Periphery monitoring device for work machine and work machine

Abstract

To provide a periphery monitoring device for a work machine capable of reducing complication of calibration processing, and a work machine.SOLUTION: A periphery monitoring device comprises a detection unit capable of being attached to a work machine (2, 3) and detecting a periphery condition of the work machine (2, 3), plural candidate portion presentation units (31) provided in the work machine and indicating candidate portions for attaching the detection unit, and a determination unit that determines whether the detection unit is attached in any of plural candidate portion presentation units (31).SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a peripheral monitoring device for a working machine and a working machine.

Background Art

[0002] Patent Document 1 describes a calibration process for correcting the displacement of the position of a sensor that detects surrounding obstacles in a working machine.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Conventionally, the above-described calibration process has been a very complicated process that requires accurately measuring the position of the sensor after the sensor is attached to the working machine.

[0005] An object of the present invention is to provide a peripheral monitoring device for a working machine and a working machine that can reduce the complexity of the calibration process.

Means for Solving the Problems

[0006] The peripheral monitoring device for a working machine according to the present invention includes: a detection unit that can be attached to the working machine and can detect the surrounding situation of the working machine; a plurality of candidate location presentation units provided on the working machine and indicating that they are candidate locations for attaching the detection unit; a determination unit that determines to which of the plurality of candidate location presentation units the detection unit is attached; and is provided with.

[0007] The working machine according to the present invention: is provided with the above-described peripheral monitoring device. [Effect of the Invention]

[0008] According to the present invention, an effect is obtained in that it is possible to provide a peripheral monitoring device for a working machine and a working machine that can reduce the complexity of calibration processing. [Brief Description of the Drawings]

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

[0010] Hereinafter, each embodiment of the present invention will be described in detail with reference to the drawings.

[0011] (Embodiment 1) FIG. 1 is a diagram showing a peripheral monitoring device and a working machine according to an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of a control system of the peripheral monitoring device.

[0012] The peripheral monitoring device 20 of Embodiment 1 is a device that is applied to the working machine 1 and monitors the peripheral situation of the working machine 1. In Embodiment 1, an example in which the peripheral monitoring device 20 is applied to a crane as the working machine 1 is shown.

[0013] The working machine 1 includes a lower traveling body 2 that can travel, an upper revolving body 3 that is rotatably provided with respect to the lower traveling body 2, a boom 4 that is rotatably connected to the upper revolving body 3 in the up-and-down direction, a live mast 6 that supports the boom 4, a winch (not shown) that winds or unwinds wire ropes W1 and W2, a counterweight 9 mounted on the rear part of the upper revolving body 3, and a lifting tool 10 that lifts a load. A cab 8 into which a driver gets on is mounted on the upper revolving body 3. Inside the cab 8, a driving operation unit for driving the working machine 1 is provided.

[0014] The peripheral monitoring device 20 includes a plurality of detection units 21 that are attached to the working machine 1 and detect the peripheral situation of the working machine 1, a monitoring control unit 22 (see FIG. 2) that creates output information representing the peripheral situation based on the output of the detection units 21, and a peripheral situation output unit 23 that outputs the output information. The number of detection units 21 may be one. The monitoring control unit 22 is a functional module realized by a computer 20X to which the detection results of the plurality of detection units 21 are input.

[0015] The plurality of detection units 21 include a photographing device that acquires an image of the detection range and a three-dimensional sensor (LiDAR: Light Detection And Ranging, radar, ultrasonic sensor, etc.) that detects the three-dimensional position of an object in the detection range. The detection unit 21 may have any configuration as long as it can detect the surrounding situation.

[0016] The output information created by the monitoring control unit 22 includes peripheral video information, display information with an image superimposed on the peripheral video, notification information for notifying an abnormality in the periphery, and the like. The monitoring control unit 22 may be mounted on the working machine 1, or may be installed at a location separate from the working machine 1, receive the output of the detection unit 21 via communication, and send the output information to the peripheral situation output unit 23 via communication.

