Crane object detection device, and crane

Abstract

To improve safety. [Solution] An object detection device for a crane according to one aspect of the present disclosure includes a distance detection unit that detects the distance from a predetermined position on the crane body to an object, and a control unit that performs object detection processing on an object detection range in which the detection of an object is reported, excluding an object detection exclusion range in which the notification of the detection of the object is suppressed, and after detecting that the object in the object detection exclusion range is moving away from the predetermined position, the control unit that notifies when it detects another object in the range that was previously the object detection exclusion range.

Description

Technical Field

[0001] The present invention relates to an object detection device for a crane and a crane.

Background Art

[0002] Conventionally, in an object detection device for a crane, a technique has been proposed for detecting an object within a predetermined monitoring range and warning an operator. However, various objects exist around the crane. Among the existing objects, there are also objects that do not require a warning to the operator. For this reason, a technique has been proposed for determining a range in which objects that do not require a warning to the operator exist as an exclusion target for object detection (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technique described in Patent Document 1, it is difficult to issue a warning when an object other than the object determined as the exclusion target enters the range after the object in the determined exclusion target range has moved.

[0005] One aspect of the present invention is to provide a working machine or an object detection device for a working machine that is advantageous for detecting another object when the other object enters a range where an object to be excluded exists.

Means for Solving the Problems

[0006] An object detection device for a crane according to one aspect of the present invention includes a distance detection unit that detects the distance from a predetermined position on the crane body to an object, and a control unit that performs object detection processing on an object detection range in which notification of object detection is suppressed, excluding an object detection exclusion range from which notification of object detection is suppressed, and after detecting that an object located in the object detection exclusion range is moving away from the predetermined position, notifies the user when another object is detected in the range that was previously the object detection exclusion range. [Effects of the Invention]

[0007] One aspect of the present invention is to provide a crane or crane surroundings monitoring device that is advantageous for detecting other objects when they enter the area where an object to be excluded was located. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view showing an example of a crane according to the first embodiment. [Figure 2] This is a block diagram schematically showing an example of the configuration of a crane according to the first embodiment. [Figure 3] This figure illustrates object detection by an object detection device according to the first embodiment. [Figure 4] This is a conceptual diagram illustrating object detection using a controller that does not update background data. [Figure 5] This is a conceptual diagram illustrating the background data update process by the controller according to the first embodiment. [Figure 6] This is a conceptual diagram illustrating the object detection process after background data updates by the controller according to the first embodiment. [Figure 7] This figure shows an example of a screen output to a display device included in the output device by the output control unit according to the first embodiment. [Figure 8] This is a flowchart showing the processing procedure for detecting an object in the controller according to the first embodiment. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings. Furthermore, the embodiments described below are illustrative and not limiting to the invention, and not all features or combinations thereof described in the embodiments are necessarily essential to the invention. In addition, identical or corresponding components in each drawing are denoted by the same or corresponding reference numerals, and their descriptions may be omitted.

[0010] In the embodiments of the present invention described below, an example using a crawler crane will be explained, but the crane is not limited to a crawler crane. For example, it may be an overhead crane, gantry crane, wheel crane, truck crane, etc., which can be moved according to the operator's commands, or a fixed crane such as a tower crane, jib crane, or unloader.

[0011] (First Embodiment) Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings. As an example of a work machine according to the embodiment of this disclosure, the crane 100 shown in Figure 1 will be described.

[0012] Figure 1 is a side view showing an example of the crane 100 according to this embodiment. In the following description, the crane 100 will be explained in terms of the front-to-back, left-to-right, and up-and-down directions as seen from the operator of the crane 100.

[0013] The crane 100 according to this embodiment is a so-called mobile crawler crane. This crane 100 includes a self-propelled crawler-type lower vehicle 1, an upper slewing body 3 that is rotatably mounted on the lower vehicle 1, and an attachment AT that is tiltably mounted on the front side of the upper slewing body 3.

[0014] The lower traveling body 1 includes, for example, a pair of left and right crawlers. The lower traveling body 1 travels the crane 100 by hydraulically driving each crawler with a left traveling hydraulic motor 1ML and a right traveling hydraulic motor 1MR (see Fig. 2).

[0015] The upper slewing body 3 slews with respect to the lower traveling body 1 by hydraulically driving the slewing mechanism 2 with a slewing hydraulic motor 2M (see Fig. 2).

