Work machine

Abstract

To provide a working machine capable of easily reducing a dead angle for a detection part.SOLUTION: Work machine 3 includes a machine body 30, a first detector 11, and a second detector 12. The airframe 30 has a cabin 4 in which an occupant can ride. First sensor 11 and second sensor 12 are supported in passenger compartment 4 and each sense a sensing target around airframe 30. First sensor 11 and second sensor 12 are respectively disposed on a side C1 and a side Ss2 of a pair of side surfaces adjacent to each other with one corner Ss1 of passenger compartment 4 being interposed therebetween in a plan view.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a work machine having a body with a passenger cabin. [Background technology]

[0002] As related art, a work machine (work vehicle) such as a backhoe (mini excavator) equipped with a detection unit (imaging unit) for detecting (monitoring) a detection target around the machine body is known (see, for example, Patent Document 1). The work machine according to the related art is equipped with a cabin erected on a rotating body (upper rotating body) at a position biased to one side in the left-right direction, and a side bonnet located on the other side of the rotating body in the left-right direction (the side opposite the cabin).

[0003] In the work machine according to the above-mentioned related art, the detector is disposed behind the cabin, above the side hood. Since the cabin, which is erected on the rotating body, is supported in a vibration-isolating manner, for example, vibrations and shocks from the machine body are not easily transmitted to the detector supported by the cabin. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-007759 Summary of the Invention [Problem to be solved by the invention]

[0005] In the work machines according to the above-mentioned related art, blind spots may occur for the detection unit (imaging unit) when the detection unit is in the shadow of, for example, the cabin itself or structures such as an exhaust tail pipe located around the cabin.

[0006] An object of the present invention is to provide a work machine that can easily reduce blind spots for a detection unit. [Means for solving the problem]

[0007] A work machine according to one aspect of the present invention includes a machine body, a first detection unit, and a second detection unit. The machine body has a cabin in which a passenger can board. The first detection unit and the second detection unit are supported by the cabin and each detect a detection target around the machine body. The first detection unit and the second detection unit are respectively disposed on a pair of adjacent side surfaces sandwiching one corner of the cabin in a plan view. [Effects of the Invention]

[0008] According to the present invention, a work machine can be provided that can easily reduce blind spots for the detection unit. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic perspective view showing a work machine according to a first embodiment, as viewed from the left rear. [Figure 2] FIG. 2 is a schematic perspective view showing the work machine according to the first embodiment as viewed from the right rear. [Figure 3] FIG. 3 is a schematic left side view of the work machine according to the first embodiment. [Figure 4] FIG. 4 is a schematic plan view of the work machine according to the first embodiment. [Figure 5] FIG. 5 is a schematic perspective view of the riding cabin and the swivel section of the work machine according to the first embodiment, viewed obliquely from above. [Figure 6] FIG. 6 shows the main part of the cabin of the work machine according to the first embodiment, and is an enlarged view of area Z1 in FIG. [Figure 7] FIG. 7 is a schematic right side view of the passenger cabin and the swivel section of the work machine according to the first embodiment. [Figure 8] FIG. 8 shows the main parts of the passenger cabin and the swivel section of the work machine according to the first embodiment, and is an enlarged view of area Z1 in FIG. [Figure 9] FIG. 9 is a schematic rear view of the passenger cabin and the swivel section of the work machine according to the first embodiment. [Figure 10]FIG. 10 shows the main parts of the passenger cabin and the swivel section of the work machine according to the first embodiment, and is an enlarged view of area Z1 in FIG. [Figure 11] FIG. 11 is a plan view of the work machine according to the first embodiment as seen from above, and is a schematic diagram that schematically shows a detection area that is set around the machine body. DETAILED DESCRIPTION OF THE INVENTION

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following description will discuss preferred embodiments of the present invention with reference to the accompanying drawings. The preferred embodiments are merely examples of the present invention and are not intended to limit the technical scope of the present invention.

[0011] (Embodiment 1) [1] Overall structure As shown in Figures 1 to 4, the work machine 3 according to this embodiment is equipped with a traveling section 31, a swivel section 32, and a working implement 33. The work machine 3 also has a cabin 4 in which a passenger can ride. In this embodiment, the traveling section 31, swivel section 32, working implement 33, and cabin 4 are included in the body 30 of the work machine 3.

[0012] The work machine 3 according to this embodiment is further equipped with a first detection unit 11 and a second detection unit 12. The first detection unit 11 and the second detection unit 12 each detect a detection target in the vicinity of the machine body 30. Here, electrical components (electrical devices) such as the first detection unit 11 and the second detection unit 12 are mounted on the machine body 30 of the work machine 3.

[0013] In addition, the work machine 3 is further equipped with an alarm device 36 (see FIG. 2), a positioning device, a communication device, an indicator lamp, a light, a display device, an operating device, a control device, and various sensors (including sonar, cameras, etc.).

[0014] In this disclosure, the term "work machine" refers to various types of work machinery, and examples include work vehicles such as backhoes (including hydraulic excavators, mini excavators, etc.), wheel loaders, and carriers. The work machine 3 is equipped with a work implement 33 configured to be able to perform one or more tasks. The work machine 3 is not limited to a "vehicle," and may be, for example, a work vessel, or a work air vehicle such as a drone or multicopter. Furthermore, the work machine 3 is not limited to a construction machine (construction equipment), and may be, for example, an agricultural machine (farm equipment) such as a rice transplanter, tractor, or combine harvester. In this embodiment, unless otherwise specified, an example will be described in which the work machine 3 is a riding-type backhoe that is capable of performing tasks such as excavation, leveling, trench digging, and loading. More specifically, the work machine 3 according to this embodiment is assumed to be an "ultra-tight turning type" in which the turning section 32 including the work implement 33 can make a full turn within 120% of the overall width of the running section 31 (the overall width of the pair of left and right crawlers 311), or a "rear ultra-tight turning type" in which the rear end turning radius ratio is within 120%.

