Notification method and work vehicle

Abstract

To provide a notification method and a work vehicle capable of intuitively recognizing a direction at which a body to be detected exists with respect to the work vehicle.SOLUTION: A notification method is used in a work vehicle 1 including a travel device 7, and a vehicle body 2 which is turnably supported on the upper part of the travel device 7. The notification method includes notification that a body to be detected exists in a monitoring region set in a detectable region of a detection unit 20 installed in the vehicle body 2. When the body to be detected is out of the monitoring region, the notification method does not perform notification even though the existence of the body to be detected is detected by the detection unit 20, regardless of the type of the body to be detected.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a notification method and a work vehicle.

Background Art

[0002] The peripheral monitoring device for a work vehicle described in Patent Document 1 includes a human detection sensor, a human presence determination means, and three alarm output units. The human detection sensor is a device for detecting a person existing around the work vehicle. The human presence determination means determines the presence or absence of a person around the work vehicle based on the output of the human detection sensor. Based on the determination result of the human presence determination means, all three alarm output units output an alarm.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the peripheral monitoring device for a work vehicle of Patent Document 1, it may not be possible to intuitively recognize in which direction a person (detected object) exists among the surroundings of the work vehicle. In addition, there are cases where the operator may feel annoyed when even the presence of a detected object that has little influence on the work of the work vehicle is notified.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide a notification method and a work vehicle capable of suppressing the annoyance of the operator caused by the notification of the presence of a detected object that has little influence on the work of the work vehicle.

Means for Solving the Problems

[0006] The notification method according to one aspect is a notification method used for a work vehicle including a traveling device and a vehicle body rotatably supported on the upper part of the traveling device, and includes notifying that a detected object exists in a monitoring area set within a detectable area of a detection unit installed in the vehicle body. When the detected object is outside the monitoring area, regardless of the type of the detected object, no notification is made even if the existence of the detected object is detected by the detection unit.

[0007] A work vehicle according to one aspect includes a traveling device, a vehicle body rotatably supported on the upper part of the traveling device, a detection unit installed in the vehicle body, and a notification unit. The notification unit notifies that a detected object exists in a monitoring area set within a detectable area of the detection unit. When the detected object is outside the monitoring area, regardless of the type of the detected object, the notification unit does not make a notification even if the existence of the detected object is detected by the detection unit.

Advantages of the Invention

[0008] According to the present invention, the direction in which a detected object exists with respect to the work vehicle can be intuitively recognized.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments. Note that descriptions of overlapping parts may be omitted as appropriate. Also, in the drawings, the same or corresponding parts are denoted by the same reference numerals and the description will not be repeated.

[0011] First, referring to FIG. 1, the work vehicle 1 according to the embodiment of the present invention will be described. Hereinafter, the case where the work vehicle 1 is a hydraulic excavator will be taken as an example to describe this embodiment. The hydraulic excavator is an example of construction machinery.

[0012] FIG. 1 is a perspective view showing the work vehicle 1 according to this embodiment. As shown in FIG. 1, the work vehicle 1 of this embodiment includes a vehicle body 2, a traveling device 7, and a working unit 8.

[0013] The vehicle body 2 is supported by the traveling device 7. Specifically, the vehicle body 2 is disposed, for example, on the upper part of the traveling device 7 via a slewing bearing. The vehicle body 2 is rotatably supported by the traveling device 7.

[0014] In addition, the vehicle body 2 includes a cab 6. Hereinafter, in this specification, "right" indicates the right when looking forward from the cab 6. "Left" indicates the left when looking forward from the cab 6. In the example of FIG. 1, the cab 6 is disposed in the left region of the vehicle body 2. In this embodiment, the cab 6 includes a first frame 6a and a second frame 6b extending along the height direction. The first frame 6a is located, for example, on the left front side of the cab 6. The second frame 6b is located, for example, on the right rear side of the cab 6.

[0015] Furthermore, the vehicle body 2 includes a detection unit 20. The detection unit 20 is a ranging sensor such as, for example, a TOF (Time Of Flight) camera. The TOF camera is, for example, a lidar.

[0016] The detection unit 20 detects the state of the surrounding environment of the work vehicle 1. Specifically, the detection unit 20, for example, emits light around the work vehicle 1 and receives the reflected light. Then, as a detection result of the detection unit 20, a signal corresponding to the received reflected light is output to a specific unit 12 described later. That is, the detection unit 20 outputs a signal indicating the state of the surrounding environment of the work vehicle 1 to the specific unit 12 described later. Note that the detection unit 20 may be, for example, a millimeter-wave radar, a camera, or a stereo camera.

[0017] The detection unit 20 includes, for example, a plurality of detection parts 20a. In the present embodiment, the detection unit 20 includes three detection parts 20a. The detection unit 20 is arranged, for example, in the cab 6. That is, the plurality of detection parts 20a are arranged, for example, in the cab 6. When the detection unit 20 is arranged in the cab 6, for example, when the cab 6 is vibration-proofed, the vibration-proofing process for the detection unit 20 may be omitted. The cab 6 is supported, for example, via vibration-proof rubber on a frame (turning frame) provided in the vehicle body 2.

[0018] One of the plurality of detection parts 20a, a detection part 21, is, for example, on the left side of the cab 6 and is arranged above the front side of the cab 6. Specifically, the detection part 21 is supported, for example, by a support member 21a such as a bracket arranged on the upper part of the first frame 6a. Hereinafter, the detection part 21 may be described as the "first detection part 21". Note that, for example, a camera may be mounted on the support member 21a. The camera mounted on the support member 21a images, for example, the environment on the left side of the work vehicle 1.

[0019] Further, another one of the plurality of detection units 20a, i.e., the detection unit 22, is disposed, for example, on the right side of the cab 6 and above the rear side of the cab 6. Specifically, the detection unit 22 is supported by a support member 22a such as a bracket that is bridged from the upper surface of the cab 6 to the second frame 6b. Hereinafter, the detection unit 22 may be referred to as the "second detection unit 22". Note that, for example, a camera may be mounted on the support member 22a. The camera mounted on the support member 22a images the environment on the right side of the work vehicle 1.

[0020] Furthermore, yet another one of the plurality of detection units 20a, i.e., the detection unit 23, is disposed, for example, on the right side of the cab 6 and below the rear side of the cab 6. Specifically, the detection unit 23 is supported by a support member 23a such as a bracket disposed at the lower part of the second frame 6b of the cab 6. Hereinafter, the detection unit 23 may be referred to as the "third detection unit 23". Note that, for example, a camera may be mounted on the support member 23a. The camera mounted on the support member 23a images the environment behind the work vehicle 1.

[0021] Note that the arrangement of each of the plurality of detection units 20a changes according to the structure of the work vehicle 1.

[0022] The working unit 8 performs work. In the present embodiment, the working unit 8 includes a boom 3, an arm 4, a bucket 5, a boom actuator 50, an arm actuator 60, and an attachment actuator 70.

[0023] The boom 3 is swingably supported by the vehicle body 2 about a first pivot point R1 (see FIG. 5).

[0024] The boom actuator 50 operates the boom 3. Specifically, the boom actuator 50 is driven by hydraulic oil and swings the boom 3 about the first pivot point R1. The boom actuator 50 includes a boom cylinder 51 and a boom piston 52. The boom cylinder 51 advances and retracts the boom piston 52 by hydraulic oil to operate the boom 3.

[0025] The arm 4 is swingably supported by the boom 3 about the second pivot point R2.

[0026] The arm actuator 60 actuates the arm 4. Specifically, the arm actuator 60 is driven by hydraulic oil and swings the arm 4 about the second pivot point R2. The arm actuator 60 includes an arm cylinder 61 and an arm piston 62. The arm cylinder 61 advances and retracts the arm piston 62 by hydraulic oil to actuate the arm 4.

[0027] The bucket 5 is a type of attachment. The bucket 5 is swingably supported by the arm 4 about the third pivot point R3.

[0028] The attachment actuator 70 actuates the bucket 5. Specifically, the attachment actuator 70 is driven by hydraulic oil and swings the bucket 5 about the third pivot point R3. The attachment actuator 70 includes an attachment cylinder 71 and an attachment piston 72. The attachment cylinder 71 advances and retracts the attachment piston 72 by hydraulic oil to actuate the bucket 5.