[0017] The peripheral situation output unit 23 includes a display device that outputs video information and display information, a warning light that outputs notification information, a voice output device, and the like. The peripheral situation output unit 23 outputs information indicating the peripheral situation created by the monitoring control unit 22. The peripheral situation output unit 23 may be provided in the cab 8, may be provided in a management room separated from the work machine 1, or may be provided in a portable terminal.

[0018] <Overview of calibration process> In the peripheral display information created by the monitoring control unit 22, images such as lines, figures, and patterns indicating the arrangement relationship with the work machine 1 may be superimposed on the peripheral video. As the superimposed image, for example, an image indicating a radius (such as a safety radius or a caution radius) related to the turning radius of the upper swing body 3, a line representing a specific orientation and arrangement of the upper swing body 3 (such as positions such as the center rear, left rear, or right rear of the upper swing body 3), etc. can be adopted.

[0019] In order for the monitoring control unit 22 to superimpose an image as described above on the video, it is necessary to determine by calibration processing what arrangement relationship the detection range of the detection unit 21 that acquires the video (for example, the angle of view of the imaging device) has with respect to the work machine 1 (for example, its upper swing body 3). The above arrangement relationship changes depending on the mounting position of the detection unit 21.

[0020] Also, in the peripheral display information created by the monitoring control unit 22, an image such as a red frame indicating an abnormal location such as an obstacle detected by the detection unit 21 such as a three-dimensional sensor may be superimposed on the peripheral video acquired by the detection unit 21 such as the imaging device.

[0021] In order for the monitoring control unit 22 to superimpose an image indicating an abnormal location on the video, a calibration process is required to align the detection position of the detection unit 21 that acquires the video and the detection position of the detection unit 21 that detects the three-dimensional position of the object. By the calibration process, the position of the obstacle detected by one detection unit 21 and the position of the obstacle in the video acquired by the other detection unit 21 are aligned, so that the obstacle in the video can be indicated by an image with less deviation.

[0022] Further, the monitoring control unit 22 determines whether the surrounding situation is abnormal (for example, an obstacle is approaching the working machine 1, etc.), and if it determines that it is abnormal, it creates notification information for notifying the surrounding abnormality. To determine whether the surrounding situation is abnormal, it is necessary to determine, by calibration processing, what kind of arrangement relationship the detection range of the detection unit 21 that detects the three-dimensional position of the object has with respect to the working machine 1 (for example, its upper swing body 3). By going through the calibration process, the monitoring control unit 22 can calculate in which direction and how far the object detected by the detection unit 21 is located with respect to the upper swing body 3. The above arrangement relationship changes depending on the attachment position of the detection unit 21.

[0023] <Candidate location presentation unit, determination unit, and sensor position calculation unit> FIG. 3 is a diagram showing a plurality of candidate location presentation units of Embodiment 1, (A) is a rear back view of the working machine, (B) is a rear plan view of the working machine, and (C) is a rear side view of the working machine.

[0024] In order to reduce the complexity of the above calibration process, the peripheral monitoring device 20 further has the following configuration. That is, as shown in FIG. 3, the peripheral monitoring device 20 includes a plurality of candidate location presentation units 31 that present to the operator that they are candidate attachment locations of the detection unit 21, a determination unit 32 that determines which candidate location presentation unit 31 the detection unit 21 is attached to, and a sensor position calculation unit 33 that calculates the position of the detection unit 21 based on the determination result of the determination unit 32. The determination unit 32 and the sensor position calculation unit 33 are functional modules realized by the computer 20X.

[0025] The plurality of candidate location presentation units 31 are provided at a plurality of locations on the working machine 1 where the detection unit 21 can be attached. As the candidate location presentation unit 31, an attachment hole provided so that the detection unit 21 can be attached can be adopted. By visually recognizing the attachment hole, an operator can recognize that the detection unit 21 can be attached to the location. Note that the candidate location presentation unit 31 may be a mark or the like to which a predetermined part of the detection unit 21 is aligned when the detection unit 21 is attached. In FIGS. 3(A) to 3(C), the plurality of candidate location presentation units 31 are provided on the back surface, upper surface, and side surface of the counterweight 9. The plurality of candidate location presentation units 31 may be provided at various locations on the working machine 1. When an attachment hole is applied as the candidate location presentation unit 31, the error in the attachment position of the detection unit 21 can be made smaller. When a mark is applied as the candidate location presentation unit 31, the candidate location presentation unit 31 can be provided on the working machine 1 with less processing of the working machine 1.

