Work machines and operating systems for work machines

Abstract

To provide work machinery with improved safety. [Solution] The work machine comprises a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment attached to the upper rotating body, a work tool provided at the tip of the attachment, and a detection device for detecting surrounding objects. The detection device has a limiting function when it detects surrounding objects, and is configured to perform the limiting function in different ways in a normal mode and a transport mode for transporting heavy objects held by the work tool.

Description

Technical Field

[0001] The present disclosure relates to a working machine and an operating system of the working machine.

Background Art

[0002] Conventionally, a working machine that restricts its operation when a surrounding object is detected is known. For example, Patent Document 1 discloses an excavator including control means for restricting the operation of the excavator or notifying that an object has been detected when a predetermined object around the excavator is detected, and release means for releasing the operation restriction or notification, and notifying the execution of the release to the surroundings when the release is performed by the release means.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a working machine detects a surrounding object while carrying a heavy object, the heavy object or the vehicle body may sway and come into contact with the surrounding object.

[0005] One aspect of the present disclosure aims to provide a working machine with improved safety.

Means for Solving the Problems

[0006] A working machine according to one aspect of the present disclosure includes a lower traveling body, an upper swing body rotatably mounted on the lower traveling body, an attachment attached to the upper swing body, a working tool provided at the tip of the attachment, and a detection device that detects surrounding objects, and has a restriction function when the detection device detects a surrounding object, and is configured to execute the restriction function in different modes in a normal mode and a transportation mode for transporting a heavy object held by the working tool. [Effects of the Invention]

[0007] According to one aspect of this disclosure, the safety of a work machine can be improved by restricting its operation in an unusual manner when transporting heavy objects. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view of a work machine according to the first embodiment. [Figure 2] This diagram schematically shows an example of the configuration of a work machine according to the first embodiment. [Figure 3] This is a top view of the interior of the operator's cab of the work machine according to the first embodiment. [Figure 4] Block diagram of an example controller according to the first embodiment. [Figure 5] This diagram illustrates the limiting function that changes the braking distance. [Figure 6] This diagram illustrates the limiting function that changes the rate at which the pilot pressure is reduced. [Figure 7] This diagram illustrates the limiting function that changes the braking start position. [Figure 8] This is a diagram illustrating active damper control. [Figure 9] This figure shows an example of a display on a display device. [Figure 10] This is a flowchart showing an example of the operation restriction process according to the first embodiment. [Figure 11] This is a schematic diagram showing an example of the configuration of the operating system for a work machine according to the second embodiment. [Modes for carrying out the invention]

[0009] Embodiments of this disclosure will be described below with reference to the drawings. The embodiments described below are illustrative and do not limit the invention. Not all features and combinations thereof in the embodiments of this disclosure are necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and redundant descriptions may be omitted.

[0010] The working machine 100 according to the embodiment of this disclosure is a shovel. The working machine 100 may be a machine other than a shovel, such as a crane, an asphalt finisher, or a forklift. In the illustrated example, the shovel as the working machine 100 is an excavator equipped with a bucket 6 as an end attachment, but it may be an applied machine such as a forestry machine equipped with an end attachment other than a bucket 6.

[0011] (First Embodiment) Referring to Figure 1, an overview of the work machine 100 according to the first embodiment will be described. Figure 1 is a side view of the work machine 100 according to the first embodiment.

[0012] The work machine 100 comprises a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1 so as to be rotatable via a slewing mechanism 2, and an attachment AT for performing various tasks. In the example shown in Figure 1, the direction of travel (forward and backward direction) of the work machine 100 is indicated by the X axis, the width direction of the work machine 100 is indicated by the Y axis, and the height direction of the work machine 100 is indicated by the Z axis.

[0013] Figure 1 illustrates a lower traveling body 1 having a pair of left and right crawlers, but the work machine 100 is not limited to a crawler-type excavator. The work machine 100 may also be a wheeled excavator including a lower traveling body 1 with multiple tires.

[0014] The upper revolving body 3 revolves with respect to the lower traveling body 1 when the revolving mechanism 2 is driven by a revolving hydraulic motor. The revolving hydraulic motor is a revolving drive unit that drives the upper revolving body 3 as a driven part and can change the orientation of the upper revolving body 3. Note that the revolving drive unit may be an electric motor.

[0015] A boom 4 is rotatably attached to the center of the front part of the upper revolving body 3, an arm 5 is rotatably attached to the tip of the boom 4, and a bucket 6 is rotatably attached to the tip of the arm 5. In the illustrated example, the boom 4, the arm 5, and the bucket 6 constitute an excavation attachment, which is an example of an attachment AT. The boom 4, the arm 5, and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The excavation attachment may be provided with a bucket tilt mechanism.

[0016] The bucket 6 is an example of a working tool (end attachment). The bucket 6 is used, for example, in excavation work or the like. At the tip of the arm 5, other working tools may be attached instead of the bucket 6 according to the work content or the like. The other working tools may be, for example, other types of buckets such as a large bucket, a slope bucket, a dredging bucket, or a clam shell bucket. Further, the other working tools may be working tools of types other than buckets such as a stirrer, a breaker, a grapple, or a lifting magnet.

[0017] The boom angle sensor S1 detects the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the boom angle, which is the rotation angle of the boom 4 with respect to the upper revolving body 3. The boom angle becomes the minimum angle, for example, when the boom 4 is lowered most, and increases as the boom 4 is raised.

[0018] The arm angle sensor S2 detects the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the arm angle, which is the rotation angle of the arm 5 relative to the boom 4. The arm angle is smallest when the arm 5 is closed to its shortest extent, and increases as the arm 5 is opened.

[0019] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the bucket angle, which is the rotation angle of the bucket 6 relative to the arm 5. The bucket angle is smallest when the bucket 6 is closed to its fullest extent, and increases as the bucket 6 is opened.

[0020] The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, or a rotary encoder that detects the rotation angle around the connecting pin. The boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 constitute an attitude sensor that detects the attitude of the excavation attachment.

[0021] Furthermore, the work machine 100 may have all or part of its driven parts, such as the lower traveling body 1, upper slewing body 3, boom 4, arm 5, and bucket 6, electrically driven. In other words, the work machine 100 may be a hybrid excavator or electric excavator, in which all or part of its driven parts are driven by electric actuators.

[0022] The upper rotating body 3 is equipped with a control room 10, an engine 11, an aircraft tilt sensor S4, a rotational velocity sensor S5, a surrounding imaging device S6, a forward imaging device S7, a positioning device PS, and a communication device T1, among others.

[0023] The driver's cab 10 is also called a cabin or cab. A windshield is provided at the front of the driver's cab 10 so that the operator can see the work site. The front of the work machine 100 (upper slewing body 3) corresponds to the direction in which the attachment AT extends relative to the upper slewing body 3 when the work machine 100 is viewed from directly above (top view) along the slewing axis of the upper slewing body 3. The left, right, and rear sides of the work machine 100 (upper slewing body 3) correspond to the left, right, and rear sides as seen from the perspective of the operator seated in the driver's seat inside the driver's cab 10, respectively.

[0024] The operator's cab 10 is a compartment where the operator sits and is located on the front left side of the upper rotating body 3. However, the operator's cab 10 may be omitted if the work machine 100 is remotely controlled or if the work machine 100 operates by fully automatic operation.

[0025] A controller 30 is installed inside the driver's cab 10. The driver's seat and operating devices are also installed inside the driver's cab 10. Furthermore, a display device D1 is installed inside the driver's cab 10. The display device D1 is positioned so that it can be seen by the operator seated in the driver's seat.

[0026] The controller 30 is an arithmetic unit that performs various calculations. The controller 30 is installed, for example, in the operator's cab 10 and controls the drive of the work machine 100. The functions of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is mainly composed of a microcomputer that includes a CPU (Central Processing Unit), memory devices such as RAM (Random Access Memory), non-volatile auxiliary storage devices such as ROM (Read Only Memory), and various input / output interface devices. The controller 30 realizes various functions by executing various programs installed in the non-volatile auxiliary storage device on the CPU.

[0027] The machine tilt sensor S4 is configured to detect the tilt of the upper rotating body 3 with respect to a predetermined plane. In this embodiment, the machine tilt sensor S4 is an acceleration sensor that detects the tilt angle of the upper rotating body 3 around the longitudinal axis and the tilt angle around the left-right axis with respect to the horizontal plane. The longitudinal axis and left-right axis of the upper rotating body 3 are, for example, orthogonal to each other and pass through a center point which is a point on the rotation axis of the work machine 100.

