Work machine control device, work machine, external device, and work machine system

Abstract

To provide a technology capable of outputting alarm sound for an operating interest party relating to operation of a work machine and alarm sound for peripheral workers working around the work machine in respective proper conditions.SOLUTION: A work machine control device (40) is provided with a controller (50) controlling output of alarm sound for an interest party of alarm sound for an operating interest party (P1) relating to operation of a work machine (100) on the basis of output conditions for an interest party and controlling output of alarm sound for peripheral workers (P2) working around the work machine (100) on the basis of output conditions for a periphery different from the output conditions for an interest party.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to technology for work machines such as excavators. [Background technology]

[0002] Each of Patent Documents 1 to 3 discloses a technique for outputting an alarm based on the detection of a monitored object existing in the vicinity of a work machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-102596 [Patent Document 2] Japanese Patent Application Laid-Open No. 2023-83299 [Patent Document 3] Japanese Patent Application Publication No. 2018-111981 Summary of the Invention [Problem to be solved by the invention]

[0004] If an alarm sound is output uniformly for the drivers involved in operating the work machine and for the surrounding workers working around the work machine, these alarm sounds may not necessarily be appropriate for the drivers and surrounding workers.

[0005] An object of the present disclosure is to provide a work machine control device, a work machine, an external device, and a work machine system that are capable of outputting an alarm sound for personnel involved in the operation of the work machine and for nearby workers working around the work machine under conditions appropriate for each. [Means for solving the problem]

[0006] A work machine control device according to one aspect of the present disclosure includes a controller that controls the output of a related person alarm sound, which is an alarm sound for related persons involved in the operation of the work machine, based on related person output conditions, and controls the output of a surrounding area alarm sound, which is an alarm sound for nearby workers working around the work machine, based on surrounding area output conditions that are different from the related person output conditions.

[0007] A work machine according to another aspect of the present disclosure includes the work machine control device.

[0008] An external device according to yet another aspect of the present disclosure includes the work machine control device.

[0009] A work machine system according to yet another aspect of the present disclosure includes a work machine and an external device, and the work machine system includes the work machine control device. [Effects of the Invention]

[0010] According to the present disclosure, a technique is provided that can output an alarm sound for drivers and a alarm sound for nearby workers under conditions appropriate for each. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view showing a work machine equipped with a work machine control device according to an embodiment. [Figure 2] 2 is a block diagram showing a configuration of the work machine equipped with the work machine control device. FIG. [Figure 3] FIG. 3 is a diagram showing an example of a monitoring range monitored by the work machine control device. [Figure 4] FIG. 3 is a diagram showing an example of a display screen of a display controlled by the work machine control device. [Figure 5] 4 is a flowchart showing an example of a calculation process performed by a controller of the work machine control device. [Figure 6] 10 is a flowchart showing another example of the calculation process performed by the controller of the work machine control device according to the first modification of the embodiment. [Figure 7] FIG. 10 is a diagram showing a work machine system equipped with a work machine control device according to a second modification of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] A work machine control device according to an embodiment of the present disclosure will be described with reference to the drawings.

[0013] 1 is a side view showing a work machine 100 equipped with a work machine control device 40 according to an embodiment. This work machine 100 is deployed at a work site and performs various tasks at the work site, such as excavation work and ground leveling work. The work machine 100 according to this embodiment is a shovel.

[0014] The work machine 100 comprises a lower running body 1, an upper rotating body 2 supported on the lower running body 1 so as to be rotatable relative to the lower running body 1 around a rotation axis Z extending vertically, a work device 3 supported on the upper rotating body 2, and a plurality of actuators.

[0015] The forward / backward and left / right directions shown in the figure may be directions based on the orientation of the upper rotating body 2, directions based on the orientation of the lower running body 1, or directions based on some other standard.

[0016] The lower traveling body 1 includes a pair of left and right crawler traveling devices and a lower frame supported by these crawler traveling devices. The lower traveling body 1 is self-propelled.

[0017] The upper rotating body 2 includes a rotating frame 2A, a cab 2B, and a rear outer wall 2C. The rotating frame 2A is a frame that is rotatably supported on the undercarriage 1, and constitutes a base portion of the upper rotating body 2. The work machine 100 may further include a dozer 10. The dozer 10 may be supported on the lower frame of the undercarriage 1, or may be supported on the upper rotating body 2.

[0018] The cab 2B is disposed, for example, at the left front portion of the revolving frame 2A. Inside the cab 2B, a driver's seat (not shown), an operating device 80 (described later), and the like are disposed.

[0019] The rear outer wall 2C is disposed behind the cab 2B and is an outer wall that defines the machinery room. Various devices are disposed in the machinery room, including power equipment such as an engine, a battery, and a generator, hydraulic equipment such as a hydraulic pump, and electrical equipment. The hydraulic pump is driven by the power equipment. A counterweight may be disposed at the rear or behind the rear outer wall 2C. The counterweight is a weight used to balance the work machine 100.

[0020] The work implement 3 includes a boom 4 that is attached to the upper rotating body 2 so that it can be raised and lowered, an arm 5 that is rotatably attached to the boom 4, and a bucket 6 that is rotatably attached to the arm 5. The bucket 6 is an example of a tip attachment. The tip attachment is not limited to the bucket 6, and may be other devices such as a fork, a grapple, or a lifting magnet.

[0021] The boom 4, the arm 5, the bucket 6 (tip attachment), the lower traveling body 1 and the upper rotating body 2 are each an example of a movable part of the work machine 100.

[0022] Each of the multiple actuators operates by receiving a supply of hydraulic oil discharged from the hydraulic pump. The multiple actuators include a boom cylinder 7 for raising and lowering the boom 4, an arm cylinder 8 for rotating the arm 5, a bucket cylinder 9 for rotating the bucket 6, a swing motor 11 for rotating the upper swing structure 2 relative to the lower traveling structure 1, and a traveling motor 12 for traveling the lower traveling structure 1.

[0023] The work machine 100 is equipped with a work machine control device 40. The work machine control device 40 is equipped with a controller 50. The controller 50 is equipped with a computer including an arithmetic processing unit and a memory.

[0024] The controller 50 may include, for example, a condition storage unit 51, an alarm control unit 52, a timing unit 53, and an operation control unit 54. The controller 50 realizes the functions of the condition storage unit 51, the alarm control unit 52, the timing unit 53, and the operation control unit 54 by the arithmetic processing unit executing a program stored in the memory.

[0025] The condition storage unit 51 stores related party output conditions and periphery output conditions. The related party output conditions are conditions that are set by the controller 50 to control the output of a related party alarm sound that is an alarm sound for an operating party P1 (see FIG. 3) involved in operating the work machine. The periphery output conditions are conditions that are set by the controller 50 to control the output of a periphery alarm sound that is an alarm sound for a peripheral worker P2 (see FIG. 3) working in the periphery of the work machine 100. The periphery output conditions are conditions that are different from the related party output conditions.

