can also invalidate the second input data Db acquired by the operator alarm setting unit 53.

[0121] On the other hand, when the operating mode of the external buzzer 7 is set to an invalid mode based on the first input data Da and the third input data Dc, and the control mode of the vehicle body motion control unit 58 is also set to an invalid mode, the forced setting unit 55 allows the operator alarm setting unit 53 to set the operating mode of the in-cabin buzzer 23. In other words, when both the operating mode of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 are set to invalid modes based on the first input data Da and the third input data Dc, the forced setting unit 55 allows the operator to set the operating mode of the in-cabin buzzer 23 based on the second input data Db. The operating mode of the in-cabin buzzer 23 is set by the operator. The operating mode of the in-cabin buzzer 23 is set to either an active mode or an invalid mode based on the second input data Db.

[0122] Furthermore, when the operating mode of the external buzzer 7 is set to an invalid mode and the control mode of the vehicle body motion control unit 58 is set to an invalid mode, the forced setting unit 55 can also allow the operator alarm setting unit 53 to acquire the second input data Db. In other words, the forced setting unit 55 can also enable the operator alarm setting unit 53 to receive the second input data Db when acquisition of the second input data Db is prohibited. Additionally, the forced setting unit 55 can also enable the second input data Db acquired by the operator alarm setting unit 53.

[0123] Surrounding surveillance methods

[0124] Figure 11 This is a flowchart illustrating the peripheral monitoring method for the hydraulic excavator 1 according to an embodiment. When monitoring the perimeter of the hydraulic excavator 1 via the peripheral monitoring system 50, the operator sets the operating mode of the external buzzer 7, the operating mode of the cab buzzer 23, and the control mode of the vehicle body motion control unit 58. The operator can set the operating mode of the external buzzer 7, the operating mode of the cab buzzer 23, and the control mode of the vehicle body motion control unit 58 respectively via the operation input device 21.

[0125] Figure 12 This is a diagram illustrating a display example of the display device 22 according to the embodiment. (See diagram for example.) Figure 12 As shown, the display control unit 59 causes the display device 22 to display a setting menu to assist the operator in setting the operating mode of the external buzzer 7, the operating mode of the cab buzzer 23, and the control mode of the vehicle body motion control unit 58. The setting menu displays display data related to the settings of the operating modes of the external buzzer 7, the cab buzzer 23, and the control mode of the vehicle body motion control unit 58.

[0126] The settings menu displays the words "All On", "All Off", "Motion Restriction Control", "External Buzzer", and "In-cabin Buzzer".

[0127] exist Figure 12 In the example shown, the operator can, with "All On" selected, set the operating mode of the external buzzer 7, the operating mode of the cab buzzer 23, and the control mode of the body controller 8 to active modes via the input device 21. Conversely, the operator can, with "All Off" selected, set the operating mode of the external buzzer 7, the operating mode of the cab buzzer 23, and the control mode of the body controller 8 to inactive modes via the input device 21.

[0128] The operator can set the control mode of the vehicle body motion control unit 58 by operating the input device 21 while "motion restriction control" is selected. Third input data Dc is generated by operating the input device 21 while "motion restriction control" is selected. The operator operates the input device 21 to set "motion restriction control" to either ON or OFF. When "motion restriction control" is set to ON, third input data Dc is generated to set the control mode of the vehicle body motion control unit 58 to an active mode. When "motion restriction control" is set to OFF, third input data Dc is generated to set the control mode of the vehicle body motion control unit 58 to an inactive mode.

[0129] The operator can set the operating mode of the external buzzer 7 by operating the input device 21 while the "external buzzer" is selected. By operating the input device 21 while the "external buzzer" is selected, first input data Da is generated. The operator operates the input device 21 to set the "external buzzer" to either on or off. When the "external buzzer" is set to on, first input data Da is generated to set the operating mode of the external buzzer 7 to an active mode. When the "external buzzer" is set to off, first input data Da is generated to set the operating mode of the external buzzer 7 to an inactive mode.

[0130] The operator can set the operating mode of the cab buzzer 23 by operating the input device 21 while the "cab buzzer" is selected. By operating the input device 21 while the "cab buzzer" is selected, second input data Db is generated. The operator operates the input device 21 to set the "cab buzzer" to either on or off. When the "cab buzzer" is set to on, second input data Db is generated to set the operating mode of the cab buzzer 23 to an active mode. When the "cab buzzer" is set to off, second input data Db is generated to set the operating mode of the cab buzzer 23 to an inactive mode.

