Notification system for work machine

Abstract

To provide a notification system for a work machine capable of appropriately notifying people around the work machine of the work range of the work machine in accordance with the movement of the work machine.SOLUTION: A notification system for a work machine includes a controller that controls an unmanned aerial vehicle and causes the unmanned aerial vehicle to notify the surroundings of the work machine of the work range of the work machine. The work machine includes a vehicle body having a traveling device and a work device attached to the vehicle body. The controller moves the unmanned aerial vehicle in response to movement of the work machine within a flight area outside the work range of the work machine and within a predetermined distance from the boundary of the work range, in accordance with the movement of the work machine, and causes the unmanned aerial vehicle to notify the surroundings of the work machine of the work range of the work machine.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a notification system for a work machine. [Background technology]

[0002] At a work site where a work machine such as a hydraulic excavator is working, a technique is known in which an unmanned aerial vehicle such as a drone is used to support the work of the work machine. Patent Document 1 discloses a technique for using multiple drones to survey a work site and check an excavation situation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] WO2022 / 074863 Summary of the Invention [Problem to be solved by the invention]

[0004] At a work site, there are workers and the like who perform work around the work machine. In order to prevent the workers from entering the working range of the work machine, guides with guide lights are posted at the work site. However, when the work machine moves and its position changes, the position of the working range also changes. For this reason, it is difficult for the guides to properly inform the workers of the boundaries of the work range of the work machine with guide lights.

[0005] An object of the present invention is to provide a notification system for a work machine that is capable of appropriately notifying people around the work machine of the working range of the work machine in accordance with the movement of the work machine. [Means for solving the problem]

[0006] According to one aspect of the present invention, a work machine notification system includes a controller that controls an unmanned aerial vehicle and causes the unmanned aerial vehicle to notify the surroundings of the work machine of the work range of the work machine. The work machine includes a vehicle body having a running gear and a work device attached to the vehicle body, and the controller moves the unmanned aerial vehicle in response to the movement of the work machine within a flight area outside the work range of the work machine and within a predetermined distance from the boundary of the work range, and causes the unmanned aerial vehicle to notify the surroundings of the work machine of the work range of the work machine. Effect of the Invention

[0007] According to the present invention, it is possible to provide a work machine notification system that is capable of appropriately notifying people around the work machine of the working range of the work machine in accordance with the movement of the work machine. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a hydraulic excavator 1 and a drone 8 flying around the hydraulic excavator 1. [Diagram 2] FIG. 2 is a perspective view showing the inside of the cab 53. As shown in FIG. [Diagram 3] FIG. 3 is a perspective view of the takeoff and landing gear 7. [Figure 4] FIG. 4 is a diagram showing the configurations of the hydraulic excavator 1 and the drone 8. [Diagram 5] FIG. 5 is a diagram showing the hardware configuration of the controller 100. As shown in FIG. [Figure 6] FIG. 6 is a diagram showing a flight condition table. [Figure 7] FIG. 7 is a functional block diagram of the takeoff and landing controller 19 according to the first embodiment. [Figure 8] FIG. 8 is a flowchart showing an example of the flow of a flight control data generation process executed by the takeoff and landing controller 19 according to the first embodiment. [Figure 9] FIG. 9 is a diagram showing an example of a method for setting a flight trajectory. [Figure 10]FIG. 10 is a diagram showing an example of the flight mode of the drone 8 when "fixed point" is selected from the flight pattern options. [Figure 11] FIG. 11 is a diagram showing an example of the flight mode of drone 8 when "forward" is selected from the flight angle range θ options and "fixed point" is selected from the flight pattern options. [Figure 12] FIG. 12 is a diagram showing an example of the flight mode of drone 8 when “all around” is selected from the flight angle range θ options and “orbit” is selected from the flight pattern options. [Figure 13] FIG. 13 is a flowchart showing an example of the processing flow of flight control of the drone 8 executed by the takeoff and landing controller 19 according to the first embodiment. [Figure 14] FIG. 14 is a functional block diagram of the flight control unit 216 according to the second embodiment. [Figure 15] FIG. 15 is a flowchart showing an example of an obstacle detection process executed by the takeoff / landing controller 19 according to the second embodiment. [Figure 16] FIG. 16 is a diagram for explaining a flight area set by the takeoff and landing controller 19 according to the first modification. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An alarm system 1000 for a work machine according to an embodiment of the present invention will be described with reference to the drawings. In this embodiment, an example will be described in which the work machine is a crawler-type hydraulic excavator 1.

[0010] First Embodiment 1 is a diagram showing a hydraulic excavator 1 and a drone 8 flying around the hydraulic excavator 1. The hydraulic excavator 1 includes a vehicle body 51 and a work device 52 attached to the vehicle body 51. The hydraulic excavator 1 performs work such as civil engineering work, construction work, demolition work, and dredging work at a work site using the work device 52.

[0011] The vehicle body 51 includes a running body 6 having a running device 18, and a rotating body 5 that is rotatably provided on the running body 6. The running body 6 has a pair of left and right tracks (crawlers). has a travel motor that drives the left and right tracks. The travel unit 6 travels by driving the left and right tracks with the travel motor. The travel unit 6 turns by giving a speed difference to the left and right tracks. The travel unit 6 turns on the spot by rotating the left and right tracks at a constant speed in opposite directions.

[0012] The rotating body 5 is connected to the running body 6 via a rotating device 17 having a rotating motor. The rotating body 5 is driven by the rotating motor to rotate relative to the running body 6. The rotating body 5 includes a cab (operator's compartment) 53 in which an operator sits, and a building (machine room) 54 in which the prime mover and hydraulic equipment are housed. The building 54 houses, for example, an engine as the prime mover, and hydraulic equipment such as a hydraulic pump driven by the engine.

[0013] The working device 52 is a multi-joint working device attached to the rotating body 5, and has multiple hydraulic cylinders (hydraulic actuators) and multiple driven members driven by the multiple hydraulic cylinders. The working device 52 has three driven members (boom 2, arm 3, and bucket 4) connected in series. The base end of the boom 2 is rotatably connected to the front of the rotating body 5 via a boom pin. The base end of the arm 3 is rotatably connected to the tip of the boom 2 via an arm pin. The bucket 4 is rotatably connected to the tip of the arm 3 via a bucket pin.

[0014] The boom 2 is rotationally driven by the extension and retraction of a boom cylinder (hydraulic cylinder) 2a. The arm 3 is rotationally driven by the extension and retraction of an arm cylinder (hydraulic cylinder) 3a. The bucket 4 is rotationally driven by the extension and retraction of a bucket cylinder (hydraulic cylinder) 4a. The working device 52 operates just like a human arm by driving a plurality of driven members by the extension and retraction of a hydraulic cylinder. By operating the working device 52, the hydraulic excavator 1 performs work such as excavating soil and sand, leveling work, and compacting the ground.

[0015] The working implement 52 is generally called a front attachment. In a posture in which the boom 2, the arm 3, and the bucket 4 are each fully extended and positioned horizontally relative to the ground (traveling surface), the distance from the central axis CL of the rotating structure 5 to the tip of the bucket 4 is defined as the maximum working radius Rwh0 in the horizontal direction. The maximum working radius Rwh0 corresponds to the horizontal length from the farthest position that the working implement 52 can reach in the horizontal direction to the central axis CL of the rotation. In a posture in which the boom 2, the arm 3, and the bucket 4 are each fully extended and positioned vertically (vertically) relative to the ground (traveling surface), the distance from the connection part (boom pin) of the boom 2 and the rotating structure 5 to the tip of the bucket 4 is defined as the maximum working radius Rwv0 in the vertical direction. The maximum working radius Rwv0 corresponds to the vertical length from the farthest position that the working implement 52 can reach in the vertical direction to the boom pin.