[0026] The person involved in operation P1 is an operator who rides in the cab 2B of the work machine 100 as shown in FIG.

[0027] The alarm control unit 52 determines a command to be output to the alarm device 60 using the monitored object information input to the controller 50 from the monitored object detector 20 described below, operation information input to the controller 50 from the operation device 80 described below, the elapsed time measured by the timing unit 53, the output conditions for related parties, and the output conditions for surrounding areas, and outputs the determined command to the alarm device 60.

[0028] The timing unit 53 measures the elapsed time. Specifically, the timing unit 53 may measure the elapsed time for the processing of step S20 in the flowchart of Fig. 5 described later, or may measure the elapsed time for the processing of step S26.

[0029] The operation control unit 54 uses operation information input from the operating device 80 to the controller 50 to determine a command to be output to the control object 70, and outputs the determined command to the control object 70. Furthermore, when the work machine 100 operates by automatic operation, the operation control unit 54 uses the operation information and attitude information input from the attitude detector 30 to the controller 50 to determine a command for automatic operation control of the work machine 100, and outputs the determined command to the control object 70.

[0030] The work machine 100 includes a monitored object detector 20, an alarm device 60, a posture detector 30, an operator 80, and a controlled object 70.

[0031] The monitored object detector 20 is a detector for detecting a monitored object in the vicinity of the work machine 100. The monitored object detector 20 may include, for example, at least one area sensor. The monitored object is a nearby worker P2 (see FIG. 3) working in the vicinity of the work machine 100.

[0032] In this embodiment, the monitored object detector 20 includes a plurality of area sensors. In the specific example shown in Fig. 3, the plurality of area sensors include, for example, an area sensor 21 for monitoring a monitoring range A1 rearward of the work machine 100, an area sensor 22 for monitoring a monitoring range A2 to the right of the work machine 100, and an area sensor 23 for monitoring a monitoring range A3 to the left of the work machine 100. Monitoring range A1 is a detection area in which area sensor 21 can detect the monitored object, monitoring range A2 is a detection area in which area sensor 22 can detect the monitored object, and monitoring range A3 is a detection area in which area sensor 23 can detect the monitored object.

[0033] Each of the monitoring ranges A1, A2, and A3 may be set, for example, based on the range of a circle TS having a predetermined radius centered on the rotation axis Z of the work machine 100, or may be set based on another range.

[0034] The detection medium of each of the area sensors 21, 22, and 23 may be, for example, light such as infrared light or visible light, or sound waves such as ultrasonic waves. Each of the area sensors 21, 22, and 23 can detect the presence or absence of a monitoring target in the detection area. Each of the area sensors 21, 22, and 23 may be configured to detect the distance from the area sensor to the monitoring target.

[0035] Each of the area sensors 21, 22, 23 may be attached to the upper rotating body 2 of the work machine 100, or may be attached to the undercarriage 1 of the work machine 100, or may be attached to another portion of the work machine 100. Furthermore, each of the area sensors 21, 22, 23 may be disposed in a position at the work site away from the work machine 100. In the specific example of Fig. 3, each of the area sensors 21, 22 is attached to the rear outer wall 2C of the upper rotating body 2, and the area sensor 23 is attached to the cab 2B of the upper rotating body 2, but the attachment positions of the area sensors are not limited to the specific example shown in Fig. 3.

[0036] The monitored object detector 20 may include an imager (not shown). In this case, the imager acquires surrounding information, which is information about the surroundings of the work machine 100 at the work site. The imager may be attached to the upper rotating body 2, the lower traveling body 1, or another part of the work machine 100, for example. The imager may also be located at a position away from the work machine 100 at the work site. The imager may also be mounted on an unmanned aerial vehicle, such as a drone (not shown) that flies over the work site.

[0037] The image capture device acquires work site data such as image data and point cloud data related to the work site, and inputs the acquired work site data to the controller 50 of the work machine control device 40. The image capture device may be a distance measurement sensor that acquires distance information related to the distance to an object by irradiating light such as laser light. The distance measurement sensor may be, for example, a LiDAR (Light Detection and Ranging). The image capture device may also be a stereo camera, an ultrasonic sensor, a total station, or any other sensor capable of acquiring work site data. The image capture device may also be a combination of two or more of these devices.

[0038] The alarm device 60 has a function to output the related person alarm sound and a function to output the surrounding area alarm sound. Specifically, the alarm device 60 includes a related person alarm device 61 that is an alarm device that outputs the related person alarm sound, and a surrounding area alarm device 62 that is an alarm device that outputs the surrounding area alarm sound. Each of the related person alarm device 61 and the surrounding area alarm device 62 may be, for example, a device that converts an electrical signal into sound (for example, a speaker).

[0039] The alarm device 60 may further include a function for outputting a relevant person visual alarm, which is a visual alarm for the driving related person P1, and a function for outputting a peripheral visual alarm, which is a visual alarm for the surrounding workers P2. Specifically, the alarm device 60 may include a relevant person visual alarm 63, which is an alarm device that outputs the relevant person visual alarm, and a peripheral visual alarm 64, which is an alarm device that outputs the peripheral visual alarm. Each of the relevant person visual alarm 63 and the peripheral visual alarm 64 may include, for example, a warning light or a display capable of displaying a visual alarm. The display may be, for example, a display. Examples of the display include a liquid crystal display, an organic electroluminescence display, a head-up display, and a head-mounted display.

[0040] In this embodiment, the visual alarm for persons 63 includes a display having a display screen such as that shown in Fig. 4, and the visual alarm for persons in the vicinity 64 includes a plurality of warning lights such as that shown in Fig. 3. When a monitoring target is detected in the monitoring range, the display serving as the visual alarm for persons 63 may display the detected nearby worker P2 (an example of a visual alarm for persons in the vicinity) as shown in Fig. 4, for example. This allows the operating person P1 to easily grasp the relative position of the nearby worker P2 with respect to the work machine 100 through the display screen.

[0041] The attitude detector 30 acquires attitude information, which is information relating to the attitude of the work machine 100. The attitude detector 30 may include multiple attitude sensors. As shown in FIG. 1 , the multiple attitude sensors may include a boom attitude sensor 31, an arm attitude sensor 32, and a bucket attitude sensor 33. The multiple attitude sensors may further include a rotating bed attitude sensor 34.

[0042] The boom attitude sensor 31 may be a sensor that detects the attitude of the boom 4, or may be a sensor that detects the state of the boom cylinder 7 that correlates with the attitude of the boom 4. The arm attitude sensor 32 may be a sensor that detects the attitude of the arm 5, or may be a sensor that detects the state of the arm cylinder 8 that correlates with the attitude of the arm 5. The bucket attitude sensor 33 may be a sensor that detects the attitude of the bucket 6, or may be a sensor that detects the state of the bucket cylinder 9 that correlates with the attitude of the bucket 6. The rotating structure attitude sensor 34 may be a sensor that detects the attitude of the upper rotating structure 2, or may be a sensor that detects the state of the swing motor 11 that correlates with the attitude of the upper rotating structure 2.