[0131] External alarm setting unit 52 acquires first input data Da. Operator alarm setting unit 53 acquires second input data Db. Vehicle body motion setting unit 54 acquires third input data Dc (step S1).

[0132] The external alarm setting unit 52 determines whether the first input data Da obtained in step S1 is the first input data Da used to set the operating mode of the external buzzer 7 to an invalid mode. That is, the external alarm setting unit 52 determines whether the operator has set the operating mode of the external buzzer 7 to an invalid mode (step S2).

[0133] The vehicle motion setting unit 54 determines whether the third input data Dc acquired in step S1 is the third input data Dc used to set the control mode of the vehicle motion control unit 58 to an invalid mode. That is, the vehicle motion setting unit 54 determines whether the operator has set the control mode of the vehicle motion control unit 58 to an invalid mode (step S3).

[0134] When it is determined in step S2 that the operating mode of the external buzzer 7 is set to an invalid mode (step S2: yes), and in step S3 it is determined that the control mode of the vehicle body motion control unit 58 is set to an invalid mode (step S3: yes), the operator alarm setting unit 53 sets the operating mode of the in-cabin buzzer 23 based on the second input data Db obtained in step S1 (step S4).

[0135] When it is determined in step S2 that the operating mode of the external buzzer 7 is set to the effective mode (step S2: No), or when it is determined in step S3 that the control mode of the vehicle body motion control unit 58 is set to the effective mode (step S3: No), the forced setting unit 55 forcibly sets the operating mode of the in-cabin buzzer 23 to the effective mode (step S5).

[0136] In this embodiment, the display control unit 59 displays the operating mode setting menu for the in-cabin buzzer 23 differently depending on whether the external buzzer 7's operating mode is set to an active mode or an inactive mode. Furthermore, the display control unit 59 also displays the operating mode setting menu for the in-cabin buzzer 23 differently depending on whether the vehicle body motion control unit 58's control mode is set to an active mode or an inactive mode. Figure 12 In the example shown, the display method of the setting menu for the operating mode of the cab buzzer 23 includes the display method of the text "cab buzzer".

[0137] like Figure 12 As shown, when at least one of the operating modes of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 is set to an effective mode based on the first input data Da and the third input data Dc, thereby forcibly setting the operating mode of the in-cabin buzzer 23 to an effective mode, the display control unit 59 removes the text "in-cabin buzzer" from the display device 22. Furthermore, when the forced setting unit 55 sets at least one of the operating modes of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 to an effective mode based on the first input data Da and the third input data Dc, thereby forcibly setting the operating mode of the in-cabin buzzer 23 to an effective mode, it prevents the operator alarm setting unit 53 from acquiring the second input data Db.

[0138] On the other hand, when both the operating mode of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 are set to invalid modes based on the first input data Da and the third input data Dc, the display control unit 59 causes the display device 22 to display the text "In-cabin buzzer". Additionally, when both the operating mode of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 are set to invalid modes based on the first input data Da and the third input data Dc, the forced setting unit 55 allows the operator alarm setting unit 53 to acquire the second input data Db.

[0139] For example, in Figure 12 In the setting menu shown, when the operator sets "Motion Restriction Control", "External Buzzer", and "In-cab Buzzer" to be on or off in that order, if either "Motion Restriction Control" or "External Buzzer" is set to on, the text "In-cab Buzzer" will be eliminated, and the operator alarm setting unit 53 will be prohibited from receiving the second input data Db.

[0140] In addition, Figure 12 In the setting menu shown, when the operator sets the buzzer to on or off in the order of "cabin buzzer", "motion restriction control" and "external buzzer", even if the "cabin buzzer" is set to off, if either "motion restriction control" or "external buzzer" is set to on, the forced setting unit 55 will invalidate the second input data Db, remove the text "cabin buzzer", and prevent the operator alarm setting unit 53 from receiving the second input data Db.