[0015] Also, in this embodiment, as an example, the passenger in the cabin 4 is an operator, and the work machine 3 is operated by the operation of the passenger. However, the passenger is not limited to an operator, and for example, if the work machine 3 is operated by remote control or automatic driving, the passenger may be a person who boards the work machine 3 for the purpose of monitoring or inspection (maintenance) or the like. Furthermore, the cabin 4 may be capable of accommodating multiple passengers at the same time, in which case multiple passenger seats may be provided in one cabin 4.

[0016] In this embodiment, for ease of explanation, the vertical direction when the work machine 3 is in a usable state is defined as the up-down direction D1. Furthermore, the front-to-rear direction D2 and the left-to-right direction D3 are defined based on the direction as seen by the rider (operator) sitting in the cabin 4 of the work machine 3. In other words, all directions used in this embodiment are directions defined based on the cabin 4 of the work machine 3, with the direction in which the machine body 30 moves when the work machine 3 moves forward being "forward" and the direction in which the machine body 30 moves when the work machine 3 moves backward being "rear". Similarly, the direction in which the front end of the machine body 30 moves when the work machine 3 turns right being "rightward", and the direction in which the front end of the machine body 30 moves when the work machine 3 turns left being "leftward". Since the cabin 4 is provided on the swivel section 32, the front-to-rear direction D2 and the left-to-right direction D3 relative to the travel section 31 change as the swivel section 32 rotates, and so hereinafter, directions are defined with the front of the cabin 4 facing the direction of travel of the travel section 31, as shown in Figure 1. However, these directions are not intended to limit the direction of use of the work machine 3 (directions during use).

[0017] The work machine 3 is equipped with an engine that serves as a power source. In this embodiment, as an example, the engine is a diesel engine. The engine is driven by fuel (light oil in this case) supplied from a fuel tank. In the work machine 3, for example, the engine drives a hydraulic pump, and the hydraulic pump supplies hydraulic oil to hydraulic actuators (including hydraulic motors 61, hydraulic cylinders 62, etc.) in various parts of the machine body 30, thereby driving the machine body 30. Such a work machine 3 is controlled, for example, by a user (operator) seated in the cabin 4 of the machine body 30 operating an operating device.

[0018] In this embodiment, as described above, it is assumed that the work machine 3 is a riding-type backhoe, and therefore the work implement 33 is driven in accordance with the operation of a rider (operator) seated in the cabin 4 to perform work such as excavation. The work implement 33 is supported by a swivel unit 32 provided with the cabin 4. Therefore, when the swivel unit 32 rotates, the work implement 33 rotates together with the cabin 4.

[0019] Here, the cabin 4 of the machine body 30 is equipped with a display device, an operating device, etc., and the occupant can operate the operating device while viewing various information related to the work machine 3 displayed on the display device. As an example, information related to the operating state of the work machine 3, such as the cooling water temperature and hydraulic oil temperature, is displayed on the display screen of the display device, allowing the occupant to check on the display device information related to the operating state of the work machine 3 that is necessary for operating the operating device.

[0020] The traveling unit 31 has a traveling function and is configured to be able to travel (including turn) on the ground. The traveling unit 31 has, for example, a pair of left and right crawlers 311 and a blade 312. The traveling unit 31 further has a hydraulic motor 61 (hydraulic actuator) for driving the crawlers 311.

[0021] The swivel unit 32 is disposed above the travel unit 31 and is rotatable relative to the travel unit 31 in a plan view. In other words, the swivel unit 32 is located above the travel unit 31 and is configured to be rotatable relative to the travel unit 31 around a rotation axis that is aligned in the vertical direction. The swivel unit 32 has a hydraulic motor and the like as a hydraulic actuator for rotation. In addition to the passenger cabin 4, the swivel unit 32 is also equipped with an engine, a hydraulic pump, and the like. Furthermore, the swivel unit 32 is provided with a boom bracket as a fulcrum unit 321 (see FIG. 2) to which the work implement 33 is attached. In a plan view, the swivel unit 32 has a substantially circular shape with a flat cutout at the front end. The swivel unit 32 is rotatable around the center of the circular shape as the rotation axis.

[0022] The work implement 33 is supported by the swivel section 32 and is configured to be able to perform one or more tasks. The work implement 33 is supported by a fulcrum section 321 (boom bracket) of the swivel section 32 and performs tasks. The work implement 33 has a bucket 331. The bucket 331 is a type of attachment (work tool) that is attached to the body 30 of the work machine 3, and is any tool selected from multiple types of attachments depending on the type of task. As an example, the bucket 331 is detachably attached to the body 30 and is replaced depending on the type of task. In addition to the bucket 331, (end) attachments for the work machine 3 include, for example, various tools such as a breaker, auger, crusher, fork, fork claw, steel frame cutter, asphalt cutter, brush cutter, ripper, mulcher, tiltrotator, and tamper.

[0023] The work implement 33 further includes a boom 332, an arm 333, and a hydraulic actuator (including a hydraulic cylinder 62, a hydraulic motor, etc.). The bucket 331 is attached to the tip of the arm 333. The bucket 331 is supported by the arm 333 so as to be rotatable about a rotation axis that is aligned in the horizontal direction.

[0024] The boom 332 is rotatably supported by the fulcrum part 321 of the swivel part 32. Specifically, the boom 332 is supported by the fulcrum part 321 so as to be rotatable around a rotation axis that is aligned in the horizontal direction. The boom 332 has a shape that extends upward from a base end supported by the fulcrum part 321. The arm 333 is connected to the tip of the boom 332. The arm 333 is supported relative to the boom 332 so as to be rotatable around a rotation axis that is aligned in the horizontal direction.

[0025] The work implement 33 operates by receiving power from an engine as a power source. Specifically, the engine drives a hydraulic pump, and hydraulic oil is supplied from the hydraulic pump to hydraulic actuators (hydraulic cylinder 62, etc.) of the work implement 33, thereby operating each part of the work implement 33 (bucket 331, boom 332, and arm 333).