[0029] The traveling device 7 travels the work vehicle 1. In the present embodiment, the traveling device 7 is a crawler-type traveling device. That is, the traveling device 7 includes a pair of crawlers 7a and a pair of hydraulic motors (not shown).

[0030] Next, with reference to FIGS. 2 and 3, the work vehicle 1 will be further described. FIG. 2 is a block diagram showing the work vehicle 1. As shown in FIG. 2, the work vehicle 1 further includes a control device 10, a notification device 30, an engine unit 120, a hydraulic pump 200, a control valve 300, and a hydraulic oil tank 400.

[0031] The control device 10 controls the notification device 30 and the engine unit 120. The control device 10 is, for example, an ECU (Electronic Control Unit). Specifically, the control device 10 includes a control unit 11 and a storage unit 16.

[0032] The storage unit 16 includes a storage device and stores data and computer programs. Specifically, the storage unit 16 includes a main storage device such as a semiconductor memory, and an auxiliary storage device such as a semiconductor memory, a solid state drive, and / or a hard disk drive. The storage unit 16 may include a removable medium. The storage unit 16 corresponds to an example of a non-transitory computer-readable storage medium.

[0033] The control unit 11 includes a processor such as a CPU (Central Processing Unit). The processor of the control unit 11 executes the computer program stored in the storage device of the storage unit 16 to control the notification device 30 and the engine unit 120.

[0034] Also, the processor of the control unit 11 functions as a specifying unit 12 and a notification control unit 15 by executing the computer program stored in the storage device of the storage unit 16. That is, the control unit 11 includes the specifying unit 12 and the notification control unit 15. The specifying unit 12 includes a position specifying unit 13 and a type specifying unit 14. The notification control unit 15 controls the notification unit 31 and the display unit 34 of the notification device 30. Details of the specifying unit 12 and the notification control unit 15 will be described later.

[0035] The engine unit 120 includes an engine 121 and an engine control unit 122. The engine control unit 122 is, for example, an ECU. Fuel is supplied to the engine 121 from a fuel tank (not shown).

[0036] The engine 121 drives the hydraulic pump 200. As a result, the hydraulic pump 200 sends out pressurized oil to the control valve 300. Pressurized oil refers to hydraulic oil under pressure. The control valve 300 controls the flow of the pressurized oil. The control valve 300 supplies the pressurized oil to a hydraulic motor (not shown) for turning the vehicle body 2, the boom cylinder 51, the arm cylinder 61, the attachment cylinder 71, and each hydraulic motor (not shown) of the traveling device 7. As a result, the hydraulic motor, the boom cylinder 51, the arm cylinder 61, the attachment cylinder 71, and each hydraulic motor of the traveling device 7 are driven. For example, as the rotational speed of the engine 121 decreases, the oil discharge amount of the hydraulic pump 200 decreases, and the operating speeds of the vehicle body 2, the traveling device 7, and the working unit 8 decrease. Also, for example, as the rotation of the engine 121 stops, the hydraulic pump 200 stops, and the operations of the vehicle body 2, the traveling device 7, and the working unit 8 stop.

[0037] The notification device 30 includes a notification unit 31, a display unit 34, and at least one operation unit 40. Specifically, the notification device 30 includes a plurality of operation units 40 (for example, three operation units 40).

[0038] The notification unit 31 includes at least one visual notification unit 32 and an auditory notification unit 33. Specifically, the notification unit 31 includes a plurality of visual notification units 32 (for example, three visual notification units 32) and the auditory notification unit 33.

[0039] The visual notification unit 32 is, for example, an LED (Light Emitting Diode). That is, the visual notification unit 32 emits light, for example. The plurality of visual notification units 32 are respectively associated with a plurality of monitoring areas DA (monitoring area DA1 to monitoring area DA3). Hereinafter, the visual notification unit 32 associated with the monitoring area DA1 is referred to as the "first visual notification unit 32a". Also, the visual notification unit 32 associated with the monitoring area DA2 is referred to as the "second visual notification unit 32b". Furthermore, the visual notification unit 32 associated with the monitoring area DA3 is referred to as the "third visual notification unit 32c". The monitoring areas DA (monitoring area DA1 to monitoring area DA3) will be described later.

[0040] In the present embodiment, the auditory notification unit 33 is, for example, a buzzer.

[0041] The display unit 34 is constituted by a display such as a liquid crystal display or an organic EL display, for example. The display unit 34 displays, for example, the imaging result captured by the cameras mounted on the support members 21a, 22a, and 23a.

[0042] The operation unit 40 receives an operation from an operator and outputs the operation result to the notification control unit 15. The operation unit 40 is, for example, a push button. In the present embodiment, the plurality of operation units 40 are respectively associated with a plurality of monitoring areas DA (monitoring area DA1 to monitoring area DA3). Hereinafter, the operation unit 40 associated with the monitoring area DA1 is referred to as the "first operation unit 41". Also, the operation unit 40 associated with the monitoring area DA2 is referred to as the "second operation unit 42". Furthermore, the operation unit 40 associated with the monitoring area DA3 is referred to as the "third operation unit 43". The monitoring areas DA (monitoring area DA1 to monitoring area DA3) will be described later.

[0043] In addition, when the display unit 34 is provided with a touch panel, the operation unit 40 may be displayed on the display unit 34 as a widget of a GUI (Graphical User Interface). In this case, the display unit 34 displays, for example, a plurality of operation units 40 as widgets. Further, the operation unit 40 may function as a touch panel included in the display unit 34.

[0044] FIG. 3 is a perspective view showing the cab 6. In FIG. 3, the roof of the cab 6 is omitted for easy viewing of the drawing.

[0045] The cab 6 includes a driver's seat 6c, a plurality of operation levers 6d, and an operation device 113. Further, an alarm device 30 is arranged inside the cab 6. The plurality of operation levers 6d, the alarm device 30, and the operation device 113 are arranged in front of the driver's seat 6c. Although not shown in FIG. 3, the auditory alarm unit 33 is also arranged inside the cab 6.

[0046] An operator sits on the driver's seat 6c. The operator is the driver of the work vehicle 1. Each of the plurality of operation levers 6d receives an operation from the operator. The operation lever 6d is an operation member for operating the work vehicle 1.

[0047] The operation device 113 receives various operations on the work vehicle 1 and displays various information regarding the work vehicle 1.

[0048] A plurality of visual alarm units 32 are arranged in the alarm device 30. Therefore, the operator can visually recognize the plurality of visual alarm units 32 while operating the work vehicle 1 without turning the operator's face to the right, left, or rear. As a result, compared with the case where the plurality of visual alarm units are respectively arranged on the right, left, and rear of the driver's seat, the burden on the operator when visually recognizing the plurality of visual alarm units 32 can be reduced.

[0049] In this embodiment, the first visual notification unit 32a to the third visual notification unit 33c are arranged in a row along the display unit 34 in the notification device 30. Specifically, in the notification device 30, the first visual notification unit 32a is arranged on the left side, the second visual notification unit 32b is arranged between the first visual notification unit 32a and the third visual notification unit 32c, and the third visual notification unit 32c is arranged on the right side. That is, the first visual notification unit 32a, the second visual notification unit 32b, and the third visual notification unit 32c are arranged so as to be associated with the positions of the monitoring areas DA1 to DA3, respectively. Therefore, since the visual notification unit 32 can be arranged along the edge of the display unit 34, while miniaturizing the notification device 30, the operator can intuitively recognize that the first visual notification unit 32a, the second visual notification unit 32b, and the third visual notification unit 32c are associated with the monitoring area DA1, the monitoring area DA2, and the monitoring area DA3, respectively. The monitoring areas DA1 to DA3 will be described later.

[0050] Note that in the notification device 30, the first visual notification unit 32a to the third visual notification unit 32c may be arranged so as to form the vertices of a triangle so as to be associated with the positions of the first detection unit 21 to the third detection unit 23. For example, in the notification device 30, the third visual notification unit 32c is arranged on the lower side, the first visual notification unit 32a is arranged on the upper left of the third visual notification unit 32c, and the second visual notification unit 32b is arranged on the upper right of the third visual notification unit 32c. As a result, the operator can more intuitively recognize that the first visual notification unit 32a, the second visual notification unit 32b, and the third visual notification unit 32c are associated with the monitoring area DA1, the monitoring area DA2, and the monitoring area DA3, respectively.