[0141] Computer System

[0142] Figure 13This is a block diagram illustrating a computer system 1000 according to an implementation method. The aforementioned peripheral monitoring controller 24 includes the computer system 1000. The computer system 1000 includes: a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a memory 1003, and an interface 1004 including input / output circuitry. The functions of the aforementioned peripheral monitoring controller 24 are stored as a computer program in the memory 1003. The processor 1001 reads the computer program from the memory 1003 and loads it into the main memory 1002, and executes the aforementioned processing according to the computer program. That is, the processor 1001 executes the processing of the object detection unit 51, the external alarm setting unit 52, the operator alarm setting unit 53, the vehicle motion setting unit 54, the forced setting unit 55, the operator alarm control unit, and the display control unit 59 of the peripheral monitoring controller 24. In addition, computer programs can also be transmitted to computer system 1000 via a network.

[0143] The computer program or computer system 1000 is capable of performing the following steps: detecting objects around the hydraulic excavator 1 having a cab 9 according to the above embodiment; setting the operating mode of the external buzzer 7 located outside the cab 9 when an object is detected to either an effective mode for outputting an alarm or an ineffective mode for not outputting an alarm, based on first input data Da; and enabling or disabling the operator alarm device based on the set operating mode of the external alarm device. Furthermore, the computer program or computer system 1000 is capable of performing the following steps: setting the operating mode of the cab buzzer 23 located inside the cab 9 when an object is detected to either an effective mode for outputting an alarm or an ineffective mode for not outputting an alarm, based on second input data Db; and, if the operating mode of the external buzzer 7 has been set to an effective mode, prohibiting the setting of the operating mode of the cab buzzer 23 based on the second input data Db, and forcibly setting the operating mode of the cab buzzer 23 to an effective mode.

[0144] Effect

[0145] As described above, according to the embodiment, the peripheral monitoring system 50 of the hydraulic excavator 1 includes: an object detection device 6 for detecting objects around the hydraulic excavator 1; a cab buzzer 23 disposed inside the cab 9; a vehicle movement setting unit 54, which, based on third input data Dc from the input device 21, sets a control mode for controlling the movement of the working machine 1 when an object is detected to either an effective mode that restricts at least a portion of the movement of the working machine or an ineffective mode that does not restrict it; and an operator alarm setting unit 53, which, based on the set control mode, performs processing to enable or disable the cab buzzer 23. The processing of the operator alarm setting unit 53 and the vehicle movement setting unit 54 is performed by the processor 1001.

[0146] Therefore, by controlling the setting of the effective mode and ineffective mode of the buzzer 23 in the driver's cab based on the action mode, it is possible to suppress the improper setting of the action mode of the external buzzer 7 and the action mode of the buzzer 23 in the driver's cab.

[0147] When the control mode is set to the active mode, the operator alarm setting unit 53 activates the in-cab buzzer. This can prevent improper setting of the operating mode of the in-cab buzzer 23.

[0148] The peripheral monitoring system 50 of the hydraulic excavator 1 has an external alarm setting unit 52. Based on the first input data Da, the external alarm setting unit 52 sets the operating mode of the external buzzer 7 when an object is detected to either an effective mode for outputting an alarm or an ineffective mode for not outputting an alarm. The forced setting unit 55 does not acquire the second input data Db when the operating mode is set to the effective mode. Since the peripheral monitoring controller 24 is prohibited from receiving the second input data Db, when the operating mode is set to the effective mode, even if the operator operates the input device 21 to set the operating mode of the buzzer 23 in the cab to the ineffective mode, the operating mode of the buzzer 23 in the cab will still be set to the effective mode by the peripheral monitoring controller 24.

[0149] The peripheral monitoring system 50 of the hydraulic excavator 1 includes: an external buzzer 7 disposed on the outside of the cab 9; and an external alarm setting unit 52, which, based on first input data Da from the input device 21, sets the operating mode of the external buzzer 7 when an object is detected to either an effective mode for outputting an alarm or an ineffective mode for not outputting an alarm. The operator alarm setting unit 53, based on the set operating mode of the external buzzer 7, performs processing to enable or disable the buzzer 23 in the cab.

[0150] Therefore, when the operator can arbitrarily set the operating modes of the external buzzer 7 and the cab buzzer 23 to active and inactive modes respectively, when the operating mode of the external buzzer 7 is set to active mode, even if the operator wants to set the operating mode of the cab buzzer 23 to inactive mode, the operating mode of the cab buzzer 23 will still be set to active mode by the peripheral monitoring controller 24. Thus, improper setting of the operating modes of the external buzzer 7 and the cab buzzer 23 can be prevented.

