Work machine periphery monitoring device and work machine

Abstract

To facilitate recognition of a part of a work machine that is close to an object.SOLUTION: A work machine periphery monitoring device according to an embodiment includes a display unit that, when displaying a first part and a second part included in shape information of the work machine, displays the first part, which is closer to an object detected in the periphery of the work machine by a detection unit compared to the second part, in a display manner different from that of the second part.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] Conventionally, when a work machine operates according to an operator's operation, the area visible to the operator is often limited. Therefore, various peripheral monitoring devices have been proposed to recognize an object existing in an area that the operator cannot visually recognize (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, even when the operator recognizes an object existing around the work machine, it is necessary to consider the shape of the work machine whether the object may come into contact with the work machine. Thus, it may be difficult for the operator to grasp the positional relationship between the object existing around and the work machine.

[0005] One aspect of the present invention makes it easy to recognize the positional relationship between a part of a work machine and an object by changing a display mode of a part close to the object existing around the work machine.

Means for Solving the Problems

[0006] A peripheral monitoring device for a work machine according to one aspect of the present invention includes a display unit that, when displaying a first part and a second part included in shape information of the work machine, displays the first part closer to an object detected around the work machine by a detection unit in a different display mode from the second part.

Advantages of the Invention

[0007] According to one aspect of the present invention, among the parts of the work machine, by varying the display mode of the part close to the object, it becomes easier to recognize the part close to the object.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Modes for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the embodiments described below are examples and do not limit the invention, and not all features and combinations thereof described in the embodiments are necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and the description thereof may be omitted.

[0010] Hereinafter, in the embodiments of the present invention, an example in which a crawler crane is used as an example of a work machine will be described, but the work machine is not limited to a crawler crane.

[0011] (First Embodiment) Hereinafter, a mode for carrying out the invention will be described with reference to the drawings.

[0012] First, with reference to FIGS. 1 to 2, an overview of the crawler crane 100 will be described.

[0013] FIG. 1 is a side view showing an example of the crawler crane 100 according to the present embodiment, and FIG. 2 is a top view showing an example of the crawler crane 100 according to the present embodiment. Hereinafter, in the present embodiment, one end side where the traveling hydraulic motor of the crawler 1C (that is, the drive wheel) is provided is defined as the "rear" (negative X-axis direction side) of the lower traveling body 1, and the opposite side is defined as the "front" (positive X-axis direction side) of the lower traveling body 1. In FIG. 2, the drawings of the boom 4, mast 5, backstop 6, etc. shown in FIG. 1 are omitted.

[0014] The crawler crane 100 includes a lower traveling body 1, an upper slewing body 3 that is mounted on the lower traveling body 1 so as to be slewing freely via a slewing mechanism 2, an attachment AT, a mast 5, a backstop 6, a hook HK, a counterweight 9, and a cabin 10.

[0015] The lower traveling body 1 includes a track frame 1TF that supports the upper slewing body 3, and a pair of left and right crawlers 1C (left crawler 1CL and right crawler 1CR) attached to the left and right of the track frame 1TF. The lower traveling body 1 drives the crawler crane 100 to travel by hydraulically driving each crawler 1C with a left traveling hydraulic motor 1ML and a right traveling hydraulic motor 1MR.

[0016] The upper slewing body 3 slews with respect to the lower traveling body 1 when the slewing mechanism 2 is hydraulically driven.

[0017] The attachment AT (an example of a working device) includes a boom 4 and a main hoist rope 7.

[0018] The boom 4 is attached to the front center of the upper slewing body 3 so as to be able to rise and fall. The main hoist rope 7 hangs down from the tip of the boom 4, and a hook HK is attached to the tip of the main hoist rope 7. That is, the hook HK is attached to the tip of the boom 4 via the main hoist rope 7.

[0019] The base end of the main hoist rope 7 is attached to a main hoist winch 7a attached to the rear surface portion between the base end and the tip of the boom 4, and the tip thereof is attached to the hook HK. The main hoist rope 7 can move the hook HK up and down by being wound up and let out by a hydraulically driven main hoist winch 7a.

[0020] The mast 5 is rotatably attached around a rotation axis parallel to the rotation axis of the boom 4 slightly behind the base end of the boom 4 of the upper slewing body 3. The tip of the mast 5 is connected to the tip of the boom 4 via a pendant rope 5a, and the boom 4 rises and falls via the mast 5 by winding up and letting out a boom hoist rope 5b by a hydraulically driven boom hoist winch 5c.

[0021] The backstop 6 is rotatably attached at its base to a portion of the upper slewing body 3 behind the base of the boom 4 about a rotation axis parallel to the rotation axis of the boom 4, and its tip is rotatably attached at a rear surface portion between the base and the tip of the boom 4 about a rotation axis parallel to the rotation axis of the boom 4. The backstop 6 expands and contracts according to the hoisting and lowering operation of the boom 4, and has a function of supporting the boom 4 from the rear, for example, when the boom 4 is in a substantially upright state.

[0022] The hook HK is attached to the tip of the main hoist rope 7 and is used to suspend the suspended load.

[0023] The counterweight 9 is provided at the rear end portion of the upper slewing body 3 and has a function of taking a weight balance with the weight of the boom 4 and the suspended load.

[0024] The cabin 10 is attached, for example, to the right front end portion of the upper slewing body 3. Inside the cabin 10, an operating device for operating the driver's seat and various actuators is provided.

[0025] This embodiment will describe an example including an imaging device S6 and a distance measuring device S7 as a plurality of space recognition devices capable of acquiring the surrounding situation of the crawler crane 100.

[0026] The imaging device S6 is attached, for example, to the upper rear end of the counterweight 9 and images the rear of the crawler crane 100. The imaging device S6 is, for example, a monocular wide-angle camera having a very wide angle of view. Also, the imaging device S6 may be a stereo camera, a distance image camera, or the like. The captured image by the imaging device S6 is taken into the controller 30.

[0027] The imaging device S6 according to this embodiment may be provided at a position where the periphery of the crawler crane 100 can be monitored, and the position where the imaging device S6 is provided is not limited to the upper rear end of the counterweight 9, and may be provided, for example, on the upper left side, upper right side, or upper front portion of the counterweight 9.

[0028] The distance measuring device S7 may be any device that is provided around the counterweight 9 and can detect the distance to an object existing around the crawler crane 100. The distance measuring device S7 is, for example, a LiDAR (Light Detection and Ranging).

[0029] The distance measuring device S7 irradiates infrared rays in a certain direction and receives the reflected light from an object in that direction, thereby obtaining information about an object around the crawler crane 100, specifically, information about the received reflected light (hereinafter, "received light information"). The distance measuring device S7 is, for example, a scanning type LiDAR and is a three-dimensional laser scanner capable of scanning the irradiation direction of an infrared laser in the vertical and horizontal directions. Further, the distance measuring device S7 may be a so-called flash type LiDAR that irradiates infrared rays from a light emitting module over a three-dimensional wide range and images the reflected light (infrared rays) with a three-dimensional distance image element. Note that the distance measuring device S7 is not limited to LiDAR, and a stereo camera, a millimeter wave radar, an ultrasonic sensor, a laser radar, or the like may be used.

