Work machine, and control method of work machine

Abstract

To provide a work machine that eliminates the need for an operator to manually open a door.SOLUTION: A work machine comprises a cab with a door for boarding, an operation switch for the door, an automatic door mechanism that automatically opens the door, and a controller that detects an operator near the work machine and outputs a command to the automatic door mechanism to open the door on the condition that it receives an operation on the operation switch.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present disclosure relates to a work machine and a method for controlling a work machine. [Background technology]

[0002] BACKGROUND ART Various types of work machines equipped with a work implement have been known in the past. For example, Japanese Patent Application Laid-Open No. 2022-157162 (Patent Document 1) discloses a starting system for such a work machine.

[0003] The activation system of Patent Document 1 activates the vehicle body control unit when it is authenticated that the operator on board the work machine is a specific operator. The activation system unlocks the doors when the specific operator is present near the work machine. The activation system does not unlock the doors when the specific operator is not present near the work machine. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2022-157162 Summary of the Invention [Problem to be solved by the invention]

[0005] In Patent Document 1, when a specific operator is present near the work machine, the work machine automatically unlocks a locked door. However, in Patent Document 1, even if the door is unlocked, it remains closed. Therefore, the operator must manually open the door.

[0006] The present disclosure provides a work machine and a method of controlling the work machine that does not require the operator to manually open the door. [Means for solving the problem]

[0007] A work machine according to one aspect of the present disclosure includes a cab with a boarding door, an operation switch for the door, an automatic door mechanism that automatically opens the door, and a controller that detects an operator in the vicinity of the work machine and outputs a command to the automatic door mechanism to open the door on the condition that an operation on the operation switch is received. [Effects of the Invention]

[0008] The present disclosure eliminates the need for an operator to manually open the work machine door. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a side view showing a wheel loader. [Figure 2] FIG. 10 shows the left door. [Figure 3] FIG. 2 is an enlarged view of the main parts around the ladder. [Figure 4] FIG. 10 is a diagram showing the state in which the lid is open. [Figure 5] FIG. 2 is a diagram for explaining the arrangement of devices around the door in the cab. [Figure 6] FIG. 2 is a diagram illustrating an actuator. [Figure 7] FIG. 2 is a block diagram for explaining the hardware configuration and functional configuration of the wheel loader. [Figure 8] FIG. 4 is a flowchart illustrating the flow of processing executed by the wheel loader. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment will be described with reference to the drawings. In the following description, the same components are denoted by the same reference numerals. The names and functions of the components are also the same. Therefore, detailed description thereof will not be repeated.

[0011] In the following, the term "automatic" can mean "operates automatically without any action" or "operates by operating a switch or the like, and no manual operation is required."

[0012] [Overall configuration] In the embodiment, first, the configuration of a wheel loader, which is an example of a work machine according to the present disclosure, will be described. Fig. 1 is a side view showing a wheel loader 10 according to an embodiment of the present disclosure.

[0013] As shown in FIG. 1, the wheel loader 10 has a front frame 12, a rear frame 14, front wheels 26, rear wheels 27, a work implement 16, a cab (operator's compartment) 30, and a rear structure 18.

[0014] In the following description, the direction in which the wheel loader 10 travels straight ahead is referred to as the fore-and-aft direction of the wheel loader 10. In the fore-and-aft direction of the wheel loader 10, the side on which the work implement 16 is arranged relative to the front frame 12 and the rear frame 14 is referred to as the front direction, and the side opposite the front direction is referred to as the rear direction. The left-and-right direction of the wheel loader 10 is the direction perpendicular to the fore-and-aft direction in a plan view. When an operator seated in the driver's seat of the wheel loader 10 looks forward, the right and left sides of the left and right directions are the right and left directions, respectively. The up-and-down direction of the wheel loader 10 is the direction perpendicular to the plane defined by the fore-and-aft direction and the left-and-right direction. In the up-and-down direction, the side with the ground facing the ground is referred to as the bottom side, and the side with the sky facing the top side.

[0015] An articulated body frame is made up of the front frame 12 and the rear frame 14. The front frame 12 is located in front of the rear frame 14. The front frame 12 is rotatably connected to the rear frame 14 by a center pin (not shown). The center of rotation of the front frame 12 relative to the rear frame 14 is an axis extending in the vertical direction.

[0016] The front frame 12 and the rear frame 14 are connected by a steering cylinder (not shown). A pair of steering cylinders are provided on the left and right. When the steering cylinders are driven to extend and retract, the front frame 12 rotates left and right around the center pin.

[0017] The front wheels 26 and rear wheels 27 are running wheels of the wheel loader 10. The front wheels 26 are mounted on the front frame 12. The front wheels 26 are provided in a pair on the left and right. The rear wheels 27 are mounted on the rear frame 14. The rear wheels 27 are provided in a pair on the left and right.