[0043] Each of the plurality of attitude sensors may include, for example, an inertial measurement unit (IMU), a sensor that detects the degree of extension / contraction of a cylinder (e.g., a stroke sensor), or other sensors. The rotating body attitude sensor 34 may include a sensor that detects the rotation angle of the upper rotating body 2 relative to the lower running body 1, or a sensor that detects the inclination angle of the upper rotating body 2 relative to the horizontal plane.

[0044] The attitude detector 30 inputs the acquired attitude information to the controller 50 of the work machine control device 40. The controller 50 can calculate the attitude of the work machine 100 using the attitude information input from the attitude detector 30. Specifically, the controller 50 can calculate the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2 based on the attitude information. The controller 50 may represent at least one of the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2 based on the attitude information using coordinates in any of various coordinate systems, such as a global coordinate system or a machine coordinate system based on the work machine 100.

[0045] The controller 80 is disposed inside the cab 2B of the work machine 100. The controller 80 receives various operations from the operator, such as a boom operation for raising and lowering the boom 4, an arm operation for rotating the arm 5, a bucket operation for rotating the bucket 6, a swing operation for swinging the upper rotating body 2 relative to the undercarriage 1, and a travel operation for traveling the undercarriage 1. The controller 80 may be configured with at least one of an operation lever, an operation pedal, and an operation button.

[0046] The controlled object 70 is an object controlled by the controller 50. The output of the controlled object 70 changes in accordance with a control operation amount (control input), which is an operation amount input from the controller 50. The controlled object 70 may include a flow rate regulator and at least one of the plurality of actuators. The flow rate regulator adjusts the direction and flow rate of hydraulic oil supplied to at least one of the plurality of actuators in accordance with the control operation amount input from the controller 50. In other words, when the controller 50 inputs a control operation amount to the flow rate regulator, the flow rate regulator operates in accordance with the control operation amount input from the controller 50, and thereby hydraulic oil from the hydraulic pump is supplied to at least one of the plurality of actuators, and the actuator is operated.

[0047] The flow regulator may include, for example, a boom controller 71 , an arm controller 72 , a bucket controller 73 , a swing controller 74 , and a travel controller 75 .

[0048] The boom controller 71 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the boom cylinder 7. The arm controller 72 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the arm cylinder 8. The bucket controller 73 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the bucket cylinder 9. The swing controller 74 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the swing motor 11. The travel controller 75 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the travel motor 12. Each spool is operated by inputting pilot pressure to the pilot port corresponding to that spool, allowing hydraulic oil to be supplied to the actuator corresponding to that spool.

[0049] Each proportional valve is disposed in an oil passage connecting the pilot port of the spool corresponding to that proportional valve with a pilot pump (not shown), and adjusts the pilot pressure input to the pilot port. In other words, each proportional valve outputs a secondary pressure corresponding to a control operation amount (e.g., a current value) input from the controller 50, and that secondary pressure is input as a pilot pressure to the pilot port corresponding to that proportional valve. Each proportional valve adjusts the pilot pressure input to the pilot port corresponding to that proportional valve to a magnitude corresponding to the control operation amount input from the controller 50.

[0050] The main features of the work machine control device 40 according to this embodiment will be described below. The work machine control device 40 according to this embodiment includes the following first to thirteenth aspects.

[0051] [First aspect] The controller 50 controls the output of a related person alarm sound, which is an alarm sound for an operating person P1 involved in the operation of the work machine 100, based on related person output conditions, and controls the output of a surrounding area alarm sound, which is an alarm sound for a nearby worker P2 working around the work machine 100, based on surrounding area output conditions that are different from the related person output conditions. In the work machine control device 40 according to this first aspect, the related person alarm sound and the surrounding area alarm sound are not uniformly output based on the same conditions, but are each output based on mutually different conditions. Therefore, it becomes possible to output the related person alarm sound and the surrounding area alarm sound under conditions that are appropriate for each.

[0052] [Second aspect] The second aspect may further include the following configuration in the work machine control device 40 according to the first aspect. That is, in the work machine control device 40 according to the second aspect, it is preferable that the relevant person output condition and the periphery output condition are each set so that the warning level in the output of the relevant person alarm sound is higher than the warning level in the output of the periphery alarm sound. The work machine control device 40 according to the second aspect can effectively alert the operation related person P1 involved in the operation of the work machine 100 of the presence of a nearby worker P2 working in the vicinity of the work machine 100 by the relevant person alarm sound, which has a high warning level.

[0053] [Third aspect] The third aspect may further include the following configuration in the work machine control device 40 according to the second aspect. That is, in the work machine control device 40 according to the third aspect, it is preferable that the relevant person output condition and the periphery output condition are each set so that the timing for lowering the warning level in the output of the periphery alarm sound is earlier than the timing for lowering the warning level in the output of the relevant person alarm sound. The work machine control device 40 according to the third aspect can alert nearby workers P2 working around the work machine 100 by using the periphery alarm sound, while reducing the discomfort of the nearby workers P2 caused by the continuous sounding of the periphery alarm sound, and can also effectively alert the driving related person P1 involved in operating the work machine 100 of the presence of the nearby workers P2 around the work machine 100 by the relevant person alarm sound that is output for a longer period of time than the output period of the periphery alarm sound. The relevant person output condition and the periphery output condition may each be set so that the output period of the periphery alarm sound is shorter than the output period of the relevant person alarm sound.

[0054] [Fourth aspect] The fourth aspect may further include the following configuration in the work machine control device 40 according to the second aspect. That is, in the work machine control device 40 according to the fourth aspect, the related person output condition and the periphery output condition may each be set so that when the related person alarm sound is being output, there is a time period during which the periphery alarm sound is not being output. The work machine control device 40 according to the fourth aspect can alert nearby workers P2 working around the work machine 100 by using the periphery alarm sound, while reducing the discomfort felt by the nearby workers P2 due to the continued sounding of the periphery alarm sound, and can also effectively alert the operation related person P1 involved in operating the work machine 100 of the presence of the nearby workers P2 around the work machine by using the related person alarm sound that is output even during the time period during which the periphery alarm sound is not being output.

[0055] [Fifth aspect] The fifth aspect may further include the following configuration in the work machine control device 40 according to any one of the first to fourth aspects. That is, in the work machine control device 40 according to the fifth aspect, it is preferable that the periphery output condition is set so that the periphery alarm sound is output when a monitoring target is detected in the monitoring range around the work machine 100, and that the output of the periphery alarm sound is stopped or reduced after a predetermined time has elapsed. The work machine control device 40 according to the fifth aspect can alert nearby workers P2 working around the work machine 100, while reducing discomfort to the nearby workers P2 caused by the periphery alarm sound continuing to sound.