[0026] The peripheral monitoring device 20 includes an input device 24 through which an operator can input information. The operator can input information to the determination unit 32 via the input device 24. The input device 24 is a keyboard, a touch panel, a mobile terminal connected so as to be capable of data communication, or the like. The plurality of candidate location presentation units 31 are associated with identification information that can identify each of them, such as being numbered. The operator inputs the identification information of the candidate location presentation unit 31 to which the detection unit 21 is attached to the determination unit 32 via the input device 24, and the determination unit 32 determines that the detection unit 21 is attached to the candidate location presentation unit 31 associated with the identification information.

[0027] Note that the determination method of the determination unit 32 is not limited to the above example. For example, a sensor for detecting whether or not the detection unit 21 is attached may be provided in the plurality of candidate location presentation units 31, and based on the output of the sensor, the determination unit 32 may determine to which candidate location presentation unit 31 the detection unit 21 is attached.

[0028] Based on the determination result of the determination unit 32, the sensor position calculation unit 33 calculates the position of the detection unit 21 attached to the working machine 1. The sensor position calculation unit 33 is pre-provided with a data table in which a plurality of candidate location presentation units 31 and a plurality of position information are associated. The position information in the data table may be information indicating the position of the candidate location presentation unit 31, or may be information indicating the position of the detection unit 21 when the detection unit 21 is attached to the candidate location presentation unit 31. The sensor position calculation unit 33 extracts the position information corresponding to the candidate location presentation unit 31 determined by the determination unit 32 from the data table, and further adds the displacement vector from the attachment position of the detection unit 21 of the position information to the detection position of the detection unit 21, thereby calculating the position of the detection unit 21.

[0029] Here, the position may be, for example, the position in the coordinates fixed to the upper swing body 3. By using the coordinates, the monitoring control unit 22 can specify from the information of the position calculated by the sensor position calculation unit 33 from which position of the upper swing body 3 the detection unit 21 is performing detection. Further, the monitoring control unit 22 can calculate from the specific result in which direction the detection range (view angle) of the detection unit 21 is directed with respect to the upper swing body 3 and what view angle it corresponds to.

[0030] The vehicle body information of the working machine 1 may be further input to the sensor position calculation unit 33. Then, the sensor position calculation unit 33 may calculate the position of the detection unit 21 attached to the working machine 1 based on the information combining the vehicle body information with the determination result of the determination unit 32 described above. The vehicle body information includes vehicle type information indicating the vehicle type and assembly information of the parts of the working machine 1. The assembly information includes, for example, information on the number of mounting stages of the counterweight.

[0031] The candidate location presentation unit 31 is not always fixed at the same position of the working machine 1. For example, when the candidate location presentation unit 31 is provided on the counterweight 9, the position of the candidate location presentation unit 31 may change due to different mounting stages of the counterweight 9. Further, when the identification information of the candidate location presentation unit 31 is common among a plurality of vehicle types, even if the candidate location presentation unit 31 has the same identification information, the position of the candidate location presentation unit 31 may change due to different vehicle types.

[0032] The sensor position calculation unit 33 refers to a database in which data indicating the relationship between the vehicle body information and the position information of the plurality of candidate location presentation units 31 is registered, and can calculate the position of the detection unit 21 corresponding to the vehicle type and the component assembly information based on the input vehicle body information. The above database may be possessed by the sensor position calculation unit 33. Alternatively, the above database may be provided outside the peripheral monitoring device 20 and configured to be referable by the sensor position calculation unit 33 via communication.

[0033] The vehicle body information may be given to the sensor position calculation unit 33 in advance, or may be input by an operator at the site or the like.

[0034] <Types of Candidate Location Presentation Unit and Detection Unit> The detection unit 21 includes a plurality of types of detection units such as a first detection unit 21 (for example, a photographing device) that acquires an image and a second detection unit 21 (for example, a three-dimensional sensor) that detects the three-dimensional position of a peripheral object.