[0018] The work implement 16 is provided on the front frame 12. The work implement 16 has a boom 21, a bucket 24, a boom cylinder 21A, a bell crank 22, a bucket cylinder 24A, and a link 23.

[0019] The cab 30 and the rear structure 18 are mounted on the rear frame 14. The cab 30 is mounted behind the work implement 16. The operator rides in the cab 30 to operate the wheel loader 10 to travel and the work implement 16.

[0020] The rear structure 18 is provided behind the cab 30. The rear structure 18 includes a hydraulic oil tank, an engine, a hydraulic pump, etc. The front frame 12, the rear frame 14, and the rear structure 18 make up the body 11 of the wheel loader 10.

[0021] [Cab configuration] Next, a description will be given of the structure of the cab 30. The cab 30 has a cab main body 31. The cab main body 31 defines an interior space of the cab 30. The cab main body 31 is formed by combining, for example, steel plates and transparent windows.

[0022] The cab body 31 has a hexagonal shape in a top view. The cab body 31 has a front side surface 32, a rear side surface 33, a left side surface 34, a right side surface (not shown), a diagonally front left side surface 36, and a diagonally front right side surface (not shown).

[0023] The front side surface 32 faces forward. The rear side surface 33 faces rearward. The length of the front side surface 32 in the left-right direction is shorter than the length of the rear side surface 33 in the left-right direction. The right side surface faces to the right. The right side surface is located between the front side surface 32 and the rear side surface 33. The right side surface is connected to the right end portion of the rear side surface 33. The left side surface 34 faces leftward. The left side surface 34 is located between the front side surface 32 and the rear side surface 33. The left side surface 34 is connected to the left end portion of the rear side surface 33.

[0024] The left oblique front side surface 36 faces diagonally forward and to the left. The left oblique front side surface 36 is disposed between the front side surface 32 and the left side surface 34. The left oblique front side surface 36 is connected to the left end of the front side surface 32 and the front end of the left side surface 34. The right oblique front side surface faces diagonally forward and to the right. The right oblique front side surface is disposed between the front side surface 32 and the right side surface. The right oblique front side surface is connected to the right end of the front side surface 32 and the front end of the right side surface. The distance between the left oblique front side surface 36 and the right oblique front side surface in the left-right direction decreases from the rear to the front.

[0025] The cab main body 31 of the cab 30 is not limited to the above-described hexagonal shape when viewed from above, and may have, for example, a rectangular shape when viewed from above.

[0026] The cab 30 has a left door 61 and a right door (not shown). The left door 61 and the right door are boarding doors for an operator to board the cab 30. Both the left door 61 and the right door are provided so as to be rotatable relative to the cab main body 31. Both the left door 61 and the right door are provided so as to be able to open and close the boarding entrance of the cab main body 31.

[0027] The door 61 is provided on the left side of the cab body 31. The door 61 is provided on the left side surface 34. The door 61 can be opened and closed automatically as well as manually. The right door is provided on the right side of the cab body 31. The right door is provided on the right side surface. In this example, the right door is a manual door that can be opened and closed manually. However, like the left door 61, the right door may also be configured to be open and closed manually or automatically.

[0028] Left Door Configuration Next, the structure of the door 61 and the structure around the door 61 will be described.

[0029] A boarding gate is formed in the cab body 31. The boarding gate is an opening provided in the cab body 31 for the operator to enter and exit the cab 30. The boarding gate has an overall rectangular opening shape with the vertical direction as the longitudinal direction. The boarding gates are provided on the left side surface 34 and the right side surface.

[0030] The door 61 is provided at a boarding gate formed on the left side surface 34. The door 61 is provided so as to be movable between a closed position where the boarding gate is closed and an open position where the boarding gate is open. The door 61 opens and closes the boarding gate.

[0031] The door 61 has a hinge portion 62. The door 61 is rotatably supported on the cab main body 31 via the hinge portion 62. The door 61 is provided so as to be rotatable around the hinge portion 62 between a closed position and an open position. The door 61 is an outward-opening type that opens toward the outside of the cab 30. The door 61 is a rear-hinge type in which the hinge portion 62 is located on the rear side of the boarding gate.

[0032] When the door 61 is in the closed position, the door 61 is disposed parallel to the left side surface 34. When the door 61 is in the open position, the door 61 is disposed so as to extend diagonally rearward and to the left from the rear end of the opening formed by the boarding gate. The open position of the door 61 is located rearward of the boarding gate.