[0056] Specifically, in this fifth aspect, the periphery output condition may be set so that the periphery alarm sound is output when the monitoring target is detected in the monitoring range and the operation of a predetermined moving part of the work machine 100 is detected, and the output of the periphery alarm sound is stopped or reduced after a predetermined time has elapsed. More specifically, in this fifth aspect, the periphery output condition may be set so that the periphery alarm sound is output when the monitoring target is detected in the monitoring range and the operation of a predetermined moving part of the work machine 100 is detected, and the output of the periphery alarm sound is stopped or reduced after a predetermined time has elapsed, even if the monitoring target is continuously detected in the monitoring range and the operation of the predetermined moving part is continuously detected.

[0057] The predetermined movable part is a preset movable part among the multiple movable parts of the work machine 100. The predetermined movable part does not include the undercarriage 1. The predetermined movable part may be, for example, the boom 4, the arm 5, the bucket 6, or the upper rotating body 2. Detection of the movement of the predetermined movable part may be performed based on operation information input from the operator 80 to the controller 50. Specifically, when the operator 80 receives, for example, a boom operation, the operator 80 inputs operation information corresponding to the boom operation to the controller 50, and the controller 50 can detect that the boom operation has been performed based on the operation information, i.e., the movement of the boom 4. When the operator 80 receives, for example, a swing operation, the operator 80 inputs operation information corresponding to the swing operation to the controller 50, and the controller 50 can detect that the swing operation has been performed based on the operation information, i.e., the swing movement of the upper rotating body 2. The controller 50 may detect the movement of the predetermined movable part based on attitude information input from the attitude detector 30.

[0058] [Sixth aspect] The sixth aspect preferably further comprises the following configuration in addition to the work machine control device 40 according to the fifth aspect. That is, in the work machine control device 40 according to the sixth aspect, the periphery output condition is preferably set so that when a monitored object is detected in the monitoring range and the traveling of the work machine 100 is detected, the periphery alarm sound is output, and the output of the periphery alarm sound continues even after the predetermined time has elapsed. In this sixth aspect, when the work machine 100 is traveling, the periphery alarm sound can be continuously output to a nearby worker P2 working around the work machine 100 even after the predetermined time has elapsed.

[0059] When the operating device 80 receives, for example, a traveling operation, the operating device 80 inputs operation information corresponding to the traveling operation into the controller 50, and the controller 50 can detect that a traveling operation has been performed based on the operation information, i.e., the traveling movement of the lower traveling body 1.

[0060] [Seventh aspect]

[0033] In a seventh aspect, it is preferable that the work machine control device 40 according to any one of the first to sixth aspects further comprises the following configuration. That is, in the work machine control device 40 according to the seventh aspect, it is preferable that the periphery output condition is set so that the periphery alarm sound is output when a monitored object is detected in the monitoring range around the work machine 100, and that the output of the periphery alarm sound is stopped after a predetermined time has elapsed, and the relevant person output condition is set so that the relevant person alarm sound is output when the monitored object is detected in the monitoring range, and that the output of the relevant person alarm sound continues even after the predetermined time has elapsed. The work machine control device 40 according to the seventh aspect can alert nearby workers P2 working around the work machine 100, while reducing discomfort to the nearby workers P2 caused by the continued sounding of the periphery alarm sound, and can continue to notify the operating related person P1 involved in the operation of the work machine 100 of the presence of monitored objects such as nearby workers P2 in the monitoring range around the work machine 100 by the relevant person alarm sound that is output even after the predetermined time has elapsed.

[0061] Specifically, in this seventh aspect, the peripheral output condition may be set so that the peripheral alarm sound is output when the monitored object is detected in the monitoring range and the operation of a predetermined moving part of the work machine 100 is detected, and the output of the peripheral alarm sound is stopped when a predetermined time has elapsed, and the related party output condition may be set so that the related party alarm sound is output when the monitored object is detected in the monitoring range and the operation of the predetermined moving part is detected, and the output of the related party alarm sound continues even after the predetermined time has elapsed. More specifically, in this seventh aspect, the peripheral output condition may be set so that the peripheral alarm sound is output when the monitored object is detected in the monitoring range and the operation of a predetermined moving part of the work machine 100 is detected, and the output of the peripheral alarm sound is stopped after a predetermined time has elapsed even if the monitored object is continuously detected in the monitoring range and the operation of the predetermined moving part is continuously detected, and the related party output condition may be set so that the related party alarm sound is output when the monitored object is detected in the monitoring range and the operation of the predetermined moving part is detected, and the output of the related party alarm sound continues even after the predetermined time has elapsed if the monitored object is continuously detected in the monitoring range and the operation of the predetermined moving part is continuously detected.

[0062] [Eighth aspect] The eighth aspect preferably further comprises the following configuration in addition to the work machine control device 40 according to the seventh aspect. That is, in the work machine control device 40 according to the eighth aspect, the periphery output condition may be set so that, if a monitoring target is detected in the monitoring range after the output of the periphery alarm sound has been stopped when the predetermined time has elapsed, the periphery alarm sound is output for the predetermined time. In this eighth aspect, if a nearby worker P2 as a monitoring target is detected again in the monitoring range after the output of the periphery alarm sound has been stopped, the periphery alarm sound is output again, making it possible to alert the nearby worker P2.

[0063] Specifically, in this eighth aspect, the peripheral output condition may be set so that the peripheral alarm sound is output for the predetermined time if a monitored object is detected in the monitoring range and operation of the predetermined moving part is detected after the output of the peripheral alarm sound has been stopped after the predetermined time has elapsed and after the operation of the predetermined moving part has been stopped.

[0064] [Ninth aspect] In a ninth aspect, it is preferable that the work machine control device 40 according to any one of the first to eighth aspects further comprises the following configuration. That is, in the work machine control device 40 according to the ninth aspect, the output condition for relevant parties may be set so that, when a monitored object is detected within a monitoring range around the work machine 100, the audible alarm for relevant parties is output regardless of whether or not movement of a moving part of the work machine 100 is detected. In this ninth aspect, an audible alarm for relevant parties is output when a monitored object is detected even if the moving part of the work machine is not moving, and therefore the operation relevant party P1 can take various measures related to the operation of the work machine 100 while recognizing the monitored object.

[0065] [Tenth aspect] In a tenth aspect, it is preferable that the work machine control device 40 according to any one of the first to ninth aspects further comprises the following configuration: In other words, in the work machine control device 40 according to the tenth aspect, it is preferable that the output conditions for the person involved are set so that, when a monitored object is detected within the monitoring range around the work machine 100, a visual alarm is output to the person involved in operation P1, regardless of whether or not movement of a moving part of the work machine 100 is detected. In this tenth aspect, a visual alarm is output when a monitored object is detected even if the moving part of the work machine 100 is not moving, and therefore the person involved in operation P1 can take various measures related to the operation of the work machine 100 while recognizing the monitored object through the visual alarm.