[0035] The plurality of candidate location presentation units 31 include, for example, a first type candidate location presentation unit 31a and a second type candidate location presentation unit 31b that differ in mode by color coding. Note that the above mode is not limited to color coding, and various modes such as marks and the shape of mounting holes may be applied.

[0036] The first candidate location presentation unit 31a is a candidate location where the first detection unit 21 is to be attached, and the second candidate location presentation unit 31b is a candidate location where the second detection unit 21 is to be attached. The association between such an aspect of the candidate location presentation unit 31 and the type of the detection unit 21 to be attached may be determined by a manual or the like. Alternatively, a mechanical or electrical mechanism may be provided so that only the detection units 21 of the associated type can be attached.

[0037] In this way, according to the type of the detection unit 21, by separating the candidate location presentation unit 31, it can be specified in advance so that the plurality of detection units 21 are attached to appropriate positions according to the type.

[0038] In the above example, the peripheral monitoring device 20 having two types of detection units 21 and two types of candidate location presentation units 31 is shown, but similarly, it may have three or more types of detection units 21 and three or more types of candidate location presentation units 31.

[0039] <Setup Process> FIG. 4 is a flowchart showing the setup procedure of the peripheral monitoring device in Embodiment 1. The setup is a process of setting the peripheral monitoring device 20 so that normal peripheral monitoring can be executed after the work machine 1 is assembled at the site.

[0040] When the work machine 1 is assembled at the site, the operator first determines the locations to attach the plurality of detection units 21 from among the plurality of candidate location presentation units 31 and attaches the plurality of detection units 21 (step S1). Here, when there are a plurality of types of detection units 21 and a plurality of aspects of candidate location presentation units 31 associated with the types of the detection units 21, the operator attaches the detection units 21 of the corresponding type to the candidate location presentation units 31 corresponding to the types of the detection units 21.

[0041] Once the detection unit 21 is attached, the determination unit 32 determines to which candidate location presentation unit 31 the detection unit 21 is attached (step S2). In one example, in step S2, the worker inputs attachment information indicating to which candidate location presentation unit 31 the detection unit 21 is attached to the determination unit 32 via the input device 24, and the determination unit 32 determines the attachment location.

[0042] Furthermore, the worker inputs vehicle body information to the sensor position calculation unit 33 (step S3). The vehicle body information includes, for example, information indicating how many stages of counterweights 9 are mounted. The vehicle body information may not be input by the worker, but vehicle type information, etc. may be input in advance, or for information on assembled parts, the worker may set and input it to the control unit 12 of the working machine 1 (see FIG. 2), and it may be configured to be sent from the control unit 12 of the working machine 1 to the sensor position calculation unit 33.

[0043] The input processes in steps S2 and S3 may be executed before step S1.

[0044] When the processes in steps S2 and S3 are performed, the sensor position calculation unit 33 calculates the positions of the plurality of detection units 21 based on the information on the attachment locations of the plurality of detection units 21 and the vehicle body information (step S4).

[0045] Subsequently, the monitoring control unit 22 performs calibration processing on each detection unit 21 based on the calculated positions of the plurality of detection units 21 (step S5). In the calibration processing, if the detection unit 21 is a photographing device, the monitoring control unit 22 identifies from which position and at what viewing angle of the working machine 1 the video of the detection unit 21 is taken, and determines where in the video a predetermined position (such as a position at the rear center, a safe radius position, a caution radius position, etc.) based on the working machine 1 (for example, the upper swing body 3) corresponds, so that the video and the position information are matched. If the detection unit 21 is a three-dimensional sensor, the offset amount of the position information is adjusted so that the position information (distance and direction information) of the object detected by the detection unit 21 corresponds to the position information in the coordinates fixed to the working machine 1 (for example, the upper swing body 3). Also, when two detection units 21, i.e., a photographing device and a three-dimensional sensor, are attached so as to detect the same direction, and the monitoring control unit 22 creates display information in which the video acquired by the photographing device and the position information of the object acquired by the three-dimensional sensor are combined, the offset amount of the position information is adjusted so that the position of the object detected by the three-dimensional sensor matches the position in the video.