[0033] The wheel loader 10 further has a ladder 41. The cab 30 is disposed above the ladder 41. The ladder 41 is provided between the ground and the cab 30. The ladder 41 is used when the operator ascends and descends between the ground and the cab 30.

[0034] The ladder 41 is attached to the left and right side surfaces of the rear frame 14. The ladder 41 has a plurality of steps 42. The steps 42 form a foothold on which the operator can place his or her feet. The steps 42 are arranged at intervals from one another in the vertical direction.

[0035] FIG. 2 is a diagram showing a left door 61. As shown in FIG. 2, the door 61 includes a hinge portion 62, a key cylinder 601, and a door handle (door knob) 602 on the outside of the vehicle. An operator can manually unlock the locked door 61 by inserting a key (not shown) into the key cylinder 601 and turning the key in a predetermined direction. After the door 61 is unlocked, the operator can move the door 61 from the closed position to the open position by operating the door handle 602. As will be described in detail later, when the door 61 is opened and closed automatically, the operator does not need to perform such key operations and door handle 602 operations.

[0036] [Operation switch outside the cab] Fig. 3 is an enlarged view of the main parts around the ladder 41. As shown in Fig. 3, in a front view of the ladder 41, a lid 202 is provided between two consecutive steps 42. In this example, the lid 202 is provided between the fourth step 42 and the fifth step 42 from the bottom. The lid 202 is provided between the steps 42 so that the lid 202 can be opened and closed. From the viewpoint of operability, the lid 202 is preferably provided at a position (height) that allows an operator to open and close the lid 202 while standing.

[0037] The lid 202 has a hinge portion 203. The lid 202 is attached to the side wall 201 of the vehicle body 11 by the hinge portion 203 so as to be able to open and close. The lid 202 is not locked and can be opened and closed at all times. In this example, the lid 202 does not have a locking function. However, this is not limiting, and the lid 202 may have a locking function.

[0038] The lid 202 is provided with a knob 204 for opening the lid 202. A cushioning material (not shown) is provided on the front side of the lid 202. The cushioning material reduces the impact when the lid 202 collides with the ladder 41 when the lid 202 is opened. In this way, the operator can freely open and close the lid 202.

[0039] Fig. 4 is a diagram showing the state in which the lid 202 is open. As shown in Fig. 4, when the lid 202 is opened, the operation switch 210 for the door 61 is exposed to the outside. In this way, the operation switch 210 is disposed outside the cab 30. The operation switch 210 has a lever 211. In this example, the operation switch 210 is a three-position momentary toggle switch.

[0040] The operation switch 210 is also provided at a position lower than the cab 30 so that it can be easily operated by an operator standing on the ground. The operation switch 210 is installed near the ladder 41 so that it can be easily operated by the operator before getting into the cab 30. The operation switch 210 is installed on the wheel loader 10 while being covered by a lid 202. The operation switch 210 is operated by the operator immediately before getting into the cab 30 and after getting off the vehicle.

[0041] The operation switch 210 can transition the lever 211 from the OFF position to a first ON position, and the operation switch 210 can transition the lever 211 from the OFF position to a second ON position.

[0042] The operation switch 210 is in the OFF position when the lever 211 is in the neutral position. The operation switch 210 is in the first ON position when the operator pushes the lever 211 upward. The operation switch 210 is in the second ON position when the operator pushes the lever 211 downward. In this way, the operation switch 210 can transition the lever 211 to any of the OFF position, the first ON position, and the second ON position. Note that the operation switch 210 is a momentary switch, and therefore when the operator releases the pushed lever 211, the lever 211 automatically returns to the neutral position (OFF position).

[0043] Details will be described later, but in this example, the first ON position is the key unlock position. The second ON position is the key lock position. However, this is not limiting, and the wheel loader 10 (more specifically, the door controller 71, which will be described later) may be configured so that the first ON position is the key lock position and the second ON position is the key unlock position.

[0044] In the above, the operation switch 210 is installed so that the lever 211 can be tilted up and down, but this is not limited to this. The operation switch 210 may also be installed so that the lever 211 can be tilted left and right. The type of operation switch 210 is not particularly limited. The operation switch 210 may have two ON positions and an OFF position. For example, the operation switch 210 may be a three-position alternate toggle switch.

[0045] Lever 211 is an example of an "operation unit" in the present disclosure. The operation of tilting lever 211 upward is an example of a "first operation" in the present disclosure. The operation of tilting lever 211 downward is an example of a "second operation" in the present disclosure.

[0046] [Left door mechanism] Figure 5 is a diagram illustrating the arrangement of equipment around the door 61 in the cab 30. As shown in Figure 5, the wheel loader 10 further includes a door lock knob 611 and covers 691, 692. The wheel loader 10 further includes an automatic door mechanism 630 (see Figure 7) that automatically opens the unlocked door 61. The automatic door mechanism 630 includes a latch mechanism 620, an actuator 82, and an actuator 83 (see Figure 6).