[0051] Furthermore, as an example, the first visual notification unit 32a and the first operation unit 41 are configured as one unit, the second visual notification unit 32b and the second operation unit 42 are configured as one unit, and the third visual notification unit 32c and the third operation unit 43 are configured as one unit. Therefore, the notification device 30 can be miniaturized as compared with the case where the first visual notification unit 32a and the first operation unit 41 are configured separately. When the first visual notification unit 32a and the first operation unit 41 are configured as one unit, for example, the first operation unit 41 is a push button, the first visual notification unit 32a is an LED, and the LED emits light from the back of the push button so that the push button lights up. Specifically, the first visual notification unit 32a and the first operation unit 41 constitute, for example, an illuminated push button switch. The same applies to the case where the second visual notification unit 32b and the second operation unit 42 are configured as one unit, and the case where the third visual notification unit 32c and the third operation unit 43 are configured as one unit. Note that the first visual notification unit 32a and the first operation unit 41 may be configured separately, but in this case, it is preferable that the first visual notification unit 32a and the first operation unit 41 are arranged in the vicinity of each other. The same applies to the case where the second visual notification unit 32b and the second operation unit 42 are separated, and the case where the third visual notification unit 32c and the third operation unit 43 are configured separately.

[0052] Next, with reference to FIGS. 4 and 5, the monitoring area DA set in the work vehicle 1 will be described. FIG. 4 is a diagram showing the monitoring area DA set in the work vehicle 1 according to the present embodiment. In FIG. 4, the work vehicle 1 as viewed from above is shown.

[0053] As shown in FIG. 4, the working unit 8 has a movable area MA. The movable area MA is an area that the working unit 8 can reach in a plan view. The movable area MA is, for example, an area that the working unit 8 can reach by turning the vehicle body 2 or extending the working unit 8 with the traveling device 7 stopped in a plan view. Also, the outer edge EG of the movable area MA corresponds to the position of the tip 8a of the working unit 8 extended to the maximum extent in a plan view. That is, the outer edge EG indicates the maximum position that the working unit 8 can reach in a plan view. Note that the plan view indicates viewing the work vehicle 1 from directly above.

[0054] In this embodiment, the movable area MA includes a first area A1 and a second area A2. In this embodiment, the first area A1 is closer to the work vehicle 1 than the second area A2. The first area A1 has, for example, a substantially circular shape. Also, the first area A1 is, for example, an area within the movable area MA that is less than 6 m from the center of the work vehicle 1. The second area A2 has, for example, a substantially circular band shape. Also, the second area A2 is, for example, an area within the movable area MA that is 6 m or more and less than 7 m from the center of the work vehicle 1.

[0055] Also, in this embodiment, the first area A1 includes a third area A3 and a fourth area A4. In this embodiment, the third area A3 is closer to the work vehicle 1 than the fourth area A4. The third area A3 has, for example, a substantially circular shape. Also, the third area A3 is, for example, an area within the first area A1 that is less than 4 m from the center of the work vehicle 1. The fourth area A4 has, for example, a substantially circular band shape. Also, the fourth area A4 is, for example, an area within the first area A1 that is 4 m or more and less than 5 m from the center of the work vehicle 1.

[0056] Furthermore, in this embodiment, the third area A3 includes a fifth area A5 and a sixth area A6. In this embodiment, the fifth area A5 is closer to the work vehicle 1 than the fourth area A4. The fifth area A5 has, for example, a substantially circular shape. The fifth area A5 is, for example, an area within the third area A3 that is less than 3 m from the center of the work vehicle 1. The sixth area A6 has, for example, a substantially circular band shape. Also, the sixth area A6 is, for example, an area within the third area A3 that is 3 m or more and less than 4 m from the work vehicle 1.

[0057] Within the detectable area of the detection unit 20, a plurality of monitoring areas DA are set. Specifically, the plurality of monitoring areas DA are set, for example, in an area where the movable area MA of the working unit 8 and the detectable area of the detection unit 20 overlap. Each of the plurality of monitoring areas DA is set at an arbitrary position, for example, in an area where the movable area MA and the detectable area of the detection unit 20 overlap. For example, in an area where the movable area MA and the detectable area of the detection unit 20 overlap, the plurality of monitoring areas DA are set on one side (left side) of the driver's seat 6c, on the other side (right side) of the driver's seat 6c, and behind the driver's seat 6c, respectively. Here, the area detectable by the detection unit 20 is the maximum area detectable by the detection unit 20. Hereinafter, the area detectable by the detection unit 20 is referred to as the detectable area NA. The detectable area NA is changed according to the specifications of the detection unit 20.

[0058] In the present embodiment, the plurality of monitoring areas DA are set in an area where the movable area MA and the detectable area of each of the plurality of detection units 20a included in the detection unit 20 overlap. Here, the area detectable by each of the plurality of detection units 20a is the maximum area detectable by each of the plurality of detection units 20a. Hereinafter, the detectable area of the first detection unit 21 among the plurality of detection units 20a is referred to as the detectable area NA1. The detectable area of the second detection unit 22 among the plurality of detection units 20a is referred to as the detectable area NA2. Further, the detectable area of the third detection unit 23 among the plurality of detection units 20a is referred to as the detectable area NA3.

[0059] Hereinafter, among the plurality of monitoring areas DA, the monitoring area DA in which the movable area MA and the detectable area NA1 of the first detection unit 21 overlap is referred to as the monitoring area DA1. That is, the first detection unit 21 corresponds to the monitoring area DA1. In the present embodiment, the monitoring area DA1 is set on one side (left side) of the driver's seat 6c. The monitoring area DA1 is indicated by diagonal lines. Also, among the plurality of monitoring areas DA, the monitoring area DA in which the movable area MA and the detectable area NA2 of the second detection unit 22 overlap is referred to as the monitoring area DA2. That is, the second detection unit 22 corresponds to the monitoring area DA2. In the present embodiment, the monitoring area DA2 is set on the other side (right side) of the driver's seat 6c. The monitoring area DA2 is indicated by diagonal lines. Further, among the plurality of monitoring areas DA, the monitoring area DA in which the movable area MA and the detectable area NA3 of the third detection unit 23 overlap is referred to as the monitoring area DA3. That is, the third detection unit 23 corresponds to the monitoring area DA3. In the present embodiment, the monitoring area DA3 is set behind the driver's seat 6c. The monitoring area DA3 is indicated by diagonal lines. Therefore, the plurality of monitoring areas DA (monitoring area DA1 to monitoring area DA3) are set in the area around the work vehicle 1 that is difficult to see from the operator sitting on the driver's seat 6c.

[0060] In the present embodiment, a part of the monitoring area DA overlaps with a part of another monitoring area DA. For example, a part of the monitoring area DA1 overlaps with a part of the monitoring area DA3. Also, for example, a part of the monitoring area DA2 overlaps with a part of the monitoring area DA3. Therefore, the area outside the monitoring area DA can be reduced from the side to the rear of the work vehicle 1 among the surroundings of the work vehicle 1. Thus, the detection omission of the detected object P by the plurality of detection units 20a can be suppressed. The detected object P will be described later.

[0061] FIG. 5 is a diagram showing the monitoring area DA set in the work vehicle 1 according to the present embodiment. In FIG. 5, the work vehicle 1 as viewed from the side is shown.

[0062] As shown in FIG. 5, the monitoring area DA is, for example, an area at a height of at least a first height He1 from the ground Gd in contact with the work vehicle 1. The first height He1 is, for example, 50 cm. Note that the monitoring area DA may be, for example, an area H that is at least the first height He1 and at most a second height He2. The second height He2 indicates the height of the detection unit 20 with respect to the ground Gd. When the detection unit 20 includes a plurality of detection parts 20a and the heights at which the respective detection parts 20a are located are different, the second height He2 is set for each monitoring area DA assigned to each of the plurality of detection parts 20a. The first height He1 is an example of the "predetermined height".

[0063] Next, with continued reference to FIG. 4, the notification by the notification unit 31 will be described.

[0064] The specifying unit 12 of the control device 10 specifies the monitoring area DA in which the detected object P exists based on the detection result of the detection unit 20. Specifically, the specifying unit 12 analyzes the signal output from the detection unit 20 (a signal indicating the state of the surrounding environment of the work vehicle 1) to specify the monitoring area DA in which the detected object P exists. In the present embodiment, the specifying unit 12 specifies the monitoring area DA in which the detected object P exists based on the detection result of each of the plurality of detection parts 20a. Specifically, the specifying unit 12 analyzes the signals (signals indicating the state of the surrounding environment of the work vehicle 1) output from each of the plurality of detection parts 20a to specify the monitoring area DA in which the detected object P exists. The detected object P is, for example, an obstacle existing in the monitoring area DA. The obstacle is, for example, an existence that hinders the work vehicle 1 from performing work. Specifically, the obstacle is, for example, a person, a work machine different from the work vehicle 1, a building, a utility pole, or a tree.