[0151] When the operating mode of the external buzzer 7 is set to the active mode, the operator alarm setting unit 53 activates the cab buzzer 23. This can prevent improper setting of the operating mode of the cab buzzer 23.

[0152] Based on the second input data Db from the input device 21, the operator alarm setting unit 53 sets the operating mode of the in-cabin buzzer 23 when an object is detected to either an effective mode for outputting an alarm or an ineffective mode for not outputting an alarm. The forced setting unit 55 does not acquire the second input data Db when the operating mode of the external buzzer 7 is set to the effective mode. Since the peripheral monitoring controller 24 is prohibited from receiving the second input data Db, even if the operator operates the input device 21 to set the operating mode of the in-cabin buzzer 23 to the ineffective mode when the operating mode of the external buzzer 7 is set to the effective mode, the operating mode of the in-cabin buzzer 23 will still be set to the effective mode by the peripheral monitoring controller 24.

[0153] The peripheral monitoring system 50 of the hydraulic excavator 1 includes: a vehicle motion control unit 58, which controls the movement of the hydraulic excavator 1 based on the operation of the operating device 12; and a vehicle motion setting unit 54, which sets the control mode of the vehicle motion control unit 58 when an object is detected to an effective mode that restricts at least a portion of the movement of the hydraulic excavator 1 or an ineffective mode that does not restrict it, based on third input data Dc from the input device 21. When the control mode of the vehicle motion control unit 58 is set to an effective mode, the forced setting unit 55 prohibits the operator alarm setting unit 53 from setting the operation mode of the cab buzzer 23, and sets the operation mode of the cab buzzer 23 to an effective mode.

[0154] Therefore, when the operator can arbitrarily set the control mode of the vehicle motion control unit 58 to an active or inactive mode, if the operator wants to set the operating mode of the cab buzzer 23 to an inactive mode when the control mode of the vehicle motion control unit 58 is set to an active mode, the control mode of the vehicle controller 8 will be set to an active mode by the peripheral monitoring controller 24. Thus, improper setting of the operating mode of the cab buzzer 23 can be prevented.

[0155] Based on the second input data Db from the input device 21, the operator alarm setting unit 53 sets the operating mode of the in-cabin buzzer 23 when an object is detected to either an effective mode for outputting an alarm or an ineffective mode for not outputting an alarm. The forced setting unit 55 prevents the operator alarm setting unit 53 from acquiring the second input data Db when the control mode of the vehicle motion control unit 58 is set to the effective mode. In other words, it prohibits the operator alarm setting unit 53 from acquiring the second input data Db. Since the perimeter monitoring controller 24 is prohibited from receiving the second input data Db, when the control mode of the vehicle controller 8 is set to the effective mode, even if the operator operates the input device 21 to set the operating mode of the in-cabin buzzer 23 to the ineffective mode, the operating mode of the in-cabin buzzer 23 will still be set to the effective mode by the perimeter monitoring controller 24.

[0156] When the operating mode of the external buzzer 7 is set to invalid mode and the control mode of the vehicle motion control unit 58 is set to invalid mode, the forced setting unit 55 allows the operator alarm setting unit 53 to acquire the second input data Db. Thus, when both the operating mode of the external buzzer 7 and the control mode of the vehicle motion control unit 58 are set to invalid mode, the operator can arbitrarily set the operating mode of the in-cabin buzzer 23 through the operation input device 21.

[0157] Based on the second input data Db from the input device 21, the operator alarm setting unit 53 sets the operating mode of the cab buzzer 23 when an object is detected to either an effective mode for outputting an alarm or an ineffective mode for not outputting an alarm. The forced setting unit 55 acquires the second input data Db through the operator alarm setting unit 53 when the operating mode of the external buzzer 7 is set to an ineffective mode and the control mode of the vehicle motion control unit 58 for controlling the operation of the work machinery is set to an ineffective mode. Therefore, since the peripheral monitoring controller 24 is allowed to receive the second input data Db, the operator can arbitrarily set the operating mode of the cab buzzer 23 by operating the input device 21.