[0026] Particularly in this embodiment, the work implement 33 has an articulated structure in which the boom 332 and the arm 333 are configured to be independently rotatable. In other words, by rotating each of the boom 332 and the arm 333 about a horizontal rotation axis, the articulated work implement 33 including the boom 332 and the arm 333 can be extended or folded as a whole. Furthermore, the bucket 331 serving as an attachment is supported on the machine body 30 (swivel unit 32) via the boom 332 and the arm 333, and by rotating the bucket 331 itself relative to the arm 333, the bucket 331 can be opened or closed.

[0027] Like the work machine 33, each of the traveling unit 31 and the swivel unit 32 receives power from an engine as a power source and operates. In other words, the swivel unit 32 and the traveling unit 31 operate when hydraulic oil is supplied from a hydraulic pump to the hydraulic motor 61 of the traveling unit 31 and the hydraulic motor of the swivel unit 32, etc.

[0028] The work machine 3 is also equipped with a drive device (mechanism) such as a PTO (Power take-off) for supplying power to the bucket 331 (attachment). Specifically, the drive device sends hydraulic oil from a hydraulic pump driven by the engine to the bucket 331, and adjusts the amount of power supplied to the bucket 331 by adjusting the flow rate of the hydraulic oil.

[0029] The cabin 4 is a space for passengers to board, and in this embodiment is located above the swivel unit 32. Therefore, when the swivel unit 32 rotates in a plan view, the cabin 4 also rotates. Specifically, if the swivel unit 32 is divided into two in the left-right direction D3, the cabin 4 is located on the left side. The cabin 4 has at least a passenger seat where the passenger sits.

[0030] The types of the passenger cabin 4 of a work machine 3 such as a construction machine include a cabin type, a canopy type, and a floor type. The cabin-type passenger cabin 4 includes a cabin 42, and the passenger boards in the cabin space inside the cabin 42. The canopy-type passenger cabin 4 includes a canopy (roof), and the passenger boards in the space below the canopy. The floor-type passenger cabin 4 does not include a cabin 42 or a canopy, and the passenger boards in a space that is open upward. In other words, the passenger cabin 4 may not only be surrounded by panels or the like, but may also include various other types that are provided as a space into which a passenger can board. In this embodiment, a case in which the passenger cabin 4 is of the cabin type will be described as an example.

[0031] Here, the cabin 4 is arranged offset to one side in the width direction (left-right direction D3) of the vehicle body 30. In this embodiment, as an example, the cabin 4 is arranged on the left side of the vehicle body 30 of the work machine 3. In other words, the cabin 4 is arranged offset to the left side in the width direction of the vehicle body 30. Furthermore, the cabin 4 is located above the left crawler 311 (see FIG. 1 ). With this arrangement, passengers get on and off the cabin 4 from the left side of the cabin 4. Therefore, in this embodiment, the door 43 of the cabin 4 is arranged on the left side of the cabin 4 in the left-right direction D3. In other words, passengers get on and off the cabin 4 through the door 43 arranged on the left side of the cabin 4.

[0032] The cabin-type passenger cabin 4 includes a passenger seat where the passenger sits, and a cabin 42 that covers the passenger seat. The cabin 42 includes a (cabin) frame 45, a cabin roof 426, and the like. In other words, the cabin 42 forms the outer shell of the passenger cabin 4, and the passenger sits inside the cabin 42.

[0033] The frame 45 is a structural body that serves as the skeleton of the cabin 42, and is formed to surround the cabin space. The cabin roof 426 is disposed above the frame 45 and is supported by the frame 45. The cabin roof 426 has a substantially rectangular shape in a plan view, and is formed in a size that covers the entire passenger compartment 4.

[0034] The cabin 42 has a front panel 421, a left side panel 422, a right side panel 423, and a rear panel 424. The front panel 421 forms the front surface of the cabin 42, the left side panel 422 forms the left side surface of the cabin 42, the right side panel 423 forms the right side surface of the cabin 42, and the rear panel 424 forms the rear surface of the cabin 42.

[0035] A windshield 441 is provided on the front panel 421. Similarly, a left side glass 442 and a right side glass 443 are provided on the left side panel 422 and the right side panel 423, respectively, and a rear glass 444 is provided on the rear panel 424. The front panel 421, the left side panel 422, the right side panel 423, and the rear panel 424 are attached as appropriate to both sides of the frame 45 in the front-to-rear direction D2 and both sides in the left-to-right direction D3, and together with the doors 43, surround the cabin space from all sides.

[0036] The door 43 is provided in an opening provided on the left side of the cabin 42, and is rotatable between a "closed position" that covers the opening and an "open position" that opens the opening to allow passengers to pass through. Types of such doors 43 include a "front-opening type" that opens at the front in the front-to-rear direction D2, and a "rear-opening type" that opens at the rear. In this embodiment, the door 43 is a front-opening type, as an example. Furthermore, in this embodiment, the door 43 opens outward, and the door 43 opens by pulling the front end portion, which is the free end of the door 43, toward the front (outside the cabin 4) when viewed from the front of the door 43 outside the cabin 4 (the left side in this embodiment).

[0037] With the configuration described above, when boarding the passenger cabin 4, the passenger enters the cabin space inside the cabin 42 with the door 43 open (in the open position), and closes the door 43 (in the closed position), thereby completing boarding into the passenger cabin 4. On the other hand, when dismounting from the passenger cabin 4, the passenger leaves the cabin 42 with the door 43 open (in the open position), and closes the door 43 (in the closed position), thereby dismounting from the passenger cabin 4. In particular, in a cabin-type passenger cabin 4 that includes a cabin 42 as in this embodiment, at least the frame 45 functions as a framework for the cabin 42, and has sufficient strength (rigidity) to support the cabin roof 426, the door 43, etc. Furthermore, the cabin 42 may be detachable from the machine body 30 (swinging section 32) of the work machine 3.