[0065] For example, in the example shown in FIG. 4, the specifying unit 12 specifies the monitoring area DA2 in which the detected object P exists and the monitoring area DA3 in which the detected object P exists based on the detection result of each of the plurality of detection parts 20a. Hereinafter, the detected object P existing in the monitoring area DA2 may be described as the detected object P1. Also, the detected object P existing in the monitoring area DA3 may be described as the detected object P2.

[0066] Based on the identification result of the identification unit 12, the notification control unit 15 controls the notification unit 31 to notify that the detected object P exists in the identified monitoring area DA. As a result, the notification unit 31 notifies that the detected object P exists in the monitoring area DA based on the identification result of the identification unit 12.

[0067] Therefore, since the operator can recognize that the detected object P exists in the monitoring area DA, the operator can intuitively recognize the direction in which the detected object P exists with respect to the work vehicle 1. That is, the operator can intuitively recognize in which of the plurality of monitoring areas DA the detected object P exists. As a result, for example, the operator can be alerted so that the work vehicle 1 does not come into contact with the detected object P. When the detected object P exists in an area where a part of the monitoring area DA overlaps with a part of another monitoring area DA, for example, the notification control unit 15 may control the notification unit 31 to notify that the detected object P exists in the monitoring area DA and the other monitoring area DA.

[0068] In the present embodiment, the visual notification unit 32 visually notifies that the detected object P exists in the monitoring area DA specified by the specifying unit 12. For example, the visual notification unit 32 visually notifies that the detected object P exists in the monitoring area DA specified by the specifying unit 12 by emitting light. Specifically, for example, the visual notification unit 32 visually notifies that the detected object P exists in the monitoring area DA specified by the specifying unit 12 by flashing.

[0069] More specifically, the notification control unit 15 controls the visual notification unit 32 so as to blink the visual notification unit 32 associated with the monitoring area DA where the detected object P exists. As a result, the visual notification unit 32 visually notifies, by blinking, that the detected object P exists in the specified monitoring area DA. Therefore, the operator can intuitively recognize the direction in which the detected object P exists with respect to the work vehicle 1. For example, when the detected object P does not exist in the monitoring area DA, the visual notification unit 32 lights continuously (keeps lighting). Note that the visual notification unit 32 may be turned off, for example, when the detected object P does not exist in the monitoring area DA. Also, when the detected object P does not exist in the monitoring area DA, the visual notification unit 32 may light in a predetermined color and light in another color in response to the specifying unit 12 specifying the monitoring area DA where the detected object P exists.

[0070] For example, in the example shown in FIG. 4, the specifying unit 12 specifies that the detected object P1 exists in the monitoring area DA2 and the detected object P2 exists in the monitoring area DA3. Therefore, the notification control unit 15 controls the second visual notification unit 32b and the third visual notification unit 32c so that the second visual notification unit 32b and the third visual notification unit 32c blink based on the specifying result of the specifying unit 12. As a result, the second visual notification unit 32b and the third visual notification unit 32c blink. Therefore, the operator can intuitively recognize that the detected objects P1 and P2 exist in the directions of the monitoring area DA2 and the monitoring area DA3, respectively, with respect to the work vehicle 1.

[0071] Also, as described above with reference to FIG. 5, according to the present embodiment, the monitoring area DA is an area where the movable area MA of the working unit 8 and the detectable area NA that can be detected by the detection unit 20 overlap. Therefore, even when a detected object P existing inside the detectable area NA and outside the movable area MA of the working unit 8 is detected, the notification unit 31 does not operate. As a result, it is possible to reduce the annoyance of the operator caused by being notified that a detected object P exists at a position where it does not come into contact with the working unit 8.

[0072] Further, even when the detection target P exists at a position where the working unit 8 can reach, if the position where the detection target P exists is outside the monitoring area DA, the notification unit 31 does not operate. For example, as described with reference to FIG. 5, the monitoring area DA is, for example, an area at a height of not less than the first height He1 from the ground Gd in contact with the work vehicle 1. That is, even when the detection target P exists at a position where the working unit 8 can reach, if the height of the detection target P is less than the first height He1, the notification unit 31 does not operate. Therefore, it is possible to suppress the notification to the operator of the existence of the detection target P having a height less than the first height He1. For example, when the height of the detection target P is less than the first height He1, even if the detection target P and the working unit 8 come into contact with each other, there is a high possibility that the risk is low. Therefore, it is possible to suppress the annoyance of the operator caused by the notification of the existence of the detection target P that has little influence on the work of the working unit 8.

[0073] In the present embodiment, the notification control unit 15 controls the notification unit 31 so as to continue the notification that the detection target P exists in the monitoring area DA until the operation unit 40 receives an operation. As a result, the notification unit 31 continues to notify that the detection target P exists in the monitoring area DA until the operation unit 40 receives an operation. Specifically, in the present embodiment, in a state where the visual notification unit 32 blinks, the visual notification unit 32 continues to blink until the operation unit 40 is pressed.

[0074] Further, in the present embodiment, while the notification unit 31 notifies that the detection target P exists in the monitoring area DA, the notification control unit 15 controls the notification unit 31 to stop the notification that the detection target P exists in the monitoring area DA in response to the operation unit 40 receiving an operation. As a result, while the notification unit 31 notifies that the detection target P exists in the monitoring area DA, the notification unit 31 stops the notification that the detection target P exists in the monitoring area DA in response to the operation unit 40 receiving an operation. Specifically, in a state where the visual notification unit 32 blinks, in response to the operation unit 40 being pressed, the visual notification unit 32 stops blinking. Note that the visual notification unit 32 may turn on or turn off in response to stopping blinking.

[0075] Therefore, the notification by the notification unit 31 can be stopped according to the operator's will. For example, when the operator recognizes the direction in which the detected object P exists with respect to the work vehicle 1, the operator stops the notification by the notification unit 31. As a result, the annoyance of the operator caused by the continuous notification by the notification unit 31 can be reduced.

[0076] In addition, in the present embodiment, after the operation unit 40 is operated, in response to the operation unit 40 being operated again, the notification control unit 15 permits the notification unit 31 to perform notification. That is, while the operation unit 40 is operated and the notification unit 31 stops notifying that the detected object P exists in the monitoring area DA, if the operation unit 40 is operated again, the notification control unit 15 causes the notification unit 31 to notify that the detected object P exists in the monitoring area DA identified by the identification unit 12 in response to the identification unit 12 identifying the monitoring area DA where the detected object P exists.

[0077] Also, as described above with reference to FIG. 3, in the present embodiment, the first visual notification unit 32a and the first operation unit 41 are configured as one unit. Therefore, the operator can stop the notification by the first visual notification unit 32a by operating the blinking first operation unit 41. As a result, the operator can intuitively stop the notification by the first visual notification unit 32a. The same applies when the second visual notification unit 32b and the second operation unit 42 are configured as one unit, and when the third visual notification unit 32c and the third operation unit 43 are configured as one unit.

[0078] In this embodiment, when at least one of the plurality of operation units 40 receives an operation in advance, the notification control unit 15 prohibits in advance the notification that the detected object P exists in the monitoring area DA associated with the operation unit 40 that has received the operation in advance. Specifically, even when the detected object P exists in the monitoring area DA associated with the operation unit 40 that has received the operation in advance, the notification control unit 15 prohibits the notification unit 31 from notifying that the detected object P exists in the monitoring area DA. Therefore, for example, when an operator has previously recognized the presence of a detected object P that has little influence on the work by the work unit 8 around the work vehicle 1, the notification that the detected object P exists in the monitoring area DA where the detected object P exists can be prohibited in advance. As a result, the annoyance of the operator caused by being notified of the existence of the detected object P whose existence the operator has previously recognized can be reduced. Note that the notification prohibited in advance is at least one of the notification by the visual notification unit 32 and the notification by the auditory notification unit 33.