[0158] The peripheral monitoring system 50 of the hydraulic excavator 1 includes a display control unit 59, which causes the display device 22 to display setting menus related to the respective settings of the operating modes of the external buzzer 7 and the cab buzzer 23. The display control unit 59 displays the setting menus related to the operating mode of the cab buzzer 23 differently when at least one of the operating modes of the external buzzer 7 and the control mode of the vehicle body movement control unit 58 is set to an active mode, compared to when both are set to an inactive mode. (See reference...) Figure 12As explained, in this embodiment, the setting menu for the operating mode of the in-cabin buzzer 23 includes the text "In-cabin buzzer". The text "In-cabin buzzer" is not displayed when at least one of the operating mode of the external buzzer 7 and the control mode of the vehicle motion control unit 58 is set to an active mode. The text "In-cabin buzzer" is displayed when both the operating mode of the external buzzer 7 and the control mode of the vehicle motion control unit 58 are set to an inactive mode. Thus, the operator can identify whether the operating mode of the in-cabin buzzer 23 can be set via the input device 21.

[0159] The display control unit 59 causes the display device 22 to display a first indicator 35 indicating the operating mode of the external buzzer 7, a second indicator 36 indicating the operating mode of the in-cabin buzzer 23, and a third indicator 37 indicating the control mode of the vehicle body motion control unit 58. Thus, the operator can identify the setting status of the operating mode of the external buzzer 7, the operating mode setting status of the in-cabin buzzer 23, and the control mode setting status of the vehicle body motion control unit 58.

[0160] The perimeter monitoring system 50 of the hydraulic excavator 1 includes an alarm range storage unit 60, which stores an alarm range 14 that requires an alarm to be output when an object is detected. The display control unit 59 causes the display device 22 to display a perimeter image 30 representing the perimeter of the hydraulic excavator 1, and a baseline 33 representing the alarm range 14 in the perimeter image 30. Thus, the operator can identify the positional relationship between the hydraulic excavator 1 and the alarm range 14.

[0161] Other implementation methods

[0162] In the above embodiment, the external alarm device 7 is an external buzzer used to output an alarm sound as an alarm, but it is not limited to this. For example, the external alarm device 7 may also be a warning light or a rotating light that outputs light as an alarm.

[0163] In the above embodiment, the operator alarm device 23 is a buzzer in the driver's cab that outputs an alarm sound as an alarm, but it is not limited to this. For example, the operator alarm device 23 may also be a warning light or rotating light that outputs light as an alarm, or it may be a display device that displays messages or signs as an alarm.

[0164] In the above embodiment, the object detection device 6 has an imaging device 11, but it is not limited to this. The object detection device 6 can detect objects in a non-contact manner. For example, the object detection device 6 can also be a radar device or a laser device installed in the hydraulic excavator 1.

[0165] In the above embodiment, the operation mode and control mode are set by operating the button of the input device 21, but it is not limited to this. The input device 21 may also include a touch sensor provided on the display screen of the display device 22. That is, the display device 22 may also include a touch panel with the functions of the input device 21. The operation mode and control mode can be set by operating the touch panel.

[0166] In the above embodiment, when at least one of the operating mode of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 is set to an active mode, and when both the operating mode of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 are set to an inactive mode, the text "cabin buzzer" on the display device 22 switches between non-display and display, but is not limited to this. For example, the display control unit 59 can simply make the setting menu related to the operating mode of the cabin buzzer 23 display differently when at least one of the operating mode of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 is set to an active mode and when both the operating mode of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 are set to an inactive mode. For example, when at least one of the operating mode of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 is set to an active mode, the text "cabin buzzer" can be displayed in red, and when both the operating mode of the external buzzer 7 and the control mode of the vehicle body motion control unit 58 are set to an inactive mode, the text "cabin buzzer" can be displayed in blue.

[0167] In the above embodiment, the peripheral monitoring display 20 includes an input device 21, a display device 22, a cab buzzer 23, and a peripheral monitoring controller 24, but is not limited thereto. For example, the input device 21, display device 22, cab buzzer 23, and peripheral monitoring controller 24 can also be independent entities. In addition, a tablet terminal that can be detached from the hydraulic excavator 1 can also have the functions of the input device 21, the display device 22, and the peripheral monitoring controller 24.