[0030] The distance measuring devices S7 (the distance measuring device S7L and the distance measuring device S7R) are respectively attached to the lower left side and the lower right side of the rear end of the counterweight 9. The distance measuring device S7L detects an object behind and to the left of the crawler crane 100. The distance measuring device S7R detects an object behind and to the right of the crawler crane 100.

[0031] The measurement range 1201 in FIG. 2 indicates the range in which an object can be detected by the distance measuring device S7L. The measurement range 1202 indicates the range in which an object can be detected by the distance measuring device S7R.

[0032] Therefore, the controller 30 according to the present embodiment can detect an object existing around the counterweight 9 based on the measurement result from the distance measuring device S7.

[0033] Note that this embodiment shows an example of the arrangement of the distance measuring device S7, and does not limit the arrangement of the distance measuring device S7 to the position shown in FIG. 2. Any position where objects around the crawler crane 100 can be detected is acceptable. For example, the distance measuring device S7 may be provided on the upper surface of the counterweight 9 or in the vicinity of the front side of the upper slewing body 3 of the crawler crane 100 in order to detect objects existing in the front.

[0034] FIG. 3 is an explanatory diagram showing the measurement range in the height direction (Z-axis direction) of the distance measuring device S7 according to this embodiment. In FIG. 3, the measurement range 1301 of the distance measuring device S7 provided at the lower part of the rear end of the counterweight 9 is shown. The measurement range 1301 is set to be a range in which the distance measuring device S7 can detect objects (for example, a person 1311) existing around the crawler crane 100.

[0035] Specifically, in the measurement range 1301, the distance measuring device S7 detects a point cloud 1312 indicating each position where infrared rays are reflected as the surface shape of an object (for example, a person 1311).

[0036] The distance measuring device S7 detects the measurement ranges at the rear and side of the counterweight 9, for example, the measurement range in the horizontal direction (that is, the circumferential direction as viewed from the crawler crane 100) extending from the left rear to the right rear.

[0037] In addition, each of the distance measuring devices S7 of the crawler crane 100 is attached to the counterweight 9 so that the optical axis is directed obliquely downward, and detects the vertical measurement range 1301 including from the ground near the crawler crane 100 to the far side of the crawler crane 100. In this way, the distance measuring devices S7L and S7R are configured to be able to irradiate infrared rays with respect to the above-described measurement range.

[0038] Note that the distance measuring devices S7L and S7R cannot detect directly below (the negative Z-axis direction side). However, the measurement range of the distance measuring device S7L includes directly below the distance measuring device S7R, and the measurement range of the distance measuring device S7R includes directly below the distance measuring device S7L. This suppresses the occurrence of dead angles in the measurement range.

[0039] Note that the present embodiment is not limited to the method of providing the distance measuring device S7 at the lower rear end of the counterweight 9. For example, in a crawler crane, the counterweight 9 does not exist all the way to the bottom as shown in FIG. 3. In other words, it is not configured to carry the counterweight 9, and there is also a configuration in which the counterweight is mounted on the base frame. In this case, the distance measuring device may be provided at the lower rear end of the base frame.

[0040] The crawler crane 100 is assembled according to the work site. For each work site, the number of stages of the boom 4 (the length of the boom 4), or the number of weights stacked on the counterweight 9, etc. are different. Therefore, the shape of the crawler crane 100 changes for each work site.

[0041] That is, the operator needs to perform the operation so as not to contact the surrounding objects in consideration of the shape of the crawler crane 100 that changes for each work site.

[0042] Therefore, the controller 30 according to the present embodiment is configured to present the operator with the correspondence between the part of the crawler crane 100 whose shape changes for each work site and the objects existing around the crawler crane 100.

[0043] Note that in the present embodiment, an example in which the space recognition device includes the imaging device S6 and the distance measuring device S7 will be described, but the present embodiment is not limited to the example including the imaging device S6 and the distance measuring device S7, and other embodiments may be used.

[0044] [Configuration of Peripheral Monitoring Device] Next, in addition to FIGS. 1 to 3, with reference to FIG. 4, the configuration of the peripheral monitoring device 200 mounted on the crawler crane 100 according to the present embodiment will be described.

[0045] FIG. 4 is a block diagram showing an example of the configuration of the peripheral monitoring device 200 according to the present embodiment.

[0046] The peripheral monitoring device 200 monitors whether there is an object that may come into contact with the counterweight 9 within the measurement range around the crawler crane 100, and notifies the operator in the cabin 10, workers around the crawler crane 100, etc. of the monitoring result. Further, when detecting a monitoring target, the peripheral monitoring device 200 may limit the operation of the crawler crane 100 to ensure the safety around the crawler crane 100.

[0047] Objects to be monitored include, for example, "persons" such as workers working around the crawler crane 100 and supervisors at the work site, moving bodies such as vehicles including trucks, and stationary objects.

[0048] This embodiment is an example of detecting an object that may come into contact with the counterweight 9 of the crawler crane 100. In other words, objects lower than the counterweight 9 are not included in the detection target as they have no possibility of contact. Note that this embodiment shows an example of a monitoring method, and an aspect in which objects lower than the counterweight 9 are included in the monitoring target may also be possible.

[0049] The peripheral monitoring device 200 includes a controller 30, an imaging device S6, a distance measuring device S7, a display device D1, and an operation input device D2.

[0050] The display device (an example of a display unit) D1 is provided around the driver's seat in the cabin 10, specifically, at a position easily visible to the operator sitting on the driver's seat, and displays various image information for notifying the operator. The display device D1 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display, and may be a touch panel type that also serves as the operation input device D2. The display device D1, for example, displays an image representing the situation around the crawler crane 100 (the own machine) based on the captured image of the imaging device S6 under the control of the controller 30.

[0051] The operation input device D2 receives operation inputs regarding various functions of the peripheral monitoring device 200 from the operator and outputs them to the controller 30. The operation input device D2 includes, for example, operation means of any hardware such as a touch panel, a touch pad, buttons, toggles, rotary knobs, etc. Further, the operation input device D2 may include software operation means that can be operated through the hardware operation means, such as virtual button icons on an operation screen displayed on the display device D1.

[0052] The controller 30 is a control device that controls the functions of the peripheral monitoring device 200. The controller 30 is installed, for example, inside the cabin 10.

[0053] The function of the controller 30 may be realized by any hardware, or a combination of hardware and software. The controller 30 is mainly composed of, for example, a microcomputer including a CPU (Central Processing Unit), a memory device (main memory device) such as a RAM (Random Access Memory), an auxiliary storage device such as a ROM (Read Only Memory), and an interface device. The controller 30 includes, as a functional part realized by executing one or more programs installed in the auxiliary storage device on the CPU, an operation reception part 301, a crane shape generation part 302, an acquisition part 303, a three-dimensional object detection part 304, a calculation part 305, a determination part 306, and a display control part 307. Further, the auxiliary storage device is provided with a crane three-dimensional shape storage part 311.