[0038] Furthermore, the cabin 42 can be fitted with various sensors and exterior accessories such as mirrors.

[0039] Each of the first detection unit 11 and the second detection unit 12 has various sensors (including sonar, cameras, etc.) for detecting detection targets around the airframe 30. In the present embodiment, as an example, each of the first detection unit 11 and the second detection unit 12 has at least two types of sensors: a camera (imaging device) that captures images of the periphery of the airframe 30, and a ranging sensor that measures the distance and direction to objects present around the airframe 30.

[0040] The camera of the first detection unit 11 is called the first camera 111 (see Figure 6), the camera of the second detection unit 12 is called the second camera 121 (see Figure 6), the distance measurement sensor of the first detection unit 11 is called the first distance measurement sensor 112 (see Figure 6), and the distance measurement sensor of the second detection unit 12 is called the second distance measurement sensor 122 (see Figure 6).

[0041] Each of the first camera 111 and the second camera 121 is connected to a control device and outputs the images captured by each of them to the control device. The first camera 111 is a camera (including an image sensor and optical elements) that captures an image of a first detection area A1 (see FIG. 11) that is the detection area of ​​the first detection unit 11. The second camera 121 is a camera (including an image sensor and optical elements) that captures an image of a second detection area A2 (see FIG. 11) that is the detection area of ​​the second detection unit 12. The first camera 111 and the second camera 121 are connected to the control device and output the images captured by each of them to the control device.

[0042] Each of the first ranging sensor 112 and the second ranging sensor 122 is a three-dimensional sensor that measures the distance to a detection target using a Time Of Flight (TOF) method, which measures the distance to a detection point based on the round-trip time it takes for radio waves, light, sound, etc. to reach the detection point and return. Each of the first ranging sensor 112 and the second ranging sensor 122 uses radio waves as a medium, such as millimeter-wave radar, to identify the distance to the detection target, the direction in which the detection target is located, etc. Each of the first ranging sensor 112 and the second ranging sensor 122 is connected to a control device and outputs its detection results to the control device.

[0043] The first distance measuring sensor 112 identifies the distance, direction, etc. to an object present in the detection area of ​​the first detection unit 11. That is, the first distance measuring sensor 112 performs detection using the same area (first detection area A1) as the imaging area of ​​the first camera 111 as its detection area. The second distance measuring sensor 122 identifies the distance, direction, etc. to an object present in the detection area of ​​the second detection unit 12. That is, the second distance measuring sensor 122 performs detection using the same area (second detection area A2) as the imaging area of ​​the second camera 121 as its detection area.

[0044] The detection units (first detection unit 11 and second detection unit 12) detect a detection target in a detection area, for example, based on the output (image data and / or distance measurement data) of a camera and / or a distance measurement sensor. Specifically, the detection units extract feature amounts in the image by, for example, performing image processing on the image data, and determine whether a detection target (in this embodiment, a "person") is captured in the image based on the feature amounts. Here, if a detection target is captured in the image, the detection units determine that the detection target is present in the detection area.

[0045] In this way, when a detection target exists in the first detection area A1, the first detection unit 11, which combines the first camera 111 and the first distance measuring sensor 112, can identify the three-dimensional position and attributes (shape, size, color, movement, etc.) of the detection target. Similarly, when a detection target exists in the second detection area A2, the second detection unit 12 can identify the three-dimensional position and attributes of the detection target.

[0046] That is, the detection result of the first detection unit 11 may include the presence or absence of a detection target in a first detection area A1 set around the aircraft 30, the position of the detection target in the first detection area A1 if the detection target is present in the first detection area A1, the attributes of the detection target, etc. Similarly, the detection result of the second detection unit 12 may include the presence or absence of a detection target in a second detection area A2 set around the aircraft 30, the position of the detection target in the second detection area A2 if the detection target is present in the second detection area A2, the attributes of the detection target, etc.

[0047] In short, the first detection unit 11 and the second detection unit 12 detect a detection target in the detection area (first detection area A1 and second detection area A2) around the machine body 30. Each of the first detection unit 11 and the second detection unit 12 determines the presence or absence of a detection target in the detection area, and outputs a detection result indicating whether or not the detection target exists in the detection area to the control device. In this embodiment, as an example, the detection target is a "person." In other words, if the work machine 3 moves, or if a "person" around the work machine 3 moves, and as a result a "person" enters the detection area around the work machine 3, the first detection unit 11 and / or the second detection unit 12 detects the "person" as a detection target. If there are multiple detection targets in the detection area, the first detection unit 11 and / or the second detection unit 12 may also detect the number of detection targets (number of people).

[0048] Furthermore, in this embodiment, images captured by at least the first camera 111 and the second camera 121 can be displayed on a display device or the like. This allows the operator in the cabin 4 to check the situation around the aircraft 30 on the display device.

[0049] The first detection unit 11 and the second detection unit 12 are both arranged on the swivel unit 32. In particular, as shown in FIGS. 2 to 4, the first detection unit 11 and the second detection unit 12 are attached to the outer surface of the passenger cabin 4 on the swivel unit 32. The arrangement of the first detection unit 11 and the second detection unit 12 will be explained in detail in the section "[2] Arrangement of detection units."

[0050] The alarm device 36 has a function of outputting an alarm sound. The alarm device 36 is arranged outside the cabin 42, and mainly issues an alarm to people in the vicinity of the work machine 3. The alarm device 36 has at least one of an audio output unit that issues an alarm by sound, such as an alarm buzzer, and an optical output unit that issues an alarm by optical output, such as an alarm lamp. This makes it possible to issue an alarm to people in the vicinity in a variety of environments, such as a bright work site in the daytime, or a noisy work site.