[0028] The rotational angular velocity sensor S5 is configured to detect the rotational angular velocity of the upper rotating body 3. In this embodiment, the rotational angular velocity sensor S5 is a gyro sensor. The rotational angular velocity sensor S5 may also be a resolver or a rotary encoder, etc. The rotational angular velocity sensor S5 may also detect the rotational speed. The rotational speed may be calculated from the rotational angular velocity.

[0029] The surrounding imaging device S6 is installed in the upper rotating body 3 or the operator's cab 10 and images the area around the work machine 100, acquiring surrounding image information representing the area around the work machine 100. In the illustrated example, the surrounding imaging device S6 includes a front camera S6F, a left camera S6L, a right camera S6R, and a rear camera S6B.

[0030] The front camera S6F is a camera that captures images in front of the work machine 100 and is mounted on the roof of the cab 10 or on the side of the boom 4, or on the outside of the cab 10. Alternatively, the front camera S6F may be mounted on the ceiling of the cab 10, for example. The left camera S6L is a camera that captures images to the left of the work machine 100 and is mounted on the upper left end of the upper surface of the upper slewing body 3. The right camera S6R is a camera that captures images to the right of the work machine 100 and is mounted on the upper right end of the upper surface of the upper slewing body 3. The rear camera S6B is a camera that captures images behind the work machine 100 and is mounted on the upper rear end of the upper surface of the upper slewing body 3.

[0031] The front camera S6F, left camera S6L, right camera S6R, and rear camera S6B are all monocular wide-angle cameras equipped with image sensors such as CCD (Charge Coupled Devices) or CMOS (Complementary Metal Oxide Semiconductor), and they output the captured images to the display device D1. Images captured by the front camera S6F, left camera S6L, right camera S6R, and rear camera S6B are also taken up by the controller 30.

[0032] In the illustrated example, the front camera S6F is mounted on the roof of the driver's cab 10, the left camera S6L is mounted on the upper left end of the upper surface of the upper rotating body 3, the right camera S6R is mounted on the upper right end of the upper surface of the upper rotating body 3, and the rear camera S6B is mounted on the upper rear end of the upper surface of the upper rotating body 3.

[0033] The surrounding imaging device S6 may constitute an object detection device that detects objects in the vicinity of the work machine 100. The object detection device may consist of devices other than a camera. For example, the object detection device may be LiDAR (Light Detection And Ranging). LiDAR is a device that can measure the distance between a point cloud of 1 million or more points within the monitoring range and the LiDAR (laser source). Alternatively, the object detection device may be other devices that can measure the distance to an object, such as a stereo camera, a depth image camera, or a millimeter-wave radar. When a millimeter-wave radar or the like is used as the object detection device, the object detection device may determine the distance and direction of the object by transmitting a large number of signals (such as laser light) toward the object and receiving the reflected signals. Alternatively, the object detection device may be a combination of two or more types of devices. For example, the object detection device may be a combination of an imaging device and a LiDAR, or a combination of an imaging device and a millimeter-wave radar, or a combination of an imaging device and a stereo camera.

[0034] The surrounding imaging device S6 may consist of at least one of the following: a monocular camera, a stereo camera, a depth image camera, a LiDAR, or a millimeter-wave radar. For example, the surrounding imaging device S6 may consist of any combination of components, such as a monocular camera only, a stereo camera only, a depth image camera only, a combination of a LiDAR and a monocular camera, a combination of a LiDAR and a stereo camera, a combination of a LiDAR and a depth image camera, a combination of a millimeter-wave radar and a monocular camera, a combination of a millimeter-wave radar and a stereo camera, or a combination of a millimeter-wave radar and a depth image camera.

[0035] The forward imaging device S7 is installed on the upper slewing body 3 or the operator's cab 10 and images the area in front of the work machine 100, acquiring forward image information representing the area in front of the work machine 100. The forward imaging device S7 is a camera that images the area in front of the work machine 100 and is installed inside the operator's cab 10, such as on the ceiling of the operator's cab 10. Alternatively, the forward imaging device S7 may be installed outside the operator's cab 10, for example, on the roof of the operator's cab 10 or on the side of the boom 4. Furthermore, the forward imaging device S7 may also be used in conjunction with the front camera S6F. That is, the image captured by the front camera S6F may be acquired as forward image information and also as part of the surrounding image information.

[0036] The positioning device PS is configured to acquire information regarding the position of the work machine 100. In this embodiment, the positioning device PS is configured to measure the position and orientation of the work machine 100 in a reference coordinate system. Specifically, the positioning device PS is a GNSS (Global Navigation Satellite System) receiver incorporating an electronic compass, and measures the latitude, longitude, and altitude of the current position of the work machine 100, as well as the orientation of the work machine 100. The reference coordinate system in this embodiment is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with its origin at the center of gravity of the Earth, the X-axis pointing in the direction of the intersection of the Greenwich Meridian and the equator, the Y-axis pointing in the direction of 90 degrees east longitude, and the Z-axis pointing in the direction of the North Pole. Detection signals corresponding to the position and orientation of the upper rotating body 3 are received by the controller 30. The function of detecting the orientation of the upper rotating body 3 may be realized by an orientation sensor attached to the upper rotating body 3.

[0037] The communication device T1 is connected to an external communication line and is configured to control communication with equipment located outside the work machine 100. The communication device T1 may also communicate with equipment provided separately from the work machine 100. Equipment provided separately from the work machine 100 may include not only equipment located outside the work machine 100, but also portable terminal devices (mobile terminals) brought into the operator's cab 10 by the operator of the work machine 100.

[0038] In this embodiment, the communication device T1 is configured to control communication between the communication device T1 and equipment outside the work machine 100 via a wireless communication network. The communication device T1 may include, for example, a mobile communication module that supports mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation). The communication device T1 may also include, for example, a satellite communication module for connecting to a satellite communication network. Furthermore, the communication device T1 may include, for example, a Wi-Fi communication module or a Bluetooth® communication module. In addition, if there are multiple connectable communication lines, the communication device T1 may include multiple communication devices T1 according to the type of communication line.

[0039] For example, communication device T1 communicates with external devices such as a control room within the work site via a local communication line established at the work site. The local communication line is, for example, a local 5G (so-called local 5G) mobile communication line or a local Wi-Fi network established at the work site. Furthermore, communication device T1 is configured to send and receive information with communication devices installed in a remote control room outside the work site via a wide-area communication line that includes the work site, i.e., a wide-area network.

[0040] The work machine 100 operates actuators in response to the operation of an operator in the cab 10, driving the driven parts such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6. Alternatively, the work machine 100 may be configured to be remotely controlled from outside the work machine 100. When the work machine 100 is remotely controlled, the inside of the cab 10 may be unoccupied. Furthermore, the work machine 100 may operate actuators automatically regardless of the operator's operation. This enables the work machine 100 to automatically operate at least a portion of the driven parts such as the lower traveling body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, that is, to realize a so-called "machine control function".

[0041] Figure 2 is a schematic diagram showing an example of the configuration of the work machine 100. In Figure 2, the mechanical power transmission system is shown by double lines, the hydraulic fluid lines by thick solid lines, the pilot lines by dashed lines, and the electric drive and control system by dotted lines.

[0042] The drive system of the work machine 100 includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, and a control valve unit 17. The hydraulic drive system of the work machine 100 also includes hydraulic actuators such as a left travel hydraulic motor 1L, a right travel hydraulic motor 1R, a slewing hydraulic motor 2A, a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9.

[0043] The engine 11 is an example of a power source for the work machine 100, and is mounted, for example, at the rear of the upper rotating body 3. The power source for the work machine 100 may also be a combination of a battery or fuel cell and an electric motor. Specifically, the engine 11 rotates at a constant speed at a preset target rotational speed under direct or indirect control by the controller 30, driving the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel. The engine 11 may also be a gasoline engine or a hydrogen engine, etc.

[0044] The regulator 13 controls the discharge rate of the main pump 14. For example, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0045] The main pump 14, for example, is mounted at the rear of the upper rotating body 3, similar to the engine 11, and supplies hydraulic fluid to the control valve unit 17 through the hydraulic fluid line. In the illustrated example, the main pump 14 is a variable displacement hydraulic pump.

[0046] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the work machine 100. In the illustrated example, the control valve unit 17 includes control valves 171 to 176. The control valve unit 17 is configured to selectively supply hydraulic fluid discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic fluid flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic fluid flowing from the hydraulic actuators to the hydraulic fluid tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left-travel hydraulic motor 1L, a right-travel hydraulic motor 1R, and a slewing hydraulic motor 2A. Specifically, control valve 171 corresponds to the left-travel hydraulic motor 1L, control valve 172 corresponds to the right-travel hydraulic motor 1R, and control valve 173 corresponds to the slewing hydraulic motor 2A. Furthermore, control valve 174 corresponds to bucket cylinder 9, control valve 175 corresponds to boom cylinder 7, and control valve 176 corresponds to arm cylinder 8.