[0016] The upper slewing body 3 has a cab 4 where an operator sits to operate the crane 100 at an adjacent position on the right side of the attachment AT. Further, the upper slewing body 3 has a counterweight 5 for taking the weight balance of the attachment AT and the suspended load at the rear side.

[0017] The attachment AT suspends and transports a suspended load. The attachment AT is composed of a boom 6 including a lower boom 61 connected to the boom attachment part of the upper slewing body 3 so as to be able to move up and down, an intermediate boom 62 connected to the tip of the lower boom 61, and an upper boom 63 connected to the tip of the intermediate boom 62. The boom 6 has sufficient rigidity by assembling a plurality of frames.

[0018] The boom 6 can change the length of the attachment AT by increasing or decreasing a plurality of intermediate booms 62 that can be connected to each other. Further, the attachment AT has a backstop 64 for restricting the backward rotation of the boom 6 at the rear side of the tip of the lower boom 61.

[0019] Furthermore, the crane 100 includes a pendant rope 66, an upper spreader 67, a lower spreader 68, a boom hoisting wire rope 69, a gantry 71, and a gantry lifting cylinder 72.

[0020] One end of the pendant rope 66 is connected to the rear end of the upper boom 63. The other end of the pendant rope 66 is connected to the upper spreader 67. The upper spreader 67 connects the pendant rope 66 to the boom luffing wire rope 69. The boom luffing wire rope 69 is wound around the boom luffing winch 31, which is provided on the upper slewing body 3, and is wound in or unwound based on the drive of the boom luffing winch 31.

[0021] The lower spreader 68 is attached to the tip of the gantry 71, which is provided to be able to raise and lower relative to the upper rotating body 3. The gantry lifting cylinder 72 is provided on the upper rotating body 3 and raises and lowers the gantry 71.

[0022] For example, the crane 100 raises the gantry 71 using the gantry lifting cylinder 72 while winding up the boom luffing wire rope 69 using the boom luffing winch 31. This causes the crane 100 to pull the pendant rope 66 via the upper spreader 67, rotating the boom 6 backward and upward. Conversely, the crane 100 can rotate the boom 6 forward and downward by unwinding the boom luffing wire rope 69 using the boom luffing winch 31.

[0023] The crane 100 is equipped with a boom hook 81, a wire rope 82, and a hook overwinding prevention device 83 for holding the suspended load. The boom hook 81 is suspended from the wire rope 82 via a hook bracket 811. In other words, the boom hook 81 constitutes the lower end of the wire rope 82. The hook bracket 811 has a pulley (not shown) inside through which the wire rope 82 is passed.

[0024] One end of the wire rope 82 is fixed to a fixing part provided at the tip of the boom 6. This wire rope 82 extends downward to the hook bracket 811 of the boom hook 81, then folds back from the hook bracket 811 and extends upward. Furthermore, the wire rope 82 is stretched over a point sheave 651 provided at the tip of the boom 6 and extends to the rear side of the boom 6, and is wound around the front winch 32 provided on the upper slewing body 3 from the rear side of the tip of the boom 6. In addition, a hook overwinding prevention device 83 is provided on the wire rope 82 and defines the upper limit of the boom hook 81.

[0025] The crane 100 can raise the boom hook 81 and lift a load by winding up the wire rope 82 with the front winch 32. Conversely, the crane 100 can lower the boom hook 81 and lower a load by unwinding the wire rope 82 with the front winch 32.

[0026] The rotation sensor S5 outputs information regarding the rotation of the upper rotating body 3. The rotation sensor S5 detects, for example, the rotational angular velocity of the upper rotating body 3 relative to the lower traveling body 1. The rotation sensor S5 may also detect the rotation angle. The rotation sensor S5 may be, for example, a gyro sensor, resolver, rotary encoder, or IMU (Inertial Measurement Unit). The detection signal corresponding to the rotation angle or rotational angular velocity of the upper rotating body 3 detected by the rotation sensor S5 is input to the controller 30.

[0027] The object detection device S7 is an example of a distance detection unit that uses a sensor, such as a laser scanner like LiDAR (Light Detection and Ranging), to detect the distance to objects present around the crane 100. This embodiment does not limit the objects to be detected by distance, and can include, for example, people.

[0028] When LiDAR is used as the object detection device S7, it is a device capable of measuring the distance between the object detection device S7 and, for example, a point cloud of more than 1 million points within the monitoring range. Alternatively, the object detection device S7 may be other devices capable of measuring 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 LiDAR, or an imaging device and millimeter-wave radar, or an imaging device and a stereo camera.