[0066] [Eleventh aspect] An eleventh aspect may further include the following configuration in the work machine control device 40 according to any one of the first to tenth aspects. That is, in the work machine control device 40 according to the eleventh aspect, the peripheral output condition may be set so that when a monitoring target is detected in the monitoring range and the operation of a predetermined moving part of the work machine 100 is detected, a visual warning is output for a nearby worker P2, whereas when the monitoring target is detected in the monitoring range and the operation of the predetermined moving part is not detected, the visual warning is not output.

[0067] [Twelfth aspect] A twelfth aspect may further include the following configuration in the work machine control device 40 according to any one of the first to eleventh aspects. That is, in the work machine control device 40 according to the twelfth aspect, the periphery output condition may be set so that when a monitoring target is detected in a monitoring range around the work machine 100 and operation of a predetermined moving part of the work machine 100 is detected, the periphery alarm sound is output, the output of the periphery alarm sound is stopped when a predetermined time has elapsed, and when a monitoring target is detected in the monitoring range and operation of the predetermined moving part is detected after a second predetermined time has elapsed after operation of the predetermined moving part has stopped, the periphery alarm sound is output again.

[0068] [Thirteenth aspect] A thirteenth aspect may further include the following configuration in the work machine control device 40 according to any one of the first to twelfth aspects. That is, in the work machine control device 40 according to the thirteenth aspect, the periphery output condition may be set so that, when the time falls within a predetermined time period, when visibility is poor around the work machine 100, or when a detector that detects a monitoring target in a monitoring range around the work machine 100 is in a malfunctioning state, the periphery alarm sound is output regardless of whether the monitoring target is detected in the monitoring range.

[0069] FIG. 5 is a flowchart showing an example of the calculation process performed by the controller 50 of the work machine control device 40.

[0070] The controller 50 determines whether the situation (work situation) related to the work performed by the work machine 100 at the work site is a specific situation (step S11). The specific situation may be, for example, a situation that reduces the detection accuracy when the monitored object detector 20 detects the monitored object. The specific situation may be, for example, a situation related to the time period when the work is performed (situation A), a situation at the work site (situation B), or a situation of the work machine 100 (situation C).

[0071] Specifically, the specific situation may be that the current time falls within a predetermined time period (for example, a nighttime period) (situation A), in which case the controller 50 may use a clock function of the controller 50 to determine whether or not the work situation corresponds to situation A. The specific situation may be that visibility is poor around the work machine 100 (situation B), in which case the controller 50 may determine whether or not the work situation corresponds to situation B based on the measurement results of a sensor that measures the visibility conditions at the work site. The specific situation may be that the monitored object detector 20 (21, 22, 23) that detects a monitored object in one or more of the monitoring ranges A1, A2, A3 around the work machine 100 is in a faulty state (situation C).

[0072] If the work situation is the specific situation (YES in step S11), the controller 50 outputs one or more alarms from the visual alarm for those involved, the audible alarm for those involved, the visual alarm for the surrounding area, and the audible alarm for the surrounding area, regardless of whether a monitored object is detected in the monitoring ranges A1, A2, and A3. Specifically, if the work situation is the specific situation (YES in step S11), the controller 50 does not perform the process of step S12, but performs the process of step S16.

[0073] On the other hand, if the work situation is not the specific situation (NO in step S11), the controller 50 determines whether a monitoring target has been detected in one or more of the monitoring ranges A1, A2, and A3 based on the detection results input from the monitoring target detectors 20 (21, 22, and 23) (step S12). Specifically, for example, as shown in FIG. 3, when a peripheral worker P2 enters one of the monitoring ranges A1, A2, and A3 (for example, monitoring range A1) from outside the monitoring ranges A1, A2, and A3, the monitoring target detector 20 detects the peripheral worker P2 (first peripheral worker P2) as a monitoring target and inputs the detection result to the controller 50.

[0074] When a monitoring target is detected in one or more of the monitoring ranges A1, A2, A3 (YES in step S12), the controller 50 controls the person involved visual alarm 63 so that a visual alarm is output to the driving person P1, regardless of whether or not operation of a moving part of the work machine 100 has been detected (step S13). Specifically, when a monitoring target is detected in one or more of the monitoring ranges A1, A2, A3 (YES in step S12), the controller 50 outputs a command to the person involved visual alarm 63 to output a visual alarm for the driving person, but does not output a command to the person involved audible alarm 61 to output an audible alarm for the driving person (step S13, person involved visual alarm: ON, person involved audible alarm OFF).

[0075] If a monitoring target is not detected (NO in step S12), the controller 50 controls so that a visual alarm for the driving related person P1, an audible alarm for the driving related person P1, a visual alarm for the surrounding worker P2, and an audible alarm for the surrounding worker P2 are not output (steps S14, S15). Specifically, if a monitoring target is not detected (NO in step S12), the controller 50 does not output a command to the related person visual alarm 63 to output a related person visual alarm, and does not output a command to the related person audio alarm 61 to output a related person audio alarm (step S14, related person visual alarm: OFF, related person audio alarm OFF). Furthermore, in this case, the controller 50 does not output a command to the periphery visual alarm 64 to output a periphery visual alarm, and does not output a command to the periphery audio alarm 62 to output a periphery audio alarm (step S15, periphery visual alarm: OFF, periphery audio alarm OFF). After processing step S15, the controller 50 repeats the processing from step S12 onwards.

[0076] In step S16, the controller 50 determines whether a traveling operation has been detected. When the operation device 80 receives, for example, a traveling operation, the operation device 80 inputs operation information corresponding to the traveling operation to the controller 50, and the controller 50 can detect that a traveling operation has been performed, i.e., the traveling operation of the lower traveling body 1, based on the operation information.

[0077] When a monitoring target is detected in one or more of the monitoring ranges A1, A2, A3 (YES in step S12) and when traveling of the work machine 100 is detected (YES in step S16), the controller 50 performs control such that the periphery alarm sound is output and the output of the periphery alarm sound continues even after the predetermined time has elapsed (steps S17, S18). Specifically, when traveling is detected (YES in step S16), the controller 50 outputs a command to the person involved visual alarm 63 to output a visual person involved alarm from the person involved visual alarm 63, and outputs a command to the person involved audible alarm 61 to output a person involved audible alarm from the person involved audible alarm 61 (step S17, person involved visual alarm: ON, person involved audible alarm ON). Furthermore, the controller 50 outputs a command to the periphery visual alarm 64 to cause the periphery visual alarm 64 to output a periphery visual alarm, and outputs a command to the periphery sound alarm 62 to cause the periphery sound alarm 62 to output a periphery sound alarm (step S18, periphery visual alarm: ON, periphery sound alarm ON). After processing step S18, the controller 50 repeats the processing from step S12 onwards.

[0078] If no traveling motion is detected (NO in step S16), the controller 50 determines whether or not a specific motion is detected (step S19). The specific motion is a motion of the predetermined movable part. That is, the controller 50 determines whether or not one or more of the motion of the boom 4, the motion of the arm 5, the motion of the bucket 6, and the motion of the upper rotating body 2 have been detected, based on the operation information input from the operation device 80.