[0047] The pilot pump 15 is an example of a pilot pressure generating device and is configured to supply hydraulic fluid to hydraulic control equipment via a pilot line. In the illustrated example, the pilot pump 15 is a fixed-displacement hydraulic pump. However, the pilot pressure generating device may be implemented by the main pump 14. That is, the main pump 14 may have the function of supplying hydraulic fluid to the control valve unit 17 via a hydraulic fluid line, as well as the function of supplying hydraulic fluid to various hydraulic control equipment via a pilot line. In this case, the pilot pump 15 may be omitted.

[0048] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the illustrated example, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0049] The operating device 26 is a device used by the operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator may be a hydraulic actuator or an electric actuator.

[0050] The operation sensor 29 is configured to detect the operator's actions using the operation device 26. In this embodiment, the operation sensor 29 detects the operating direction and amount of the operation device 26 corresponding to each actuator and outputs the detected values ​​to the controller 30. In the illustrated example, the controller 30 controls the opening area of ​​the proportional valve 31 according to the output of the operation sensor 29. The controller 30 then supplies the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17. The pressure of the hydraulic fluid supplied to each pilot port (pilot pressure) is, in principle, the pressure corresponding to the operating direction and amount of the operation device 26 corresponding to each hydraulic actuator. Thus, the operation device 26 is configured to supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17.

[0051] The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is located in the pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured to change the flow area of ​​the pipeline. In the illustrated example, the proportional valve 31 operates in response to control commands output by the controller 30. Therefore, the controller 30 can adjust the pilot pressure acting on the pilot port of the control valve by the proportional valve 31, independently of the operator's operation of the operating device 26.

[0052] This configuration allows the controller 30 to operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that particular operating device 26.

[0053] Furthermore, the controller 30 may control the proportional valve 31 to realize an automatic operation function for the work machine 100. Specifically, the controller 30 outputs an operation command corresponding to the automatic operation function to the proportional valve 31. This enables the controller 30 to realize the operation of the work machine 100 using the automatic operation function.

[0054] Furthermore, the controller 30 may control the proportional valve 31 to enable remote operation of the work machine 100. Specifically, the controller 30 outputs an operation command to the proportional valve 31 corresponding to the content of the remote operation specified by the remote operation signal received from the remote operation room via the communication device T1. As a result, the controller 30 causes the proportional valve 31 to supply a pilot pressure corresponding to the content of the remote operation to the control valve unit 17, thereby enabling the operation of the work machine 100 based on the operator's remote operation.

[0055] In this embodiment, we will describe a case in which the engine 11 is used as the drive source, and the hydraulic pump is operated by the driving force generated by the engine 11 to perform the operation of the attachment AT, the rotation of the upper rotating body 3, and the driving motion. However, this embodiment is not limited to the engine 11 as the drive source, and a motor may also be used as the drive source. In other words, the control described in this embodiment may be applied to a so-called electric excavator in which the motor, which is the drive source, is driven by power supplied from a battery, or it may be applied to a hybrid excavator equipped with multiple drive sources including the engine 11 and a motor.

[0056] For example, the controller 30 sets a target rotational speed based on a predetermined work mode set by an operator or other predetermined operation, and performs drive control to keep the engine 11 rotating at a constant speed. Also, for example, the controller 30 outputs a control command to the regulator 13 as needed to change the discharge amount of the main pump 14.

[0057] Furthermore, the controller 30 may be configured to perform control related to a machine guidance function that guides the operator's manual operation of the work machine 100 through the operating device 26. Alternatively, the controller 30 may be configured to perform control related to a machine control function that automatically assists the operator's manual operation of the work machine 100 through the operating device 26.

[0058] Furthermore, some of the functions of controller 30 may be implemented by other controllers (control devices). In other words, the functions of controller 30 may be implemented in a manner distributed among multiple controllers. For example, machine guidance functions and machine control functions may be implemented by dedicated controllers (control devices).

[0059] Now, with reference to Figure 3, the interior of the cab 10 will be described. Figure 3 is a top view of the interior of the cab 10. The work machine 100 is equipped with a driver's seat 50, an operating device 26, and a display device D1, etc., which are located inside the cab 10. An access door is provided on the left side of the driver's seat 50. The operator can enter the interior of the cab 10 by opening the access door.

[0060] The driver's seat 50 is located in the center of the driver's cab 10 when viewed from above. The driver's seat 50 includes a seat 51 on which the operator sits and a backrest 52. The driver's seat 50 is a reclining seat, and the tilt angle of the backrest 52 is adjustable. A left armrest 53L is located on the left side of the driver's seat 50, and a right armrest 53R is located on the right side. The left armrest 53L and the right armrest 53R are rotatably supported by the backrest 52.

[0061] A left console 54L is located to the left of the driver's seat 50, and a right console 54R is located to the right. The left console 54L and the right console 54R extend along the front-to-back direction. The driver's seat 50 is slidable in the front-to-back direction. The driver's seat 50 may also be configured to slide in the front-to-back direction together with the left console 54L and the right console 54R.

[0062] The left armrest 53L is positioned on top of the left console 54L. The right armrest 53R is positioned on top of the right console 54R. In a top view, the left armrest 53L is positioned to cover a portion of the left console 54L. In a top view, the right armrest 53R is positioned to cover a portion of the right console 54R.

[0063] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, a left travel pedal 26PL, a right travel pedal 26PR, a left travel lever 26DL, a right travel lever 26DR, a horn button HS, and a voice button KS.

[0064] The left operating lever 26L is located at the front of the left console 54L. Similarly, the right operating lever 26R is located at the front of the right console 54R. An operator seated in the driver's seat 50 can operate the left operating lever 26L while grasping it with their left hand, and can also operate the right operating lever 26R while grasping it with their right hand. An operator seated in the driver's seat 50 can drive the arm cylinder 8 and the swing hydraulic motor 2A by operating the left operating lever 26L with their left hand. In addition, an operator seated in the driver's seat 50 can drive the boom cylinder 7 and the bucket cylinder 9 by operating the right operating lever 26R with their right hand. The bases of the left operating lever 26L and the right operating lever 26R are covered with lever boots 27.

[0065] The left drive pedal 26PL and the right drive pedal 26PR are located on the floor in front of the driver's seat 50. An operator seated in the driver's seat 50 can operate the left drive hydraulic motor 1L by operating the left drive pedal 26PL with their left foot. An operator seated in the driver's seat 50 can also operate the right drive hydraulic motor 1R by operating the right drive pedal 26PR with their right foot.

[0066] The left travel lever 26DL and the right travel lever 26DR are positioned between the left travel pedal 26PL and the right travel pedal 26PR in a top view. The left travel lever 26DL and the right travel lever 26DR extend upward from the floor in front of the driver's seat 50. An operator seated in the driver's seat 50 can drive the left travel hydraulic motor 1L by grasping the left travel lever 26DL with their left hand, similar to operation via the left travel pedal 26PL. Similarly, an operator seated in the driver's seat 50 can drive the right travel hydraulic motor 1R by grasping the right travel lever 26DR with their right hand, similar to operation via the right travel pedal 26PR. Furthermore, the left travel lever 26DL and the right travel lever 26DR are positioned so that an operator can simultaneously operate both the left travel lever 26DL and the right travel lever 26DR with one hand.

[0067] The display device D1 is located to the right and front of the driver's seat 50. The display device D1 displays various types of image information. The display device D1 includes a display screen that displays information such as the working conditions or operating status of the work machine 100. The operator seated in the driver's seat 50 can perform work with the work machine 100 while checking the various types of information displayed on the display device D1. The display device D1 may also be provided with an input device D2.

[0068] The input device D2 is located within reach of the operator seated in the driver's seat 50 and receives various operation inputs from the operator, outputting signals corresponding to the operation inputs to the controller 30. The input device D2 includes a touch panel mounted on the display of the display device D1 which displays various image information, a knob switch provided at the tip of one or more of the operation levers included in the operation device 26, or a button switch, lever, toggle switch, or rotary dial installed around the display device D1. Signals corresponding to the content of operations on the input device D2 are received by the controller 30.

[0069] A gate bar 55 is attached to the front of the front end of the left console 54L. The gate bar 55 operates in conjunction with the operation of the gate lock lever GL provided on the left console 54L. The gate bar 55 is mounted on the internal frame of the left console 54L so as to be able to move up and down about the left-right axis of its upper end.