[0029] The object detection device S7 is attached to the bottom surface of the rear end of the upper rotating body 3. The object detection device S7 detects a fan-shaped horizontal two-dimensional plane that is horizontal in a direction parallel to the ground surface of the crane 100 and extends 135° to the left and right (270° in total) from the object detection device S7. Note that this embodiment shows an example of the detection range by the object detection device S7 and is not limited to this detection range. This embodiment does not limit the number of object detection devices S7 to one, and multiple devices may be provided.

[0030] Furthermore, the object detection device S7 performs distance detection to the object within a predetermined angular range above or below, based on the horizontal direction described above.

[0031] In other words, the object detection device S7 scans on a two-dimensional plane within a total range of 270 degrees on both the left and right sides, and scans in the vertical direction within a predetermined range, thereby detecting the distance to the object in a three-dimensional range.

[0032] Figure 2 is a schematic block diagram showing an example of the configuration of the crane 100 according to this embodiment.

[0033] <<Hydraulic drive system>> As shown in Figure 2, the hydraulic drive system of the crane 100 according to this embodiment includes hydraulic actuators HA that hydraulically drive each of the driven elements, such as the lower traveling body 1 (left and right crawlers), the upper slewing body 3, and the attachment AT, as described above.

[0034] The crane 100 includes hydraulic actuators HA such as travel hydraulic motors 1ML and 1MR, slewing hydraulic motor 2M, boom luffing hydraulic motor 31M, and front winch hydraulic motor 32M.

[0035] The slewing hydraulic motor 2M is an actuator for slewing the upper slewing body 3 relative to the lower traveling body 1. The boom luffing hydraulic motor 31M is an actuator for operating the boom luffing winch 31. The front winch hydraulic motor 32M is an actuator for operating the front winch 32.

[0036] Furthermore, the hydraulic drive system of the crane 100 according to this embodiment includes an engine 11, a regulator 18, a plurality of main pumps 14, a pilot pump 15, and control valve units 17A and 17B.

[0037] Engine 11 is the prime mover and the main power source in the hydraulic drive system. Engine 11 is, for example, a diesel engine that uses light oil as fuel. Engine 11 is mounted, for example, at the rear of the upper slewing body 3. Under direct or indirect control by the controller 30 described later, engine 11 rotates at a preset target rotational speed and drives multiple main pumps 14 and pilot pumps 15.

[0038] Each of the multiple main pumps 14 supplies hydraulic fluid to control valve units 17A and 17B through a high-pressure hydraulic line. The multiple main pumps 14 are mounted, for example, at the rear of the upper slewing body 3, similar to the engine 11. The multiple main pumps 14 are driven by the engine 11, as described above. Each of the multiple main pumps 14 is, for example, a variable displacement hydraulic pump, and, as described above, under the control of the controller 30, the piston stroke length is adjusted by adjusting the tilt angle of the swash plate by the regulator 18, thereby controlling the discharge flow rate (discharge pressure).

[0039] The control valve units 17A and 17B are hydraulic control devices that control the hydraulic actuators HA in response to the operator's operation of the operating device 26, the content of remote operation, or operation commands related to the automatic operation function output from the controller 30. The control valve units 17A and 17B are mounted, for example, in the center of the upper slewing body 3. As described above, the control valve units 17A and 17B are connected to each of the multiple main pumps 14 via a high-pressure hydraulic line and selectively supply hydraulic fluid supplied from each of the multiple main pumps 14 to each hydraulic actuator in response to the operator's operation or operation commands output from the controller 30. Specifically, the control valve units 17A and 17B include multiple control valves (also called "direction control valves") that control the flow rate and direction of the hydraulic fluid supplied from the main pumps 14 to each of the hydraulic actuators HA.

[0040] <<Operation system>> The operating system of the crane 100 according to this embodiment includes a pilot pump 15, an operating device 26, an operating sensor 27, a proportional valve 29, and a controller 30.

[0041] The pilot pump 15 supplies pilot pressure to various hydraulic devices via the pilot line 25. The pilot pump 15 is mounted, for example, at the rear of the upper slewing body 3, similar to the engine 11. The pilot pump 15 is, for example, a fixed-displacement hydraulic pump and is driven by the engine 11 as described above.

[0042] The pilot pump 15 may be omitted. In this case, the relatively high-pressure hydraulic fluid discharged from the main pump 14 is reduced in pressure by a predetermined pressure reducing valve, and the resulting relatively low-pressure hydraulic fluid is supplied to various hydraulic devices as pilot pressure.