[0016] The working range 900 is defined by a maximum working radius Rhw0 in the horizontal direction parallel to the moving direction of the hydraulic excavator 1, and a maximum working radius Rwv0 in the vertical direction perpendicular to the horizontal direction. The working range 900 is, for example, a region surrounded by a part of a sphere that includes within its plane the tip of the working implement 52 when the working implement 52 is fully extended in the horizontal direction and the tip of the working implement 52 when the working implement 52 is fully extended in the vertical direction, and a cylindrical surface extending from the lower end of the sphere to the ground. The apex of the part of the sphere is located at the central axis of rotation CL, and the lower end is located at the height of the boom pin.

[0017] Fig. 2 is a perspective view showing the inside of the cab 53. As shown in Fig. 2, a driver's seat where the operator sits and a display device 38 such as a liquid crystal monitor are provided in the cab 53. An operation device 12 for operating the work device 52, the rotating body 5, the traveling body 6, and the drone 8 is provided in the cab 53.

[0018] The operation device 12 installed in the cab 53 will be described with reference to Fig. 2. As shown in Fig. 2, in the cab 53, the operation device 12 includes operation levers 31, 32, traveling pedals 33, 34, a gate lock lever 35, and a console panel 36.

[0019] The console panel 36 is provided with a flight start switch, which is an operation switch for instructing the drone 8, which is an unmanned aerial vehicle, to start flying (take off), a return switch, which is an operation switch for instructing the drone 8 to end flying (return), and a setting switch, which is an operation switch for setting flight conditions of the drone 8. The console panel 36 is an input device that inputs input information corresponding to the operation of the operation switch or the setting switch to the vehicle body controller 13. Note that the input device is not limited to the console panel 36, and may be configured by a touch sensor provided on the screen of the display device 38.

[0020] The operating levers 31, 32 are assigned, depending on the direction of lever operation, to perform either the extension / retraction operation of the boom 2, arm 3, and bucket 4, or the left / right swing operation of the swing body 5. The traveling pedals 33, 34 are assigned to perform the forward and reverse operations of the left and right crawlers, respectively.

[0021] The gate lock lever 35 is provided at the entrance of the cab 53. The gate lock lever 35 is operated between an unlocked position (lowered position) where the lever is disposed so as to block the entrance and a locked position (raised position) where the lever is disposed so as to open the entrance. When the hydraulic excavator 1 is in operation, if the gate lock lever 35 is operated to the locked position (raised position), the operation of the operation levers 31, 32 and the travel pedals 33, 34 is disabled. Therefore, the working device 52, the revolving body 5 and the traveling body 6 are not operated in response to the operation of the operation levers 31, 32 and the travel pedals 33, 34. When the hydraulic excavator 1 is in operation, if the gate lock lever 35 is tilted and operated to the unlocked position (lowered position), the working device 52, the revolving body 5 and the traveling body 6 are operated in response to the operation of the operation levers 31, 32 and the travel pedals 33, 34.

[0022] 1, the hydraulic excavator 1 includes a drone 8 and a take-off and landing gear 7. The take-off and landing gear 7 is attached to the upper surface of a building 54. The take-off and landing gear 7 is fastened to a support member of the building 54 by, for example, screws or the like.

[0023] The take-off and landing gear 7 will be described with reference to FIG. 3. FIG. 3 is a perspective view of the take-off and landing gear 7. As shown in FIG. 3, the take-off and landing gear 7 has a plurality of hangars 9 capable of storing a plurality of drones 8. The hangars 9 are provided with doors (lids) 10 that can be opened and closed in response to a control command. The doors 10 are opened and closed by a drive unit such as an electric motor. In the illustrated example, the take-off and landing gear 7 is provided with a plurality of hangars 9, but the take-off and landing gear 7 may be provided with only one hangar 9. The drones 8 are provided with four or more rotors 8a.

[0024] The configurations of the hydraulic excavator 1 and the drone 8 will be described with reference to Fig. 4. Fig. 4 is a diagram showing the configurations of the hydraulic excavator 1 and the drone 8. The boom cylinder 2a, the arm cylinder 3a, and the bucket cylinder 4a each have the same configuration, and therefore will be collectively referred to as the hydraulic cylinder 16 below. In Fig. 4, the flow of hydraulic oil is indicated by dashed arrows.

[0025] 4, the vehicle body 51 is provided with a hydraulic control device 11, a turning device 17, a running device 18, and a power supply device 15. The takeoff and landing device 7 is provided with a takeoff and landing controller 19, a charging device 20, and a communication device 21. The drone 8 is provided with a flight controller 23, a notification device 24, a drive device 25, an obstacle detection sensor 37, and a communication device 22.

[0026] The hydraulic control device 11 includes a vehicle body controller 13, an operation device 12, a valve device 14, and a hydraulic pump 27 driven by an engine. When the operation device 12 is operated by an operator, an operation command is output from the operation device 12 to the vehicle body controller 13. The vehicle body controller 13 controls the valve device 14 according to the amount of operation of the operation device 12.

[0027] The valve device 14 has a control valve that controls the flow rate and flow direction of the hydraulic oil supplied from the hydraulic pump 27 to the hydraulic cylinder 16, and a proportional solenoid valve that generates a pilot pressure that is introduced into a pressure receiving chamber of the control valve. The proportional solenoid valve is a pressure reducing valve that reduces the pressure of the pilot hydraulic source and outputs it to the pressure receiving chamber of the control valve. The vehicle body controller 13 outputs a control signal according to the operation amount of the operation device 12 to the proportional solenoid valve. The proportional solenoid valve generates a pilot pressure according to the control signal and outputs it to the pressure receiving chamber of the control valve. When the pilot pressure is input to the pressure receiving chamber of the control valve, a spool (valve body) of the control valve operates according to the pilot pressure, and the hydraulic oil discharged from the hydraulic pump 27 is supplied to the hydraulic cylinder 16 through the control valve.

[0028] The operating device 12 constituting the hydraulic control device 11 includes operating levers 31, 32, traveling pedals 33, 34, and a gate lock lever 35. The operating levers 31, 32 and traveling pedals 33, 34 are equipped with an operating amount sensor that detects the amount of operation. The operating amount sensor is, for example, a potentiometer that outputs a voltage according to the amount of operation. The operating amount sensor outputs the detection results of the operating amounts of the operating levers 31, 32 and traveling pedals 33, 34 to the vehicle body controller 13. The gate lock lever 35 is equipped with an operating position sensor that detects whether it is operated to a locked position or an unlocked position. The operating position sensor outputs the detection result of the operating position to the vehicle body controller 13.

[0029] The operation device 12 is not limited to an electric operation device that outputs an operation command to the vehicle body controller 13. The operation device 12 may be a hydraulic pilot type operation device equipped with a pressure reducing valve that outputs a pilot pressure according to the amount of operation. The operation amount sensor may be a pressure sensor that detects the pilot pressure introduced to the pressure receiving chamber of the control valve of the valve device 14. By operating the operation levers 31, 32, hydraulic oil (pressurized oil) is supplied to the hydraulic cylinder 16 of the working device 52 and the swing motor of the swing device 17. By operating the travel pedals 33, 34, hydraulic oil (pressurized oil) is supplied to the travel motor of the travel device 18.