[0046] Note that the calibration processing is not completed only by the processing based on the calculated position information of the detection unit 21. The monitoring control unit 22 may first perform a rough calibration process based on the calculated position information of the detection unit 21. Then, afterwards, the monitoring control unit 22 may perform a detailed calibration process using the output of the detection unit 21. By the rough calibration process as described above, the complexity of the detailed calibration process can be significantly reduced. For example, in the calibration process of matching the video acquired by the photographing device and the position information of the object acquired by the three-dimensional sensor, if a roughly the same location is known in both the photographed video and the three-dimensional position information, the object in the video and the object in the three-dimensional position information can be associated with each other only by comparison within a small range. Then, afterwards, for example, the calibration process can be completed by performing a fine matching process.

[0047] When the matching process is completed, the monitoring control unit 22 ends the setup process.

[0048] As described above, according to the peripheral monitoring device 20 of the present embodiment, a plurality of candidate location presenting units 31 indicating that a location is a candidate for attaching the detection unit 21 are provided on the working machine 1. Therefore, an operator can select an appropriate candidate location presenting unit 31 from among the plurality of candidate location presenting units 31 and attach the detection unit 21. Further, the peripheral monitoring device 20 includes a determination unit 32 that determines on which candidate location presenting unit 31 the detection unit 21 is attached. Then, based on the determination result of the determination unit 32, it is possible to easily calculate the range that the detection unit 21 is detecting in coordinates with respect to the working machine 1. Therefore, by using this information, the complexity of the calibration process of the detection unit 21 can be reduced.

[0049] Furthermore, according to the peripheral monitoring device 20 of the present embodiment, the peripheral monitoring device 20 includes a sensor position calculation unit 33 that calculates the position of the detection unit 21 based on the determination result of the determination unit 32. Therefore, the monitoring control unit 22 can reduce the complexity of the calibration process, for example, by omitting the surveying process of the detection unit 21 that was previously required for the calibration process of the detection unit 21 by using the information on the calculated position of the detection unit 21.

[0050] The working machine 1 is assembled on-site, and parts may be reassembled depending on the on-site situation. For example, initially, a counterweight 9 with n steps was installed, and then it was changed to m steps. When such reassembly occurs, the position of the detection unit 21 attached to the counterweight 9 is changed, and the calibration process needs to be redone. In this case, in a conventional peripheral monitoring device, it is necessary to start over from the surveying of the detection unit 21, which is a very complicated process. On the other hand, according to the peripheral monitoring device 20 of the present embodiment, even if there is such reassembly, the calibration process can be performed with less complexity, and normal peripheral monitoring can be performed. Therefore, the peripheral monitoring device 20 of the present embodiment is particularly effective for the working machine 1 assembled on-site. Further, the peripheral monitoring device 20 of the present embodiment is also particularly effective for the working machine 1 in which the detection unit 21 is attached to parts that are reassembled depending on the on-site situation.

[0051] Furthermore, according to the peripheral monitoring device 20 of the present embodiment, the sensor position calculation unit 33 calculates the position of the detection unit 21 using vehicle body information. Therefore, even if the position of the candidate location presentation unit 31 differs depending on the vehicle type, or if the candidate location presentation unit 31 is provided on an assembled part (such as the counterweight 9), the position of the detection unit 21 can be calculated based on the vehicle body information. Therefore, the candidate location presentation unit 31 can be provided at various locations.

[0052] Furthermore, according to the peripheral monitoring device 20 of the present embodiment, the monitoring control unit 22 performs calibration processing based on the position of the detection unit 21 calculated by the sensor position calculation unit 33. Therefore, calibration processing with reduced complexity, such as omitting the surveying of the detection unit 21, is realized.

[0053] Furthermore, according to the peripheral monitoring device 20 of the present embodiment, the detection unit 21 has a plurality of types such as a photographing device and a three-dimensional sensor, and the candidate location presentation unit 31 includes a first type candidate location presentation unit 31a and a second type candidate location presentation unit 31b having different modes from each other. Therefore, the operator can select the candidate location presentation unit 31 according to the type of the detection unit 21 and attach the plurality of types of detection units 21 to appropriate locations according to the type.