[0047] The door lock knob 611 is in a pressed position when the door 61 is locked. The door lock knob 611 is in a raised position when the door 61 is unlocked. When the door 61 is unlocked and the operator inside the cab 30 presses down the door lock knob 611 (in the direction of arrow D2), the door 61 is locked. When the door 61 is locked and the operator inside the cab 30 pulls up the door lock knob 611 (in the direction of arrow D1), the door 61 is unlocked. The position of the door lock knob 611 is linked to the rotation of the key inserted in the key cylinder 601.

[0048] The latch mechanism 620 has a catcher 621 provided on the door 61, a striker 622 provided on the cab main body 31, and an operating lever 623. The latch mechanism 620 holds the door 61 in the closed position by engaging the catcher 621 with the striker 622. A part of the catcher 621 is covered by a cover 691.

[0049] When the operation lever 623 receives a manual operation (operation in the direction of arrow D3) by an operator inside the cab 30 while the door 61 is in an unlocked state, it disengages the catcher 621 from the striker 622. After the engagement is released, the operator inside the cab 30 pushes the door 61 toward the outside of the cab 30, whereby the position of the door 61 transitions from the closed position to the open position.

[0050] The wheel loader 10 further includes a locking mechanism 610 (see FIG. 7) that locks and unlocks the door 61. The locking mechanism 610 includes a key cylinder 601, a door lock knob 611, a link mechanism (not shown) that operates in conjunction with the key cylinder 601 and the door lock knob 611, and an actuator 81. The link mechanism is covered by covers 691 and 692.

[0051] The actuator 81 automatically unlocks a locked door 61 and automatically locks an unlocked door 61. The actuator 81 is covered with a cover 692. The actuator 81 is, for example, a motor-driven actuator.

[0052] The actuator 82 is covered with a cover 692. The actuator 82 operates the latch mechanism 620 to release the door 61 from its hold in the closed position. The actuator 82 operates the catcher 621 in the closed position, thereby automatically releasing the engagement between the catcher 621 and the striker 622. The actuator 82 is, for example, a solenoid actuator.

[0053] 6 is a diagram for explaining the actuator 83. As shown in FIG. 6, in this example, the actuator 83 is a gas spring. The actuator 83 includes a cylinder 831 and a rod 832.

[0054] The cylinder 831 includes a pressure tube (not shown). The pressure tube is filled with gas and oil. The rod 832 has a piston (not shown) located within the cylinder 831. An end 834 of the rod 832 opposite the piston is attached to the cab body 31. An end 833 of the cylinder 831 opposite the rod 832 is attached to the door 61.

[0055] The actuator 83 is rotatably attached to the cab body 31 and the door 61. An end 834 of the actuator 83 is connected to the cab body 31 by a pin or the like, so that the actuator 83 can rotate relative to the cab body 31. An end 833 of the actuator 83 is connected to the door 61 by a pin or the like, so that the actuator 83 can rotate relative to the door 61.

[0056] When door 61 is closed (closed position), the piston moves toward end 833. This compresses the gas in the cylinder. In this state, a force (reaction force) is applied to rod 832 in a direction that pushes rod 832 out of cylinder 831.

[0057] When the engagement between the catcher 621 and the striker 622 in the latch mechanism 620 is released, the reaction force applied to the rod 832 causes the rod 832 to move in a direction that causes it to jump out of the cylinder 831. This causes the door 61 to automatically open. More specifically, the position of the door 61 automatically transitions from the closed position to the open position. In this way, the actuator 83 rotates the door 61 in the open direction with the engagement between the catcher 621 and the striker 622 released.

[0058] The actuator 81 is an example of a "first actuator" in the present disclosure, and the actuator 82 corresponds to a "second actuator" in the present disclosure.

[0059] [Block diagram] Figure 7 is a block diagram for explaining the hardware configuration and functional configuration of the wheel loader 10. As shown in Figure 7, the cab 30 is further equipped with a starter signal unit 50, a door controller 71, a relay 72, and a power supply 73, in addition to a locking mechanism 610 including an actuator 81, and an automatic door mechanism 630 including a latch mechanism 620 and actuators 82 and 83. The relay 72 has a coil 721, a movable contact 722, and a fixed contact 723.

[0060] The starter signal unit 50 is constantly supplied with power from a power source 73. The power source 73 is connected to a fixed contact 723. Although details will be described later, the starter signal unit 50 detects the presence of an operator in the vicinity of the wheel loader 10 based on predetermined information associated with the operator received from a terminal device 900 carried by the operator. This allows the operator to notify the wheel loader 10 of their presence simply by carrying the terminal device 900.