[0051] The positioning device detects the current position (latitude, longitude, altitude, etc.) and current orientation of the machine 30. The positioning device detects the current position and current orientation of the machine 30 using a satellite positioning system such as GNSS (Global Navigation Satellite System). Identifying the current position and current orientation of the machine 30 makes it possible, for example, to manage the work status (progress, etc.) including recording the travel path of the work machine 3, and to automatically drive the work machine 3. The automatic driving of the work machine 3 referred to here includes "autonomous driving," in which the work machine 3 travels autonomously without operator operation, and "semi-automatic driving," in which only steering is automated, such as straight-line assist, for example. "Semi-automatic driving" does not allow the work machine 3 to travel without operator operation, but reduces the burden on the operator of steering and allows the machine 3 to travel along a target route such as a straight route, leading to improved work efficiency.

[0052] The communication device is configured to be able to communicate with devices (such as a server) external to the machine 30. In this disclosure, "capable of communication" means being able to exchange information directly or indirectly via a communication network or a repeater, etc., using an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). For example, the communication device can communicate with a server, etc., via a communication network such as the Internet, a LAN (Local Area Network), a WAN (Wide Area Network), a public telephone line, a mobile phone network, a packet network, or a wireless LAN.

[0053] The indicator light turns on (lights up) according to the operating state of the work machine 3. The indicator light is arranged outside the cabin 42, and mainly provides indications to people around the work machine 3. In this embodiment in particular, the indicator light is configured to be able to emit light in multiple colors (for example, three colors), and emits light in different colors according to the operating state of the work machine 3.

[0054] The light outputs light (e.g., white light) outward from the machine body 30 and functions as a work light that illuminates the area around the machine body 30. The light illuminates the work target on which work is being performed by the work machine 3, making it possible to see the work target even in a dark environment, such as at night.

[0055] The control device is primarily configured as a computer system having one or more processors such as a CPU (Central Processing Unit) and one or more memories such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and executes various processes (information processing). In this embodiment, the control device is an integrated controller that controls the entire work machine 3, and is composed of, for example, an electronic control unit (ECU). However, the control device may be provided separately from the integrated controller, or may be primarily configured with one processor or multiple processors.

[0056] In addition to the above-mentioned configuration, the work machine 3 is further equipped with a cut-off lever (gate lock lever), a fuel tank, a hydraulic oil tank, a cooling water tank, a battery, etc. The cut-off lever can be operated between an "up position" and a "down position", and when the cut-off lever is in the "up position", the operation of the work machine 3 is forcibly restricted without the need to operate an operating device.

[0057] [2] Detector placement Next, the arrangement of the first detection unit 11 and the second detection unit 12 in the work machine 3 according to this embodiment will be described in detail with reference to FIGS.

[0058] In this embodiment, in addition to the first detection unit 11 and the second detection unit 12, electrical equipment such as the alarm device 36, indicator lamps, lights, etc. are all attached to the passenger compartment 4. Specifically, the first detection unit 11, the second detection unit 12, the alarm device 36, indicator lamps, lights, etc. are attached to the outside of a cabin 42 of the passenger compartment 4. Therefore, the following description will focus on the area around the passenger compartment 4 (cabin 42) of the work machine 3.

[0059] Fig. 5 is a perspective view of the cabin 4 and the swivel section 32 seen from diagonally above, and Fig. 6 is an enlarged view of area Z1 in Fig. 5. Fig. 7 is a right side view of the cabin 4 and the swivel section 32, and Fig. 8 is an enlarged view of area Z1 in Fig. 7. Fig. 9 is a rear (back) view of the cabin 4 and the swivel section 32. Fig. 10 is an enlarged view of area Z1 in Fig. 4. Fig. 11 is a plan view of the work machine 3 seen from above, and schematically shows detection areas (first detection area A1 and second detection area A2) set around the machine body 30.

[0060] As described above, the work machine 3 according to this embodiment includes the machine body 30 having the cabin 4 where a passenger can board, and the first detection unit 11 and the second detection unit 12. The first detection unit 11 and the second detection unit 12 are supported by the cabin 4, and each detects a detection target in the periphery of the machine body 30. Here, the first detection unit 11 and the second detection unit 12 are respectively arranged on a pair of side surfaces Ss1, Ss2 adjacent to each other with one corner C1 of the cabin 4 between them in a plan view.

[0061] In the present embodiment, as an example, the first detection unit 11 and the second detection unit 12 are arranged on the rear side (back surface) and the right side surface of the cabin 42, which are adjacent to each other across a corner C1 on the rear right side (right rear) of the passenger cabin 4 in a plan view. That is, the right rear corner of the cabin 42 in a plan view is an example of the corner C1 sandwiched between a pair of side surfaces Ss1, Ss2. In addition, of the cabin 42, the rear side surface formed by the surface of the rear panel 424 (including the rear glass 444) facing rearward and the right side surface formed by the surface of the right side panel 423 (including the right side glass 443) facing right are examples of the pair of side surfaces Ss1, Ss2. In the present embodiment, the first detection unit 11 is arranged on the (first) side surface Ss1 formed by the rear side surface, and the second detection unit 12 is arranged on the (second) side surface Ss2 formed by the right side surface.

[0062] In this embodiment, as described above, the first detection unit 11 and the second detection unit 12 are disposed on a pair of adjacent side surfaces Ss1, Ss2 that sandwich one corner C1 of the cabin 4 in a plan view, making it easy to reduce blind spots for the detection units (first detection unit 11 and second detection unit 12). That is, in the work machine 3 according to this embodiment, the first detection unit 11 and the second detection unit 12 are disposed at positions that sandwich one corner C1 of the cabin 4 in a plan view. This makes it difficult for blind spots for the detection units (first detection unit 11 and second detection unit 12) to occur due to being hidden by, for example, the cabin 42 itself or structures such as the exhaust tail pipe 323 (see FIG. 5 ) located around the cabin 42. As a result, it is possible to provide a work machine 3 that makes it easy to reduce blind spots for the detection units (first detection unit 11 and second detection unit 12).