[0054] Note that part or all of the functions of the controller 30 may be realized by other controllers. That is, the functions of the peripheral monitoring device 200 may be realized by being shared among a plurality of controllers. Further, the controller 30 may perform control related to the crawler crane 100 other than the control related to the functions of the peripheral monitoring device 200. That is, the controller 30 may be a dedicated control device specialized for the functions of the peripheral monitoring device 200, or may be a general-purpose control device that performs control related to various functions of the crawler crane 100 including the functions of the peripheral monitoring device 200.

[0055] The crane three-dimensional shape storage unit 311 is provided in the auxiliary storage device and stores three-dimensional shape data (an example of shape information) of the crawler crane 100. The crawler crane 100 has different numbers of counterweights 9 mounted thereon and different numbers of boom sections 4 depending on the work site or the work content. The crane three-dimensional shape storage unit 311 according to the present embodiment stores all combinations of the counterweight 9 and the boom 4 that can be assembled as the crawler crane 100. The controller 30 can generate a three-dimensional shape model of the crawler crane 100 according to the work site or the work content by referring to the crane three-dimensional shape storage unit 311.

[0056] The operation reception unit 301 receives, for example, information indicating the operation content from the operation input device D2.

[0057] For example, when the crawler crane 100 is assembled, the operation reception unit 301 receives input of information regarding the assembled crawler crane 100 via a touch panel or the like. The input information includes, for example, the number of counterweights 9 mounted on the crawler crane 100 and the number of boom sections 4.

[0058] The crane shape generation unit 302 refers to the crane three-dimensional shape storage unit 311, generates a three-dimensional shape model of the crawler crane 100 according to the information received by the operation reception unit 301, and stores it in the auxiliary storage device.

[0059] Note that the present embodiment does not limit the method for generating the three-dimensional shape model of the crawler crane 100 by the crane shape generation unit 302 to the method described above. For example, the crane shape generation unit 302 may acquire the detection result of the shape of the crawler crane 100 by a distance measuring device provided outside the crawler crane 100, and generate a three-dimensional shape model based on the detection result.

[0060] The three-dimensional shape model of the crawler crane 100 is data representing the surface shape of the crawler crane 100 as a point cloud. Further, the three-dimensional shape model of the crawler crane 100 includes information indicating the dimensions of the actual crawler crane 100. Therefore, the controller 30 can recognize the actual shape and dimensions of the crawler crane 100 by referring to the three-dimensional shape model. Further, the three-dimensional shape model may hold the shape with a surface in order to display the crawler crane 100 as an image, or may hold information on the color of the actual surface of the crawler crane 100.

[0061] The acquisition unit 303 acquires detection results from various sensors provided in the crawler crane 100. For example, the acquisition unit 303 acquires the image information captured by the imaging device S6. Further, the acquisition unit 303 acquires the point cloud measurement data detected by the distance measuring device S7.

[0062] The point cloud measurement data is data representing each pulse of infrared rays irradiated by a distance measuring device (for example, LiDAR) S7 reflected from surrounding objects or terrain as a point. The point cloud measurement data holds the measurement result as a set of points, and includes data such as the direction in which an object exists, the distance to the object, and the reflection intensity of the object for each point.

[0063] The acquisition unit 303 according to this embodiment converts the acquired point cloud measurement data from the direction and distance based on the distance measurement device (for example, LiDAR) S7 to the direction and distance from the origin of the coordinate system centered on the center of the crawler crane 100. Further, after the acquisition unit 303 converts the coordinate system, it may combine the point cloud measurement data of the distance measurement device S7L and the point cloud measurement data of the distance measurement device S7R. Note that the coordinate system to be converted is shown as an example and is not limited to this method. For example, a world coordinate system may be used as the coordinate system to be converted.

[0064] The three-dimensional object detection unit 304 detects an object (three-dimensional object) existing around the crawler crane 100 based on the point cloud measurement data acquired by the acquisition unit 303.

[0065] Specifically, the three-dimensional object detection unit 304 detects the road surface from the point cloud measurement data after performing pre-processing on the point cloud measurement data acquired by the acquisition unit 303. The pre-processing may include, for example, noise removal or density reduction.

[0066] Then, the three-dimensional object detection unit 304 detects an object (three-dimensional object) from the point cloud measurement data after removing the detected road surface. Specifically, the three-dimensional object detection unit 304 performs clustering for each object on the point cloud after removing the detected road surface. As a result, the point cloud is classified for each object (three-dimensional object).

[0067] The three-dimensional object detection unit 304 may define the point cloud for each clustered object as a three-dimensional shape model of the object, or may extract representative points from the point cloud and define a set of representative points as a three-dimensional shape model, or may derive intermediate points among a plurality of points included in the point cloud and define a set of intermediate points as a three-dimensional shape model.

[0068] As a specific method, for example, the three-dimensional object detection unit 304 meshes the clustered point cloud and generates a three-dimensional shape model meshed for each object. As a meshing method, for example, convex hull calculation may be used.

[0069] The calculation of the convex hull is an operation for forming the smallest convex polygon that encloses all the point groups for each object. As methods for calculating the convex hull, there are methods such as the gift wrapping method, Graham scan, or quick hull, but any method may be used. The three-dimensional object detection unit 304 generates a convex polygon (an example of a three-dimensional shape model) for each object by performing the calculation of the convex hull for each object.

[0070] For each three-dimensional shape model of an object generated by the method described above, it is possible to derive the position information (distance and direction from the origin) of the coordinate system with the center of the crawler crane 100 as the origin for each point constituting the three-dimensional shape model. Therefore, for each point constituting the three-dimensional shape model of the object, it is possible to calculate the distance between any point in the coordinate system.

[0071] The calculation unit 305 calculates the distance between each point of the point group included in the three-dimensional shape model of the object and each point of the point group included in the three-dimensional shape model of the crawler crane 100 for each object. Then, the calculation unit 305 specifies the shortest distance between the object and the crawler crane 100 among the calculated distances for each object. Further, the calculation unit 305 extracts, for each object, the point on the object side and the point on the crawler crane 100 side, which are the two ends of the shortest distance, as representative points.

[0072] In the present embodiment, the object for which the shortest distance is calculated by the calculation unit 305 is assumed to have a height equal to or higher than a predetermined height. The predetermined height is a height at which there is a possibility of contacting the counterweight 9, and in the present embodiment, it is determined to be, for example, 1.3 m. That is, in the present embodiment, for an object having a height of 1.3 m or more that has a possibility of contacting the counterweight 9, the shortest distance from the crawler crane 100 is calculated. Note that the present embodiment shows an example of a monitoring method, and the shortest distance between the object and the counterweight 9 may be calculated regardless of the height of the object.

[0073] The determination unit 306 determines, for each object, whether or not the shortest distance calculated for the object is within a first threshold value. In the present embodiment, the first threshold value is 2.0 m.