[0079] If the specific action is detected (YES in step S19), the controller 50 determines whether or not a predetermined time has elapsed (step S20). The predetermined time may be a preset time threshold. The predetermined time may be, for example, a value that is set in advance in consideration of being able to alert nearby workers P2 working around the work machine 100 with the surrounding area alarm sound while reducing discomfort to the nearby workers P2 caused by the surrounding area alarm sound continuing to sound. The timer 53 of the controller 50 measures, for example, the elapsed time from the point in time when the monitored object detector 20 detected the monitored object.

[0080] If the predetermined time has not elapsed (NO in step S20), the controller 50 performs processing of steps S17 and S18 (visual alarm for related parties: ON, audible alarm for related parties ON, visual alarm for surrounding areas: ON, audible alarm for surrounding areas ON), and after processing of step S18, repeats the processing from step S12 onwards.

[0081] When the predetermined time has elapsed (YES in step S20), that is, after a monitored object has been detected in one or more of the monitoring ranges A1, A2, and A3 (YES in step S12), the controller 50 performs control such that the output of the audible alarm for surrounding areas is stopped while the output of the audible alarm for surrounding areas is continued (steps S21 and S22). Specifically, when the predetermined time has elapsed (YES in step S20), the controller 50 outputs a command to the visual alarm for surrounding areas 63 to output a visual alarm for surrounding areas 63, and outputs a command to the audible alarm for surrounding areas 61 to output an audible alarm for surrounding areas 61 (step S21, visual alarm for surrounding areas 63: ON, audible alarm for surrounding areas ON). In addition, the controller 50 outputs a command to the peripheral visual alarm 64 to output a peripheral visual alarm at the peripheral visual alarm 64, but does not output a command to output a peripheral alarm sound at the peripheral sound alarm 62 (step S22, peripheral visual alarm: ON, peripheral sound alarm OFF).

[0082] In this embodiment, whether or not to output the periphery alarm sound is determined based on the result of determining whether the predetermined time has elapsed (steps S20 and S22), while the output of the related person alarm sound is continued even after the predetermined time has elapsed (steps S20 and S21). That is, in this embodiment, the related person output condition and the periphery output condition are each set so that the warning level in the output of the related person alarm sound is higher than the warning level in the output of the periphery alarm sound (steps S20, S21, and S22). Also, in this embodiment, the related person output condition and the periphery output condition are each set so that the timing for lowering the warning level in the output of the periphery alarm sound is earlier than the timing for lowering the warning level in the output of the related person alarm sound (steps S20, S21, and S22). Furthermore, in this embodiment, the related person output condition and the periphery output condition are each set so that there is a time period in which the periphery alarm sound is not output when the related person alarm sound is being output (steps S21 and S22).

[0083] If no specific movement is detected in step S19 (NO in step S19), specifically, if movement of the boom 4, movement of the arm 5, movement of the bucket 6 and movement of the upper rotating body 2 are not detected, the controller 50 performs control so that a visual alarm is output to the operation-related person P1, while an audible alarm is not output to the operation-related person P1, a visual alarm to the surrounding worker P2 and an audible alarm to the surrounding worker P2 (steps S23, S24).

[0084] The peripheral output conditions are set so that if a monitored object is detected in the monitoring range (YES in step S12) and if the operation of the specified moving part of the work machine 100 is detected (YES in step S19), a visual warning is output to the nearby worker P2 (step S18 or S22), whereas if the monitored object is detected in the monitoring range (YES in step S12) and if the operation of the specified moving part is not detected (NO in step S19), a visual warning is not output to the nearby worker P2 (step S24).

[0085] The output condition for the person involved is set so that when a monitored object is detected in the monitoring range (YES in step S12), the visual alarm for the person involved is output (step S23), regardless of whether or not operation of a moving part of the work machine 100 is detected. In other words, when the monitored object is detected in the monitoring range (YES in step S12) and even if operation of the predetermined moving part is not detected (NO in step S19), the controller 50 performs control so that a visual alarm for the driving person involved P1 is output (step S23).

[0086] Furthermore, the periphery output condition is set so that after the output of the periphery alarm sound has been stopped after the predetermined time has elapsed (YES in step S20, step S22), if a monitoring target is detected in the monitoring range (YES in step S25), the periphery alarm sound will be output for the predetermined time. That is, the controller 50 determines whether or not a monitoring target has been detected in one or more of the monitoring ranges A1, A2, and A3 based on the detection results input from the monitoring target detectors 20 (21, 22, and 23) (step S25). Specifically, for example, in step S25, the controller 50 may determine whether or not a new peripheral worker P2 other than a first peripheral worker P2 already detected in the monitoring range has been detected in any of the monitoring ranges based on the detection results input from the monitoring target detectors 20 (21, 22, and 23).

[0087] If a new nearby worker P2 is not detected in the monitoring range (NO in step S25), the controller 50 repeats the processes from step S12 onwards.

[0088] On the other hand, when a monitored object (e.g., a second nearby worker P2) is detected in the monitoring range (YES in step S25), the timer 53 of the controller 50 measures the elapsed time from the point in time when the monitored object detector 20 detected the second nearby worker P2 (step S25), and the controller 50 performs processing from step S20 onwards.

[0089] Specifically, the controller 50 determines whether a predetermined time has elapsed (step S20). If the predetermined time has not elapsed (NO in step S20), the controller 50 performs the processes of steps S17 and S18 (related person visual alarm: ON, related person audible alarm ON, periphery visual alarm: ON, periphery audible alarm ON), and after processing step S18, repeats the processes from step S12 onwards. If the predetermined time has elapsed (YES in step S20), the controller 50 performs control such that the output of the related person audible alarm continues while the output of the periphery audible alarm is stopped (steps S21 and S22).

[0090] For example, the second peripheral worker P2 detected in the monitoring range A2 in step S25 may be a different person from the first peripheral worker P2 detected in the monitoring range A1 in step S12. Furthermore, if the first peripheral worker P2 moves out of the monitoring range, the second peripheral worker P2 detected in the monitoring range A2 in step S25 may be the same person as the first peripheral worker P2.

[0091] Furthermore, the peripheral output conditions are set so that when a monitored object is detected in the monitoring range (YES in step S12) and when the operation of the specified moving part is detected (YES in step S19), the peripheral alarm sound is output (step S18), the output of the peripheral alarm sound is stopped after a predetermined time has elapsed (YES in step S20, step S22), and after the operation of the specified moving part has stopped (NO in step S19, step S24), a second predetermined time has elapsed (YES in step S26), and when a monitored object is detected in the monitoring range (YES in step S12) and when the operation of the specified moving part is detected (YES in step S19), the peripheral alarm sound is output again (NO in step S20, step S18).

[0092] The timer 53 of the controller 50 may measure the time (second elapsed time) that has elapsed since the operation of the predetermined movable part stopped (NO in step S19), and the controller 50 may determine in step S26 whether the second elapsed time has reached a second predetermined time. The second predetermined time may be, for example, a value that is set in advance so as to be able to exclude cases where the operation of the predetermined movable part has temporarily stopped for only a short period of time.