[0054] (Embodiment 2) FIG. 5 is a diagram showing a plurality of candidate location presentation units according to Embodiment 2, where (A) is a rear rear view of the work machine, (B) is a rear plan view of the work machine, and (C) is a rear side view of the work machine. In the peripheral monitoring device 20 of Embodiment 2, the processing of the candidate location presentation unit 31A and the determination unit 32 is different, and the other components are the same as those in Embodiment 1.

[0055] The candidate location presentation unit 31A has a region larger than the attachment site of the detection unit 21, and a scale h of length is included in the region. In the example of FIG. 5, the grid lines function as the scale h. The scale h preferably has a scale of length in the two-dimensional direction if the region is a two-dimensional region. The scale h may have a scale of length in the one-dimensional direction if the region is a one-dimensional region. The scale h may be grid lines as shown in FIG. 5, or may be represented by, for example, dot marks, and various forms can be applied.

[0056] The determination unit 32 determines which of the plurality of candidate location presentation units 31A the detection unit 21 is attached to, and the identification information thereof is input by the operator. Further, the operator acquires a photographic image of the candidate location presentation unit 31A to which the detection unit 21 is attached with a digital camera, and inputs the photographic image data to the determination unit 32. The determination unit 32 determines at which position in the region of the candidate location presentation unit 31A the detection unit 21 is attached by performing image recognition on the photographic image data using the scale h. Note that the above photographic image data may not be acquired by the operator through photographing processing, but may be acquired by the peripheral monitoring device 20 through photographing processing.

[0057] A plurality of pieces of identification information are respectively given to the plurality of candidate location presentation units 31A, and a data table in which the identification information is associated with the position information of the candidate location presentation unit 31A is given to the determination unit 32 in advance. Further, data indicating the length represented by the scale h, such as data on the interval length of the scale h of each candidate location presentation unit 31A, is given to the determination unit 32 in advance. By using these data, the determination unit 32 can determine at which position in which candidate location presentation unit 31A the detection unit 21 is attached.

[0058] Similar to Embodiment 1, the plurality of candidate location display units 31A may include a first-type candidate location display unit 31Aa presented in a first mode (e.g., blue) that is a candidate for attaching the first-type detection unit 21, and a second-type candidate location display unit 31Ab presented in a second mode (e.g., black) that is a candidate for attaching the second-type detection unit 21. The number of types of the detection unit 21 and the number of modes of the candidate location display unit 31A may be three or more.

[0059] The candidate location display unit 31A may be in a sheet form and configured to be attached to the work machine. With such a configuration, the candidate location display unit 31A can be provided on the work machine 1 with little processing on the work machine 1.

[0060] <Setup Process> FIG. 6 is a flowchart showing the setup procedure of the peripheral monitoring device in Embodiment 2. The setup is a process of setting the peripheral monitoring device 20 so that normal peripheral monitoring can be executed after the work machine 1 is assembled at the site.

[0061] When the work machine 1 is assembled at the site, the operator first determines the locations for attaching the plurality of detection units 21 from among the plurality of candidate location display units 31A and attaches the plurality of detection units 21 (step S11). Here, when there are a plurality of types of detection units 21 and a plurality of modes of candidate location display units 31A associated with the types of the detection units 21, the operator attaches the detection unit 21 of the corresponding type to the candidate location display unit 31A corresponding to the type of the detection unit 21. Also, in Embodiment 2, since the candidate location display unit 31A has an area larger than the attachment portion of the detection unit 21, the operator can attach the detection unit 21 to the candidate location display unit 31A with freedom in the attachment position.

[0062] After the detection unit 21 is attached, the operator inputs to the peripheral monitoring device 20 attachment location information indicating which candidate location display unit 31A the detection unit 21 is attached to and attachment detail information (e.g., photographic image data) indicating where in the area of the candidate location display unit 31A the detection unit 21 is attached (step S12).

[0063] Next, the determination unit 32 determines at which position of which candidate location presentation unit 31A the plurality of detection units 21 are attached (step S13). Here, the determination unit 32 performs image recognition of the photographic image data using the scale h of the candidate location presentation unit 31A to determine where in the area of the candidate location presentation unit 31A the detection unit 21 is attached.