[0070] The gate lock lever GL is a mechanical input operating part for switching between a state in which the work machine 100 can be operated by the operating device 26 (operable state) and a state in which the work machine 100 cannot be operated by the operating device 26 (unoperable state). In the illustrated example, the gate lock lever GL is configured so that the operator can switch between a first operating position that realizes the unoperable state and a second operating position that realizes the operable state. The controller 30 switches between the operable state and the unoperable state according to the operating state of the gate lock lever GL. In the illustrated example, the controller 30 switches between the operable state and the unoperable state of the work machine 100 by electrically switching the connection and disconnection of the pilot line according to the operating state of the gate lock lever GL.

[0071] Furthermore, when the gate lock lever GL is in the second operating position, the gate bar 55 is raised forward (passage prohibited) as shown in Figure 3, preventing the operator from passing through the passenger door. On the other hand, when the gate lock lever GL is in the first operating position, the gate bar 55 is retracted inside the left console 54L so as not to obstruct the operator from passing through the passenger door (passage permitted).

[0072] With this configuration, the operator cannot operate the work machine 100 unless the gate lock lever GL is set to the second operating position, preventing passage of the gate bar 55. Therefore, this configuration prevents the work machine 100 from moving unintentionally even if the operator accidentally touches the operating device 26 when getting on or off the machine. Thus, this configuration can improve the safety of the work machine 100.

[0073] Furthermore, the work machine 100 may be configured to accept a predetermined operation to start the engine 11 only when the gate lock lever GL is in the second operating position and the gate bar 55 is in a no-passing state. In other words, the work machine 100 may be configured so that the engine 11 cannot be started when the gate lock lever GL is in the first operating position and the gate bar 55 is in a pass-permitting state.

[0074] The horn button HS is a button operated by the operator of the work machine 100 when sounding the horn. In the illustrated example, the horn button HS is a knob switch located at the tip of the left operating lever 26L.

[0075] The speech button KS is a button operated by the operator of the work machine 100 when speaking to workers around the work machine 100. In the illustrated example, the speech button KS is a knob switch located at the tip of the right operating lever 26R.

[0076] A switch SW is installed on the right console 54R. To the right of the right console 54R is the window-side console 56. The window-side console 56 extends along the entire length of the driver's cab 10 in the front-to-back direction and is installed parallel to the right console 54R. The display device D1 is installed at the front of the window-side console 56.

[0077] The switch SW is used to switch the working mode of the work machine 100. In the illustrated example, the switch SW is located on the top surface of the right console 54R. However, the switch SW may also be one of the input devices D2, implemented by a touch panel on the display device D1, a knob switch, or set on a switch panel.

[0078] In this embodiment, the work modes include a normal mode and a crane mode. The normal mode is a work mode that does not restrict the operation of the work machine 100. The crane mode is a work mode that restricts the operation of the attachment when performing crane work. For example, in crane work, rigging work is performed in which a load is attached to a hook attached to the attachment. In crane work, if the attachment moves suddenly, the load or the vehicle body may shake, which may cause dangers such as the load falling or collision or contact with objects around the work machine 100. For this reason, when performing crane work, the machine is set to crane mode to restrict the operation of the attachment.

[0079] Furthermore, in this embodiment, the work machine 100 has a collision mitigation function. The collision mitigation function is an example of a limiting function that restricts the operation of the work machine 100 in order to avoid collision or contact between the work machine 100 and objects present in its vicinity. When the collision mitigation function is activated, the work machine 100 automatically or autonomously performs actions to avoid collision or contact with surrounding objects, or restricts actions based on the operator's input. On the other hand, when the collision mitigation function is not activated, the work machine 100 does not automatically or autonomously perform actions to avoid collision or contact with surrounding objects, nor does it restrict actions based on the operator's input.

[0080] The collision mitigation function may be switchable between enabled and disabled. When the collision mitigation function is enabled, the work machine 100 detects a situation in which there is a high probability of collision or contact with a surrounding object. When the work machine 100 detects a situation in which there is a high probability of collision or contact with a surrounding object, it activates the collision mitigation function. On the other hand, when the collision mitigation function is disabled, the work machine 100 does not detect a situation in which there is a high probability of collision or contact with a surrounding object. Therefore, the work machine 100 does not activate the collision mitigation function. The switching between enabling and disabling the collision mitigation function may be performed by a switch provided in the driver's cab 10. The switch for switching between enabling and disabling the collision mitigation function should be installed in a location that is not easily operated by the operator (for example, behind the driver's seat).

[0081] During crane operations, workers perform rigging work in the vicinity of the work machine 100. The work machine 100 may detect the worker performing the rigging work and activate its collision mitigation function. If the work machine 100 stops operating due to the collision mitigation function during crane operations, the suspended load or the vehicle body may swing, potentially creating a risk of collision or contact between the suspended load and surrounding objects.

[0082] In this embodiment, the operation restriction when the collision mitigation function is activated is configured to be performed in different ways depending on the working mode of the work machine 100. Specifically, the work machine 100 restricts its operation in different ways when the collision mitigation function is activated, depending on whether the working mode is normal mode or crane mode. For example, in order to suppress the swaying of the suspended load or the vehicle body, the work machine 100 may extend the time until it stops operating in crane mode compared to normal mode.

[0083] Furthermore, the output of the work machine 100 may be varied depending on the work mode. For example, the engine speed of the work machine 100 may be varied depending on the work mode. For example, when the work mode is crane mode, the engine speed of the work machine 100 may be restricted more than in normal mode. By restricting the engine speed during crane mode, the swaying of the suspended load and the vehicle body can be suppressed, thereby improving safety.

[0084] The working mode of the work machine 100 is not limited to the crane mode, but may be any working mode for transporting heavy objects held by the end attachment. For example, the working mode of the work machine 100 may include, in addition to the crane mode for transporting suspended loads from the end attachment, a mode for transporting soil or water loaded in a bucket, a mode for transporting timber grasped by a grapple, or a mode for transporting scrap metal attracted by a lifting magnet. Furthermore, for example, the working mode of the work machine 100 may also include a mode for activating the payload function. The payload function is a function that detects the weight of an object held by the end attachment. Hereinafter, the working mode for transporting heavy objects held by the end attachment will also be referred to as the "transport mode".

[0085] <Controller Functional Configuration> Referring to Figure 4, the configuration for which the controller 30 restricts the operation of the work machine 100 will be described. Figure 4 is a block diagram showing an example of the controller 30. The controller 30 includes an acquisition unit 301, a detection unit 302, a determination unit 303, an operation restriction unit 304, and a display control unit 305.

[0086] The acquisition unit 301 acquires various detection results from various sensors installed on the work machine 100. For example, the acquisition unit 301 acquires ambient image information captured by the ambient imaging device S6 (front camera S6F, left camera S6L, right camera S6R, and rear camera S6B). Also, for example, the acquisition unit 301 acquires forward image information captured by the forward imaging device S7. Also, for example, the acquisition unit 301 acquires the operator's operation content detected by the operation sensor 29. Furthermore, for example, the acquisition unit 301 acquires detection information detected by each of the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine tilt sensor S4, and slewing angular velocity sensor S5.

[0087] The detection unit 302 performs detection processing for objects present around the work machine 100. The objects detected by the detection unit 302 are objects present at the work site that, if they collide with or come into contact with the work machine 100, pose a danger to at least one of the work machine 100 or the object itself. Examples of objects detected by the detection unit 302 may include people, dump trucks, other work machines, power lines, cones, guardrails, etc.

[0088] The detection unit 302 may detect objects around the work machine 100 based on the surrounding image information acquired by the acquisition unit 301 from the surrounding imaging device S6. Any method may be used to detect objects, not limited to well-known methods. For example, a determination may be made as to whether the feature quantity extracted from the image information approximates a predetermined value or more to a feature quantity that indicates a predetermined object. Alternatively, for example, a human detection sensor may be provided that monitors the imaging spaces of each of the cameras S6F, S6L, S6R, and S6B, and the human detection sensor may detect people present around the work machine 100. The human detection sensor is a sensor that distinguishes and detects people from other objects. For example, the human detection sensor is a sensor that detects energy changes in the monitoring space and may include a motion detection sensor that utilizes the output signal of a pyroelectric infrared sensor, a bolometer infrared sensor, an infrared camera, etc.

[0089] Furthermore, the detection unit 302 detects the working mode of the work machine 100 based on the outputs of various sensors. The detection unit 302 may also detect the state of the switch SW for setting the working mode. In this embodiment, the working modes of the work machine 100 include normal mode and crane mode.

[0090] The determination unit 303 determines whether or not to activate the collision mitigation function. The determination unit 303 may determine whether or not to activate the collision mitigation function if the collision mitigation function is enabled. The determination unit 303 does not need to determine whether or not to activate the collision mitigation function if the collision mitigation function is disabled.