[0061] The relay 72 is provided between the power supply 73 and the door controller 71. The door controller 71 is connected to the movable contact 722 side of the relay 72.

[0062] The starter signal unit 50 includes a control unit 510, a short-range wireless communication unit 520, and a storage unit 530. The control unit 510 includes a detection unit 511 and a start-up unit 512. The detection unit 511 will be described in detail below, but it detects an operator present in the vicinity of the wheel loader 10. The detection unit 511 detects the operator of the wheel loader 10. When the operator approaches the wheel loader 10, the detection unit 511 detects the operator.

[0063] The short-range wireless communication unit 520 communicates with a terminal device 900 carried by an operator. In this example, the short-range wireless communication unit 520 can communicate with the terminal device 900 by Bluetooth (registered trademark). More specifically, in this example, wireless communication conforming to a wireless standard called "BLE: Bluetooth low energy" is used for communication between the short-range wireless communication unit 520 and the terminal device 900. The terminal device 900 is an RFID tag (IC tag, key fob). The terminal device 900 may also be a device with a screen, such as a smartphone.

[0064] The short-range wireless communication unit 520 performs a scan at each predetermined scan timing and determines whether or not an advertisement packet has been received. If an advertisement packet has not been received, the detection unit 511 determines that no operator is present near the wheel loader 10 (more specifically, near the starter signal unit 50).

[0065] When an advertisement packet is received, the short-range wireless communication unit 520 reads out an equipment ID (Identification) and an operator ID from the advertisement packet. If the read-out equipment ID is not an ID indicating the wheel loader 10, the detection unit 511 determines that no operator is present near the wheel loader 10.

[0066] If the read device ID is an ID indicating the wheel loader 10, the detection unit 511 determines whether or not the authority flag associated with the operator ID read from the advertisement packet is ON in the storage unit 530. If the authority flag is OFF, the detection unit 511 determines that no operator is present near the wheel loader 10. If the authority flag is ON, the detection unit 511 determines that an operator is present near the wheel loader 10.

[0067] When the detection unit 511 determines that an operator is present near the wheel loader 10, it sends a predetermined signal to the activation unit 512. When the activation unit 512 receives the predetermined signal, it causes a current to flow through the coil 721 of the relay 72. When a current flows through the coil 721, the movable contact 722 moves, and the movable contact 722 and the fixed contact 723 come into contact with each other.

[0068] In this way, when the detection unit 511 detects the operator, the activation unit 512 turns on the relay 72. When the relay 72 turns on, power is supplied from the power source 73 to the door controller 71. The door controller 71 is activated when power is supplied from the power source 73. Furthermore, power is supplied to the operation switch 210 via the door controller 71.

[0069] In this way, when the starter signal unit 50 detects an operator, it outputs a signal to turn on the relay 72, thereby starting the door controller 71 and enabling the operation switch 210. In this way, when the operator is detected, the operation switch 210 is enabled, so the operator does not need to perform any operation to enable the operation switch 210.

[0070] The operation switch 210 is electrically connected to the door controller 71 via a first path 91 and a second path 92. The first path 91 and the second path 92 are wires. When the operation switch 210 is not accepting an operation, the operation switch 210 is in the off position as shown in the figure. More specifically, the position of the lever 211 (see FIG. 4) of the operation switch 210 is in the off position (neutral position).

[0071] When the operation switch 210 receives an operation to push the lever 211 upward, a first signal is transmitted from the operation switch 210 to the door controller 71 via the first path 91. When the operation switch 210 receives an operation to push the lever 211 downward, a second signal is transmitted from the operation switch 210 to the door controller 71 via the second path 92.

[0072] When the operation switch 210 receives an operation to tilt the lever 211 upward while the door 61 is locked, the door controller 71 unlocks the door 61 and operates the latch mechanism 620. More specifically, the door controller 71 transmits (outputs) to the actuator 81 of the locking mechanism 610 a command (unlock command) to operate a movable part (not shown) of the actuator 81 in a direction to unlock the door 61. When the actuator 81 receives the unlock command signal from the door controller 71, it automatically unlocks the locked door 61.

[0073] Subsequently, the door controller 71 transmits (outputs) to the actuator 82 of the automatic door mechanism 630 a command (disengagement command) to operate a movable part (not shown) of the actuator 82 in a direction to release the engagement by the latch mechanism 620. In this way, the door controller 71 outputs an operation command to the actuator 81, and then outputs an operation command to the actuator 82.