[0074] The display control unit 307 performs control for displaying various information on the display device D1. For example, the display control unit 307 displays the image information captured by the imaging device S6 provided on the crawler crane 100.

[0075] Furthermore, the display control unit 307 displays the peripheral monitoring result representing the position of the object detected by the distance measuring device S7 as a monitoring screen. The display control unit 307 according to the present embodiment generates a virtual three-dimensional space for displaying the monitoring screen. The virtual three-dimensional space is a space that virtually represents the situation around the work site where the crawler crane 100 exists. For example, the center of the crawler crane 100 is set as the origin of the virtual three-dimensional space.

[0076] And a three-dimensional shape model of the crawler crane 100 is arranged at the origin of the virtual three-dimensional space.

[0077] Furthermore, in the virtual three-dimensional space, based on the direction and distance for each point included in the point cloud measurement data, a three-dimensional shape model representing the object generated by the three-dimensional object detection unit 304 is arranged with the center of the three-dimensional shape model of the crawler crane 100 as a reference.

[0078] Then, the display control unit 307 displays an image representing the virtual three-dimensional space from a predetermined viewpoint as a monitoring screen. Therefore, on the monitoring screen, a monitoring result in which the three-dimensional shape models of the objects detected around the crawler crane 100 are represented with the three-dimensional shape model of the crawler crane 100 as the center is displayed.

[0079] In the monitoring screen of this embodiment, an example will be described in which an image representing a three-dimensional shape model of the crawler crane 100 from a predetermined viewpoint is displayed as an image representing the shape of the crawler crane 100. However, the image representing the shape of the crawler crane 100 is not limited to the image representing the three-dimensional shape model from a predetermined viewpoint. For example, image information representing the crawler crane 100 in two dimensions may be retained in advance and used for display. Hereinafter, the image representing the shape of the crawler crane 100 is referred to as a crane shape display image.

[0080] When the display control unit 307 displays the crane shape display image on the monitoring screen, it displays a representative point (an example of the first part) extracted as being close to the object with a display mode different from that of other areas (an example of the second part) of the crane shape display image. In this embodiment, a round icon (hereinafter referred to as a round icon) is displayed at the representative point, but other display modes may be used. In this embodiment, it is assumed that when the shortest distance to the object is within the first threshold value, a round icon is displayed at the representative point having the shortest distance to the object.

[0081] Further, when the display control unit 307 displays the three-dimensional shape model representing the detected object, it displays a representative point on the object side (an example of the third part) close to the representative point on the crawler crane 100 side with a display mode different from that of other areas (an example of the fourth part) on the object side, compared with other areas of the object. In this embodiment, a round icon is displayed at the representative point, but other display modes may be used. In this embodiment, it is assumed that when the shortest distance to the crawler crane 100 is within the first threshold value, a round icon is displayed at the representative point having the shortest distance to the crawler crane 100.

[0082] That is, in this embodiment, among the objects existing around the crawler crane 100, it is assumed that the representative point having the shortest distance to the crawler crane 100 is likely to come into contact with the counterweight 9, and a round icon is displayed at the representative point to make it recognizable to the operator or the like.

[0083] Furthermore, the display control unit 307 causes the determination unit 306 to associate and display a round icon represented by the representative point of an object determined to have a shortest distance within the first threshold value with a round icon represented by the representative point on the counterweight 9 side closest to the object. In the present embodiment, by associating the representative point of the object and the representative point of the counterweight 9 with an arrow, the operator can recognize the correspondence between the object that may come into contact and the representative point of the counterweight 9. Therefore, the operator can reduce the possibility of contacting the object by turning or moving the crawler crane 100 in consideration of the correspondence, thereby achieving a further improvement in safety.

[0084] In the present embodiment, an example is shown in which an arrow connecting the icons is displayed, but the display of the arrow is not limited, and other modes may be used as long as the correspondence can be recognized. For example, the correspondence may be recognized by making the color of the icon on the object side the same as the color of the icon on the counterweight 9 side.

[0085] Furthermore, as a method other than making the colors of the icons the same to confirm the correspondence, for example, the correspondence between the object and the representative point of the counterweight 9 may be represented by associating display modes such as the shape, size, and blinking of the icons.

[0086] FIG. 5 is a diagram showing an example of a monitoring screen displayed by the display control unit 307 according to the present embodiment. The monitoring screen shown in FIG. 5 is a display screen representing the above-described virtual three-dimensional space when viewed from a viewpoint provided upward. In the monitoring screen 1500, a crane shape display image 1550 is displayed at the position where the crawler crane 100 exists in the virtual three-dimensional space.

[0087] In the virtual three-dimensional space, a three-dimensional shape model of an object detected by the distance measuring device S7 is arranged. Therefore, a three-dimensional shape model 1501 of a person, a three-dimensional shape model 1502 of a person, a three-dimensional shape model 1503 of an object, and a three-dimensional shape model 1504 of a person are displayed on the monitoring screen 1500.

[0088] The people represented by the three-dimensional shape models 1501 and 1502 shall have the shortest distance calculated by the calculation unit 305 within 2.0 m. For this reason, in the crane shape display image 1550, a round icon 1511 is displayed at the position closest to the three-dimensional shape model 1501 of the person, and a round icon 1512 is displayed at the position closest to the three-dimensional shape model 1502 of the person.

[0089] Furthermore, a round icon 1521 is displayed at the position closest to the crawler crane 100 in the three-dimensional shape model 1501 of the person, and a round icon 1522 is displayed at the position closest to the crawler crane 100 in the three-dimensional shape model 1502 of the person.

[0090] Furthermore, an arrow connecting the round icon 1511 and the round icon 1521 and a numerical value (1.2 m) indicating the distance between the round icon 1511 and the round icon 1521 are displayed.

[0091] Similarly, an arrow connecting the round icon 1512 and the round icon 1522 and a numerical value (1.9 m) indicating the distance between the round icon 1512 and the round icon 1522 are displayed.

[0092] The display control unit 307 according to the present embodiment displays round icons in different colors according to the shortest distance between the object and the crawler crane 100. For example, the colors may be different based on 1.5 m.

[0093] Since the distance between the round icon 1511 and the round icon 1521 is shorter than 1.5 m, the round icon 1511 and the round icon 1521 are displayed in red. Also, the arrow connecting the round icon 1511 and the round icon 1521 is displayed in red.

[0094] Since the distance between the round icon 1512 and the round icon 1522 is longer than 1.5 m, the round icon 1511 and the round icon 1521 are displayed in yellow. Also, the arrow connecting the round icon 1512 and the round icon 1522 is displayed in yellow.

[0095] In this embodiment, the color of the round icon is varied according to the shortest distance between the object and the crawler crane 100. Therefore, when the operator refers to the display device D1, the distance to the object can be easily recognized by the color of the round icon or the like, facilitating the grasping of the surrounding situation. Therefore, an operation considering the surrounding situation becomes possible, realizing a further improvement in safety.