[0091] The determination unit 303 may determine whether or not to activate the collision mitigation function based on the detection results of surrounding objects by the detection unit 302. For example, the determination unit 303 may determine to activate the collision mitigation function when it detects a condition in which there is a high probability that the work machine 100 will collide with or come into contact with any of the surrounding objects. A condition in which there is a high probability that the work machine 100 will collide with or come into contact with any of the surrounding objects may include, for example, at least one of the following: the work machine 100 is close to the surrounding object; the work machine 100 is traveling in the direction of the surrounding object; the work machine 100 is turning in the direction of the surrounding object; or the attachment AT attached to the work machine 100 is operating in the vicinity of the surrounding object.

[0092] The operation limiting unit 304 restricts the operation of the work machine 100. The operation limiting unit 304 may restrict the operation of the work machine 100 when the determination unit 303 determines that the collision mitigation function should be activated. The operation limiting unit 304 may also perform operation restrictions of the collision mitigation function in a manner corresponding to the work mode detected by the detection unit 302. For example, the operation limiting unit 304 may perform operation restrictions of the collision mitigation function in different manners when the work mode is normal mode and when the work mode is crane mode.

[0093] For example, the motion limiting unit 304 may extend the time it takes to stop operation in crane mode compared to normal mode in order to suppress the swaying of the suspended load or the vehicle body. Specifically, if the collision mitigation function is activated while the crane machine 100 is traveling in crane mode, the motion limiting unit 304 may extend the braking distance required to stop the movement of the work machine 100 compared to normal mode. Also, if the collision mitigation function is activated while the crane machine 100 is slewing in crane mode, the motion limiting unit 304 may extend the braking distance required to stop the slewing of the work machine 100 compared to normal mode. To this end, the motion limiting unit 304 may lower the pilot pressure reduction speed required to stop the movement or slewing of the work machine 100 in crane mode compared to normal mode.

[0094] For example, the motion limiting unit 304 may increase the time until the operation is stopped and start stopping the operation earlier so that the distance between the stopping position and an object (e.g., a worker) in front of the work machine 100 is not shorter than in the normal mode. The motion limiting unit 304 may start stopping the operation earlier so that the distance between the stopping position and an object in front of the work machine 100 is longer than in the normal mode. The motion limiting unit 304 may start stopping the operation earlier so that the stopping position in crane mode is the same as the stopping position in normal mode. The motion limiting unit 304 may start stopping the operation earlier so that the stopping position in crane mode is closer to the stopping position in normal mode. The motion limiting unit 304 may start stopping the operation earlier so that the stopping position does not occur directly in front of an object in front of the work machine 100.

[0095] For example, if the braking distance required to stop the work machine 100 from moving is increased, the stopping position of the work machine 100 will extend in the direction of travel. In this case, the risk of collision or contact with an object (e.g., a worker) in front of the work machine 100 increases compared to the normal mode. On the other hand, if the stopping of the work machine 100 from moving is initiated earlier, the stopping position of the work machine 100 can be made the same as in the normal mode, even if the braking distance is increased. The same applies when increasing the braking distance required to stop the turning of the work machine 100. Therefore, safety can be ensured even if the time until the operation is stopped is increased.

[0096] For example, the motion limiting unit 304 may perform active damper control against the swaying of the suspended load or vehicle body during crane mode in order to suppress the swaying of the suspended load or vehicle body. Active damper control is an example of vibration control that detects the swaying of the suspended load or vehicle body and reduces the sway by adaptively operating the attachment in response to the detected swaying. For example, the motion limiting unit 304 may detect the swaying of the suspended load based on forward image information acquired by the acquisition unit 301 from the forward imaging device S7. Alternatively, for example, the motion limiting unit 304 may detect the swaying of the suspended load based on the time change in the weight of the suspended load sensed by the payload function.

[0097] Furthermore, the operation restriction unit 304 may restrict operation by the operator when the determination unit 303 determines that the collision mitigation function should be activated. For example, the operation restriction unit 304 may switch to an inoperable state in which the work machine 100 cannot be operated by the operating device 26. Even if the operation restriction unit 304 switches to an inoperable state, the gate lock lever GL may remain in the second operating position that enables operation.

[0098] For example, the operation limiting unit 304 may remain in an inoperable state until the suspended load or vehicle body stabilizes. In other words, when the operation limiting unit 304 detects that the suspended load or vehicle body has stabilized, it may switch to an operable state in which the work machine 100 can be operated by the operating device 26. The operation limiting unit 304 may also determine that the suspended load or vehicle body has stabilized when the time change of the weight of the suspended load, as sensed by the payload function, reaches a steady state.

[0099] For example, the operation restriction unit 304 may remain in an inoperable state until the suspended load or vehicle body is stable and the operator performs a release operation. The release operation may also be an operation to switch to an operable state. In other words, after the operation restriction unit 304 detects that the suspended load or vehicle body is stable, if the operator performs an operation to switch to an operable state, the operation restriction unit 304 may switch to an operable state in which the work machine 100 can be operated by the operating device 26.

[0100] The operation to switch to the operable state may, for example, be the operation to switch the gate lock lever GL to the second operating position that enables the operable state. However, if the operation restriction unit 304 is switched to the non-operable state, the gate lock lever GL remains in the second operating position, so the operator must first switch from the second operating position to the first operating position and then switch back to the second operating position. The operator cannot resume operation of the work machine 100 unless they intentionally perform the release operation. At that time, the operator is expected to visually check the condition of the suspended load or the situation around the work machine 100. With the above configuration, the operation restriction of the work machine 100 is released after the operator has visually confirmed safety, thus improving safety.

[0101] <Specific examples of restriction features> Refer to Figures 5 to 8 to explain specific examples of the limiting function. Figure 5 is a diagram illustrating the limiting function that changes the braking distance. Figure 5 shows the braking distance required to stop the movement of the work machine 100 for each work mode.

[0102] Figure 5(A) shows the braking distance when the collision mitigation function is activated while the vehicle is traveling in normal mode. Specifically, assume that the work machine 100A, traveling in normal mode, activates the collision mitigation function at point A1. The work machine 100A begins to decelerate from point A1 due to the collision mitigation function and stops at point A2. In this case, the braking distance required for the work machine 100A to stop is the distance d1 from point A1 to point A2.

[0103] Figure 5(B) shows the braking distance when the collision mitigation function is activated while the machine is traveling in crane mode. Specifically, assume that the work machine 100B, traveling in crane mode, activates the collision mitigation function at point A1. The work machine 100B will begin to decelerate from point A1 due to the collision mitigation function and will stop at point A3. In this case, the braking distance required for the work machine 100B to stop is the distance d2 from point A1 to point A3.

[0104] As shown in Figure 5, the braking distance d2 in crane mode is longer than the braking distance d1 in normal mode. If working machines 100A and 100B were traveling at the same speed at point A1, the deceleration (i.e., the rate of decrease in travel speed) can be lower in crane mode. Therefore, working machine 100B traveling in crane mode can suppress load sway when stopping.

[0105] Figure 6 illustrates the limiting function that changes the rate at which the pilot pressure is reduced. Figure 6 shows the change in pilot pressure over time when the operation of the work machine 100 is stopped, for each work mode. As shown in Figure 6, in normal mode, the pilot pressure is rapidly reduced in a short time. On the other hand, in crane mode, the pilot pressure is reduced more gradually over a longer period of time than in normal mode. Therefore, the work machine 100 operating in crane mode can suppress load sway when it stops operating more effectively than the work machine 100 operating in normal mode.

[0106] Figure 7 is a diagram illustrating the limiting function that changes the braking start position. Figure 7 shows the relationship between the time change of pilot pressure and the braking start position for each work mode, in order to maintain the stopping position of the work machine 100. Assume that work machine 100A, traveling in normal mode, activates the collision mitigation function at point B1. Work machine 100A starts reducing the pilot pressure at point B3 in order to stop at point B4. Work machine 100A decelerates within the range of braking distance d3 and stops at point B4. On the other hand, assume that work machine 100B, traveling in crane mode, activates the collision mitigation function at point B1. Work machine 100B starts reducing the pilot pressure at point B2, which is before point B3, in order to stop at point B4. Work machine 100B decelerates within the range of braking distance d4, which is longer than braking distance d3, and stops at point B4. Because work machine 100B has a longer braking distance, load sway can be suppressed when it stops. Furthermore, the stopping position of the work machine 100B in crane mode is the same as the stopping position of the work machine 100A in normal mode, thus ensuring safety.

[0107] Figure 8 is a diagram illustrating active damper control. As shown in Figure 8, the working machine 100 in crane mode travels with a load L suspended from a hook F attached to an attachment. At this time, the load L swings back and forth relative to the direction of travel. The working machine 100 detects the swing of the load L based on forward image information captured by the forward imaging device S7 and moves the attachment in the back and forth direction so that the position of the hook F moves in the direction of the swing of the load L. As a result, the swing of the load L is reduced in a short time.