[0063] More specifically, the work machine 3 according to this embodiment is further provided with a first bracket 51 and a second bracket 52 for supporting the first detection unit 11 and the second detection unit 12. The first bracket 51 is supported by the cabin 4 and supports the first detection unit 11. The second bracket 52 is separate from the first bracket 51, is supported by the cabin 4 and supports the second detection unit 12. As a result, the first detection unit 11 and the second detection unit 12 are disposed in the cabin 42 of the cabin 4 so as to be spaced apart from each other in a plan view.

[0064] That is, the first detection unit 11 is supported by the first bracket 51 and is disposed on the first side surface Ss1 of the cabin 4. The second detection unit 12 is supported by the second bracket 52 and is disposed on the second side surface Ss2 of the cabin 4. Here, the first bracket 51 and the second bracket 52 are separate bodies and are each supported individually by the cabin 4.

[0065] Furthermore, the first bracket 51 is disposed at the upper end of the first side surface Ss1. The second bracket 52 is disposed at the upper end of the second side surface Ss2. Therefore, by using the first bracket 51 and the second bracket 52, the first detection unit 11 and the second detection unit 12 can be disposed at the upper end of the passenger cabin 4 while being spaced apart from each other in a plan view.

[0066] Furthermore, because the first bracket 51 for mounting the first detection unit 11 and the second bracket 52 for mounting the second detection unit 12 are separate bodies, the mounting structure of the detection units (first detection unit 11 and second detection unit 12) can be made more compact, making it easier to reduce the weight and size of the work machine 3. As a result, the mounting structure of the detection units (first detection unit 11 and second detection unit 12) can be improved, and the degree of freedom in arranging the detection units (first detection unit 11 and second detection unit 12) can be increased.

[0067] In addition, at least one of the first detection unit 11 and the second detection unit 12 is located between the center of each of the pair of side surfaces Ss1, Ss2 and the corner C1 in a plan view. In the present embodiment, as an example, both the first detection unit 11 and the second detection unit 12 are located between the center of each of the pair of side surfaces Ss1, Ss2 and the corner C1 in a plan view.

[0068] That is, the first detection unit 11 is disposed between the center of the first side surface Ss1 and the corner C1 in a plan view, and the second detection unit 12 is disposed between the center of the second side surface Ss2 and the corner C1 in a plan view. In other words, the first detection unit 11 is located to the right of the center of the first side surface Ss1 in the left-right direction D3 (toward the corner C1), and the second detection unit 12 is located behind the center of the second side surface Ss2 in the front-rear direction D2 (toward the corner C1).

[0069] In this way, by arranging at least one of the first detection unit 11 and the second detection unit 12 biased toward the corner C1, that is, by arranging it in the vicinity of the corner C1, it is easy to reduce the blind spot of the detection unit (first detection unit 11 and second detection unit 12). In other words, in the work machine 3 according to this embodiment, it is easy to reduce the blind spot for the detection unit (first detection unit 11 and second detection unit 12) caused by being in the shadow of, for example, the cabin 42 itself or a structure such as the exhaust tail pipe 323 located around the cabin 42, as viewed from the detection unit.

[0070] In particular, in this embodiment, the cabin 4 is positioned offset to one side in the width direction (left-right direction D3) of the aircraft body 30. The corner C1 is located on the other side in the width direction (left-right direction D3). Specifically, the cabin 4 is positioned offset to the left side in the width direction (left-right direction D3) of the aircraft body 30. Therefore, the corner C1 is positioned on the right side of (the cabin 42 of) the cabin 4, that is, on the inside in the width direction of the aircraft body 30.

[0071] This allows the first detection unit 11 and the second detection unit 12, which are arranged on either side of the corner C1 in a plan view, to be positioned closer to the inside in the width direction of the aircraft body 30. Therefore, the first detection unit 11 and the second detection unit 12 can more easily detect detection targets that are located on the inside in the width direction of the aircraft body 30, which are likely to be blind spots for the operator in the cabin 4.

[0072] Furthermore, in this embodiment, the corner C1 is located on the rear end side of the passenger cabin 4. In other words, the right rear corner of the cabin 42 in a plan view is an example of the corner C1 sandwiched between a pair of side surfaces Ss1, Ss2, and therefore the corner C1 is located on the rear end side of the passenger cabin 4 (of the cabin 42).

[0073] This allows the first detection unit 11 and the second detection unit 12, which are arranged on either side of the corner C1 in a plan view, to be located closer to the rear end of the cabin 4. This makes it easier for the first detection unit 11 and the second detection unit 12 to detect a detection target that is located behind the aircraft body 30, which is likely to be a blind spot for an operator in the cabin 4.

[0074] Here, the frame 45 constituting the cabin 42 of the passenger room 4 has a pair of roof frames 451, 452 and vertical frames 453 to 456, as shown in FIGS.

[0075] The pair of roof frames 451, 452 are frame members located at both ends of the cabin roof 426 in the width direction (left-right direction D3) and each having a length in the front-rear direction D2. Specifically, the roof frame 451 is located at the right end of the cabin roof 426, and the roof frame 452 is located at the left end of the cabin roof 426.

[0076] The vertical frames 453 to 456 are frame members that are located at the four corners (four corners) of the cabin roof 426 and each have a length in the up-down direction D1. Specifically, the vertical frame 453 is located at the right rear corner (corner C1) of the cabin roof 426, the vertical frame 454 is located at the left rear corner of the cabin roof 426, the vertical frame 455 is located at the right front corner of the cabin roof 426, and the vertical frame 456 is located at the left front corner of the cabin roof 426.

[0077] That is, in this embodiment, the cabin 42 of the passenger compartment 4 has a vertical frame 453 having a length along the up-down direction D1. The first detection unit 11 and the second detection unit 12 are adjacent to the vertical frame 453. By arranging the first detection unit 11 and the second detection unit 12 adjacent to the vertical frame 453 in this manner, it is possible to attach the first detection unit 11 and the second detection unit 12 to the frame 45 with relatively high strength.