[0096] Also, since the three-dimensional shape model 1503 of the object is within a distance of 2.0 m from the crawler crane 100 but has a height within 1.3 m, the display of the round icon for the representative point connecting the crawler crane 100 and the three-dimensional shape model 1503 of the object at the shortest distance is suppressed.

[0097] That is, the display control unit 307 according to this embodiment displays a round icon (an example of making the display mode different) in order to make the display mode of the representative point (an example of the first part) connecting the object (an example of the first object) with a height of 1.3 m (an example of a predetermined height) or more in the crane shape display image 1550 different from that of other areas. On the other hand, the display control unit 307 suppresses the display of the round icon for the representative point (an example of the first part) connecting the object (an example of the second object) with a height lower than 1.3 m (an example of a predetermined height) in the crane shape display image 1550 in the same manner as other areas.

[0098] This embodiment has described an example of switching whether to display the round icon based on whether the object has a height at which it can contact the counterweight 9. However, this embodiment does not limit the criterion for switching whether to display the round icon (whether to change the display mode) to the height of the counterweight 9. That is, it may be the height of the part in the working machine (including the crawler crane 100) where contact with the object is to be suppressed.

[0099] In this embodiment, based on the height of the counterweight 9 (an example of a predetermined part of the working machine) of the crawler crane 100, by switching the display and non-display of the round icon based on the object close to the crawler crane 100, an operator or the like can be made aware of an object that may come into contact with the counterweight 9. Therefore, when the operator causes the crawler crane 100 to swing or the like, the operator can check an object that may come into contact, so it becomes easier to grasp the surrounding situation. Therefore, a higher level of safety can be achieved.

[0100] Also, since the three-dimensional shape model 1504 of a person is farther than 2.0 m from the crawler crane 100, the display of the round icon on the crawler crane 100 side and the representative point of the three-dimensional shape model 1504 of the object is suppressed.

[0101] That is, when the shortest distance between the detected object and the counterweight 9 is shorter than the first threshold value of 2.0 m, the display control unit 307 displays a round icon for the representative point of the counterweight 9 closest to the object in order to make the display mode different from other areas. When the shortest distance between the detected object and the counterweight 9 is 2.0 m or more, the round icon is not displayed at the representative point of the counterweight 9 closest to the object. In other words, it is displayed without changing the display mode of the representative point.

[0102] In this embodiment, the operator can recognize the distance from the counterweight 9 based on the presence or absence of the display of the round icon, so it becomes easier to grasp the surrounding situation. Therefore, a higher level of safety can be achieved.

[0103] The operator can recognize an object close to the crawler crane 100 by referring to the round icons 1521 and 1522.

[0104] Furthermore, by referring to the round icons 1511 and 1512 shown in the crane shape display image 1550, the operator can recognize the representative points on the crawler crane 100 side that are close to the object. That is, by gazing at the representative points indicated by the round icons 1511 and 1512 shown in the crane shape display image 1550, the operator can operate the crawler crane 100 while grasping the situation around the representative point close to the object of the crawler crane 100. Therefore, in this embodiment, it is possible to suppress the representative point from contacting the object and the like, and to further improve safety.

[0105] Also, in the monitoring screen of this embodiment, the display of the round icon corresponding to an object with a height within 1.3 m is suppressed. That is, the operator can suppress the attention to the object that does not affect the counterweight 9 moving by the slewing operation or the like, and can grasp the situation of the object that may contact the counterweight 9 by the slewing operation or the like. Therefore, it becomes easier for the operator of the crawler crane 100 in this embodiment to grasp the surrounding situation.

[0106] Furthermore, the monitoring screen 1500 shown in FIG. 5 is not limited to an overhead display representing the virtual three-dimensional space from an upper viewpoint, and may be a screen displaying the virtual three-dimensional space from a viewpoint on the side of the crawler crane 100. Furthermore, the display control unit 307 may be able to change the viewpoint according to the operation received by the operation reception unit 301.

[0107] Also, the display control unit 307 according to this embodiment is not limited to the display of the monitoring screen 1500 shown in FIG. 5, and other display modes may be used.

[0108] For example, instead of referring to the virtual three-dimensional space from an upper viewpoint, the display control unit 307 may delete the height information included in the virtual three-dimensional space, generate an overhead image representing the periphery of the crawler crane 100 in two dimensions, and display the overhead image.

[0109] FIG. 6 is a diagram showing an example of a monitoring screen displayed by the display control unit 307 according to the present embodiment. In the monitoring screen 1600 shown in FIG. 6, image information captured by the imaging device S6 is displayed.

[0110] It is assumed that calibration is performed between the imaging device S6 and the distance measuring device S7 according to the present embodiment. Therefore, the controller 30 can recognize the correspondence between the region represented in the image information captured by the imaging device S6 and the position of the object detected by the distance measuring device S7.

[0111] Therefore, the display control unit 307 superimposes and displays the peripheral monitoring result representing the position of the object detected by the distance measuring device S7 on the image information captured by the imaging device S6.

[0112] In the example shown in FIG. 6, the object 1601, the object 1602, the person 1603, the person 1604, and the object 1605 represented in the image information are also detected by the distance measuring device S7.

[0113] Therefore, the display control unit 307 displays a wireframe of a rectangular parallelepiped so as to surround the three-dimensional shape model on the monitoring screen 1600 in a region corresponding to the three-dimensional shape model generated by the three-dimensional object detection unit 304.

[0114] As a result, a wireframe 1611 corresponding to the object 1601, a wireframe 1612 corresponding to the object 1602, a wireframe 1613 corresponding to the person 1603, a wireframe 1614 corresponding to the person 1604, and a wireframe 1615 corresponding to the object 1605 are displayed. By this display, the operator can recognize whether an object is detected or not.

[0115] Furthermore, the display control unit 307 displays information based on the calculation result by the calculation unit 305 and the determination result by the determination unit 306.

[0116] Specifically, the display control unit 307 displays round icons 1631 and 1651 in the area of the monitoring screen 1600 corresponding to the representative point that connects the three-dimensional shape model of the person 1603 and the counterweight 9 at the shortest distance.

[0117] Furthermore, the display control unit 307 displays round icons 1632 and 1652 in the area of the monitoring screen 1600 corresponding to the representative point that connects the three-dimensional shape model of the person 1604 and the counterweight 9 at the shortest distance.

[0118] Furthermore, the present embodiment is not limited to the method of displaying round icons only in the area corresponding to the representative point connected at the shortest distance. For example, the display control unit 307 may identify a point group within a predetermined range (e.g., 50 cm) from the representative point where the round icon 1631 is displayed in the three-dimensional shape model of the person 1603 on the monitoring screen 1600, and display round icons 1641 at each point included in the identified point group. FIG. 6 shows an example of displaying a plurality of round icons on the object side, but a plurality of round icons may also be displayed on the counterweight 9 side. Thereby, the operator can grasp the parts that need attention around the representative point. Therefore, a higher level of safety can be achieved.