[0108] Although Figure 8 shows the active damper control when the working machine 100 is stopped moving, the active damper control can also be applied when the working machine 100 stops slewing. In the active damper control when the working machine 100 stops slewing, the working machine 100 should detect the sway of the suspended load L based on forward image information and control the position of the hook F so that it follows the direction of the sway of the suspended load L. When slewing stops, the sway of the suspended load may be affected by the centrifugal force caused by slewing and may rotate in an arc. Therefore, in the active damper control when slewing stops, in addition to slewing the upper slewing body 3 in the left-right direction, control may also be performed to move the attachment in the front-rear direction.

[0109] The display control unit 305 controls the display on the display device D1. The display control unit 305 may output to the display device D1 an image of the surroundings of the work machine 100, detection results from various sensors, and information related to the collision mitigation function. The information related to the collision mitigation function may include the operating status of the collision mitigation function and a notification indicating the cause of the activation of the collision mitigation function. The notification indicating the cause of the activation of the collision mitigation function may include information indicating the surrounding object that caused the collision mitigation function to activate.

[0110] Display device D1 displays an image of the surroundings of the work machine 100 output from the display control unit 305. Display device D1 also displays information related to the collision mitigation function output from the display control unit 305. For example, display device D1 may display a notification indicating that the collision mitigation function has been activated along with the image of the surroundings of the work machine 100. Alternatively, for example, display device D1 may highlight the object that caused the collision mitigation function to be activated in the image of the surroundings of the work machine 100.

[0111] <Example of display on a display device> Figure 9 shows an example of the display of the display device D1. The display device D1 of the work machine 100 has an image display unit 142. The image display unit 142 displays a display screen 185 including a date and time display area 142a, a driving mode display area 142b, an attachment display area 142c, a fuel consumption display area 142d, an engine control status display area 142e, an engine operating time display area, a coolant temperature display area 142g, a fuel level display area 142h, a rotation speed level display area 142i, a urea solution level display area 142j, a hydraulic oil temperature display area 142k, a work machine status display area 421, a first image display area 422, a second image display area 423, and a notification display area 424, according to the control from the display control unit 305.

[0112] The driving mode display area 142b, attachment display area 142c, engine control status display area 142e, and rotation speed level display area 142i are areas that display setting status information, which is information related to the setting status of the work machine 100. The fuel consumption display area 142d, engine operating time display area, coolant temperature display area 142g, fuel level display area 142h, urea solution level display area 142j, and hydraulic oil temperature display area 142k are areas that display operating status information, which is information representing the operating status of the work machine 100 based on the detection results of various sensors.

[0113] The date and time display area 142a is the area that displays the current date and time. The driving mode display area 142b is the area that displays the current driving mode. The attachment display area 142c is the area that displays an image representing the attachment currently installed. The fuel consumption display area 142d is the area that displays fuel consumption information calculated by the controller 30. The fuel consumption display area 142d includes an average fuel consumption display area 142d1 that displays lifetime average fuel consumption or section average fuel consumption, and an instantaneous fuel consumption display area 142d2 that displays instantaneous fuel consumption.

[0114] The engine control status display area 142e is an area that displays the control status of the engine 11. The engine operating time display area is an area that displays the cumulative operating time of the engine 11. The coolant temperature display area 142g is an area that displays the current temperature status of the engine coolant. The fuel level display area 142h is an area that displays the remaining amount of fuel stored in the fuel tank.

[0115] The rotational speed level display area 142i is an area that displays an image of the current level of the engine 11 set by the dial. The rotational speed level display area 142i displays a number indicating the selected level. A "1" displayed in the rotational speed level display area 142i indicates that the selected rotational speed level is "Level 1". A number "n" displayed in the rotational speed level display area 142i indicates that the selected rotational speed level is "Level n". "n" is a natural number. When the operator rotates the dial, the number displayed in the rotational speed level display area 142i changes.

[0116] The urea solution remaining amount display area 142j is an area that displays the remaining amount of urea solution stored in the urea solution tank as an image. The hydraulic oil temperature display area 142k is an area that displays the temperature of the hydraulic oil in the hydraulic oil tank.

[0117] The work machine status display area 421 is an area that displays information representing the positional relationship between the work machine 100 and objects detected around the work machine 100. The work machine status display area 421 is a display area that represents the real space centered on the work machine 100 at a predetermined scale. In the work machine status display area 421, a work machine icon 421b indicating the presence of the work machine 100 is placed at the center of the area.

[0118] In addition to the work machine status display area 421, the work machine icon 421b representing the work machine 100, the direction indicator icon 421a indicating the direction in which the work machine 100 can move, and the detection icons 421e, 421f, and 421g representing objects detected around the work machine 100 are displayed simultaneously. The work machine status display area 421 may be represented in a single color (for example, black) in areas other than the work machine icon 421b, the direction indicator icon 421a, and the detection icons 421e, 421f, and 421g (in other words, the background).

[0119] The direction indicator icon 421a shows the direction in which the work machine 100 travels when the travel lever is pushed forward, in the shape of a triangle. Note that this embodiment shows an example of an icon that represents the direction in which the work machine 100 travels when the travel lever is pushed forward, and any shape is acceptable as long as it represents the direction in which the work machine 100 can move.

[0120] The work machine icon 421b is an icon that combines an image representing the upper slewing body 3 and an image representing the lower traveling body 1, according to the positional relationship between the upper slewing body 3 and the lower traveling body 1 based on the slewing angle.

[0121] The detection icons 421e, 421f, and 421g represent objects detected by the surrounding image information captured by the surrounding imaging device S6. Specifically, the detection icons 421e, 421f, and 421g are positioned based on the object's position information received from the controller 30. For example, the detection icons 421e, 421f, and 421g are positioned relative to the work machine 100, at a position obtained by multiplying the direction and distance of the detected object by a predetermined scale ratio.

[0122] Thus, the positional relationship between the work machine icon 421b and the detection icons 421e, 421f, and 421g corresponds to the positional relationship between the work machine 100 in real space and the objects present around the work machine 100.

[0123] In the illustrated example, the work machine status display area 421 displays an icon image showing the work machine 100 and objects surrounding the work machine 100 as icons. However, the work machine status display area 421 may also display an overhead view image. The overhead view image may be, for example, an image generated by synthesizing surrounding image information captured by the surrounding image imaging device S6 installed on the work machine 100, or it may be an image taken from above the work machine 100, for example, by a drone.

[0124] The work machine status display area 421 displays a first circular area 421c and a second circular area 421d, which are determined based on the distance from the work machine 100.

[0125] In the illustrated example, the first circular area 421c and the second circular area 421d are represented as circles that allow the operator to recognize the relative distance from the work machine icon 421b.

[0126] The image display unit 142 displays the working machine status display area 421, as well as surrounding image information captured by the surrounding imaging device S6. By checking the surrounding image information along with the working machine status display area 421, the operator can recognize the specific situation around the working machine 100. This improves safety.

[0127] In the illustrated example, the first image display area 422 and the second image display area 423 are areas that display ambient image information captured by the ambient imaging device S6. The first image display area 422 displays the rightward image. The second image display area 423 displays the rearward image. The rightward image is an image that shows the space to the right of the work machine 100 and includes an image 422c of the upper right edge of the upper rotating body 3. The rightward image is a real viewpoint image generated by the display control unit 305 and is generated based on an image acquired by the camera S6R. The rearward image is an image that shows the space behind the work machine 100 and includes an image 423c of the counterweight. The rearward image is a real viewpoint image generated by the display control unit 305 and is generated based on an image acquired by the camera S6B.

[0128] The first image display area 422 is displayed to the right of the work machine status display area 421. The second image display area 423 is displayed below the work machine status display area 421. In this embodiment, the area above the image display unit 142 corresponds to the front of the upper rotating body 3. In other words, the second image display area 423 is displayed at a position corresponding to the rear of the work machine status display area 421. That is, the image display unit 142 displays the surrounding image information captured by the surrounding image device S6 in the direction captured by the surrounding image device S6, with the work machine status display area 421 as the reference. In this embodiment, since the image information captured in the direction captured is displayed with the work machine status display area 421 as the reference, the operator can intuitively recognize which direction the surrounding image information represents when referring to it. Therefore, safety can be improved.

[0129] Furthermore, if the controller 30 detects an object in either the right-facing image or the rear-facing image, the display control unit 305 superimposes a frame indicating the area where the object was detected onto the image in the right-facing or rear-facing view where the object was detected. As a result, the right-facing image in the first image display area 422 displays a frame 422b surrounding the worker 422a located to the right of the work machine 100, and the rear-facing image in the second image display area 423 displays a frame 423b surrounding the worker 423a located behind the work machine 100.