[0074] The operation commands, ie, the unlock command, the disengage command, and the lock command described below, are specifically electrical signals. The "unlock command" corresponds to the "command to unlock the door" in this disclosure. The "disengage command" corresponds to the "command to open the door" in this disclosure.

[0075] Based on the control of the door controller 71, the locked door 61 is unlocked by the actuator 81. Based on the control of the door controller 71, the engagement of the latch mechanism 620 with the unlocked door 61 is released. More specifically, the actuator 82 releases the engagement between the catcher 621 and the striker 622.

[0076] When the engagement between the catcher 621 and the striker 622 in the latch mechanism 620 is released, as described above, the rod 832 of the gas spring 170 moves in a direction that projects from the cylinder 831. This causes the door 61 to automatically open. More specifically, the position of the door 61 automatically transitions from the closed position to the open position.

[0077] As described above, when the door controller 71 detects an operator while the door 61 is locked, it outputs an operation command to the locking mechanism 610 and the automatic door mechanism 630 on the condition that it has accepted an operation to unlock the door using the operation switch 210. In more detail, when the door controller 71 detects an operator while the door 61 is locked, it outputs an operation command to the actuator 81 on the condition that it has accepted an operation to unlock the door 61 using the operation switch 210.

[0078] Specifically, when an operator is detected while the door 61 is locked, the door controller 71 unlocks the door 61 and activates the automatic door mechanism 630 that automatically opens the door 61, provided that the operation switch 210 receives an operation to tilt the lever 211 upward.

[0079] More specifically, the door controller 71 unlocks the door 61 by operating the actuator 81. The door controller 71 releases the engagement between the catcher 621 and the striker 622 by operating the actuator 82. When the engagement between the catcher 621 and the striker 622 is released, the door 61 is automatically opened by the actuator 83.

[0080] With this configuration, the operator who plans to work on the wheel loader 10 simply approaches the wheel loader 10 carrying the terminal device 900 and operates the operation switch 210, and the door 61 is unlocked and automatically opened. Therefore, the operator does not need to unlock the door 61 using the key cylinder 601 or manually open the door 61 using the door handle 602.

[0081] When the cab 30 is in a high position, the positions of the key cylinder 601 and the door handle 602 shown in Fig. 2 are also high. In this example, as described above, the operation switch 210 is provided in a position lower than the cab 30. Therefore, the operator does not need to operate the key cylinder 601 (key operation) and the door handle 602 at a high position.

[0082] As described above, the operation switch 210 is installed near the ladder 41. Therefore, in this example, the door 61 can be automatically unlocked and opened without the need to step onto the ladder 41 and climb up to the position of the door 61.

[0083] The operation switch 210 is installed on the wheel loader 10 while covered by an unlocked, openable lid 202. With this configuration, an operator approaching the wheel loader 10 can operate the operation switch 210 without having to unlock the lid 202.

[0084] The operator in the cab 30 moves the door 61 from the open position to the closed position by operating a door handle 65 (see FIG. 6) attached to the inside surface of the door 61. Thereafter, the operator drives the wheel loader 10 from within the cab 30.

[0085] Next, a process will be described when the operator in the cab 30 gets out of the cab 30 after completing operation. When the operator has finished work using the wheel loader 10, he manually unlocks the locked door 61 inside the cab 30. Specifically, the operator pulls up the door lock knob 611 (FIG. 5). The operator moves the door lock knob 611 in the direction of arrow D1 in FIG. 5. This manually unlocks the door 61.

[0086] Next, the operator moves the operating lever 623 in the direction of arrow D3 in Figure 5. This disengages the catcher 621 and striker 622 in the latch mechanism 620. When the engagement is released, the actuator 83 automatically opens the door 61.

[0087] Thereafter, the operator disembarks from the boarding gate of the cab 30. Thereafter, the operator closes the door 61 by manually operating the door 61 from the outside. This engages the catcher 621 with the striker 622. The operator opens the lid 202 and pushes down the lever 211 of the operation switch 210. When the lever 211 is pushed down, the second signal is transmitted from the operation switch 210 to the door controller 71 via the second path 92, as described above.

[0088] The door controller 71 transmits a command (lock command) to the actuator 81 to operate a movable part (not shown) of the actuator 81 in a direction to lock the door 61. When the actuator 81 receives the lock command from the door controller 71, it automatically locks the unlocked door 61.

[0089] In this way, when the actuator 81 receives an unlock command from the door controller 71 while the door 61 is unlocked, it automatically locks the door 61. The door controller 71 transmits a lock command to the actuator 81 on the condition that the operation switch 210 receives an operation to push the lever 211 downward. As a result, the door 61 is automatically locked.

[0090] This eliminates the need for the operator to operate the key cylinder 601 (key operation) at a high position when dismounting from the wheel loader 10. It also eliminates the need to operate the key cylinder 601 with one's foot on the step 42 of the ladder 41.