[0119] Furthermore, the display control unit 307 displays information for recognizing the positional relationship between the detected object and the counterweight 9. On the monitoring screen shown in FIG. 6, an arrow connecting the round icon 1631 and the round icon 1651 is displayed, and the distance (shortest distance) between the arrows, which is 1.2 m, is displayed. An arrow connecting the round icon 1632 and the round icon 1652 is displayed, and the distance (shortest distance) between the arrows, which is 1.9 m, is displayed. The operator can grasp the correspondence between the detected person and the counterweight 9.

[0120] Next, the processing procedure executed by the controller 30 according to the present embodiment will be described. FIG. 7 is a flowchart showing the processing procedure performed by the controller 30 according to the present embodiment during the assembly of the crawler crane 100.

[0121] First, the display control unit 307 displays the setting screen of the crawler crane 100 (S1701).

[0122] Next, the operation reception unit 301 receives, via the touch panel provided on the setting screen, input from the operation input device D2 of the number of boom stages of the crawler crane 100 after assembly and the number of counterweights 9 mounted (S1702).

[0123] The crane shape generation unit 302 refers to the crane three-dimensional shape storage unit 311 and generates a three-dimensional shape model of the crawler crane 100 corresponding to the input number of boom stages of the boom 4 and the number of counterweights 9 (S1703).

[0124] The crane shape generation unit 302 stores the three-dimensional shape model of the crawler crane 100 in the auxiliary storage device (S1704).

[0125] In the present embodiment, when the operation reception unit 301 receives input of information regarding the configuration of the crawler crane 100 from the setting screen, the crane shape generation unit 302 generates a three-dimensional shape model of the crawler crane 100 based on the input information. Then, the display control unit 307 displays at least a part of the generated three-dimensional shape model of the crawler crane 100 on a monitoring screen or the like. That is, even when the configuration of the crawler crane 100 differs for each work site, a three-dimensional shape model corresponding to the work site is displayed. And when calculating the shortest distance, the calculation unit 305 can improve the accuracy of calculating the distance between the crawler crane 100 and the objects existing around it by using the shape and dimensions of the three-dimensional shape model of the crawler crane 100. Furthermore, since the three-dimensional shape model corresponding to the current crawler crane 100 is displayed, the operator can be prevented from feeling uncomfortable due to the display of a three-dimensional shape model different from the current crawler crane 100.

[0126] Next, a processing procedure for the controller 30 according to the present embodiment to display a monitoring screen will be described. FIG. 8 is a flowchart showing the processing procedure for the controller 30 according to the present embodiment to display a monitoring screen.

[0127] First, the acquisition unit 303 acquires point cloud measurement data from the distance measurement devices S7R and S7L (S1801).

[0128] Next, the three-dimensional object detection unit 304 performs preprocessing on the point cloud measurement data (S1802). The preprocessing will be omitted as described above.

[0129] Thereafter, the three-dimensional object detection unit 304 detects the road surface from the preprocessed point cloud measurement data, and performs object detection processing on the point cloud measurement data after removing the road surface for the objects existing around the crawler crane 100 (S1803). The detection processing also includes the generation of a three-dimensional shape model of the detected object. The specific object detection method will be omitted as described above.

[0130] The display control unit 307 displays a monitoring screen based on the detection result (S1804). The monitoring screen may be, for example, an overhead image with a viewpoint set above the crawler crane 100 as shown in FIG. 5. A crane shape display image 1550 is arranged at the center of the overhead image. Further, when an object is detected, a three-dimensional shape model of the object is displayed on the monitoring screen based on the direction and distance from the center of the crawler crane 100. Thereby, the positional relationship between the crawler crane 100 and the object is displayed on the display device D1.

[0131] The calculation unit 305 determines whether an object exists around the crawler crane 100 by the detection processing (S1805). If it is determined that no object exists (S1805: NO), the process ends.

[0132] When the calculation unit 305 determines that an object exists around the crawler crane 100 by the detection process (S1805: YES), it calculates the distance between each point of the point cloud included in the three-dimensional shape model of one object among the detected objects and each point of the point cloud included in the three-dimensional shape model of the crawler crane 100 (S1806).

[0133] The calculation unit 305 specifies the shortest distance between the object and the crawler crane 100 from the calculated distances (S1807).

[0134] The determination unit 306 determines whether the calculated shortest distance is within a first threshold value (for example, 2 m) (S1808). When it is determined that the distance is longer than the first threshold value (for example, 2 m) (S1808: NO), the process proceeds to the process of S1812.

[0135] On the other hand, when the determination unit 306 determines that the calculated shortest distance is within the first threshold value (for example, 2 m) (S1808: YES), it extracts, as representative points, the point on the object side and the point on the crawler crane 100 side, which are the both ends of the shortest distance (S1809).

[0136] The display control unit 307 displays a round icon in the area of the monitoring screen corresponding to the extracted representative points (S1810). The color of the displayed round icon corresponds to the distance between the representative points.

[0137] The display control unit 307 displays an arrow connecting the representative points and a numerical value indicating the shortest distance (S1811).

[0138] The determination unit 306 determines whether the process has been completed for all the detected objects (S1812). When it is determined that the process has not been completed for all the objects (S1812: NO), the process is performed again from S1806.

[0139] On the other hand, when the determination unit 306 determines that the processing for all the detected objects has been completed (S1812: YES), it determines whether there is a distance shorter than a second threshold value (for example, 0.8 m) among the shortest distances calculated for each object (S1813). When it is determined that there is no distance shorter than the second threshold value (for example, 0.8 m) (S1813: NO), the processing is terminated.

[0140] On the other hand, when the determination unit 306 determines that there is a distance shorter than the second threshold value (for example, 0.8 m) (S1813: YES), the display control unit 307 switches to a monitoring screen for prompting the operator to pay attention (S1814). The switched monitoring screen will be described later.

[0141] In the present embodiment, by the controller 30 performing the above-described control, the operator can be made to recognize the situation around the crawler crane 100.

[0142] When the shortest distance between the object and the counterweight 9 part is shorter than the second threshold value (for example, 0.8 m), the display control unit 307 changes the display mode of a monitoring screen (an example of a screen) in which the counterweight 9 part appears. In the present embodiment, by changing the display mode of the monitoring screen displayed by the display control unit 307, the operator can be made to recognize the current situation. Therefore, the operator can perform an operation in consideration of the current situation, and thus a higher level of safety can be achieved.

[0143] FIG. 9 is a diagram showing an example of a monitoring screen for prompting the operator to pay attention, which is displayed by the display control unit 307 according to the present embodiment. The monitoring screen 1900 shown in FIG. 9 is a magnified display screen compared to the monitoring screen 1500 in FIG. 5.

[0144] On the monitoring screen 1900, a crane shape display image 1950 representing the three-dimensional shape model of the crawler crane 100 from an upward viewpoint is displayed. Further, a scale may be displayed on the monitoring screen 1900. In the monitoring screen shown in FIG. 9, the scale is represented in 1 m units.