[0030] A shutoff valve is provided in the pilot line connecting the pilot hydraulic source and the pressure reducing valve. The shutoff valve is an electromagnetic change-over valve that can be switched to either a fully closed position or a fully open position. The fully closed position is a change-over position that closes the flow path of the pilot line, and the fully open position is a change-over position that opens the flow path of the pilot line. The shutoff valve is switched according to the operating position of the gate lock lever 35. When the gate lock lever 35 is operated to the lock position, the shutoff valve is switched to the fully closed position. When the gate lock lever 35 is operated to the unlock position, the shutoff valve is switched to the fully open position.

[0031] The power supply device 15 has a battery and a power generation device. The power supply device 15 is electrically connected to the charging device 20 of the takeoff and landing gear 7 by a harness, a connector, or the like. The charging device 20 receives power from the power supply device 15 and charges the battery 26 of the drone 8 stored in the hangar 9 of the takeoff and landing gear 7. The charging device 20 is, for example, a charging device capable of wireless power supply. That is, the power supply device 15 supplies power to the battery 26 of the drone 8 stored in the takeoff and landing gear 7 via the charging device 20 of the takeoff and landing gear 7. This charges the battery 26 of the drone 8.

[0032] The vehicle body controller 13 and the takeoff and landing controller 19 of the takeoff and landing gear 7 are connected by a communication cable, and transmit and receive information between them. Note that the vehicle body controller 13 and the takeoff and landing gear 7 are not limited to being connected by wire. The vehicle body controller 13 and the takeoff and landing gear 7 may transmit and receive information via wireless communication.

[0033] The hydraulic excavator 1 is equipped with a vehicle body position measuring device that uses a Global Navigation Satellite System (GNSS) as a device for recognizing the position of the rotating unit 5. The vehicle body controller 13 transmits the position coordinates of the rotating unit 5 in the global coordinate system to the takeoff and landing controller 19 based on the information acquired from the vehicle body position measuring device.

[0034] The takeoff and landing controller 19 and the flight controller 23 exchange information with each other by wireless communication via the communication devices 21, 22. The flight controller 23 transmits status information of the drone 8 to the takeoff and landing controller 19. The status information of the drone 8 includes information on the battery 26 of the drone 8, such as the voltage of the battery 26 and the remaining battery level (SOC: State Of Charge), and information on the program being executed by the flight controller 23 of the drone 8.

[0035] The takeoff and landing controller 19 transmits a control command for the drone 8 corresponding to the operating state of the hydraulic excavator 1 (the operating state of the operating device 12) to the drone 8. The flight controller 23 controls the drive device 25 and the alarm device 24 based on the control command from the takeoff and landing controller 19.

[0036] The driving device 25 drives the rotor 8a to rotate. The driving device 25 has an electric motor that controls the rotation speed of the rotor 8a. The flight controller 23 controls the rotation speed of each rotor 8a to control the flight of the drone (own aircraft) 8. For example, the flight controller 23 controls the driving device 25 to make the own aircraft ascend or descend. The flight controller 23 controls the driving device 25 to make the own aircraft levitate (hover) at the same position in the sky. The flight controller 23 recognizes the position of the own aircraft and controls the driving device 25 to fly the own aircraft to a specified position. The drone 8 is equipped with a position measuring device that uses a GNSS (Global Navigation Satellite System) as a device for recognizing the position of the own aircraft. The flight controller 23 flies along a flight trajectory set by the takeoff and landing controller 19 and makes a report by the report device 24.

[0037] The notification device 24 includes a light-emitting device that emits light to notify workers around the hydraulic excavator 1 of the boundary of the working range 900 of the hydraulic excavator 1, and a sound-emitting device that emits a warning sound. The light-emitting device includes, for example, a plurality of light-emitting diodes (LEDs). The sound-emitting device includes, for example, a speaker.

[0038] The obstacle detection sensor 37 detects obstacles around the hydraulic excavator 1 using ultrasonic waves, lasers, millimeter wave radar, etc., and outputs the detection result to the flight controller 23. The flight controller 23 transmits the obstacle detection result to the takeoff and landing gear 7 via the communication device 22. The flight controller 23 transmits the detection result of the obstacle detection sensor 37 to the takeoff and landing controller 19. When an obstacle is detected by the drone 8, the takeoff and landing controller 19 transmits information indicating that an obstacle has been detected to the vehicle body controller 13. When the vehicle body controller 13 receives the information indicating that an obstacle has been detected, it causes the display device 38 in the cab 53 to display an image indicating that fact.

[0039] The vehicle body controller 13, the takeoff / landing controller 19, and the flight controller 23 all have the same configuration. The vehicle body controller 13, the takeoff / landing controller 19, and the flight controller 23 are collectively referred to as a controller 100, and the hardware configuration thereof will be described with reference to Fig. 5.

[0040] FIG. 5 is a diagram showing a hardware configuration of the controller 100. As shown in FIG. 5, the controller 100 is composed of a computer including a processing device 101 such as a central processing unit (CPU), a micro processing unit (MPU), or a digital signal processor (DSP), a non-volatile memory 102 such as a read only memory (ROM), a flash memory, or a hard disk drive, a volatile memory 103 called a random access memory (RAM), an input interface 104, an output interface 105, and other peripheral circuits. These hardware components work together to operate software and realize a plurality of functions. The controller 100 may be composed of one computer or a plurality of computers. The processing device 101 may be an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like.

[0041] The non-volatile memory 102 stores programs capable of executing various calculations, thresholds, data tables, etc. In other words, the non-volatile memory 102 is a storage medium (storage device) capable of reading programs that realize the functions of this embodiment. The volatile memory 103 is a storage medium (storage device) that temporarily stores the results of calculations by the processing device 101 and signals input from the input interface 104. The processing device 101 is a device that loads the programs stored in the non-volatile memory 102 into the volatile memory 103 and executes calculations. The processing device 101 performs a predetermined calculation process on data taken from the input interface 104, the non-volatile memory 102, and the volatile memory 103 in accordance with the programs.

[0042] The input interface 104 converts signals input from various devices (communication devices, sensors, etc.) into data that can be calculated by the processing device 101. In addition, the output interface 105 generates an output signal according to the calculation result of the processing device 101, and outputs the signal to various devices (communication devices, solenoid valves, etc.).

[0043] A flight condition table is stored in the non-volatile memory 102 of the takeoff / landing controller 19. Fig. 6 is a diagram showing the flight condition table. The flight condition table shown in Fig. 6 is a data table that specifies flight conditions according to the operating state of the operating device 12.

[0044] The takeoff and landing controller 19 refers to the flight condition table and selects flight conditions according to the operation state of the operation device 12. The flight conditions are composed of a combination of light emission color, light emission pattern, and flight pattern. The operation objects include the shutoff valve, the working device 52, the rotating body 5, and the right and left tracks of the running body 6. The flight condition according to the operation state of the shutoff valve is selected when all of the working device 52, the rotating body 5, and the running body 6 are stopped.

[0045] The takeoff and landing controller 19 generates flight control data for the drone 8 based on the selected flight conditions. The flight conditions can be changed by operating the console panel 36. The console panel 36 outputs a signal according to the operation of the pilot to the takeoff and landing controller 19 via the vehicle controller 13. The takeoff and landing controller 19 sets the flight conditions in the flight condition table according to the signal from the console panel 36.

[0046] Incidentally, the hydraulic excavator 1 may perform excavation work using the working device 52 or travel using the traveling body 6 when there are workers or pedestrians around the vehicle body 51. In order to prevent workers or pedestrians from entering the working range 900 of the hydraulic excavator 1, it is possible to place signs or guides. When the hydraulic excavator 1 is performing work at the same location (fixed-point work), the boundaries of the working range 900 can be notified by signs or guides. However, when the hydraulic excavator 1 is performing work that requires movement, the position of the working range 900 also changes. In this case, it is difficult for signs or guides to appropriately notify the workers of the working range 900, the position of which changes.