[0093] [Variation 1] FIG. 6 is a flowchart showing another example of the calculation process performed by the controller 50 of the work machine control device 40 according to the first modification of the embodiment.

[0094] The processes of steps S12, S14, S15, S17, S18, S20, S21, and S22 in Fig. 6 are similar to the processes of steps S12, S14, S15, S17, S18, S20, S21, and S22 in Fig. 5. In the calculation process shown in Fig. 6, the processes of steps S11, S13, S16, S19, S23, S24, S25, and S26 shown in Fig. 5 are omitted.

[0095] In step S12 of FIG. 6, the controller 50 determines whether or not a monitoring object has been detected in one or more of the monitoring ranges A1, A2, A3 based on the detection results input from the monitoring object detector 20 (21, 22, 23).

[0096] If a monitored object is detected in one or more of the monitoring ranges A1, A2, A3 (YES in step S12), the controller 50 performs control so that a visual alarm for the driving personnel P1, an audible alarm for the driving personnel P1, a visual alarm for the surrounding workers P2, and an audible alarm for the surrounding workers P2 are output, regardless of whether operation of a moving part of the work machine 100 is detected (steps S17, S18).

[0097] Specifically, when a monitoring target is detected in the monitoring range (YES in step S12), the controller 50 outputs a command to the relevant person visual alarm 63 to output a relevant person visual alarm, and outputs a command to the relevant person audio alarm 61 to output a relevant person audio alarm (step S17, relevant person visual alarm: ON, relevant person audio alarm ON).The controller 50 also outputs a command to the peripheral visual alarm 64 to output a peripheral visual alarm, and outputs a command to the peripheral audio alarm 62 to output a peripheral audio alarm (step S18, peripheral visual alarm: ON, peripheral audio alarm ON).

[0098] On the other hand, if the monitored object is not detected (NO in step S12), the controller 50 performs control so that a visual alarm for the driving related person P1, an audible alarm for the driving related person P1, a visual alarm for the surrounding worker P2, and an audible alarm for the surrounding worker P2 are not output (steps S14, S15).

[0099] Specifically, if a monitoring target is not detected (NO in step S12), the controller 50 does not output a command to cause the relevant person visual alarm 63 to output a visual alarm for the relevant person, and does not output a command to cause the relevant person audio alarm 61 to output an audio alarm for the relevant person (step S14, relevant person visual alarm: OFF, relevant person audio alarm OFF). Also, in this case, the controller 50 does not output a command to cause the periphery visual alarm 64 to output a visual alarm for the relevant person, and does not output a command to cause the periphery audio alarm 62 to output an audio alarm for the relevant person (step S15, periphery visual alarm: OFF, periphery audio alarm OFF). After processing step S15, the controller 50 repeats the processing from step S12 onwards.

[0100] In step S20, the controller 50 determines whether a predetermined time has elapsed.

[0101] If the predetermined time has not elapsed (NO in step S20), the controller 50 repeats the processes from step S12 onwards.

[0102] If the predetermined time has elapsed (YES in step S20), the controller 50 performs control so that the output of the related person alarm sound continues while the output of the surrounding area alarm sound is stopped (steps S21, S22). Specifically, if the predetermined time has elapsed (YES in step S20), the controller 50 outputs a command to the related person visual alarm 63 to cause the related person visual alarm 63 to output a related person visual alarm, and outputs a command to the related person audio alarm 61 to cause the related person audio alarm 61 to output a related person audio alarm (step S21, related person visual alarm: ON, related person audio alarm ON). In addition, the controller 50 outputs a command to the surrounding area visual alarm 64 to cause the surrounding area visual alarm 64 to output a surrounding area visual alarm, but does not output a command to the surrounding area audio alarm 62 to output a surrounding area audio alarm (step S22, surrounding area visual alarm: ON, surrounding area audio alarm OFF). After processing step S22, the controller 50 repeats the processing from step S12 onwards.

[0103] Although not shown, in the calculation process shown in the flowchart of Figure 6, if a first peripheral worker P2 is detected in the monitoring range in step S12 and then a second peripheral worker P2 is detected in the monitoring range, the calculation process shown in Figure 6 may also be performed on this second peripheral worker P2.

[0104] [Variation 2] FIG. 7 is a diagram showing a work machine system 300 including a work machine control device 40 according to a second modification of the embodiment.

[0105] The work machine system 300 comprises a work machine 100 and an external device 200. The work machine 100 is equipped with a communication device 82, and the external device 200 is equipped with a communication device (not shown), and the work machine 100 and the external device 200 are configured to be able to send and receive data to and from each other via communication using a network such as the Internet or a mobile phone network. In this embodiment, the work machine control device 40 may be provided in the work machine 100 or in the external device 200. Also, a portion of the work machine control device 40 may be provided in the work machine 100, and the remaining portion of the work machine control device 40 may be provided in the external device 200.

[0106] The external device 200 may be an information terminal such as a tablet computer (a so-called tablet), a smartphone, a laptop personal computer, or a desktop personal computer. The external device 200 may include an input device and a display device such as a display. The input device may be a keyboard, a mouse, a touch panel, or other input means.

[0107] The external device 200 may be a remote control device for remotely controlling the work machine 100 at a remote location away from the work machine 100. The external device 200 may also be a management device such as a server for managing work performed by the work machine 100. The external device 200 may also be an external storage device that stores data such as the teaching data. The external device 200 may also be a computer in a cloud service provided as a service over a network such as the Internet. The work machine system 300 may be equipped with multiple external devices 200.

[0108] In this first modification, the person involved in operation may be, for example, a monitor who monitors the automatic operation of the work machine 100 using the external device 200.

[0109] [Other variations] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and includes, for example, the following modified examples.

[0110] (A) About the Program A program according to yet another aspect of the present disclosure is a program for causing a computer to realize a function of outputting a related person alarm sound, which is an alarm sound for an operation related person P1 involved in the operation of the work machine 100, based on related person output conditions, and a function of outputting a peripheral alarm sound, which is an alarm sound for a nearby worker P2 working around the work machine 100, based on peripheral output conditions that differ from the related person output conditions. This computer may be a computer in the controller 50 of the work machine control device 40. This program may be provided via communication means (for example, a network such as the Internet), or may be provided by being stored on various recording media (for example, non-transitory tangible recording media). When this program is executed by the computer, the related person alarm sound and the peripheral peripheral alarm sound are not uniformly output based on the same conditions, but are each output based on mutually different conditions. Therefore, it becomes possible for the related person alarm sound and the peripheral peripheral alarm sound to be output under conditions that are appropriate for each.