[0079] Specifically, for example, when an obstacle such as a building exists in the monitoring area DA1, the operator operates the first operation unit 41 associated with the monitoring area DA1 in advance. Therefore, during the work by the work unit 8, the operator can continue the work by the work unit 8 without the first visual notification unit 32a flashing to notify that the detected object P exists in the monitoring area DA1. As a result, the annoyance of the operator caused by being notified of the existence of the detected object P whose existence the operator has previously recognized can be reduced.

[0080] In this embodiment, even when the operation unit 40 is operated in advance, in response to the operation unit 40 being operated again, the notification control unit 15 permits the notification unit 31 to notify. That is, while the operation unit 40 is operated and the notification that the detected object P exists in the monitoring area DA is prohibited, when the operation unit 40 is operated again, in response to the specifying unit 12 specifying the monitoring area DA where the detected object P exists, the notification control unit 15 causes the notification unit 31 to notify that the detected object P exists in the monitoring area DA.

[0081] Next, with continued reference to FIG. 4, the notification unit 31 and the engine 121 that are controlled according to the detection distance L of the detection target P will be described.

[0082] In the present embodiment, the position specifying unit 13 included in the specifying unit 12 specifies the position of the detection target P based on the detection result of the detection unit 20. Specifically, the position specifying unit 13 calculates the position of the detection target P based on the detection result of the detection unit 20. The position of the detection target P is represented by coordinates, for example. Then, the position specifying unit 13 specifies the distance between the detection unit 20 and the detection target P.

[0083] Specifically, the position specifying unit 13 specifies the position of the detection target P based on the detection results of the plurality of detection units 20a. Specifically, the position specifying unit 13 calculates the position of the detection target P based on the detection results of the plurality of detection units 20a. Then, the position specifying unit 13 specifies the monitoring area DA where the detection target P exists, and specifies the distance between the detection unit 20a corresponding to the specified monitoring area DA and the detection target P. Specifically, for example, the position specifying unit 13 analyzes the signals output from each of the plurality of detection units 20a, and specifies the distance from the position of the detection unit 20a corresponding to the specified monitoring area DA to the position of the detection target P. More specifically, for example, the position specifying unit 13 specifies the distance between the detection unit 20a and the detection target P based on the time from when each of the plurality of detection units 20a emits light until the reflected light is received. Hereinafter, the distance between the detection unit 20a corresponding to the specified monitoring area DA and the detection target P may be described as the "detection distance L".

[0084] For example, in the example shown in FIG. 4, the position specifying unit 13 specifies that the detection distance L (hereinafter referred to as detection distance L1) between the second detection unit 22 and the detection target P1 is approximately 5.0 m. Further, the position specifying unit 13 specifies that the detection distance L (hereinafter referred to as detection distance L2) between the third detection unit 23 and the detection target P2 is approximately 3.5 m.

[0085] In addition, when the detection unit 20 includes a plurality of detection parts 20a, if the detected object P exists in an area where a part of the monitoring area DA overlaps with a part of another monitoring area DA, the position specifying unit 13, for example, determines the shorter distance between the distance between the detection part 20a corresponding to the monitoring area DA and the detected object P and the distance between another detection part 20a corresponding to another monitoring area DA and the detected object P as the detection distance L. Further, for example, the position specifying unit 13 may use the average value of the distance between the detection part 20a corresponding to the monitoring area DA and the detected object P and the distance between another detection part 20a corresponding to another monitoring area DA and the detected object P as the detection distance L.

[0086] The notification control unit 15 controls the notification unit 31 to notify that the detected object P exists in the monitoring area DA in a manner corresponding to the detection distance L. Specifically, the specifying unit 12 outputs instruction information regarding the notification manner to the notification control unit 15 based on the detection distance L. The notification control unit 15 controls the notification unit 31 according to the instruction information of the specifying unit 12. As a result, the notification unit 31 notifies that the detected object P exists in the monitoring area DA in a manner corresponding to the detection distance L. Therefore, the operator can intuitively recognize the direction in which the detected object P exists with respect to the work vehicle 1 and can also intuitively recognize the distance between the work vehicle 1 and the detected object P. The instruction information output by the specifying unit 12 will be described later.

[0087] Specifically, in the present embodiment, the position specifying unit 13 specifies, based on the specified detection distance L, in which region among the plurality of regions included in the movable region MA in the monitoring region DA the detected object P exists. That is, the position specifying unit 13 specifies the region among the plurality of regions included in the movable region MA where the detected object P exists. Then, the specifying unit 12 outputs instruction information regarding the notification mode to the notification control unit 15 according to the region where the detected object P exists. The notification control unit 15 controls the notification unit 31 according to the instruction information of the specifying unit 12. As a result, the notification unit 31 notifies that the detected object P exists in the monitoring region DA in a mode corresponding to any one of the regions included in the movable region MA in the monitoring region DA where the detected object P exists. Therefore, the operator can intuitively recognize the direction in which the detected object P exists with respect to the work vehicle 1 and can also intuitively recognize the distance between the work vehicle 1 and the detected object P.

[0088] In the present embodiment, when the second region A2 corresponds to the monitoring region DA and the detected object P exists in the second region A2, for example, the second region A2 is a region where the visual notification unit 32 starts to blink. When the first region A1 corresponds to the monitoring region DA and the detected object P exists in the first region A1, for example, the first region A1 is a region where the blinking period of the visual notification unit 32 is shorter than that in the case of the second region A2. That is, when the detected object P exists in the region overlapping with the first region A1 in the monitoring region DA, the visual notification unit 32 blinks at a shorter period than when the detected object P exists in the region overlapping with the second region A2 in the monitoring region DA. Therefore, in response to the detected object P existing in the first region A1 closer to the work vehicle 1 than the second region A2, the notification control unit 15 controls the visual notification unit 32 to blink at a shorter period. As a result, the operator can intuitively recognize the sense of distance between the detected object P and the work vehicle 1.

[0089] For example, when the detection target P exists in the sixth area A6, the notification mode by the notification unit 31 will be described for the case where the visual notification unit 32 blinks at a short cycle and the auditory notification unit 33 intermittently emits sound at a short cycle. In the example shown in FIG. 4, the position specifying unit 13 specifies that the detection target P2 exists in the area that overlaps with the sixth area A6 in the monitoring area DA3. Then, the specifying unit 12 outputs an instruction regarding the notification mode to the notification control unit 15 in response to the detection target P2 existing in the area that overlaps with the sixth area A6 in the monitoring area DA3. As a result, the notification control unit 15 controls the third visual notification unit 32c to blink at a short cycle and controls the auditory notification unit 33 to intermittently emit sound at a short cycle. As a result, the third visual notification unit 32c blinks at a short cycle, and the auditory notification unit 33 intermittently emits sound at a short cycle. Therefore, the operator can intuitively recognize that the detection target P2 exists in the direction of the work vehicle 1 and can also intuitively recognize the distance between the work vehicle 1 and the detection target P2 while intuitively recognizing the existence of the detection target P2 in the direction of the monitoring area DA3 with respect to the work vehicle 1.

[0090] Here, in the present embodiment, for example, while the visual notification unit 32 is blinking and the auditory notification unit 33 is emitting sound, in response to the operation unit 40 receiving an operation, the notification control unit 15 controls the visual notification unit 32 and the auditory notification unit 33 so that the visual notification unit 32 stops blinking and the auditory notification unit 33 stops emitting sound. However, while the visual notification unit 32 is blinking and the auditory notification unit 33 is emitting sound, in response to the operation unit 40 receiving an operation, the notification control unit 15 may control the visual notification unit 32 and the auditory notification unit 33 so that the visual notification unit 32 continues to blink and the auditory notification unit 33 stops emitting sound. Also, while the visual notification unit 32 is blinking and the auditory notification unit 33 is emitting sound, in response to the operation unit 40 receiving an operation, the notification control unit 15 may control the visual notification unit 32 and the auditory notification unit 33 so that the visual notification unit 32 stops blinking and the auditory notification unit 33 continues to emit sound.

[0091] Also, in the present embodiment, for example, while the two visual notification units 32 are blinking and the auditory notification unit 33 is making a sound, in response to only the operation unit 40 corresponding to one of the two visual notification units 32 receiving an operation, only the visual notification unit 32 associated with the operation unit 40 that has received the operation stops blinking, the visual notification unit 32 associated with the operation unit 40 that has not received the operation continues to blink, and the auditory notification unit 33 continues to make a sound, the notification control unit 15 controls the two visual notification units 32 and the auditory notification unit 33. However, while the two visual notification units 32 are blinking and the auditory notification unit 33 is making a sound, in response to only the operation unit 40 corresponding to one of the two visual notification units 32 receiving an operation, only the visual notification unit 32 associated with the operation unit 40 that has received the operation stops blinking, the visual notification unit 32 associated with the operation unit 40 that has not received the operation continues to blink, and the auditory notification unit 33 stops making a sound, the notification control unit 15 may control the two visual notification units 32 and the auditory notification unit 33.