[0047] For example, a guide can move along with the movement of the hydraulic excavator 1 and use guide lights to alert workers and passersby. However, guidance by a guide may make the boundaries of the work area 900 where entry should be restricted unclear. If many guides are deployed to reliably prevent contact between the hydraulic excavator 1 and workers, costs will increase.

[0048] Therefore, in this embodiment, a notification system 1000 using a drone 8 notifies workers and passersby around the hydraulic excavator 1 of the boundaries of a working range 900 of the hydraulic excavator 1 (see FIG. 1). As shown in FIG. 4, the notification system 1000 of the hydraulic excavator 1 includes a vehicle body controller 13, a takeoff and landing gear 7, and a drone 8. The vehicle body controller 13 and a takeoff and landing controller 19 mounted on the hydraulic excavator 1 cooperate to constitute a notification controller that controls the flight and notification of the drone 8. Note that the vehicle body controller 13 may be provided with some or all of the functions of the takeoff and landing controller 19 described below.

[0049] FIG. 7 is a functional block diagram of the takeoff and landing controller 19. As shown in FIG. 7, the takeoff and landing controller 19 executes a program stored in the non-volatile memory 102 to function as an information acquisition unit 110, a flight radius calculation unit 111, a setting unit 112, a flight control data generation unit 113, a storage unit 114, a door control unit 115, and a flight control unit 116. The storage unit 114 is a function realized by the non-volatile memory 102 of the takeoff and landing controller 19. Details of each function shown in FIG. 7 will be described with reference to FIG. 8 to FIG. 13. Operation information of the operation device 12 is input to the takeoff and landing controller 19 via the vehicle controller 13.

[0050] First, an example of the flow of a process for generating flight control data executed by the takeoff and landing controller 19 will be described with reference to the flowchart in Fig. 8. The flowchart shown in Fig. 8 is executed, for example, when the engine is started by the ignition switch and the hydraulic excavator 1 changes from an inoperable state to an operable state.

[0051] 8, in step S1, the information acquisition unit 110 acquires information on the working range 900 of the hydraulic excavator 1 from the vehicle body controller 13. The information on the working range 900 includes a maximum working radius Rwh0 in the horizontal direction and a maximum working radius Rwv0 in the vertical direction.

[0052] In the next step S2, the flight radius calculation unit 111 determines the minimum flight radii Rh0min, Rv0min and the maximum flight radii Rh0max, Rv0max based on the information of the working range 900 acquired in step S1.

[0053] The flight radius calculation unit 111 calculates the minimum flight radius Rh0min and the maximum flight radius Rh0max in the horizontal direction based on the maximum working radius Rwh0 in the horizontal direction. The minimum flight radius Rh0min may be, for example, the same as the maximum working radius Rwh0, or may be a value obtained by adding a margin (allowance value) to the maximum working radius Rwh0. The margin is preferably equal to or greater than half the left-right width of the drone 8. The maximum flight radius Rh0max is a value obtained by adding a predetermined value ΔR to the minimum flight radius Rh0min.

[0054] The flight radius calculation unit 111 calculates the minimum flight radius Rv0min and the maximum flight radius Rv0max in the vertical direction based on the maximum working radius Rwv0 in the vertical direction. The minimum flight radius Rv0min may be, for example, the same as the maximum working radius Rwv0, or may be a value obtained by adding a margin (allowance value) to the maximum working radius Rwv0. It is preferable that the margin is equal to or greater than the length from the center of the drone 8 (a reference point passing through the flight trajectory) to the bottom end. The maximum flight radius Rv0max is a value obtained by adding a predetermined value ΔR to the minimum flight radius Rv0min.

[0055] In the next step S3, the setting unit 112 sets the flight trajectory and flight conditions. The flight area and flight conditions are set by the pilot operating the console panel 36. Operation information of the console panel 36 is input to the takeoff and landing controller 19 via the vehicle controller 13. The setting unit 112 sets the flight trajectory and flight conditions based on the operation information from the console panel 36 acquired by the information acquisition unit 110. Note that the pilot can skip the setting process if he or she does not wish to change the flight trajectory and flight conditions.

[0056] An example of a method for setting a flight trajectory will be described with reference to Fig. 9. The pilot operates the console panel 36 while watching the guide screen displayed on the display device 38 in the cab 53 to determine the flight height H, flight radius R, and flight angle range θ for defining the flight trajectory.

[0057] The pilot operates the console panel 36 to select one of the options "high", "medium", and "low" displayed on the display device 38. "High", "medium", and "low" represent the height of the flight trajectory of the drone 8. The setting unit 112 sets the flight height H, which is the height at which the drone 8 flies, based on the selected information. When "low" is selected, the setting unit 112 sets the reference height H0, which is the height of the boom pin, as the flight height H (H=H0). When "high" is selected, the setting unit 112 adds the minimum flight radius Rv0min and the maximum flight radius Rv0max, divides the sum by 2, and sets the second height H2 as the flight height H (H=H2=(Rv0min+Rv0max) / 2). When “Medium” is selected, the setting unit 112 adds the reference height H0 and the second height H2, divides the sum by 2, and sets the first height H1 as the flight height H (H=H1=(H0+H2 / 2)).

[0058] When the hydraulic excavator 1 is surrounded by flat ground with no elevation difference, the pilot selects "low" from the flight height options. The reference height H0 is close to the height from the ground to the worker's eyes. This improves the visibility of the drone 8. On the other hand, when the hydraulic excavator 1 is working at a height lower than the worker's work location, the pilot selects "medium" or "high" from the flight height options. This flies the drone 8 along a flight trajectory close to the worker's eye height, improving the visibility of the drone 8.

[0059] The pilot operates the console panel 36 to select one of the options "Far", "Medium", and "Near" displayed on the display device 38. "Far", "Medium", and "Near" represent the distance from the turning center axis CL of the flight trajectory of the drone 8. The setting unit 112 sets the flight radius R, which is the horizontal distance from the turning center axis CL, based on the selected information. When "Near" is selected, the setting unit 112 sets the minimum flight radius Rh0min as the flight radius R (R=Rh0min). When "Medium" is selected, the setting unit 112 adds the minimum flight radius Rh0min and the maximum flight radius Rh0max, divides the sum by 2, and sets the value as the flight radius R (R=(Rh0min+Rh0max) / 2). The setting unit 112 sets the maximum flight radius Rh0max as the flight radius R (R=Rh0max).

[0060] The pilot operates the console panel 36 to select one of the options "forward", "backward", and "all around" displayed on the display device 38. "Forward", "backward", and "all around" represent the angle range in which the drone 8 orbits (including a round trip on an arc-shaped flight trajectory). The setting unit 112 sets a flight angle range θ, which is an angle range in a horizontal plane centered on the turning central axis CL, based on the selected information. When "forward" is selected, the setting unit 112 sets the range of -60° to +60° as the flight angle range θ, with the front of the turning body 5 set as 0°. When "backward" is selected, the setting unit 112 sets the range of -120° to -180° and +120° to +180° as the flight angle range θ, with the rear of the turning body 5 set as ±180°. When the flight angle range is expressed as a positive value from 0° to 360°, the range of +120° to +240° is set as the flight angle range θ. When "all around" is selected, the setting unit 112 sets the range of -180° to +180° as the angle range θ.

[0061] The pilot may operate the console panel 36 to directly input the numerical values ​​that define the flight height H, flight radius R, and flight angle range θ.