[0130] The notification display area 424 displays notifications related to the collision mitigation function. The notification display area 424 may also display notification 424a indicating that the collision mitigation function has been activated. The notification display area 424 may also display notification 424b indicating the object that caused the collision mitigation function to be activated.

[0131] Notification 424a may display different messages for normal mode and crane mode. Notification 424a may display a message indicating that the collision mitigation function has been activated in a different manner than in normal mode when in crane mode. Notification 424a may also display a message indicating that the time until the operation stops is longer than in normal mode when in crane mode. In the illustrated example, when the collision mitigation function is activated in normal mode, the message "Collision mitigation function activated" is displayed. For example, when the collision mitigation function is activated in crane mode, a message such as "Collision mitigation function activated in crane mode. Decelerating more slowly than usual" may be displayed. If the time until the operation stops is longer in crane mode, the operator may feel uneasy. By displaying different messages for normal mode and crane mode, the operator can understand why it is taking longer to stop the operation, and this can prevent the operator from feeling uneasy.

[0132] The notification display area 424 may display notifications regarding the collision mitigation function in a manner other than text. For example, the notification display area 424 may display that the collision mitigation function has been activated by an icon, image, or video indicating the operation status of the collision mitigation function.

[0133] The display device D1 may highlight the object that caused the collision mitigation function to activate. For example, the display device D1 may highlight the area in the first image display area 422 or the second image display area 423 that corresponds to the object that caused the collision mitigation function to activate. In the illustrated example, the worker 422a located to the right of the work machine 100 caused the collision mitigation function to activate, so a highlight icon 422d is displayed in the first image display area 422 near the frame 422b surrounding the worker 422a. Alternatively, for example, the display device D1 may highlight a detection icon 421e corresponding to the object that caused the collision mitigation function to activate in the work machine status display area 421. The manner of highlighting is not limited to highlight icons and may include the color, line type, line thickness, or blinking of the frame 422b, or the shape, color, size, or blinking of the detection icon 421e.

[0134] The display device D1 shows the work machine status display area 421, the first image display area 422, and the second image display area 423, as well as the notification display area 424 and the highlight icon 422d. When the operator looks at the display device D1 to check the operation status of the collision mitigation function, they are unable to visually check the surroundings of the work machine 100. At this time, the display device D1 displays the work machine status display area 421, the first image display area 422, and the second image display area 423 on the same display screen 185 as the notification display area 424 and the highlight icon 422d. The operator can check the notification display area 424 and the highlight icon 422d while checking the surroundings of the work machine 100, thus being able to check the operation status of the collision mitigation function without compromising safety.

[0135] <Flow of operation restriction processing> Referring to Figure 10, the operation restriction process performed by the controller 30 will be described. Figure 10 is a flowchart of an example of the operation restriction process according to the first embodiment. The operation restriction process is repeatedly performed at predetermined time intervals while the work machine 100 is in operation.

[0136] In step S101, the acquisition unit 301 of the controller 30 acquires ambient image information captured by the ambient imaging device S6. The acquisition unit 301 sends the ambient image information acquired from the ambient imaging device S6 to the detection unit 302.

[0137] In step S102, the detection unit 302 of the controller 30 receives ambient image information from the acquisition unit 301. Based on the ambient image information received from the acquisition unit 301, the detection unit 302 performs detection processing for objects present around the work machine 100. The detection unit 302 sends the detection results of the surrounding objects to the determination unit 303.

[0138] In step S103, the determination unit 303 of the controller 30 receives the detection results of surrounding objects from the detection unit 302. Based on the detection results of surrounding objects received from the detection unit 302, the determination unit 303 determines whether or not to activate the collision mitigation function.

[0139] If the determination unit 303 determines that the collision mitigation function should be activated (YES), it proceeds to step S104. On the other hand, if the determination unit 303 determines that the collision mitigation function should not be activated (NO), it terminates the operation restriction process.

[0140] In step S104, the operation restriction unit 304 of the controller 30 restricts operation by the operator. Specifically, the operation restriction unit 304 switches to an inoperable state in which operation of the work machine 100 by the operating device 26 is impossible. At this time, the display control unit 305 outputs a notification to the display device D1 that the collision mitigation function has been activated. The display device D1 displays the notification 424a that the collision mitigation function has been activated in the notification display area 424.

[0141] In step S105, the acquisition unit 301 of the controller 30 acquires the outputs of various sensors. The acquisition unit 301 sends the acquired outputs of various sensors to the detection unit 302. The detection unit 302 detects the working mode of the work machine 100 based on the outputs of various sensors received from the acquisition unit 301.

[0142] In step S106, the operation limiting unit 304 of the controller 30 performs operation limiting of the collision mitigation function in a manner corresponding to the work mode detected in step S105. For example, if the work mode is crane mode, the operation limiting unit 304 may extend the time until operation is stopped compared to normal mode in order to suppress the swaying of the suspended load or vehicle body. In this case, the operation limiting unit 304 may start stopping the operation earlier in order to not change the stopping position of the operation. Also, for example, the operation limiting unit 304 may lower the rate at which the pilot pressure is reduced to stop the travel or rotation of the work machine 100 compared to normal mode. Also, for example, the operation limiting unit 304 may perform active damper control against the swaying of the suspended load or vehicle body in order to suppress the swaying of the suspended load or vehicle body.

[0143] In step S107, the operation limiting unit 304 of the controller 30 determines whether the suspended load or the vehicle body is stable. Specifically, the operation limiting unit 304 detects the weight of the suspended load based on the outputs of various sensors received from the acquisition unit 301 and determines whether the time change in the weight of the suspended load has reached a steady state.

[0144] If the system determines that the suspended load or vehicle body is stable (YES), the operation limiting unit 304 proceeds to step S108. On the other hand, if the system determines that the suspended load or vehicle body is not stable (NO), the operation limiting unit 304 executes step S107 again. In other words, after the operation limiting unit 304 performs the operation limiting of the collision mitigation function in step S106, it waits until the suspended load or vehicle body is stable.

[0145] In step S108, the acquisition unit 301 of the controller 30 acquires the operator's operation content detected by the operation sensor 29. The acquisition unit 301 sends the acquired operator's operation content to the operation restriction unit 304. Based on the operator's operation content received from the acquisition unit 301, the operation restriction unit 304 determines whether or not a release operation was performed by the operator.

[0146] If the operator determines that a release operation has been performed (YES), the operation limiting unit 304 proceeds to step S109. On the other hand, if the operator determines that a release operation has not been performed (NO), the operation limiting unit 304 executes step S108 again. In other words, the operation limiting unit 304 waits until the suspended load or vehicle body is stable and the operator performs a release operation.

[0147] In step S109, the operation restriction unit 304 of the controller 30 releases the restriction on operation by the operator. Specifically, the operation restriction unit 304 switches to an operable state in which the work machine 100 can be operated by the operating device 26. That is, after the operation restriction of the collision mitigation function is performed in step S106, the operation restriction unit 304 remains in an operable state until the suspended load or vehicle body is stable and the operator performs the release operation.

[0148] <Effects of the Embodiment> The work machine 100 according to the first embodiment comprises a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, an attachment AT attached to the upper rotating body 3, a work tool provided at the tip of the attachment AT, and a surrounding imaging device S6 for detecting surrounding objects. The work machine 100 has a collision mitigation function that restricts the operation of the work machine 100 when the surrounding imaging device S6 detects surrounding objects, and is configured to perform the collision mitigation function in different ways in a normal mode and a transport mode for transporting heavy objects held by the work tool. According to this embodiment, the safety of the work machine can be improved because the operation of the work machine 100 is restricted in a different way than usual when transporting heavy objects.

[0149] In order to suppress the shaking of heavy objects or the vehicle body, the working machine 100 may have a longer operating time in transport mode than in normal mode before stopping its operation. According to this embodiment, the working machine 100 can suppress the shaking of heavy objects or the vehicle body when the operation restriction by the collision mitigation function is executed.

[0150] The work machine 100 may start stopping earlier in transport mode than in normal mode, so that the distance between the stopping position and the object does not become shorter than the distance in normal mode. According to this embodiment, even in transport mode, the distance between the stopping position and the object does not become shorter than in normal mode, thus ensuring safety.

[0151] The transport mode may include a crane mode for transporting heavy objects suspended from the bucket 6, a mode for transporting soil or water loaded in the bucket, a mode for transporting wood or other objects grasped by a grapple, a mode for transporting scrap metal or other objects attracted by a lifting magnet, or a mode that activates a payload function to detect the weight of an object held by a work tool. According to this embodiment, the safety of the work machine can be improved even when transporting various objects using various work tools.