[0168] In the above embodiment, the perimeter monitoring controller 24 has the functions of an object detection unit 51, an external alarm setting unit 52, an operator alarm setting unit 53, a vehicle motion setting unit 54, a forced setting unit 55, an operator alarm control unit 57, a display control unit 59, and an alarm range storage unit 60, respectively. The vehicle controller 8 has the functions of an external alarm control unit 56 and a vehicle motion control unit 58, but is not limited thereto. For example, at least some of the functions of the perimeter monitoring controller 24 can also be provided in the vehicle controller 8, and at least some of the functions of the vehicle controller 8 can also be provided in the perimeter monitoring controller 24. In addition, the perimeter monitoring controller 24 and the vehicle controller 8 can also be integrated. Furthermore, the object detection unit 51, the external alarm setting unit 52, the operator alarm setting unit 53, the vehicle motion setting unit 54, the forced setting unit 55, the external alarm control unit 56, the operator alarm control unit 57, the vehicle motion control unit 58, the display control unit 59, and the alarm range storage unit 60 can each be composed of different hardware (computer systems).

[0169] In the above embodiments, the hydraulic excavator 1 can be a hydraulic excavator used in a mine or a hydraulic excavator used on an engineering site.

[0170] In the above embodiment, the working machine 1 is a hydraulic excavator, but it is not limited to this. The working machine 1 can be any machine with a working mechanism; for example, it could also be a bulldozer or a wheel loader. Alternatively, the working machine 1 could be a dump truck with a bucket instead of a working mechanism. The peripheral monitoring system 50 of the above embodiment is applicable to various types of working machines 1.

[0171] In the above embodiment, the work machinery 1 is operated by an operator sitting in the cab 9, but it is not limited to this. The work machinery 1 can also be remotely operated by an operator at a remote location. For example, the operator can operate the work machinery 1 from an operator's cab located far from the work machinery 1. In this case, the operator alarm device 23 is arranged in the operator's cab to output an alarm to the operator operating the work machinery.

[0172] Symbol Explanation

[0173] 1…Hydraulic excavator (operating machinery); 1S…Vehicle markings; 2…Upper slewing body; 3…Lower traveling body; 3A…Drive wheel; 3B…Track; 4…Working machine; 4A…Boom; 4B…Stick; 4C…Bucket; 5…Hydraulic cylinder; 5A…Boom cylinder; 5B…Stick cylinder; 5C…Bucket cylinder; 6…Object detection device; 7…External buzzer (external alarm device); 8…Vehicle controller; 9…Cab; 10…Driver's seat; 11…Camera; 11A…Rear camera; 11B…Right-side camera; 11C…Right front camera; 11D… 12…Left-side camera; 12…Operating device; 12A…Left operating lever; 12B…Right operating lever; 12C…Left travel lever; 12D…Right travel lever; 12E…Left foot pedal; 12F…Right foot pedal; 13…Detection range; 14…Alarm range; 14A…First alarm range; 14B…Second alarm range; 15…Object; 16…Marker; 20…Surrounding monitoring display; 21…Input device; 22…Display device; 23…Buzzer in cab (operator alarm device); 24…Surrounding monitoring controller; 30…Surrounding image; 31…Overhead view; 32… …Single-shot device image; 33…Baseline; 33A…First baseline; 33B…Second baseline; 34…Status indicator; 34A…Water thermometer; 34B…Oil thermometer; 34C…Fuel level gauge; 35…First indicator; 36…Second indicator; 37…Third indicator; 38…Fourth indicator; 39…Direction indicator; 40…Function indicator; 40A…Function indicator; 40B…Function indicator; 40C…Function indicator; 41…Work timer indicator; 42…Work mode indicator; 50…Surrounding monitoring system; 51…Object detection unit; 52…External alarm setting unit; 53…Operator alarm setting unit; 54…Body movement setting unit; 55…Forced setting unit; 56…External alarm control unit; 57…Operator alarm control unit; 58…Body movement control unit; 59…Display control unit; 60…Alarm range storage unit; 1000…Computer system; 1001…Processor; 1002…Main memory; 1003…Memory; 1004…Interface; AX…Boom rotation axis; BX…Hoist rotation axis; CX…Bucket rotation axis; Da…First input data; Db…Second input data; Dc…Third input data; RX…Slewing axis.

Claims

1. A perimeter monitoring system for use with machinery, characterized in that, have: An object detection device for detecting objects around the operating machinery; An operator alarm device configured to output an alarm to the operator operating the machinery; as well as processor, Based on input data from the input device used to set the control mode of the working machinery, the processor sets the control mode for controlling the actions of the working machinery when the object is detected to either an effective mode that restricts at least a portion of the actions of the working machinery or an invalid mode that does not restrict them; and The processor, based on input data from the input device used to set the operating mode of the operator alarm device when the object is detected, sets the operating mode of the operator alarm device to either an effective mode that outputs an alarm or an invalid mode that does not output an alarm. When the control mode is set to the active mode, the processor prohibits setting the operation mode of the operator alarm device based on input data from the input device, and forcibly makes the operation mode of the operator alarm device active. When the control mode is set to invalid mode, the processor allows the operator alarm device to be set to an operating mode based on input data from the input device.