[0062] The setting unit 112 sets a flight trajectory based on a flight height H, a flight radius R, and a flight angle range θ. The flight trajectory is determined by the flight height H, the flight radius R, and the flight angle range θ within a flight area that is outside the working range 900 of the hydraulic excavator 1 and is within a predetermined distance from the boundary of the working range 900. The flight trajectory (target trajectory) of the drone 8 set by the setting unit 112 is stored in the memory unit 114. The flight trajectory is used when "circuit" or "circuit in the turning direction" is selected as a flight pattern described later. Note that when "fixed point" is selected as a flight pattern described later, one point on the flight trajectory is used.

[0063] Flight patterns (flight modes) will be described with reference to Figs. 10 to 12. Fig. 10 is a diagram showing an example of the flight mode of the drone 8 when "fixed point" is selected from among the flight pattern options. Fig. 11 is a diagram showing an example of the flight mode of the drone 8 when "forward" is selected from among the flight angle range θ options, and "fixed point" is selected from among the flight pattern options. Fig. 12 is a diagram showing an example of the flight mode of the drone 8 when "full circle" is selected from among the flight angle range θ options, and "circumnavigation" is selected from among the flight pattern options.

[0064] While watching the guide screen displayed on the display device 38 in the cab 53, the pilot operates the console panel 36 to determine the flight pattern for each operating state.

[0065] The method of setting the flight pattern when the shutoff valve is switched to the fully open position is as follows. The pilot operates the console panel 36 to select one of the options of "fixed point" and "orbit" displayed on the display device 38. "Fixed point" and "orbit" represent the types of flight patterns of the drone 8. The setting unit 112 sets the flight pattern of the drone 8 based on the selected information. That is, the setting unit 112 updates the flight pattern data in the flight condition table (see FIG. 6) stored in the storage unit 114. The method of setting the flight pattern when the shutoff valve is switched to the fully closed position, when the working device 52 is operating, when the right track of the traveling device 18 is operating, and when the left track of the traveling device 18 is operating is similar to the method of setting the flight pattern when the shutoff valve is switched to the fully open position, and therefore the description will be omitted.

[0066] The method for setting a flight pattern when the turning device 17 is operating is as follows. The pilot operates the console panel 36 to select one of the options "fixed point," "orbit," and "orbit in the turning direction" displayed on the display device 38. "Fixed point," "orbit," and "orbit in the turning direction" represent the types of flight patterns of the drone 8. The setting unit 112 sets the flight pattern of the drone 8 based on the selected information. That is, the setting unit 112 updates the flight pattern data in the flight condition table (see FIG. 6) stored in the memory unit 114.

[0067] "Fixed point" is a flight pattern in which the drone 8 is flown so that the position of the drone 8 is maintained at a predetermined fixed position (fixed point coordinate) in the takeoff and landing gear reference coordinate system, which is a coordinate system based on the takeoff and landing gear 7, or in the rotating body reference coordinate system, which is a coordinate system based on the rotating body 5. The position of the takeoff and landing gear 7 in the rotating body reference coordinate system is known. Therefore, the position coordinates in the takeoff and landing gear reference coordinate system and the position coordinates in the rotating body reference coordinate system can be converted by known coordinate conversion.

[0068] A fixed position is determined for each set flight trajectory. A predetermined position on the flight trajectory is adopted as the fixed position. The fixed position may be set in a blind spot area (hereinafter, referred to as a blind spot area) 90 behind the hydraulic excavator 1, which is shown by hatching in FIG. 10. By setting a fixed position in the blind spot area 90, the blind spot area 90 can be appropriately monitored by the drone 8.

[0069] When "fixed point" is selected as the flight pattern, for example, when the running body 6 moves forward, the drone 8 moves forward following the running body 6. As shown by the arrow 29 in Fig. 11, when the rotating body 5 rotates left by a predetermined angle θs, the drone 8 follows the rotating body 5 and flies counterclockwise in a plan view by the predetermined angle θs around the rotation central axis CL. When only the working device 52 is operating, the drone 8 hovers at the same position.

[0070] "Circling in the turning direction" is a flight pattern in which the drone 8 flies in the same direction as the turning direction of the rotating body 5 along a circular flight trajectory centered on the turning central axis CL. "Circling" is a flight pattern in which the drone 8 flies in a predetermined direction, regardless of the turning direction of the rotating body 5, along a circular flight trajectory centered on the turning central axis CL. In the example shown in FIG. 12, the flight of the drone 8 when "circling" is set as the flight pattern is shown when the flight height H is set to the reference height H0 and the flight angle range θ is set to a range of -180° to +180° (full circle). As shown in FIG. 12, the drone 8 continues to circle around the turning central axis CL in a predetermined direction indicated by the arrow 28. Note that, when the flight angle range θ is other than the full circle, the drone 8 repeats clockwise flight and counterclockwise flight along a flight trajectory that is an arc in plan view within that angle range. Note that "circling in the turning direction" can be selected only when "full circle" is selected as an option for the flight angle range θ.

[0071] In addition to the above-mentioned flight patterns, it may be possible to select whether or not to change the height in a predetermined range in the vertical direction based on the set flight height H. For example, when "orbit" is selected and "change height in the vertical direction" is selected, the drone 8 flies while orbiting and changing its height in the vertical direction. In other words, the drone 8 flies around the hydraulic excavator 1 in a manner that describes a wavy trajectory when viewed from the horizontal direction. By flying the drone 8 along a wavy flight trajectory, the visibility of the drone 8 can be improved.

[0072] In step S3 of FIG. 8, when the process of setting the flight pattern for each operation state is completed, the process of setting the light emission color and the light emission pattern for each operation state is started. The method of setting the light emission color is, for example, as follows. The pilot operates the console panel 36 to select one of the options of "red", "blue", "yellow", and "switch between red, blue and yellow" displayed on the display device 38. The setting unit 112 sets the light emission color of the drone 8 based on the selected information. That is, the setting unit 112 updates the data of the light emission color in the flight condition table (see FIG. 6) stored in the memory unit 114.

[0073] "Red" is a light emission color condition that causes the light-emitting device of drone 8 to emit red light. "Blue" is a light emission color condition that causes the light-emitting device of drone 8 to emit blue light. "Yellow" is a light emission color condition that causes the light-emitting device of drone 8 to emit yellow light. "Switching between red-blue-yellow" is a light emission color condition that switches the light emission color of the light-emitting device of drone 8 between red, blue, and yellow in that order at specified time intervals.

[0074] The method for setting the light emission pattern is, for example, as follows. The pilot operates the console panel 36 to select either the option "on" or "blinking" displayed on the display device 38. The setting unit 112 sets the light emission pattern of the drone 8 based on the selected information. That is, the setting unit 112 updates the data of the light emission pattern in the flight condition table (see FIG. 6) stored in the memory unit 114.

[0075] "Lighting" is a lighting pattern in which the light emitting device of the drone 8 continuously emits light of a color specified by the light emitting color conditions. "Blinking" is a lighting pattern in which the light emitting device of the drone 8 emits light of a color specified by the light emitting color conditions at a predetermined time interval.

[0076] When the setting process of step S3 in Fig. 8 is completed, the process proceeds to step S4. In step S4, the flight control data generation unit 113 determines whether or not there is a difference between the current data, i.e., the minimum flight radius and maximum flight radius determined in the process of step S2, and the flight trajectory and flight conditions set in the process of step S3, and the previous data. The process shown in the flowchart of Fig. 8 is executed every time the hydraulic excavator 1 transitions from an inoperable state (e.g., engine stopped) to an operable state (e.g., engine running). Therefore, the previous data refers to data calculated the previous time the hydraulic excavator 1 became operable.

[0077] If it is determined in step S4 that there is a difference between the current data and the previous data, the process proceeds to step S28, and if it is determined that there is no difference between the current data and the previous data, the process proceeds to step S29.