[0092] The engine control unit 122 controls the rotational speed of the engine 121 according to the detected distance L. Specifically, based on the detected distance L, the specifying unit 12 outputs instruction information regarding the control of the engine 121 to the engine control unit 122. The engine control unit 122 controls the engine 121 according to the instruction information output by the specifying unit 12. Therefore, in response to a change in the rotational speed of the engine 121, the operator can recognize that the detection target P exists near the work vehicle 1.

[0093] In this embodiment, for example, the specifying unit 12 outputs instruction information indicating that the engine speed of the engine 121 is to be decreased to the engine control unit 122 as the detection distance L becomes shorter. Accordingly, the driving force of the hydraulic pump 200 decreases, and the operating speeds of the vehicle body 2, the traveling device 7, and the working unit 8 decrease. As a result, while alerting the operator that the detected object P exists near the work vehicle 1, the possibility of contact between the working unit 8 and the detected object P can be reduced. For example, the engine control unit 122 may control the engine 121 so that the engine speed becomes zero as the detection distance L becomes shorter. That is, the engine control unit 122 may stop the engine 121 as the detection distance L becomes shorter. Accordingly, the possibility of contact between the working unit 8 and the detected object P can be further reduced.

[0094] For example, a case where the engine speed of the engine 121 is restricted when the detected object P exists in the sixth region A6 will be described. In the example shown in FIG. 4, the position specifying unit 13 specifies that the detected object P2 exists in a region overlapping the sixth region A6 of the monitoring region DA3. Then, the specifying unit 12 outputs an instruction to restrict the engine speed of the engine 121 to the engine control unit 122 in response to the detected object P2 existing in the region overlapping the sixth region A6 of the monitoring region DA3. As a result, the engine control unit 122 restricts the engine speed of the engine 121. Then, the driving force of the hydraulic pump 200 decreases, and the operating speeds of the vehicle body 2, the traveling device 7, and the working unit 8 decrease. Thus, while making the operator intuitively recognize that the detected object P2 exists at a position close to the direction of the monitoring region DA3, the possibility of contact between the working unit 8 and the detected object P2 can be further reduced.

[0095] Next, with continued reference to FIG. 4, the notification unit 31 and the engine 121 that are controlled according to the type of the detected object P will be described.

[0096] The type specifying unit 14 specifies the type of the detected object P based on, for example, the specification result of the position specifying unit 13. That is, the type specifying unit 14 specifies whether the detected object P is a person or an object based on, for example, the specification result of the position specifying unit 13. Specifically, the type specifying unit 14 analyzes, for example, the detection result indicating the specified detected object P among the detection results of the detection unit 20 to specify whether the detected object P is a person or an object. That is, the type specifying unit 14 analyzes, for example, the detection result indicating the specified detected object P among the detection results of each of the plurality of detection units 20a to specify whether the detected object P is a person or an object. More specifically, the type specifying unit 14 specifies whether the detected object P is a person or an object based on the intensity of the signal indicating the detected object P among the signals output by each of the plurality of detection units 20a. For example, a worker who may be present around the work vehicle 1 may be wearing work clothes with a reflective material (e.g., a retroreflective material) attached. Therefore, when the intensity of the signal indicating the detected object P among the signals output by each of the plurality of detection units 20a is equal to or greater than a threshold value, the type specifying unit 14 specifies that the detected object P is a person. Note that when the type specifying unit 14 specifies that the detected object P is not a person, for example, the type specifying unit 14 specifies that the detected object P is an object.

[0097] For example, in the example shown in FIG. 4, the type specifying unit 14 specifies that the detected object P1 is an object based on the specification result of the position specifying unit 13. Also, the type specifying unit 14 specifies that the detected object P2 is a person based on the detection result of each of the plurality of detection units 20a and the specification result of the specifying unit 12.

[0098] The specifying unit 12 outputs instruction information to the notification control unit 15 and the engine control unit 122, for example, in response to the type specifying unit 14 determining the type of the detected object P. Specifically, for example, the specifying unit 12 outputs instruction information regarding the mode of notification by the notification unit 31 to the notification control unit 15 based on the specification result of the position specifying unit 13 and the specification result of the type specifying unit 14. Also, for example, the specifying unit 12 outputs instruction information regarding the control of the engine 121 to the engine control unit 122 based on the specification result of the position specifying unit 13 and the specification result of the type specifying unit 14.

[0099] Specifically, based on the identification result of the position identification unit 13 and the identification result of the type identification unit 14, the specific unit 12 outputs, to the notification control unit 15, instruction information regarding the mode of notification by the notification unit 31, and outputs, to the engine control unit 122, instruction information regarding the control of the engine 121, according to the table Tb stored in the storage unit 16. The table Tb stored in the storage unit 16 will be described later with reference to FIG. 6.

[0100] The notification control unit 15 controls the notification unit 31 to notify that the detected object P exists in the monitoring area DA in a manner corresponding to the type of the detected object P. Specifically, the notification control unit 15 controls the notification unit 31 to notify that the detected object P exists in the monitoring area DA according to the instruction information output by the specific unit 12. As a result, the notification unit 31 notifies that the detected object P exists in the monitoring area DA in a manner corresponding to the type of the detected object P. Therefore, the operator can intuitively recognize the type of the detected object P while intuitively recognizing the direction in which the detected object P exists with respect to the work vehicle 1.

[0101] In addition, the engine control unit 122 controls the rotational speed of the engine 121 according to the type of the detected object P. Specifically, the engine control unit 122 controls the rotational speed of the engine 121 according to the instruction information output by the specific unit 12. For example, when the type of the detected object P is an object, the specific unit 12 outputs, to the engine control unit 122, instruction information indicating that the rotational speed of the engine 121 is to be limited. Also, for example, when the type of the detected object P is a person, the specific unit 12 outputs, to the engine control unit 122, instruction information indicating that the rotational speed is to be limited to be lower than when the type of the detected object P is an object.

[0102] For example, when the type of the detected object P is a human, the notification mode by the notification unit 31 will be described for the case where the visual notification unit 32 blinks at a short cycle, the auditory notification unit 33 intermittently emits sound at a short cycle, and the engine 121's rotational speed is restricted. In the example shown in FIG. 4, in response to the type specifying unit 14 specifying that the type of the detected object P2 is a human, the specifying unit 12 outputs instruction information regarding the notification mode by the notification unit 31 to the notification control unit 15, and outputs instruction information regarding the control of the engine 121 to the engine control unit 122. The notification control unit 15 controls the third visual notification unit 32c to blink at a short cycle and controls the auditory notification unit 33 to intermittently emit sound at a short cycle according to the instruction information of the specifying unit 12. As a result, the third visual notification unit 32c blinks at a short cycle, and the auditory notification unit 33 intermittently emits sound at a short cycle. Also, the engine control unit 122 restricts the rotational speed of the engine 121 according to the instruction information of the specifying unit 12. Therefore, the operator can intuitively recognize that the detected object P2 exists in the direction of the monitoring area DA3 with respect to the work vehicle 1, and can also intuitively recognize the distance sense between the detected object P2 and the work vehicle 1 and that the type of the detected object P2 is a human.

[0103] Next, with reference to FIGS. 4 and 6, the instruction information output by the specifying unit 12 will be described. FIG. 6 shows a table Tb stored in the storage unit 16 of the control device 10.

[0104] The storage unit 16 of the control device 10 stores, for example, the table Tb shown in FIG. 6. In the table Tb, for example, a label, a detection distance L, the distance between the work vehicle 1 and the detected object P, the type of the detected object P, the notification mode by the visual notification unit 32, the notification mode by the auditory notification unit 33, the rotation speed limit of the engine 121, and the presence or absence of the stop of the engine 121 are associated with each other. Specifically, for example, the label being "2", the detection distance L being 4 m or more and less than 7 m, the distance between the work vehicle 1 and the detected object P being 1.7 m or more and less than 4.7 m, the type of the detected object P being an object, the visual notification unit 32 blinking slowly, the auditory notification unit 33 not operating, the rotation speed of the engine 121 not being limited, and the engine 121 not being stopped are associated with each other.