[0152] The operation of the work machine 100 may be restricted until the heavy object or vehicle body is stable. According to this embodiment, the safety of the work machine can be improved because the work machine 100 cannot be operated until the heavy object or vehicle body is stable.

[0153] The operation of the work machine 100 may be restricted until the heavy object or vehicle body is stable and the release operation is performed. According to this embodiment, the safety of the work machine can be improved because the operator cannot operate the work machine 100 until the heavy object or vehicle body is stable and safety has been confirmed.

[0154] The work machine 100 may be equipped with a display device D1 that displays images of the area around the work machine 100 and information related to the collision mitigation function. According to this embodiment, the operator can check the information related to the collision mitigation function without compromising safety while checking the surrounding conditions of the work machine 100.

[0155] The display device D1 may display a notification indicating the cause of the activation of the collision mitigation function. According to this embodiment, the operator can check the cause of the activation of the collision mitigation function without compromising safety while checking the surrounding conditions of the work machine 100.

[0156] The work machine 100 may perform active damper control against the shaking of heavy objects or the vehicle body during transport mode. According to this embodiment, the work machine 100 can reduce the shaking of heavy objects or the vehicle body in a short time when the operation restriction by the collision mitigation function is executed.

[0157] (Second embodiment) The embodiments described above described the case in which work is performed on the work machine 100 while an operator is on board. However, the embodiments described above are not limited to methods in which work is performed when an operator is on board the work machine 100. For example, when the work machine 100 performs work according to remote control, the same display as in the embodiments described above may be used. Therefore, the second embodiment will describe the case in which the work machine 100 is remotely controlled.

[0158] <Overview of the remote control system> Referring to Figure 11, an overview of the remote control system SYS according to the second embodiment will be described. Figure 11 is a schematic diagram showing an example of the remote control system SYS according to the second embodiment.

[0159] As shown in Figure 11, the remote control system SYS according to the second embodiment includes a work machine 100 and a remote control room RC. The work machine 100 and the remote control room RC are connected via a communication line NW to enable the transmission and reception of data.

[0160] The work machine 100 is capable of wireless communication using the communication device T1. The work machine 100 is also capable of sending and receiving data with equipment connected to the communication line NW (for example, a remote control room RC).

[0161] The work machine 100 can transmit information about the work site to the remote control room RC. This allows the remote control room RC to check the work site in accordance with the information from the work machine 100. In this embodiment, the device that measures the work site is not limited to the work machine 100, but may be other devices such as a drone flying over the work site or an imaging device that can be carried by the user.

[0162] For example, the work machine 100 is equipped with an ambient imaging device S6. The work machine 100 transmits ambient image information showing the imaging results of the work site by the ambient imaging device S6 to the remote control room RC. Alternatively, a drone flying over the work site, or an imaging device that can be carried by the user, may transmit ambient image information showing the imaging results of the work site to the remote control room RC.

[0163] The work machine 100 included in the remote control system SYS may be one unit or multiple units. This allows the remote control system SYS to provide information about the work site to the remote control room RC through multiple work machines 100.

[0164] <Example of remote control room configuration> The remote control room RC is equipped with a communication device T2, a remote controller R30, an operating device R26, an operating sensor R29, and a display device DR. The remote control room RC also has an operator's seat DS where the operator OP sits to remotely control the work machine 100.

[0165] The communication device T2 is configured to control communication with the communication device T1 attached to the work machine 100.

[0166] The remote controller R30 is a computing device that performs various calculations. In this embodiment, the remote controller R30 is composed of a microcomputer including a CPU and memory. The various functions of the remote controller R30 are realized by the CPU executing a program stored in memory.

[0167] The remote controller R30 may be configured similarly to the controller 30 shown in Figure 4. That is, the remote controller R30 may include an acquisition unit 301, a detection unit 302, a determination unit 303, an operation limiting unit 304, and a display control unit 305.

[0168] The operating device R26 is equipped with an operating sensor R29 for detecting the operation of the operating device R26. The operating sensor R29 is, for example, a tilt sensor that detects the tilt angle of the operating lever, or an angle sensor that detects the oscillation angle of the operating lever around its pivot axis. The operating sensor R29 may also consist of other sensors such as a pressure sensor, current sensor, voltage sensor, or distance sensor. The operating sensor R29 outputs information regarding the operation of the operating device R26 that it has detected to the remote controller R30. The remote controller R30 generates an operation signal based on the received information and transmits the generated operation signal to the work machine 100. The operating sensor R29 may also be configured to generate an operation signal. In this case, the operating sensor R29 may output the operation signal to the communication device T2 without going through the remote controller R30. This enables remote control of the work machine 100 from the remote control room RC.

[0169] Then, the communication device T1 of the work machine 100 receives an operation signal from the communication device T2 of the remote controller R30. Based on the received operation signal, the controller 30 of the work machine 100 performs various tasks at the work site.

[0170] The display device DR is installed around the operator's seat DS. The display device DR displays a screen based on information transmitted from the work machine 100 so that the operator OP in the remote control room RC can visually check the area around the work machine 100. By referring to the screen displayed on the display device DR, the operator OP can check the status of the work site, including the area around the work machine 100, even though they are in the remote control room RC.

[0171] In this embodiment, the remote controller R30 has a collision mitigation function that restricts the operation of the work machine 100 when it detects an object around the work machine 100. The remote controller R30 performs the collision mitigation function in different ways in a normal mode and a transport mode for transporting heavy objects held in the end attachment. As a result, the second embodiment can obtain the same effects as the first embodiment described above. That is, according to the second embodiment, the remote controller R30 restricts the operation of the work machine 100 in a different way than usual when the work machine 100 is transporting heavy objects, thereby improving the safety of the work machine 100 even when it is being operated remotely.

[0172] Preferred embodiments of the present disclosure have been described above. However, the inventions of the present disclosure are not limited to the embodiments described above. Various modifications, substitutions, etc., can be applied to the embodiments described above without departing from the scope of the inventions of the present disclosure. Furthermore, each of the features described with reference to the embodiments described above may be combined as appropriate, as long as they do not contradict each other technically. [Explanation of Symbols]

[0173] 100 working machines 1. Lower running body 2. Swivel mechanism 3. Upper rotating body 4 Boom 5 Arms 6 buckets S6 Surround imaging device S7 Forward Imaging System SW Switch T1, T2 communication devices 30 controllers 301 Acquisition Department 302 Detection unit 303 Judgment section 304 Operation Limiting Unit 305 Display Control Unit RC Remote Control Room R30 Remote Controller

Claims

1. Lower running body and An upper slewing body is mounted on the lower traveling body so as to be rotatable, An attachment to be mounted on the upper rotating body, A work tool provided at the tip of the aforementioned attachment, A detection device that detects surrounding objects, Equipped with, The detection device has a limiting function when it detects an object in the surrounding area. The limiting function is configured to be performed in different ways in a normal mode and a transport mode for transporting heavy objects held in the work tool. A type of machinery used for industrial work.

2. In order to suppress the shaking of the heavy object or the work machine, the time until the work machine stops operating is made longer during the transport mode than in the normal mode. The work machine according to claim 1.

3. In order to ensure that the distance between the stopping position of the operation and the object does not become shorter than the distance in the normal mode, the stopping of the operation is initiated earlier in the transport mode than in the normal mode. The working machine according to claim 2.

4. The transport mode includes a mode for transporting the heavy object suspended from the work tool, a mode for transporting the heavy object loaded onto the work tool, a mode for transporting the heavy object grasped by the work tool, a mode for transporting the heavy object attached to the work tool by suction, or a mode for activating a function to detect the weight of an object held by the work tool. The work machine according to claim 1.

5. Restrict the operation of the work machine until the heavy object or the work machine is stable. A working machine according to any one of claims 1 to 4.

6. The operation of the work machine is restricted until the heavy object or the work machine is stable and the release operation is performed. The working machine according to claim 5.

7. The system further includes a display device that displays an image of the surroundings of the work machine and information related to the limiting function. A working machine according to any one of claims 1 to 4.

8. The display device displays a notification indicating the cause of the activation of the restriction function. The work machine according to claim 7.

9. During the transport mode, vibration control is performed to prevent shaking of the heavy object or the work machine. A working machine according to any one of claims 1 to 4.

10. A lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an attachment to the upper rotating body, and a work tool provided at the tip of the attachment, A work machine equipped with a detection device for detecting surrounding objects, The system includes a control device for operating the aforementioned work machine, The control device is The detection device has a limiting function when it detects an object in the surrounding area. The limiting function is configured to be performed in different ways in a normal mode and a transport mode for transporting heavy objects held in the work tool. Operating system for industrial machinery.

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