[0111] (B) How to output an alarm sound An alarm sound output method according to yet another aspect of the present disclosure includes outputting a related person alarm sound, which is an alarm sound for operation related persons involved in the operation of a work machine, based on related person output conditions, and outputting a surrounding area alarm sound, which is an alarm sound for nearby workers working around the work machine, based on surrounding area output conditions that are different from the related person output conditions. By performing this alarm sound output method by controller 50, the related person alarm sound and the surrounding area alarm sound are not uniformly output based on the same conditions, but are each output based on mutually different conditions. Therefore, it is possible to output the related person alarm sound and the surrounding area alarm sound under conditions that are appropriate for each.

[0112] (C) About work machines Although the work machine 100 in the above embodiment is a shovel, the work machine in the present disclosure is not limited to a shovel and may be, for example, a loading machine such as a crane, a bulldozer, a forklift, or any other work machine.

[0113] (D) Regarding drivers In the above embodiment, the person involved in driving P1 is an operator who sits in the cab 2B of the work machine 100 as shown in FIG. 3 , but the person involved in driving P1 in the present disclosure may also be an operator who remotely operates the work machine 100, and in this case, the controller 80 may be included in a remote operation device located in a remote location away from the work machine 100.

[0114] (E) Monitoring scope The monitoring ranges may be set in stages, for example, as shown in Fig. 3. Specifically, for example, the monitoring range A1 may include a monitoring range A11 adjacent to the work machine 100 and a range outside this monitoring range A11. The monitoring range A2 may include a monitoring range A21 adjacent to the work machine 100 and a range outside this monitoring range A21. The monitoring range A3 may include a monitoring range A31 adjacent to the work machine 100 and a range outside this monitoring range A31. The warning level may then be set according to the monitoring ranges that are set in stages.

[0115] (F) Regarding peripheral output conditions, In the above embodiment, the peripheral output condition is set so that the peripheral alarm sound is output when the monitored object is detected in the monitoring range and the operation of a predetermined moving part in the work machine 100 is detected, and the output of the peripheral alarm sound is stopped after a predetermined time has elapsed, but the output of the peripheral alarm sound may also be set so that it is reduced after a predetermined time has elapsed.

[0116] (G) Warning levels In the above embodiment, the related party output condition and the peripheral party output condition are each set so that the timing for lowering the warning level in the output of the peripheral party alarm sound is earlier than the timing for lowering the warning level in the output of the related party alarm sound, but they may also each be set so that the timing for lowering the warning level in the output of the related party alarm sound is earlier than the timing for lowering the warning level in the output of the peripheral party alarm sound. [Explanation of symbols]

[0117] 1: Lower running body 2: Upper rotating body 3: Work equipment 20: Monitored detector 21: Area sensor 22: Area sensor 23: Area sensor 30: Attitude detector 40: Work machine control device 50: Controller 60: Alarm 61: Sound alarm for personnel involved 62: Peripheral sound alarm 63: Visual alarm for personnel involved 64: Peripheral visual alarm 80:Operator 100: Work machines 200: External device 300: Work Machine System A1, A2, A3: Monitoring range P1: Drivers P2: Peripheral workers

Claims

1. A work machine control device comprising a controller that controls the output of a related person alarm sound, which is an alarm sound for related persons involved in the operation of a work machine, based on related person output conditions, and controls the output of a surrounding area alarm sound, which is an alarm sound for nearby workers working around the work machine, based on surrounding area output conditions that are different from the related person output conditions.

2. The work machine control device according to claim 1 , wherein the relevant person output condition and the periphery output condition are each set so that the warning level in the output of the relevant person alarm sound is higher than the warning level in the output of the periphery alarm sound.

3. 3. The work machine control device according to claim 2, wherein the relevant person output condition and the periphery output condition are each set so that the timing for lowering the warning level in the output of the periphery alarm sound is earlier than the timing for lowering the warning level in the output of the relevant person alarm sound.

4. The work machine control device according to claim 2, wherein the related person output condition and the periphery output condition are each set so that a time period occurs when the related person alarm sound is being output and the periphery alarm sound is not being output.

5. 2. The work machine control device according to claim 1, wherein the peripheral output condition is set so that the peripheral alarm sound is output when a monitoring object is detected within a monitoring range around the work machine, and the output of the peripheral alarm sound is stopped or reduced after a predetermined time has elapsed.

6. 6. The work machine control device according to claim 5, wherein the peripheral output condition is set so that when a monitored object is detected in the monitoring range and the traveling of the work machine is detected, the peripheral alarm sound is output, and the output of the peripheral alarm sound continues even after the predetermined time has elapsed.

7. the periphery output condition is set so that the periphery alarm sound is output when a monitoring target is detected within a monitoring range around the work machine, and the output of the periphery alarm sound is stopped after a predetermined time has elapsed, 2. The work machine control device according to claim 1, wherein the output condition for relevant parties is set so that the alarm sound for relevant parties is output when the monitored object is detected within the monitoring range, and the output of the alarm sound for relevant parties continues even after the predetermined time has elapsed.

8. 8. The work machine control device according to claim 7, wherein the peripheral output condition is set so that if a monitoring target is detected in the monitoring range after output of the peripheral alarm sound has been stopped after the predetermined time has elapsed, the peripheral alarm sound is output for the predetermined time.

9. 2. The work machine control device according to claim 1, wherein the output condition for concerned parties is set so that, when a monitored object is detected within a monitoring range around the work machine, the alarm sound for concerned parties is output regardless of whether or not operation of a moving part of the work machine is detected.

10. 2. The work machine control device according to claim 1, wherein the output condition for the person involved is set so that, when a monitored object is detected within a monitoring range around the work machine, a visual warning is output to the person involved in operation, regardless of whether or not operation of a moving part of the work machine is detected.

11. 2. The work machine control device according to claim 1, wherein the peripheral output condition is set so that a visual alarm is output to the nearby worker when a monitored object is detected in the monitoring range and operation of a predetermined moving part of the work machine is detected, whereas the visual alarm is not output when the monitored object is not detected in the monitoring range and operation of the predetermined moving part is not detected.

12. 2. The work machine control device according to claim 1, wherein the peripheral output condition is set so that when a monitoring object is detected in a monitoring range around the work machine and operation of a predetermined moving part of the work machine is detected, the peripheral alarm sound is output, the output of the peripheral alarm sound is stopped after a predetermined time has elapsed, and when a monitoring object is detected in the monitoring range and operation of the predetermined moving part is detected after a second predetermined time has elapsed after operation of the predetermined moving part has stopped, the peripheral alarm sound is output again.

13. 2. The work machine control device according to claim 1, wherein the peripheral output condition is set so that the peripheral alarm sound is output when the time falls within a predetermined time period, when visibility is poor around the work machine, or when a detector that detects a monitored object in a monitoring range around the work machine is in a faulty state, regardless of whether the monitored object is detected in the monitoring range.

14. A work machine equipped with the work machine control device according to any one of claims 1 to 13.

15. An external device comprising the work machine control device according to any one of claims 1 to 13.

16. A work machine system including a work machine and an external device, A work machine system including the work machine control device according to any one of claims 1 to 13.

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