[0091] The starter signal unit 50 is an example of a "first controller" in the present disclosure. The door controller 71 is an example of a "second controller" in the present disclosure. A device including at least the starter signal unit 50 and the door controller 71 is an example of a "controller" in the present disclosure. Such a device can detect an operator near the wheel loader 10 and, on the condition that it has accepted an operation on the operation switch 210, output a command to the automatic door mechanism 630 to open the door 61. Therefore, with this device, the operator does not need to open the door 61 by hand, as described above.

[0092] [Control Structure] FIG. 8 is a flow diagram for explaining the flow of processing executed by the wheel loader 10.

[0093] In step S1, the starter signal unit 50 determines whether or not an operator has been detected. If an operator has been detected (YES in step S1), in step S2, the activation unit 512 of the starter signal unit 50 turns on the relay 72, thereby powering on the door controller 71 and enabling the operation switch 210. If an operator has not been detected (NO in step S1), the short-range wireless communication unit 520 of the starter signal unit 50 continues scanning at predetermined scan timings.

[0094] After step S2, when the lever 211 of the operation switch 210 is tilted upward (YES in step S3), in step S4, the operation switch 210 transmits a first signal instructing the door 61 to be unlocked and opened to the door controller 71. In this example, the operation switch 210 transmits a signal via the first path 91 to the door controller 71.

[0095] In step S5, the door controller 71 transmits an unlock command to the actuator 81. In step S6, the door controller 71 transmits a disengagement command to the actuator 82. This causes the door 61 to transition from the closed position to the open position.

[0096] On the other hand, when the lever 211 of the operation switch 210 is tilted downward (YES in step S7), in step S8, a second signal instructing to lock the door 61 is transmitted from the operation switch 210 to the door controller 71. In this example, the signal is transmitted from the operation switch 210 to the door controller 71 via the second path 92. In step S9, the door controller 71 transmits a lock command to the actuator 81. As a result, the door 61 is automatically locked.

[0097] [Variations] In the above description, an example has been given of a configuration in which the door 61 is moved from the closed position to the open position by only the actuator 83 (in this example, a gas spring), but the present invention is not limited to this.

[0098] For example, the actuator 83 may be composed of multiple actuators. The actuator 83 may be composed of, for example, a gas spring and another actuator, such as a solenoid, controlled by the door controller 71. In this case, the solenoid may be configured to move the gas spring to a position where the door 61 can be automatically opened by the force of the gas spring alone. When the door 61 is to be opened, the solenoid operates to open the door 61 to a predetermined position. Once the door 61 reaches the predetermined position, the gas spring automatically moves the door 61 to the fully open position (open position). When the door 61 is to be closed, the operator manually moves the door 61 to the predetermined position. Then, the solenoid automatically moves the door 61 to the closed position.

[0099] Alternatively, instead of using a gas spring as the actuator 83, the actuator 83 may be an actuator controlled by a controller such as a solenoid. By using an electric linear actuator as the actuator 83, manual operation when closing the door may be automated.

[0100] The right door may also be configured to be automatically openable and closable like the left door 61. In this case, it is preferable from the standpoint of operability to further provide another operating switch 210 on the right side of the vehicle body.

[0101] The method of detecting an operator is not limited to the above method. For example, the wheel loader 10 may be configured so that, after detecting the approach of an operator, a camera is used to authenticate whether or not the operator is the operator of the wheel loader 10.

[0102] The wheel loader 10 may be configured as follows: When the starter signal unit 50 detects the presence of an operator near the wheel loader 10, it outputs a command to the locking mechanism 610 to unlock the door 61 (unlock command). The door controller 71 outputs a command to the automatic door mechanism 630 to open the door 61 (disengage command) on the condition that it has accepted an operation on the operation switch 210.

[0103] <Additional Notes> [Item 1] A work machine, a cab having a boarding door; an operating switch for the door; an automatic door mechanism that automatically opens the door; a controller that detects an operator present in the vicinity of the work machine and outputs a command to the automatic door mechanism to open the door on condition that an operation on the operation switch is received.

[0104] [Item 2] Item 2. The work machine according to item 1, wherein the operation switch is provided at a position lower than the cab.

[0105] [Item 3] The work machine further includes a ladder; 3. The work machine according to item 1 or 2, wherein the operation switch is installed near the ladder.

[0106] [Item 4] The work machine includes: The vehicle door locking system further includes a locking mechanism that has a first actuator that unlocks the locked door and locks and unlocks the door, 4. The working machine according to any one of items 1 to 3, wherein, when the operator is detected while the door is locked, the controller outputs a command to the first actuator to unlock the door on condition that an operation on the operation switch has been accepted.