[0105] In the present embodiment, for example, the second region A2 is a region where the detection distance L is 6 m or more and less than 7 m. For example, when the detected object P exists in a region overlapping with the second region A2 in the monitoring region DA1 and the type of the detected object P is a person, the specifying unit 12 outputs instruction information to the notification control unit 15 and the engine control unit 122 according to the row in the table Tb where the label is "3". Specifically, the specifying unit 12 outputs instruction information indicating blinking at a long cycle to the notification control unit 15, and outputs instruction information indicating maintaining the rotation speed of the engine 121 to the engine control unit 122. As a result, the notification control unit 15 controls the first visual notification unit 32a to blink at a long cycle. Further, the engine control unit 122 controls the engine 121 to maintain the rotation speed of the engine 121.

[0106] Next, with reference to FIGS. 7 and 8, a notification method executed by the work vehicle 1 will be described. FIG. 7 is a flowchart showing the first stage of the notification method executed by the work vehicle 1. FIG. 8 is a flowchart showing the second stage of the notification method executed by the work vehicle 1. As shown in FIGS. 7 and 8, the notification method includes steps S1 to S13.

[0107] As shown in FIG. 7, in step S1, the notification control unit 15 determines whether at least one of the plurality of operation units 40 has received an operation in advance. If an affirmative determination (Yes) is made in step S1, that is, if at least one of the plurality of operation units 40 has received an operation in advance, the process proceeds to step S2. On the other hand, if a negative determination (No) is made in step S1, the process proceeds to step S3.

[0108] In step S2, the notification control unit 15 prohibits in advance the notification that the detected object P exists in the monitoring area DA associated with the operation unit 40 that received the operation in step S1.

[0109] In step S3, the detection unit 20 detects the state of the surrounding environment of the work vehicle 1. That is, each of the plurality of detection units 20a detects the state of the surrounding environment of the work vehicle 1.

[0110] In step S4, the detection unit 20 outputs the detection result to the control unit 11 of the control device 10. That is, each of the plurality of detection units 20a outputs the detection result to the control unit 11.

[0111] In step S5, the position identification unit 13 analyzes the detection result output to the detection unit 20. That is, the position identification unit 13 analyzes the detection results output to the plurality of detection units 20a. Then, the position identification unit 13 determines whether the detected object P existing in the monitoring area DA has been detected. If an affirmative determination (Yes) is made in step S5, the process proceeds to step S6. On the other hand, if a negative determination (No) is made in step S5, the process proceeds to step S3.

[0112] In step S6, the position identification unit 13 identifies the position of the detected object P. That is, the identification unit 12 identifies the monitoring area DA where the detected object P exists, the area where the detected object P exists among the plurality of areas of the movable area MA, and the detection distance L.

[0113] In step S7, the type identification unit 14 identifies the type of the detected object P based on the identification result of the identification unit 12.

[0114] In step S8, the identification unit 12 outputs instruction information regarding the notification mode to the notification control unit 15 and outputs instruction information regarding the control of the engine 121 to the engine control unit 122 based on the identification result of the position identification unit 13 identified in step S6 and the determination result of the type identification unit 14 identified in step S7. For example, in step S8, the identification unit 12 outputs instruction information regarding the notification mode to the notification control unit 15 and outputs instruction information regarding the control of the engine 121 to the engine control unit 122 based on the identification result of the position identification unit 13 in step S6, the identification result of the type identification unit 14 in step S7, and the table Tb. Next, the process proceeds to step S9 in FIG. 8.

[0115] As shown in FIG. 8, in step S9, the notification control unit 15 determines whether the instruction information regarding the notification mode output in step S8 is prohibited in advance in step S2. That is, for example, the notification control unit 15 determines whether the instruction information regarding the notification mode output in step S8 is related to the notification that the detected object P exists in the monitoring area DA associated with the operation unit 40 that received the operation in step S1. If an affirmative determination (Yes) is made in step S9, the notification control unit 15 ends the process without operating the notification unit 31. On the other hand, if a negative determination (No) is made in step S9, the process proceeds to step S10.

[0116] In step S10, the notification control unit 15 controls the notification unit 31 according to the instruction information regarding the notification mode output in step S8. That is, the notification control unit 15 controls the notification unit 31 to notify in a manner corresponding to the detection distance L and the type of the detected object P. As a result, the notification unit 31 notifies that the detected object P exists in the monitoring area DA in a manner corresponding to the detection distance L and the type of the detected object P.

[0117] In step S11, the notification control unit 15 determines whether the operation unit 40 associated with the notification unit 31 notified in step S10 has received an operation. If a negative determination (No) is made in step S11, the notification control unit 15 continues the notification to the notification unit 31 notified in step S10. On the other hand, if an affirmative determination (Yes) is made in step S11, the process proceeds to step S12.

[0118] In step S12, the notification control unit 15 stops the notification that the detected object P exists in the monitoring area DA associated with the operation unit 40 determined to have received the operation in step S11. That is, the notification control unit 15 causes the notification unit 31 to stop the notification that the detected object P exists in the monitoring area DA associated with the operation unit 40 determined to have received the operation in step S11.

[0119] Also, in step S13, the engine control unit 122 controls the rotational speed of the engine 121 based on the instruction information regarding the control of the engine 121 output in step S8. For example, when the instruction information regarding the control of the engine 121 is instruction information for restricting the rotational speed of the engine 121, the engine control unit 122 restricts the rotational speed of the engine 121. Also, for example, when the instruction information regarding the control of the engine 121 is instruction information for not changing the rotational speed of the engine 121, the engine control unit 122 maintains the rotational speed of the engine 121.

[0120] The embodiments of the present invention have been described above with reference to the drawings. However, the present invention is not limited to the above embodiments and can be implemented in various forms without departing from the gist thereof. Also, the plurality of components disclosed in the above embodiments can be modified as appropriate. For example, a component among all the components shown in a certain embodiment may be added to the components of another embodiment, or some of the components among all the components shown in a certain embodiment may be deleted from the embodiment.

[0121] The drawings schematically show each component mainly for facilitating the understanding of the invention. The thickness, length, number, period, etc. of each component shown in the drawings may be different from the actual ones for convenience in drawing creation. Also, it goes without saying that the configuration of each component shown in the above embodiments is an example and is not particularly limited, and various changes can be made without substantially departing from the effects of the present invention.

[0122] For example, as described with reference to FIG. 2, the control unit 11 of the control device 10 included the notification control unit 15. However, as long as the notification control unit 15 controls the notification unit 31, the notification device 30 may include the notification control unit 15.

[0123] Also, as described with reference to FIG. 2, the control unit 11 of the control device 10 included the specifying unit 12. However, as long as the specifying unit 12 specifies the monitoring area DA where the detected object P exists, the detection unit 20 may include the specifying unit 12. Also, the control unit 11 may include some functions of the specifying unit 12, and the detection unit 20 may include some functions of the specifying unit 12.

[0124] Also, as described with reference to FIG. 2, in this embodiment, the visual notification unit 32 was an LED. However, as long as the visual notification unit 32 can visually notify the presence of the detected object P in the monitoring area, the visual notification unit 32 may be a display. When the visual notification unit 32 is a display, for example, the notification control unit 15 controls the visual notification unit 32 to display an image indicating the presence of the detected object P in the specified monitoring area DA. As a result, the display as the visual notification unit 32 visually notifies the presence of the detected object P in the specified monitoring area DA. Specifically, for example, the display as the visual notification unit 32 displays an image showing the surrounding environment of the work vehicle 1, and when the detected object P exists in the monitoring area DA, the detected object P specified by the specifying unit 12 is made to blink or the like to make the detected object P stand out in the display.