[0078] In this embodiment, the passenger cabin 4 has window portions (a rear glass 444 and a right side glass 443) on each of the pair of side surfaces Ss1, Ss2. The first detection unit 11 and the second detection unit 12 are located above the window portions. That is, since the rear glass 444 is provided on the first side surface Ss1, the first detection unit 11 is disposed above the rear glass 444. Similarly, since the right side glass 443 is provided on the second side surface Ss2, the second detection unit 12 is disposed above the right side glass 443.

[0079] This allows the first detection unit 11 and the second detection unit 12 to be attached with relatively high strength to the cabin 4. Furthermore, it is possible to prevent a decrease in visibility for the operator in the cabin 4, which would be caused by attaching the first detection unit 11 and the second detection unit 12 to the windows (rear window 444 and right side window 443).

[0080] More specifically, the first bracket 51 is made of a metal plate and is fixed to the rear surface of the frame 45. The first bracket 51 is removably fixed to the cabin 42 of the passenger compartment 4 using fasteners such as bolts and / or nuts. The first detection unit 11 is supported by the first bracket 51 in a position tilted slightly downward from the horizontal.

[0081] Similarly, the second bracket 52 is made of a metal plate and is fixed to the right side surface of the frame 45 (roof frame 451). The second bracket 52 is removably fixed to the cabin 42 of the passenger compartment 4 using fasteners such as bolts and / or nuts. The second detection unit 12 is supported by the second bracket 52 in a position tilted slightly downward from the horizontal.

[0082] 7 to 9, the upper ends of the first detection unit 11 and the second detection unit 12 are located at approximately the same height as the cabin roof 426. Also, as shown in FIGS. 7 to 10, the first detection unit 11 and the second detection unit 12 are arranged so as to protrude outward (rearward or rightward) from the cabin 42 of the passenger compartment 4 in a plan view.

[0083] 11, in the work machine 3 according to this embodiment, the detection area of ​​the first detection unit (first detection area A1) and the detection area of ​​the second detection unit 12 (second detection area A2) partially overlap in a plan view. As an example in this embodiment, the first detection unit 11 is attached facing rearward with respect to the cabin 42, so the first detection area A1 is formed rearward as viewed from the cabin 42. The second detection unit 12 is attached facing rightward with respect to the cabin 42, so the second detection area A2 is formed rightward as viewed from the cabin 42.

[0084] This enables the first detection unit 11 and the second detection unit 12 to detect the presence or absence of detection targets to the side (left or right) and rear, which are likely to be blind spots for the operator in the cabin 4.

[0085] In plan view, the right side of the first detection area A1 overlaps with the rear side of the second detection area A2. This allows a detection target present in the overlapping area between the first detection area A1 and the second detection area A2 to be detected by both the first detection unit 11 and the second detection unit 12, making it less likely to be overlooked.

[0086] Here, the first detection unit 11 and the second detection unit 12 are capable of detecting a specific object attached to the aircraft 30 from different directions. In the present disclosure, a "specific object" is, for example, a structure protruding from the upper surface of the rotating section 32. In this embodiment, an example of a specific object is the exhaust tail pipe 323, which is positioned at the rear end of the upper surface of the rotating section 32, biased toward the opposite side (right side) of the cabin 42 in the width direction (left-right direction D3).

[0087] In other words, the first detection unit 11 is positioned relative to the specific object (exhaust tail pipe 323) so as to detect the specific object from the left. On the other hand, the second detection unit 12 is positioned relative to the specific object so as to detect the specific object (exhaust tail pipe 323) from the front. This makes it possible to shift the first blind spot area Ab1, which is a blind spot for the first detection unit 11 due to the specific object, from the second blind spot area Ab2, which is a blind spot for the second detection unit 12 due to the specific object, and to avoid the detection target being unable to be detected due to the specific object.

[0088] Specifically, the positional relationship between the first detection unit 11, the second detection unit 12, and the specific object is determined so that the feature for detecting the detection target is outside an overlapping area Ab10 between a first blind spot area Ab1, which is a blind spot caused by the specific object in the first detection unit 11, and a second blind spot area Ab2, which is a blind spot caused by the specific object in the second detection unit 12. As an example in this embodiment, the positional relationship between the first detection unit 11, the second detection unit 12, and the specific object (exhaust tail pipe 323) is determined so that the overlapping area Ab10 is located on the swivel section 32.

[0089] This prevents the "feature" for detecting the detection target from overlapping with the overlapping region Ab10 between the first blind spot region Ab1 and the second blind spot region Ab2, resulting in the target being missed. For example, if the detection target is a "person," there is a possibility that the target will be missed if the "person's" head or other part overlaps with the overlapping region Ab10. Therefore, in order to prevent such missed detection, in this embodiment, the "feature" of the detection target is prevented from overlapping with the overlapping region Ab10.

[0090] In this embodiment, the alarm device 36 etc. are arranged at a corner C1 (rear right corner) of the cabin 42. The alarm device 36 etc. are fixed to a frame 45 that constitutes the cabin 42 of the passenger compartment 4 using a mounting stay. More specifically, the alarm device 36 etc. are attached to a vertical frame 453 of the frame 45 that is located at the corner C1 (rear right corner) of the cabin 42.

[0091] [3] Variation Below, we will list some modified examples of embodiment 1. The modified examples explained below can be applied in appropriate combinations.

[0092] The boarding cabin 4 is not limited to a cabin type, and may be, for example, a canopy type or a floor type. A canopy type or floor type boarding cabin 4 does not have a door 43, but has an entrance for passengers to get on and off the boarding cabin 4. For example, in the case of a floor type boarding cabin 4, there is no structure above the entrance, so the entrance opens upward.

[0093] Furthermore, the boarding / alighting entrance such as the door 43 is not limited to being arranged on the left side (left side) of the cabin 4 as in the first embodiment. In other words, the boarding / alighting entrance for passengers to get on and off only needs to be arranged on at least one side in the left-right direction D3 of the cabin 4, and may be arranged on the right side (right side) of the cabin 4 or on both sides in the left-right direction D3, for example.