[0064] Next, the operator inputs vehicle body information to the peripheral monitoring device 20 via the input device 24 (step S14). The vehicle body information includes, for example, information indicating how many stages of counterweight 9 are installed. The vehicle body information may not be input by the operator, but vehicle type information etc. may be input in advance, or regarding the information of the assembled parts, the operator may set and input it to the control unit 12 of the working machine 1 (see FIG. 2), and it may be configured to be sent from the control unit 12 of the working machine 1 to the determination unit 32 of the peripheral monitoring device 20.

[0065] Next, based on the determination result in step S13 and the vehicle body information input in step S14, the sensor position calculation unit 33 calculates the positions of the plurality of detection units 21 respectively (step S15).

[0066] Subsequently, the monitoring control unit 22 performs calibration processing of each detection unit 21 based on the calculated positions of the plurality of detection units 21 (step S16). The calibration processing is the same as step S5 in FIG. 4.

[0067] When the alignment process is completed, the monitoring control unit 22 ends the setup process.

[0068] According to the peripheral monitoring device 20 of Embodiment 2, by the candidate location presentation unit 31A having an area, the operator can arrange and attach the detection unit 21 with freedom within one candidate location presentation unit 31A. Having freedom enables adjustment of the arrangement according to the site or the requirements of the driver etc. Furthermore, the determination unit 32 can accurately determine the attachment location of the detection unit 21 attached with such freedom.

[0069] The embodiments of the present invention have been described above. However, the present invention is not limited to the above embodiments. For example, in the above embodiment, an example in which a crane is applied as the working machine 1 is shown. However, the working machine to which the peripheral monitoring device according to the present invention can be applied is not limited to a crane, and any working machine may be used as long as it is a working machine in which a detector is attached to monitor the periphery, such as a shovel. Further, in the above embodiment, an example in which the back surface, side surface, and upper surface of the counterweight are applied as the locations where the candidate location presentation unit is provided is shown. However, various locations of the working machine, such as the side surface and upper surface of the upper slewing body, the side surface and back surface of the lower traveling body, the boom, the lifting tool, and the arm, may be applied. In addition, the details shown in the embodiments can be appropriately changed without departing from the gist of the invention.

Explanation of Signs

[0070] 1 Working machine 2 Lower traveling body 3 Upper slewing body 9 Counterweight 12 Control unit of the working machine 20 Peripheral monitoring device 20X Computer 21, 21a, 21b Detection unit 22 Monitoring control unit 23 Peripheral situation output unit 24 Input device 31, 31A Candidate location presentation unit 31a, 31Aa First type candidate location presentation unit 31b, 31Ab Second type candidate location presentation unit 32 Judgment unit 33 Sensor position calculation unit

Claims

1. A detection unit that can be attached to a working machine and can detect the surrounding situation of the working machine, A plurality of candidate location presentation units provided on the working machine and indicating that they are candidate locations for attaching the detection unit, A determination unit that determines to which of the plurality of candidate location presentation units the detection unit is attached, A peripheral monitoring device for a working machine comprising the above.

2. The peripheral monitoring device for a working machine according to claim 1, further comprising a sensor position calculation unit that calculates the position of the detection unit based on the determination result of the determination unit.

3. The sensor position calculation unit calculates the position of the detection unit based on the determination result of the determination unit and the vehicle body information of the working machine. The peripheral monitoring device for a working machine according to claim 2.

4. Calibration processing is performed based on the position of the detection unit calculated by the sensor position calculation unit. The peripheral monitoring device for a working machine according to claim 2 or claim 3.

5. Comprising a plurality of the detection units, The plurality of detection units include a first detection unit and a second detection unit that are different from each other in type, The plurality of candidate location presentation units include a first type candidate location presentation unit indicating that it is a candidate location for attaching the first detection unit, and a second type candidate location presentation unit having a different mode from the first type candidate location presentation unit and indicating that it is a candidate location for attaching the second detection unit. The peripheral monitoring device for a working machine according to claim 1.

6. The candidate location presentation unit has an area larger than the attachment site of the detection unit, and the area includes a length scale. The peripheral monitoring device for a working machine according to claim 1.

7. A working machine equipped with the peripheral monitoring device according to any one of claims 1 to 3.

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