[0107] [Item 5] The automatic door mechanism is a latch mechanism for holding the door in a closed position; a second actuator that operates the latch mechanism to release the door from its closed position; 5. The work machine according to item 4, wherein the second controller outputs a command to the first actuator to unlock the door, and then outputs a command to the second actuator to open the door.

[0108] [Item 6] 6. The work machine according to any one of items 1 to 5, wherein the controller detects the presence of the operator in the vicinity of the work machine based on predetermined information associated with the operator received from a terminal device carried by the operator.

[0109] [Item 7] the controller includes a first controller and a second controller; the first controller detects the presence of the operator in the vicinity of the work machine; 5. The working machine according to item 4, wherein the second controller outputs a command to unlock the door and a command to open the door to the locking mechanism and the automatic door mechanism, respectively, on condition that an operation on the operation switch is accepted.

[0110] [Item 8] The work machine includes: Power supply and a relay provided between the power supply and the second controller; 8. The working machine according to item 7, wherein, when the operator is detected, the first controller outputs a signal to turn on the relay, thereby activating the second controller and enabling the operation switch.

[0111] The present disclosure is applicable to various types of work machines equipped with a cab. The work machine in the present disclosure is not limited to a wheel loader, but may also be a bulldozer, a hydraulic excavator, a motor grader, a crane, a forestry machine, or the like.

[0112] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0113] 10 Wheel loader, 11 Body, 12 Front frame, 14 Rear frame, 16 Work equipment, 18 Rear structure, 21 Boom, 21A Boom cylinder, 22 Bell crank, 23 Link, 24 Bucket, 24A Bucket cylinder, 26 Front wheel, 27 Rear wheel, 30 Cab, 31 Cab body, 32, 36 Front side, 33 Rear side, 34 Left side, 41 Ladder, 42 Step, 50 Starter signal unit, 61 Door, 62, 203 Hinge part, 65, 602 Door handle, 71 Door controller, 72 Relay, 73 Power supply, 81, 82, 83 Actuator, 91 First path, 92 Second path, 201 Side wall, 202 Lid, 204 Knob, 210 Operation switch, 211 Lever, 510 Control part, 511 Detection unit, 512 activation unit, 520 short-range wireless communication unit, 530 memory unit, 601 key cylinder, 610 locking mechanism, 611 door lock knob, 620 latch mechanism, 621 catcher, 622 striker, 623 operating lever, 630 automatic door mechanism, 691, 692 cover, 721 coil, 722 moving contact, 723 fixed contact, 831 cylinder, 832 rod, 833, 834 end, 900 terminal device.

Claims

1. A work machine, a cab having a boarding door; an operating switch for the door; an automatic door mechanism that automatically opens the door; a controller that detects an operator present in the vicinity of the work machine and outputs a command to the automatic door mechanism to open the door on condition that an operation on the operation switch is received.

2. The work machine according to claim 1 , wherein the operation switch is provided at a position lower than the cab.

3. The work machine further includes a ladder; The work machine according to claim 1 , wherein the operation switch is installed near the ladder.

4. The work machine includes: The vehicle door locking system further includes a locking mechanism that has a first actuator that unlocks the locked door and locks and unlocks the door, 2. The work machine according to claim 1, wherein, when the operator is detected while the door is locked, the controller outputs a command to the first actuator to unlock the door on condition that an operation on the operation switch has been accepted.

5. The automatic door mechanism is a latch mechanism for holding the door in a closed position; a second actuator that operates the latch mechanism to release the door from its closed position; The work machine according to claim 4 , wherein the controller outputs a command to the first actuator to unlock the door, and then outputs a command to the second actuator to open the door.

6. 2. The work machine according to claim 1, wherein the controller detects the presence of the operator in the vicinity of the work machine based on predetermined information associated with the operator received from a terminal device carried by the operator.

7. the controller includes a first controller and a second controller; the first controller detects the presence of the operator in the vicinity of the work machine; 5. The work machine according to claim 4, wherein the second controller outputs a command to unlock the door and a command to open the door to the locking mechanism and the automatic door mechanism, respectively, on condition that an operation on the operation switch is accepted.

8. The work machine includes: Power supply and a relay provided between the power supply and the second controller; 8. The work machine according to claim 7, wherein, when the operator is detected, the first controller outputs a signal that turns on the relay to activate the second controller and enable the operation switch.

9. A method for controlling a work machine, comprising: detecting an operator in the vicinity of the work machine; receiving an operation on an operation switch for a boarding door; and on condition that the operator is detected and the operation is accepted, outputting a command to open the door to an automatic door mechanism that automatically opens the door.

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