[0145] On the monitoring screen 1900 shown in FIG. 9, similar to the monitoring screen 1500 shown in FIG. 5, the three-dimensional shape models 1901 and 1902 of the person detected by the distance measuring device S7 are displayed.

[0146] For the person represented by the three-dimensional shape model 1901, the shortest distance calculated by the calculation unit 305 is set to be within 2.0 m. Therefore, on the crane shape display image 1950, a round icon 1951 is displayed at the position closest to the three-dimensional shape model 1901 of the person (the representative point connecting the shortest distance), and on the three-dimensional shape model 1501 of the person, a round icon 1911 is displayed at the position closest to the counterweight 9 (the representative point connecting the shortest distance).

[0147] Furthermore, an arrow connecting the round icon 1911 and the round icon 1951, and a numerical value (0.5 m) indicating the distance between the round icon 1911 and the round icon 1951 are displayed.

[0148] Also, since the distance of the three-dimensional shape model 1902 of the person from the crawler crane 100 is more than 2.0 m, the display of round icons at the closest positions to the crawler crane 100 side and the three-dimensional shape model 1902 of the object is suppressed.

[0149] On the monitoring screen 1900 shown in FIG. 9, since it is enlarged compared to the monitoring screen 1500, the operator can recognize the situation near the counterweight 9 of the crawler crane 100 in more detail.

[0150] Also, the round icons 1911 and 1951 connecting the shortest distances shorter than the second threshold value (for example, 0.8 m) may have a different display mode compared to the round icons shown in FIG. 5. For example, the round icons 1911 and 1951 may be displayed blinking, or the round icons 1911 and 1951 may be displayed in a color different from the round icons in FIG. 5.

[0151] Similarly, the display mode of the arrow connecting the round icons 1911 and 1951 may be different from the arrow shown in FIG. 5. For example, the arrow may be displayed thick, or may be displayed blinking.

[0152] In FIG. 9, since the vicinity of the counterweight 9 is enlarged and displayed, it is possible to prompt the operator to pay attention. Further, the operator can recognize the detailed situation in the vicinity of the counterweight 9.

[0153] This embodiment does not limit the monitoring screen for prompting the operator's attention to the monitoring screen 1900 in FIG. 9. Therefore, another aspect of the monitoring screen for prompting attention will be described.

[0154] FIG. 10 is a diagram showing an example of a monitoring screen for prompting the operator's attention, which is displayed by the display control unit 307 according to this embodiment. The monitoring screen 2000 shown in FIG. 10 is a screen showing the three-dimensional shape model 2001 of an object (for example, a person) having the shortest distance shorter than the second threshold value (for example, 0.8 m) and the three-dimensional shape model 2050 of the crawler crane 100 including the counterweight 9 from the side direction. In addition, in the monitoring screen 2000 shown in FIG. 10, the three-dimensional shape model 2002 of the objects existing around is also displayed.

[0155] That is, the display control unit 307 switches the viewpoint from the upward viewpoint to the side direction viewpoint in the generated virtual three-dimensional space. Further, the display control unit 307 brings the viewpoint closer to the three-dimensional shape model 2001 of an object (for example, a person) having the shortest distance shorter than the second threshold value (for example, 0.8 m). By this control, the monitoring screen 2000 is displayed.

[0156] Furthermore, a scale may be displayed on the monitoring screen 2000. In the monitoring screen 2000 shown in FIG. 10, the scale is represented in units of 0.5 m.

[0157] The object (e.g., a person) represented by the three-dimensional shape model 2001 has a calculated shortest distance of 0.5 m from the counterweight 9 by the calculation unit 305. Therefore, among the three-dimensional shape models 2050 of the crawler crane 100, a round icon 2051 is displayed at the position closest to the three-dimensional shape model 2001 of the object (the representative point connecting the shortest distance), and among the three-dimensional shape models 2001 of the object, a round icon 2011 is displayed at the position closest to the three-dimensional shape model 2050 of the counterweight 9 (the representative point connecting the shortest distance).

[0158] Furthermore, an arrow connecting the round icon 2011 and the round icon 2051, and a numerical value (0.5 m) indicating the distance between the round icon 2011 and the round icon 2051 are displayed.

[0159] In the monitoring screen 2000 shown in FIG. 10, compared with the monitoring screen 1500, an enlarged display is performed, and the display is performed from the side direction (changing the viewpoint), so that the operator can recognize the situation near the counterweight 9 of the crawler crane 100 in more detail.

[0160] Note that in this embodiment, an example in which round icons are displayed for each of the counterweight 9 side and the object side on the monitoring screen has been described. However, in this embodiment, the method of displaying round icons for each of the counterweight 9 side and the object side is not limited. For example, round icons may be displayed only on the counterweight 9 side. That is, even if round icons are displayed only on the counterweight 9 side on the monitoring screen, the operator or the like can recognize the portion of the counterweight 9 that may come into contact with the object, so that the safety can be further improved.

[0161] As a further aspect, round icons may be displayed only on the object side. That is, even if round icons are displayed only on the object side on the monitoring screen, the operator or the like can recognize the portion of the object that may come into contact with the counterweight 9, so that the safety can be further improved.

[0162] In this embodiment, when the determination unit 306 determines that there is a distance shorter than the second threshold among the shortest distances calculated for each object, the display control unit 307 switches to a monitoring screen for prompting the operator to pay attention. However, this embodiment is not limited to the method of switching to a monitoring screen for prompting the operator to pay attention when it is determined that there is a distance shorter than the second threshold. When it is determined that there is a distance shorter than the second threshold, the display control unit 307 may change the display mode of the screen from the screen before it is determined that there is a distance shorter than the second threshold. The change in the display mode of the screen may be a change to a display mode in which the representative point can be more clearly understood. In addition to the screen switching described above, for example, it may be a zoom display without a change in the viewpoint, or a switch to a screen representing an imaging image acquired from an imaging device with a higher number of pixels than the imaging device S6. The imaging device with a higher number of pixels than the imaging device S6 may be provided on the crawler crane 100, or may be provided outside the crawler crane 100, for example, at the work site.

[0163] (Modification Example 1) In the above-described embodiment, an example of displaying a round icon for each object whose shortest distance is within the first threshold of 2.0 m and the crawler crane 100 has been described. However, the above-described embodiment is not limited to the mode of displaying a round icon for each object whose shortest distance is within the first threshold of 2.0 m and the crawler crane 100.

[0164] As a modification example, the display control unit 307 may display a round icon and an arrow connecting the round icons at both ends of the shortest distance between all the detected objects and the crawler crane 100. In this case, the display control unit 307 may vary the color of the round icon according to the shortest distance. For example, when the shortest distance is within 2.0 m, a round icon may be displayed in the same color as in the above-described embodiment, and when the shortest distance is longer than 2.0 m, a green round icon may be displayed.