[0078] In step S28, the flight control data generating unit 113 generates flight control data based on the current data, i.e., the minimum flight radius and the maximum flight radius determined in the processing of step S2, and the flight trajectory and flight conditions set in the processing of step S3. The generated flight control data is stored in the storage unit 114. That is, the flight control data is updated. In step S29, the flight control data generating unit 113 does not generate flight control data. That is, the flight control data is not updated. Therefore, the non-volatile memory 102 remains in a state in which the flight control data generated in the previous step S28 is stored. The flight control data is control data for realizing flight along the set flight trajectory and operation according to the flight conditions for the drone 8. The flight control data includes data on the flight trajectory for flying the drone 8 within the flight area and operation control data for causing the drone 8 to execute the operation defined in the flight condition table. When the processing of step S28 or step S29 is completed, the processing shown in the flowchart of FIG. 8 is completed.

[0079] An example of the flow of processing for flight control of the drone 8 executed by the takeoff and landing controller 19 will be described with reference to the flowchart of Fig. 13. The processing shown in the flowchart of Fig. 13 is started, for example, by operating a flight start switch, which is an operation switch for starting the flight of the drone 8 on the console panel 36. Note that the flight start switch may be a voice switch that can start the flight of the drone 8 by the voice of the pilot instead of a switch operated by the pilot's finger.

[0080] 13, when flight control is started, in step S5, the flight control unit 116 reads out flight control data stored in the memory unit 114 and performs initial settings. In the next step S6, the door control unit 115 outputs a door open command to the drive unit of the door 10 of the hangar 9, and opens the door 10 of the hangar 9.

[0081] In the next step S7, the flight control unit 116 transmits a takeoff command to the drone 8. The takeoff command includes a control command to start flying the drone 8, information on the flight trajectory included in the flight control data, and a target position (target coordinates) set on the flight trajectory. When the drone 8 receives the takeoff command, the drive device 25 rotates the rotor 8a to start flying (i.e., takes off). The drone 8 flies toward the target position included in the takeoff command. The drone 8 transmits its own position information to the takeoff and landing equipment 7. The takeoff and landing controller 19 determines whether the drone 8 has reached the target position based on the position information of the drone 8. If it is determined that the drone 8 has reached the target position, the takeoff and landing controller 19 proceeds to the next step S8. The process of determining whether the drone 8 has reached the target position is repeatedly executed at a predetermined control period until the drone 8 reaches the target position.

[0082] In step S8, the door control unit 115 outputs a door close command to the drive unit of the door 10 of the hangar 9, and closes the door 10 of the hangar 9. In the next step S9, the flight control unit 116 transmits a control command according to the set flight conditions to the drone 8. In the initial setting, flight conditions when the shutoff valve is in a closed state are set. The set flight conditions are also referred to as set conditions hereinafter. Therefore, when the process proceeds from step S8 to step S9 and a control command is transmitted to the drone 8, the drone 8 lights up the light-emitting device of the alarm device 24 in blue and starts fixed-point flight at a fixed point position on the set flight trajectory (see FIG. 6).

[0083] In the next step S10, the flight control unit 116 determines whether or not any of the operation devices 12 (31 to 35) has been operated. If it is determined in step S10 that any of the operation devices 12 (31 to 35) has been operated, the process proceeds to step S11, and if it is determined that none of the operation devices 12 has been operated, the process proceeds to step S13.

[0084] In step S11, the flight control unit 116 determines whether or not the voltage of the battery 26 of the drone 8 has dropped to a voltage threshold or lower based on the status information transmitted from the drone 8 in flight. The voltage threshold is stored in the storage unit 114. If it is determined that the voltage of the battery 26 of the drone 8 has not dropped to a voltage threshold or lower, the process proceeds to step S12. If it is determined that the voltage of the battery 26 of the drone 8 has dropped to a voltage threshold or lower, the process proceeds to step S14.

[0085] In step S12, the flight control unit 116 uses the flight condition table (see FIG. 6) to set flight conditions according to the operation state, and proceeds to step S9. In step S14, the flight control unit 116 determines whether or not there is a separate individual that can be operated in any of the multiple hangars 9. If it is determined that there is no separate individual that can be operated, the process proceeds to step S13. If it is determined that there is a separate individual that can be operated, the process proceeds to step S16.

[0086] In step S13, the flight control unit 116 determines whether or not the return condition is satisfied. The return condition is satisfied when the pilot issues a return instruction using the return switch, or when it is determined in step S11 or step S15 that the voltage of the battery 26 has dropped to a voltage threshold or lower. The return switch is an operation switch that ends the flight of the drone 8, and is provided on the console panel 36. Note that the return switch may be a voice switch that allows the pilot to issue a return instruction by speaking, instead of a switch operated by the pilot's finger.

[0087] If the return condition is satisfied, the process proceeds to step S17. If the return condition is not satisfied, the process proceeds to step S15. In step S15, the flight control unit 116 executes the same process as in step S11. That is, in step S15, the flight control unit 116 determines whether or not the voltage of the battery 26 of the drone 8 has dropped to a voltage threshold or lower based on the status information transmitted from the drone 8 in flight. If it is determined that the voltage of the battery 26 of the drone 8 has not dropped to a voltage threshold or lower, the process proceeds to step S9. If it is determined that the voltage of the battery 26 of the drone 8 has dropped to a voltage threshold or lower, the process proceeds to step S14.

[0088] In step S16, the flight control unit 116 starts flight control of the separate individual determined to be operable in step S14, and proceeds to step S13.

[0089] In step S17, the door control unit 115 outputs a door open command to the drive unit of the door 10 of the hangar 9, and opens the door 10 of the hangar 9. In the next step S18, the flight control unit 116 transmits a return command to the drone 8. The return command includes identification information of the hangar 9, which is the return destination, and a control command to end the flight of the drone 8. When the drone 8 receives the return command, it starts flying toward the return destination. The flight control unit 116 determines whether or not the drone 8 has returned. When the drone 8 lands on the hangar 9, it transmits landing information indicating that it has landed to the takeoff and landing equipment 7. When the takeoff and landing controller 19 acquires the landing information from the drone 8, it determines that the drone 8 has returned, and proceeds to the process in step S19. The process of determining whether or not the drone 8 has returned is repeatedly executed at a predetermined control period until the landing information is acquired from the drone 8.

[0090] In step S19, the door control unit 115 outputs a door close command to the drive unit of the door 10 of the hangar 9 to close the door 10 of the hangar 9. This ends the flight control of the returned drone 8. Note that, when flight control of another individual is started in step S16, the process shown in the flowchart of FIG. 13 is executed with the other individual as the flight control target.

[0091] According to the above-described embodiment, the following advantageous effects are obtained.

[0092] (1) The work machine notification system 1000 includes a takeoff and landing controller 19 (controller 100) that controls a drone (unmanned aerial vehicle) 8 and causes the drone 8 to notify the surroundings of the hydraulic excavator 1 of a working range 900 of the hydraulic excavator (work machine). The hydraulic excavator 1 includes a vehicle body 51 having a traveling device 18, and a working device 52 attached to the vehicle body 51. The takeoff and landing controller 19 moves the drone 8 in accordance with the movement of the hydraulic excavator 1 within a flight area that is outside the working range 900 of the hydraulic excavator 1 and within a predetermined distance from the boundary of the working range 900, and causes the drone 8 to notify the surroundings of the hydraulic excavator 1 of the working range 900 of the hydraulic excavator 1. According to this configuration, the drone 8 is moved in accordance with the movement of the target hydraulic excavator 1, so that the boundary of the working range 900 of the hydraulic excavator 1 can be appropriately notified to the surroundings of the hydraulic excavator 1. Since the boundaries of the work range 900 can be known by the drone 8, it is possible to omit the deployment of guides to inform the operation of the hydraulic excavator 1, thereby reducing costs. In addition, the operator of the hydraulic excavator 1 does not need to operate the drone 8 in accordance with the movement of the hydraulic excavator 1. This makes it possible to easily operate the notification system 1000.