[0125] Also, as described with reference to FIG. 2, in the present embodiment, the visual notification unit 32 visually notified that the detected object P exists in the specified monitoring area DA. However, as long as the operator can recognize the monitoring area DA where the detected object P exists, the auditory notification unit 33 may audibly notify that the detected object P exists in the specified monitoring area DA. In this case, the auditory notification unit 33 audibly notifies that the detected object P exists in the specified monitoring area DA. For example, when the auditory notification unit 33 is a speaker, the notification control unit 15 controls the auditory notification unit 33 to output a voice indicating that the detected object P exists in the specified monitoring area DA. As a result, the speaker as the auditory notification unit 33 audibly notifies that the detected object P exists in the specified monitoring area DA. Also, when the auditory notification unit 33 is a buzzer, the notification unit 31 includes, for example, a plurality of auditory notification units 33. For example, the plurality of auditory notification units 33 are respectively arranged on the side of the driver's seat 6c, on the other side of the driver's seat 6c, and behind the driver's seat 6c. Then, when the detected object P exists in the monitoring area DA, the auditory notification unit 33 arranged on the side of the monitoring area DA where the detected object P exists sounds. As a result, the operator can intuitively recognize the monitoring area DA where the detected object P exists.

[0126] Also, as described with reference to FIG. 4, when at least one of the plurality of operation units 40 has received an operation in advance, the notification control unit 15 prohibits in advance the notification that the detected object P exists in the monitoring area DA associated with the operation unit 40 that has received the operation. However, as long as the notification unit 31 does not notify that the detected object P exists in the monitoring area DA, the detection unit 20 may be prohibited from detecting the state of the monitoring area DA associated with the operation unit 40 that has received the operation in advance, among the surrounding environment of the work vehicle 1. Also, when the detection unit 20 includes a plurality of detection units 20a, as long as the notification unit 31 does not notify that the detected object P exists in the monitoring area DA, the detection unit 20a corresponding to the monitoring area DA associated with the operation unit 40 that has received the operation in advance may be prohibited from detecting the state of the surrounding environment of the work vehicle 1.

[0127] Also, as described with reference to FIG. 4, in the present embodiment, the specifying unit 12 specified the position of the object P to be detected by analyzing the signal corresponding to the reflected light received by the detecting unit 20. However, when the detecting unit 20 is a camera, the specifying unit 12 specifies the position of the object P to be detected by performing image analysis on the imaging result of the camera. That is, when each of the plurality of detecting units 20a is a camera, the specifying unit 12 specifies the position of the object P to be detected by performing image analysis on the imaging results of the plurality of cameras.

[0128] Also, as described with reference to FIG. 1, in the present embodiment, the vehicle body 2 includes the cab 6. However, as long as the work vehicle 1 includes the driver's seat 6c, the vehicle body 2 may not include the cab 6.

[0129] Also, as described with reference to FIG. 1, in the present embodiment, the vehicle body 2 includes three detecting units 20a. However, as long as the vehicle body 2 includes a plurality of detecting units 20a, the vehicle body 2 may include two detecting units 20a, or may include four or more detecting units 20a.

[0130] Also, as described with reference to FIGS. 4 and 6, in the present embodiment, the specifying unit 12 output instruction information regarding the notification mode to the notification control unit 15 according to the table Tb. However, as long as the notification unit 31 notifies that the object P exists in the monitoring area DA in a mode corresponding to the detection distance L, the specifying unit 12 may output information indicating a label to the notification control unit 15. In this case, the notification control unit 15 refers to the table Tb stored in the storage unit 16 and controls the notification unit 31 to operate in the operation mode of the notification unit 31 associated with the output label. Also, in this case, the engine control unit 122 stores the same table Tb as the table Tb stored in the storage unit 16. Then, the engine control unit 122 controls the engine 121 based on the presence or absence of the limit of the rotation speed of the engine 121 associated with the output label and the presence or absence of the stop of the engine 121 with reference to the table Tb.

[0131] Also, as described with reference to FIGS. 4 and 6, in the present embodiment, the specifying unit 12 outputs instruction information regarding the notification mode to the notification control unit 15 according to the table Tb. However, as long as the notification unit 31 notifies that the detected object P exists in the monitoring area DA in a mode corresponding to the detection distance L, the specifying unit 12 may output instruction information to the notification control unit 15 and the engine control unit 122 according to the area where the detected object P exists among the areas of the movable area MA.

[0132] Also, as described with reference to FIG. 4, the monitoring area DA is set in an area where the movable area MA of the working unit 8 and the area detectable by the detection unit 20 overlap. However, the monitoring area DA may be set in a range wider than the outer edge EG of the movable area MA. In this case, the range wider than the outer edge EG of the movable area MA of the monitoring area DA is set based on, for example, a predetermined ratio to the size of the movable area MA.

[0133] Also, for example, in the present embodiment described with reference to FIGS. 1 to 7, the work vehicle 1 is a hydraulic excavator, but the work vehicle 1 is not limited to a hydraulic excavator. The work vehicle 1 may be any machine that allows an operator to set functions via a screen. For example, the work vehicle 1 may be another construction machine or an agricultural machine. The construction machine is, for example, a loader such as a wheel loader or a carrier. The agricultural machine is, for example, a ride-on tractor, a ride-on combine, or a ride-on rice transplanter.

[0134] <Supplementary Note of the Invention> According to one aspect of the present invention, a work vehicle includes a working unit, a detection unit, a specifying unit, and a notification unit. The working unit performs work. The detection unit detects the state of the surrounding environment of the work vehicle. The specifying unit specifies a monitoring area in which a detected object exists from among a plurality of monitoring areas set within the detectable area of the detection unit based on the detection result of the detection unit. The notification unit notifies that the detected object exists in the monitoring area based on the specification result of the specifying unit. The notification unit notifies that the detected object exists in the monitoring area in a manner corresponding to the distance between the detection unit and the detected object.

[0135] According to another aspect of the present invention, a notification method is executed by a work vehicle having a working unit that performs work and a detection unit. The notification method includes a step in which the detection unit detects the state of the surrounding environment of the work vehicle, a step in which a specifying unit specifies a monitoring area in which a detected object exists from among a plurality of monitoring areas set within the detectable area of the detection unit based on the detection result of the detection unit, and a step in which a notification unit notifies that the detected object exists in the monitoring area based on the specification result of the specifying unit and notifies that the detected object exists in the monitoring area in a manner corresponding to the distance between the detection unit and the detected object.

[0136] A notification method according to one aspect is a notification method used for a work vehicle including a traveling device and a vehicle body rotatably supported above the traveling device. The notification method includes notifying that a detected object exists in a monitoring area set within the detectable area of a detection unit installed on the vehicle body. The monitoring area is an area at a predetermined height or more from the ground in contact with the work vehicle.

[0137] A work vehicle according to one aspect includes a traveling device, a vehicle body rotatably supported above the traveling device, a detection unit installed in the vehicle body, and a notification unit. The notification unit notifies that a detected object exists in a monitoring area set within a detectable area of the detection unit. The monitoring area is an area at a predetermined height or more from the ground in contact with the traveling device.

Industrial Applicability

[0138] The present invention relates to a notification method and a work vehicle, and has industrial applicability.

Explanation of Signs

[0139] 1 Work vehicle 6c Operator's seat 8 Working unit 12 Specific part 14 Type specifying part 15 Notification control part 20 Detection unit 20a Detection part 21 First detection part 22 Second detection part 23 Third detection part 30 Notification device 31 Notification part 32 Visual notification part 33 Auditory notification part 40 Operation part 121 Engine 122 Engine control part DA Monitoring area Gd Ground He1 First height MA Movable area NA Detectable area

Claims

1. A notification method for use in a work vehicle including a traveling device and a vehicle body rotatably supported on an upper portion of the traveling device, a detection unit provided in the vehicle body that detects the presence of an object to be detected in a monitoring area that is set within a detection area of ​​the detection unit; When the detected object is outside the monitoring area, regardless of the type of the detected object, no notification is made even if the presence of the detected object is detected by the detection unit. Notification method.

2. The type of the detected object includes at least a human being. The notification method according to claim 1 .

3. The monitoring area is an area having a height equal to or greater than a predetermined height from the ground. The notification method according to claim 1 or 2.

4. The predetermined height is higher than the height of the center of the traveling device in the vertical direction from the ground. The notification method according to claim 3.

5. The monitoring area is an area whose height from the ground is equal to or higher than a first height and equal to or lower than a second height, which is the predetermined height. The notification method according to claim 3 or 4.

6. The running gear, A vehicle body supported rotatably on an upper portion of the traveling device; A detection unit installed on the vehicle body; a notification unit that notifies the presence of a detectable object in a monitoring area set within a detectable area of ​​the detection unit, When the detectable object is outside the monitoring area, the notification unit does not issue a notification even if the presence of the detectable object is detected by the detection unit, regardless of the type of the detectable object. Work vehicle.

Images