[0165] As a further modification example, the display control unit 307 displays round icons at both ends of the shortest distance between all the detected objects and the crawler crane 100. However, an arrow connecting the round icons may be displayed only between the crawler crane 100 and an object whose shortest distance is within the first threshold value of 2.0 m.

[0166] Also, in the above-described embodiment and this modification example, the change in the display mode according to the shortest distance is not limited to changing the color of the round icon. For example, the display control unit 307 may change the shape of the icon according to the shortest distance, or may change the size of the icon according to the shortest distance. Further, the display control unit 307 may change the thickness of the arrow according to the shortest distance.

[0167] (Modification Example 2) In the above-described embodiment and modification example, an example of displaying a monitoring screen to the operator of the crawler crane 100 has been described. However, in the above-described embodiment and modification example, the example is not limited to displaying a monitoring screen to the operator boarding the cab 10 of the crawler crane 100. For example, a monitoring screen may be displayed to the operator operating the crawler crane 100 in the remote operation room. In this case, the processing shown in the above-described embodiment is not limited to the controller 30 of the crawler crane 100, and the controller in the remote operation room may perform it.

[0168] (Modification Example 3) In the above-described embodiment and modification example, an example of providing the crawler crane 100 with the distance measuring device S7 and displaying a monitoring screen based on the detection result of the distance measuring device S7 has been described. However, the above-described embodiment and modification example are not limited to the method of providing the crawler crane 100 with the distance measuring device S7. A fixed-point measuring device provided at the work site may have the same function as the distance measuring device S7 in the above-described embodiment. The fixed-point measuring device may be provided, for example, on a column erected at the work site so that the situation of the work site can be measured from above.

[0169] The controller 30 of the crawler crane 100 receives point cloud measurement data and position information of the world coordinate system where the object exists from the fixed-point measurement device.

[0170] Then, the controller 30 of the crawler crane 100 generates a three-dimensional shape model of the objects existing around the crawler crane 100 based on the point cloud measurement data from the fixed-point measurement device. And based on the received position information of the object in the world coordinate system and the position information of the crawler crane 100 in the world coordinate system, it derives the relative positional relationship between the crawler crane 100 and the object.

[0171] Then, the controller 30 of the crawler crane 100 performs the same processing as in the above-described embodiment. As a result, a monitoring screen similar to that in the above-described embodiment is displayed.

[0172] Furthermore, this modified example is not limited to the method in which the controller 30 of the crawler crane 100 performs the above-described control. For example, a remote controller provided in a remote operation room for remotely controlling the crawler crane 100 may receive the point cloud measurement data from the fixed-point measurement device and perform the above-described processing.

[0173] Furthermore, a controller of a monitoring server separately provided from the crawler crane 100 may perform the above-described processing. In this case, the administrator of the monitoring server may recognize the situation at the work site by referring to a screen similar to that in the above-described embodiment.

[0174] In the above-described embodiment and modified example, the case where the crawler crane 100 is used as the working machine has been described. However, the embodiment and the modified example are not limited to the crawler crane 100 as the working machine, and may be applied to a shovel that can rotate and move according to the operation of the operator. Furthermore, it may be a forklift that can move according to the operation of the operator, or an overhead crane, or a fixed power crane. Furthermore, it may be a road machine including an asphalt finisher or the like.

[0175] <Function> In the monitoring screen displayed by the display control unit 307 of the above-described embodiments and modified examples, a portion close to the object detected around the crawler crane 100 is displayed as a round icon. That is, among the crawler crane 100, the portion close to the object is displayed with a display mode different from that of other portions. Therefore, an operator or the like can easily recognize the portion of the crawler crane 100 close to the object by referring to the monitoring screen or the like. Further, since it becomes easy for an operator or the like to perform an operation so as not to contact the object at the portion, a further improvement in safety can be realized.

[0176] Furthermore, in the monitoring screen displayed by the display control unit 307 of the above-described embodiment, among the objects detected in the vicinity, a portion close to the counterweight 9 is displayed as a round icon. That is, among the objects detected in the vicinity, the portion close to the counterweight 9 is displayed with a display mode different from that of other portions. An operator or the like can recognize a portion of the object existing in the vicinity that is close to the crawler crane 100 by referring to the monitoring screen or the like. Therefore, it becomes easy for the operator to perform an operation so as not to contact the crawler crane 100 at the portion, and thus a further improvement in safety can be realized.

[0177] As described above, the peripheral monitoring device for a working machine and the embodiment of the working machine according to the present invention have been described, but the present invention is not limited to the above embodiments. Various changes, modifications, substitutions, additions, deletions, and combinations are possible within the scope described in the claims. Naturally, those also belong to the technical scope of the present invention.

Explanation of Reference Numerals

[0178] 100 Crawler Crane 1 Lower Traveling Body 2 Slewing Mechanism 3 Upper Slewing Body AT Attachment 4 Boom 5 Mast 6 Backstop 7 Main Hoist Rope HK Hook 9 Counterweight 10 Cabin S6 Imaging device S7 Distance measuring device 200 Peripheral monitoring device 30 Controller 301 Operation reception unit 302 Crane shape generation unit 303 Acquisition unit 304 Three-dimensional object detection unit 305 Calculation unit 306 Judgment unit 307 Display control unit D1 Display device D2 Operation input device

Claims

1. When displaying a first part and a second part included in the shape information of the work machine, a display unit that displays the first part, which is closer to an object detected around the work machine by a detection unit than the second part, in a display mode different from that of the second part. A peripheral monitoring device for a work machine comprising the same.

2. When the display unit displays a third part and a fourth part included in the object, the third part, which is closer to the first part of the work machine than the fourth part, is displayed in a display mode different from that of the fourth part. The peripheral monitoring device according to Claim 1.

3. The display unit displays the first part included in the shape information and the third part included in the object in association with each other. The peripheral monitoring device according to Claim 2.

4. The display unit displays the first part close to a first object having a predetermined height or more in a display mode different from that of the second part, and displays the first part close to a second object lower than the predetermined height without changing the display mode from that of the second part. The peripheral monitoring device according to Claim 1.

5. The predetermined height corresponds to the height of a predetermined part of the work machine. The peripheral monitoring device according to Claim 4.

6. The display unit varies the display mode of the first part according to the distance between the object and the first part. The peripheral monitoring device according to Claim 1.

7. When the distance between the object and the first part is less than a first threshold value, the display unit displays the first part in a display mode different from that of the second part, and when the distance between the object and the first part is greater than the first threshold value, the display unit displays the first part without changing the display mode from that of the second part. The peripheral monitoring device according to Claim 6.

8. When the distance between the object and the first part is less than a second threshold value, the display unit changes the display mode of the screen on which the first part appears from the screen before the distance between the object and the first part becomes less than the second threshold value. The peripheral monitoring device according to Claim 6.

9. When receiving an input of information regarding the configuration of the work machine, the display unit displays at least a part of the shape information of the work machine generated based on the received information. The peripheral monitoring device according to Claim 1.

10. A work machine having the peripheral monitoring device according to Claim 1.

Images