[0093] (2) The takeoff and landing controller 19 sets a minimum flight radius Rh0min and a maximum flight radius Rh0max based on the maximum working radius (working radius) Rwh0 of the hydraulic excavator 1 in the moving direction (horizontal direction) of the hydraulic excavator 1. The takeoff and landing controller 19 sets a flight trajectory of the drone 8 based on the minimum flight radius Rh0min and the maximum flight radius Rh0max and an arbitrary height (flight height) inputted through a console panel (input device) 36. By defining the flight trajectory based on the working radius, the worker can easily estimate the working range 900. In addition, by flying the drone 8 at an arbitrary height, the visibility of the drone 8 can be improved.

[0094] (3) The takeoff and landing controller 19 stores a plurality of operation states of the hydraulic excavator 1 in association with a plurality of flight patterns (see FIG. 6). The takeoff and landing controller 19 monitors the operation state of the hydraulic excavator 1 (step S10 in FIG. 13). The takeoff and landing controller 19 flies the drone 8 based on a flight pattern corresponding to the operation state of the hydraulic excavator 1 (steps S12 and S9 in FIG. 13). With this configuration, the worker can easily grasp the operation state of the hydraulic excavator 1.

[0095] (4) The flight trajectory is defined by the flight radius R, the flight height H, and the flight angle range θ. The flight radius R is set within a flight area from the minimum flight radius Rh0min to the maximum flight radius Rh0max. The flight radius R is selected from three radii defined based on the maximum working radius Rwh0. The three radii correspond to long, medium, and short distances from the turning center axis CL, respectively. The flight height H is selected from a reference height H0, which is the height of the boom pin, a second height H2 defined by the minimum flight radius Rv0min and the maximum flight radius Rv0max in the vertical direction, and a first height H1 intermediate between the reference height H0 and the second height H2. By defining the flight trajectory in this manner, the operator can more easily estimate the working range 900.

[0096] (5) The takeoff / landing controller 19 changes the flight pattern associated with the operation state based on the input information from the console panel (input device) 36 (step S3 in FIG. 8). With this configuration, the method of informing the operator of the work range 900 can be appropriately changed.

[0097] <Second embodiment> An alarm system 1000 according to a second embodiment of the present invention will be described with reference to Fig. 14 and Fig. 15. Note that the same reference symbols are used for configurations that are the same as or equivalent to those described in the first embodiment, and differences will be mainly described.

[0098] Fig. 14 is a functional block diagram of a flight control unit 216 according to the second embodiment. The flight control unit 216 of the second embodiment has various functions shown in Fig. 14 in addition to functions similar to those of the flight control unit 116 of the first embodiment. The flight control unit 216 has an obstacle information acquisition unit 221, a determination unit 222, an obstacle position calculation unit 223, an interference calculation unit 224, and a trajectory data correction unit 225. The details of each function shown in Fig. 14 will be described with reference to Fig. 15.

[0099] Fig. 15 is a flowchart showing an example of an obstacle detection process executed by the takeoff / landing controller 19 according to the second embodiment. The flowchart shown in Fig. 15 is started, for example, by executing the process of step S7 in Fig. 13, and is repeatedly executed at a predetermined control period until a return condition is satisfied. In other words, the flowchart shown in Fig. 15 is executed in parallel with the flowchart shown in Fig. 13.

[0100] As shown in FIG. 15, in step S20, the obstacle information acquisition unit 221 acquires obstacle information from the drone 8. The flight controller 23 of the drone 8 transmits the obstacle information to the takeoff and landing gear 7 at a predetermined control period. When an obstacle is not detected by the obstacle detection sensor 37, the flight controller 23 transmits information indicating that an obstacle is not detected as obstacle information. When an obstacle is detected by the obstacle detection sensor 37, the flight controller 23 transmits information indicating that an obstacle is detected and the position of the obstacle as obstacle information.

[0101] The position of the obstacle is specified by, for example, position coordinates in a global coordinate system. The obstacle may be, for example, a dump truck, a pile of natural ground, a worker, etc. The detection range of the obstacle detection sensor 37 includes at least a range within a predetermined distance from the boundary of the work range 900 toward the outside of the work range 900. In other words, the detection range of the obstacle detection sensor 37 includes at least a range from the boundary of the work range 900 to the maximum flight radius of the drone 8.

[0102] In the next step S21, the determination unit 222 executes the same process as step S13 in Fig. 13. That is, the determination unit 222 determines whether or not the feedback condition is satisfied. If the feedback condition is not satisfied, the process proceeds to step S23.

[0103] In step S23, the determination unit 222 determines whether or not an obstacle is present around the hydraulic excavator 1 based on the obstacle information acquired in step S20. If the determination unit 222 has acquired information indicating that an obstacle has not been detected, it determines that an obstacle is not present, and returns the process to step S20. If the determination unit 222 has acquired information indicating that an obstacle has been detected, it determines that an obstacle is present, and advances the process to step S24.

[0104] In step S24, the obstacle position calculation unit 223 calculates the position of the obstacle in the take-off and landing gear reference coordinate system or the hydraulic excavator reference coordinate system based on the position coordinate of the obstacle in the global coordinate system, which is the obstacle information acquired in step S20, and the position coordinate of the take-off and landing gear 7 in the global coordinate system. The position of the obstacle includes multiple position coordinates that represent the outer shape of the obstacle. Therefore, the obstacle position calculation unit 223 calculates the shape of the obstacle by calculating multiple positions that represent the outer shape of the obstacle. The position of the obstacle may be specified by the position coordinate in the take-off and landing gear reference system or the hydraulic excavator reference coordinate system, or may be specified by the direction and distance of the obstacle when the take-off and landing gear 7 is used as a reference. Note that the coordinates of the position of the drone 8 transmitted from the drone 8 to the take-off and landing gear 7 may be coordinates in the global coordinate system, or may be coordinates in the take-off and landing gear reference coordinate system based on the take-off and landing gear 7.

[0105] In the next step S25, the interference calculation unit 224 calculates a predicted flight trajectory when the drone 8 flies along the flight trajectory, taking into account the size of the drone 8. Information on the size of the drone 8, that is, dimensional data such as the width, length, and height of the drone 8, is stored in the storage unit 114.

[0106] In the next step S26, the interference calculation unit 224 determines whether or not the drone 8 will come into contact with the obstacle based on the flight prediction trajectory of the drone 8 calculated in step S25 and the position and shape of the obstacle calculated in step S24. If the flight prediction trajectory interferes with the obstacle, the interference calculation unit 224 determines that the drone 8 will come into contact with the obstacle and proceeds to step S27. If the flight prediction trajectory does not interfere with the obstacle, the interference calculation unit 224 determines that the drone 8 will not come into contact with the obstacle and returns the process to step S20.

[0107] In step S27, the trajectory data correction unit 225 corrects the flight trajectory so as to avoid the obstacle within the flight area. For example, the trajectory data correction unit 225 corrects the flight trajectory by changing the flight height H so as to avoid the obstacle. The trajectory data correction unit 225 may also correct the flight trajectory by changing the flight radius R so as to avoid the obstacle. Note that if interference with the obstacle cannot be avoided even if either the flight height H or the flight radius R is changed, the trajectory data correction unit 225 may change the flight angle range θ. The distance from the obstacle to the corrected flight trajectory can be set using the console panel 36.