[0094] Furthermore, it is not essential that the work machine 3 be of the "ultra-tight turning type" or "ultra-tight rear turning type."

[0095] In addition, the detection units (first detection unit 11 and second detection unit 12) for detecting a detection target in the detection area around the aircraft 30 may include sensors such as a human presence sensor, a sonar sensor, a radar, or a LiDAR (Light Detection and Ranging) in addition to or instead of the camera and the ranging sensor.

[0096] Furthermore, the cameras (first camera 111 and second camera 121) may include one, two, four or more cameras (image sensors), and the captured images may be captured by a camera that can capture images in all directions as seen from the work machine 3, such as a spherical camera (360-degree camera).

[0097] Furthermore, the determination of whether or not a detection target exists in the detection area may be made by, for example, a control device, rather than by the detection units (first detection unit 11 and second detection unit 12). In this case, for example, a captured image, an image obtained by processing the captured image (combining or coordinate transformation, etc.), and / or a distance image may be displayed on a display device based on the detection results of the detection units (first detection unit 11 and second detection unit 12).

[0098] In addition to or instead of "people," the detection targets may also include moving objects such as vehicles (including other work machines), structures such as walls and pillars, plants, animals, steps, ditches, or other obstacles.

[0099] Furthermore, the specific object is not limited to the exhaust tail pipe 323, but may be, for example, an alarm device 36, an indicator lamp and / or a light, etc.

[0100] Furthermore, the power source of the work machine 3 is not limited to a diesel engine, and may be, for example, an engine other than a diesel engine, or may be a motor (electric motor), or a hybrid power source including an engine and a motor (electric motor).

[0101] [Appendix to the invention] The following is a summary of the invention extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0102] <Appendix 1> an aircraft having a cabin in which passengers can board; a first detection unit and a second detection unit supported in the cabin and configured to detect a detection target in the vicinity of the aircraft; The first detection unit and the second detection unit are respectively arranged on a pair of side surfaces adjacent to each other across one corner of the cabin in a plan view. Work machinery.

[0103] <Appendix 2> At least one of the first detection unit and the second detection unit is located between the center of each of the pair of side surfaces and the corner portion in a plan view. 1. A work machine as described in Appendix 1.

[0104] <Appendix 3> The passenger cabin is disposed biased to one side in the width direction of the aircraft body, The corner portion is located on the other side in the width direction. 1. A work machine as defined in appendix 1 or 2.

[0105] <Appendix 4> The corner portion is located on the rear end side of the passenger cabin. 4. A work machine according to any one of appendices 1 to 3.

[0106] <Appendix 5> The passenger cabin has a vertical frame having a length along the up-down direction, The first detection unit and the second detection unit are adjacent to the vertical frame. 5. A work machine according to any one of appendices 1 to 4.

[0107] <Appendix 6> the passenger cabin has a window portion on each of the pair of side surfaces, The first detection unit and the second detection unit are located above the window unit. 6. A work machine according to any one of appendices 1 to 5.

[0108] <Appendix 7> The detection area of ​​the first detection unit and the detection area of ​​the second detection unit partially overlap in a plan view. 7. A work machine according to any one of appendices 1 to 6.

[0109] <Appendix 8> The first detection unit and the second detection unit are capable of detecting a specific object associated with the aircraft from different directions. A work machine according to any one of appendices 1 to 7.

[0110] <Appendix 9> a positional relationship between the first detection unit, the second detection unit, and the specific object is determined so that the feature for detecting the detection target is outside an overlapping area between a first blind spot area, which is a blind spot caused by the specific object in the first detection unit, and a second blind spot area, which is a blind spot caused by the specific object in the second detection unit; 1. A work machine as described in Appendix 8. [Explanation of symbols]

[0111] 3. Work machinery 4. Boarding room 11 First detection unit 12 Second detection unit 30 aircraft 323 Exhaust tailpipes (specified items) 443 Right side glass (window) 444 Rear glass (window) 453 Vertical Frame A1 (first detection unit) detection area A2 (Second detection unit) detection area Ab1 1st blind spot area Ab2 2nd blind spot area Ab10 overlap region C1 Corner D3 Left and right direction (width direction) Ss1, Ss2 side

Claims

1. an aircraft having a cabin in which passengers can board; a first detection unit and a second detection unit supported in the cabin and configured to detect a detection target in the vicinity of the aircraft; The first detection unit and the second detection unit are respectively arranged on a pair of side surfaces adjacent to each other across one corner of the passenger cabin in a plan view. Work machinery.

2. At least one of the first detection unit and the second detection unit is located between the center of each of the pair of side surfaces and the corner portion in a plan view.

2. The work machine according to claim 1.

3. The passenger cabin is disposed biased to one side in the width direction of the aircraft body, The corner portion is located on the other side in the width direction.

3. A work machine according to claim 1 or 2.

4. The corner portion is located on the rear end side of the passenger cabin.

3. A work machine according to claim 1 or 2.

5. The passenger cabin has a vertical frame having a length along the up-down direction, The first detection unit and the second detection unit are adjacent to the vertical frame.

3. A work machine according to claim 1 or 2.

6. the passenger cabin has a window portion on each of the pair of side surfaces, The first detection unit and the second detection unit are located above the window unit.

3. A work machine according to claim 1 or 2.

7. a detection area of ​​the first detection unit and a detection area of ​​the second detection unit partially overlap each other in a plan view; 3. A work machine according to claim 1 or 2.

8. The first detection unit and the second detection unit are capable of detecting a specific object associated with the aircraft from different directions.

3. A work machine according to claim 1 or 2.

9. a positional relationship between the first detection unit, the second detection unit, and the specific object is determined so that the feature for detecting the detection target is outside an overlapping area between a first blind spot area, which is a blind spot of the first detection unit caused by the specific object, and a second blind spot area, which is a blind spot of the second detection unit caused by the specific object; 9. The work machine according to claim 8.

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