2. The surrounding monitoring system according to claim 1, characterized in that, When the control mode is set to active mode, the processor does not acquire the input data used to set the operating mode of the operator alarm device.

3. The surrounding monitoring system according to claim 1, characterized in that, have: An external alarm device configured to output an alarm to the outside of the operating machinery. Based on input data from the input device for setting the operating mode of the external alarm device, the processor sets the operating mode of the external alarm device when the object is detected to either an effective mode for outputting an alarm or an ineffective mode for not outputting an alarm; and When the operation mode of the external alarm device is set to an effective mode, the processor prohibits setting the operation mode of the operator alarm device based on input data from the input device, and forcibly makes the operation mode of the operator alarm device effective. When the operation mode of the external alarm device is set to invalid mode, the processor allows setting the operation mode of the operator alarm device based on input data from the input device.

4. The surrounding monitoring system according to claim 3, characterized in that, When the operating mode of the external alarm device is set to the active mode, the processor does not acquire the input data used to set the operating mode of the operator alarm device.

5. The surrounding monitoring system according to claim 3, characterized in that, When the control mode is set to invalid mode and the operation mode of the external alarm device is set to invalid mode, the processor disables the operator alarm device.

6. The surrounding monitoring system according to claim 3, characterized in that, When the control mode is set to invalid mode and the operation mode of the external alarm device is set to invalid mode, the processor acquires the input data for setting the operation mode of the operator alarm device.

7. The surrounding monitoring system according to any one of claims 1 to 6, characterized in that, The processor causes the display device to show a setting menu related to the settings of the control mode and the operation mode of the operator alarm device, respectively; and When the control mode is set to an active mode and when it is set to an inactive mode, the processor makes the display of the setting menu related to the operation mode of the operator alarm device different.

8. The surrounding monitoring system according to claim 7, characterized in that, The processor causes the display device to display a first identifier for indicating the control mode and a second identifier for indicating the operation mode of the operator alarm device.

9. The surrounding monitoring system according to claim 7, characterized in that, The processor stores the alarm range that requires an alarm to be output when the object is detected; and The processor causes the display device to display a peripheral image representing the perimeter of the operating machinery, and a baseline representing the alarm range in the peripheral image.

10. A type of operating machinery, characterized in that, have: The surrounding monitoring system according to any one of claims 1 to 9.

11. The operating machinery according to claim 10, characterized in that, The operating machinery has a driver's cab. The operator alarm device is located inside the cab.

12. A method for monitoring surroundings, used on operating machinery, characterized in that, include: Detect objects around the operating machinery; as well as Based on input data from the input device used to set the control mode of the operating machinery, the control mode for controlling the operation of the operating machinery when the object is detected is set to either an effective mode that restricts at least a portion of the operation of the operating machinery or an invalid mode that does not restrict it. Based on input data from the input device for setting the operating mode of the operator alarm device configured to output an alarm to the operator operating the machine, the operating mode of the operator alarm device when the object is detected is set to either an effective mode for outputting an alarm or an invalid mode for not outputting an alarm. When the control mode is set to the active mode, it is prohibited to set the operation mode of the operator alarm device based on the input data from the input device, and the operation mode of the operator alarm device is forcibly made active. When the control mode is set to invalid mode, the operation mode of the operator alarm device can be set based on input data from the input device.

13. The surrounding monitoring method according to claim 12, characterized in that, include: Based on the input data for setting the operating mode of the external alarm device configured to output an alarm to the outside of the working machinery, the operating mode of the external alarm device when the object is detected is set to either an effective mode for outputting an alarm or an invalid mode for not outputting an alarm. When the operating mode of the external alarm device is set to the active mode, it is prohibited to set the operating mode of the operator alarm device based on the input data from the input device, and the operating mode of the operator alarm device is forcibly made active. as well as When the operating mode of the external alarm device is set to invalid mode, the operating mode of the operator alarm device can be set based on input data from the input device.

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