[0108] In step S21, if the return condition is met, the flight control unit 216 transmits an end command for obstacle detection to the drone 8, and ends the process shown in the flowchart of Fig. 15. When the flight controller 23 of the drone 8 receives the end command for obstacle detection, it ends the obstacle detection process by the obstacle detection sensor 37.

[0109] Although not shown in the flowchart of Fig. 15, when an obstacle is detected or the flight trajectory is corrected, the display device 38 in the cab 53 may display that fact. This allows the operator of the hydraulic excavator 1 to know that an obstacle has been detected and that the flight trajectory of the drone 8 has been corrected.

[0110] In this way, when an obstacle is present on the flight trajectory of the drone 8, the takeoff and landing controller 19 according to the second embodiment corrects the flight trajectory to one that can avoid interference with the obstacle within the flight area (see FIG. 15). With this configuration, the drone 8 flying around the hydraulic excavator 1 can notify the working range 900 of the hydraulic excavator 1 while avoiding contact with the obstacle.

[0111] The following modification examples are also within the scope of the present invention, and it is also possible to combine the configurations shown in the modification examples with the configurations described in the above-described embodiments, combine the configurations described in the above different embodiments with each other, or combine the configurations described in the following different modification examples with each other.

[0112] <Modification Example 1> In the above-described embodiment, the minimum flight radius and the maximum flight radius were determined based on the maximum working radius Rwh0 at the reference height H0. However, as shown in FIG. 1, in the working range 900, the maximum working radius in the horizontal direction decreases as the distance from the hydraulic excavator 1 in the vertical direction increases. For this reason, the minimum flight radius and the maximum flight radius may be set for each selectable flight height.

[0113] In the example shown in FIG. 16, the minimum flight radius Rh0min and the maximum flight radius Rh0max corresponding to the reference height H0 are the same as those in the above-described embodiment. In this modification example, based on the maximum working radius Rwh1 at the first height Ha1, the minimum flight radius Rh1min and the maximum flight radius Rh1max are set (RWh1 ≦ Rh1min < Rh1max). Based on the maximum working radius Rwh2 at the second height Ha2, the minimum flight radius Rh2min and the maximum flight radius Rh2max are set (RWh2 ≦ Rh2min < Rh2max). Based on the maximum working radius Rwh3 at the third height Ha3, the minimum flight radius Rh3min and the maximum flight radius Rh3max are set (RWh3 ≦ Rh3min < Rh3max). The maximum working radius of each of the first height Ha1, the second height Ha2, and the third height Ha3 can be calculated from the shape of the working range 900. The flight trajectory at each height is set between the minimum flight radius and the maximum flight radius at that height. Also, as shown in FIG. 16, flight trajectories may be set for each of the plurality of drones 8.

[0114] In this modified example 1, the working range 900 is defined by the maximum working radius (working radius) Rwh0 of the hydraulic excavator 1 in the moving direction (horizontal direction) of the hydraulic excavator 1 and the maximum working radius (working radius) Rwv0 of the hydraulic excavator 1 in the vertical direction perpendicular to the moving direction. The takeoff and landing controller 19 reduces the minimum flight radius and maximum flight radius that define the flight area as the distance from the hydraulic excavator 1 in the vertical direction increases. In this configuration, the minimum flight radius and maximum flight radius become smaller as the flight height increases. This makes it possible to accurately notify the boundary of the hemispherical (dome-shaped) working range 900. Also, in this modified example 1, by flying multiple drones 8 along flight trajectories at different heights, it becomes easier for workers to grasp the shape of the working range 900.

[0115] <Variation 2> In the above embodiment, an example has been described in which the work machine is a crawler-type hydraulic excavator 1. However, the work machine is not limited to the crawler-type hydraulic excavator 1. The present invention can be applied to various work machines equipped with a travelling body and a work implement, such as a wheeled hydraulic excavator, a crawler crane, a wheel loader, etc. The present invention may also be applied to an electrically driven work machine equipped with an electric motor as a prime mover instead of an engine. In this case, the flowchart shown in FIG. 8 is executed when the power is turned on by a start switch and the hydraulic excavator 1 changes from an inoperable state to an operable state.

[0116] Although the embodiments of the present invention have been described above, the above-mentioned embodiments merely show some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above-mentioned embodiments. [Explanation of symbols]

[0117] 1 hydraulic excavator (working machine), 5 rotating body, 6 running body, 7 takeoff and landing gear, 8 drone (unmanned aerial vehicle), 9 hangar, 10 door (lid), 12 operation device, 13 vehicle controller (controller), 14 valve device, 15 power supply device, 16 hydraulic cylinder, 17 rotating device, 18 running device, 19 takeoff and landing controller (controller), 20 charging device, 21 communication device, 22 communication device, 23 flight controller (controller), 24 alarm device, 25 drive device, 26 battery, 27 hydraulic pump, 31, 32 operation lever (operation device), 33, 34 travel pedal (operation device), 35 gate lock lever (operation device), 36 console panel (input device), 37 obstacle detection sensor, 38 display device, 51 vehicle body, 52 work device, 53 cab (operator's cab), 100 Controller, 101 processing device, 102 non-volatile memory (storage device), 103 volatile memory (storage device), 110 information acquisition unit, 111 flight radius calculation unit, 112 setting unit, 113 flight control data generation unit, 114 memory unit, 115 door control unit, 116 flight control unit, 216 flight control unit, 221 obstacle information acquisition unit, 222 judgment unit, 223 obstacle position calculation unit, 224 interference calculation unit, 225 trajectory data correction unit, 900 working range, 1000 work machine warning system, CL turning center axis, R flight radius, θ flight angle range

Claims

1. A notification system for a work machine including a controller that controls an unmanned aerial vehicle and causes the unmanned aerial vehicle to notify surroundings of a work range of the work machine, The work machine includes a vehicle body having a traveling device and a work device attached to the vehicle body, the controller moves the unmanned aerial vehicle in accordance with the movement of the work machine within a flight area outside the work range of the work machine and within a predetermined distance from a boundary of the work range, and causes the unmanned aerial vehicle to notify the surroundings of the work machine of the work range of the work machine. A work machine notification system comprising:

2. The warning system for a work machine according to claim 1, When an obstacle is present on the flight trajectory of the unmanned aerial vehicle, the controller corrects the flight trajectory to a flight trajectory that can avoid interference with the obstacle within the flight area. A work machine notification system comprising:

3. The warning system for a work machine according to claim 1, The controller: setting a minimum flight radius and a maximum flight radius based on a working radius of the work machine in a moving direction of the work machine; A flight trajectory of the unmanned aerial vehicle is set based on the minimum flight radius, the maximum flight radius, and an arbitrary height input by an input device. A work machine notification system comprising:

4. The warning system for a work machine according to claim 1, the working range is defined by a working radius of the work machine in a direction of movement of the work machine and a working radius of the work machine in a vertical direction perpendicular to the direction of movement, The controller reduces a minimum flight radius and a maximum flight radius that define the flight area as the distance from the work machine in the vertical direction increases. A work machine notification system comprising:

5. The warning system for a work machine according to claim 1, The controller stores a plurality of operation states of the work machine in association with a plurality of flight patterns, The controller: monitoring an operational state of the work machine; flying the unmanned aerial vehicle based on the flight pattern corresponding to the operation state of the work machine; A work machine notification system comprising:

6. The warning system for a work machine according to claim 5, The controller changes the flight pattern associated with the operation state based on input information from an input device. A work machine notification system comprising:

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