[0043] The control device 26 is located near the cockpit of the cabin 4 and is used by the operator to operate various driven elements. In other words, the control device 26 is used by the operator to operate the hydraulic actuators HA that drive each driven element. The control device 26 includes pedal devices and lever devices for operating each driven element (hydraulic actuator HA).

[0044] For example, the operating device 26 is electrically operated. Specifically, the operating sensor 27 is configured to detect the content of the operator's operation of the operating device 26. In this embodiment, the operating sensor 27 detects the operating direction and amount of the operating device 26 corresponding to each actuator and outputs the detected values ​​to the controller 30.

[0045] The controller 30 then outputs a control command to the proportional valve 29 that corresponds to the content of the operation signal, that is, a control signal corresponding to the operation of the operating device 26. As a result, the proportional valve 29 inputs a pilot pressure corresponding to the operation of the operating device 26 to the control valve units 17A and 17B, and the control valve units 17A and 17B can drive their respective hydraulic actuators HA according to the operation of the operating device 26.

[0046] Furthermore, the control valves (directional control valves) that drive the respective hydraulic actuators, which are built into the control valve units 17A and 17B, may be of the electromagnetic solenoid type. In this case, the operating signal output from the operating device 26 may be directly input to the control valve units 17A and 17B, that is, to the electromagnetic solenoid type control valves.

[0047] A proportional valve 29 is provided for each driven element (hydraulic actuator HA) that is operated by the operating device 26. The proportional valve 29 is located in the pipeline connecting the pilot pump 15 and the pilot port of the control valve in the control valve units 17A and 17B, and is configured to change the flow area of ​​the pipeline. In this embodiment, the proportional valve 29 operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic fluid discharged by the pilot pump 15 to the pilot port of the control valve (not shown) in the control valve units 17A and 17B via the proportional valve 29, regardless of the operator's operation of the operating device 26.

[0048] <<User Interface System>> The user interface system of the crane 100 according to this embodiment includes an operating device 26, an operating sensor 27, an output device D1, and an input device D2.

[0049] Output device D1 outputs various information to the user (e.g., operator) of the crane 100 inside the cabin 4.

[0050] For example, the output device D1 is located in a place easily visible to a seated operator inside the cabin 4 and includes indoor lighting equipment and display devices that output various information in a visual manner. Lighting equipment includes, for example, warning lights. Display devices include, for example, liquid crystal displays and organic EL (electroluminescence) displays.

[0051] Furthermore, for example, output device D1 includes a sound output device that outputs various types of information in an auditory manner. The sound output device may include, for example, a buzzer or a speaker.

[0052] Furthermore, for example, output device D1 includes a device that outputs various types of information through tactile means such as vibrations in the cockpit.

[0053] The input device D2 is located within the cabin 4, close to the seated operator, and receives various inputs from the operator. The signals corresponding to the received inputs are then taken up by the controller 30.

[0054] For example, input device D2 is an input device that accepts operation input. An input device may include a touch panel mounted on the display device, a touch pad installed around the display device, a button switch, a lever, a toggle, a knob switch provided on the operation device 26 (lever device), etc.

[0055] Furthermore, for example, input device D2 may be a voice input device that accepts voice input from the operator. The voice input device may include, for example, a microphone.

[0056] Furthermore, for example, input device D2 may be a gesture input device that accepts gesture input from the operator. The gesture input device may include, for example, an imaging device (indoor camera) installed inside the cabin 4.

[0057] <<Communications System>> The communication system of the crane 100 according to this embodiment includes a communication device T1 capable of communicating with an external device.

[0058] The communication device T1 connects to the communication line NW and communicates with a device provided separately from the crane 100. The device provided separately from the crane 100 may include a device located outside the crane 100, as well as a portable terminal device brought into the cabin 4 by the user of the crane 100. The communication device T1 may include, for example, a mobile communication module compliant with standards such as 4G (4th Generation) or 5G (5th Generation). The communication device T1 may also include, for example, a satellite communication module. Furthermore, the communication device T1 may include, for example, a Wi-Fi® communication module or a Bluetooth® communication module.

[0059] <<Control System>> The storage device ST is, for example, a read / write non-volatile storage medium. This storage device ST can be, for example, an SSD (Solid State Drive) or an HDD (Hard Disk Drive). The storage device ST according to this embodiment includes a background data storage unit STA.

[0060] The controller 30 controls the operation of each drive unit provided on the crane 100. The functions of the controller 30 may be realized by any hardware, or any combination of hardware and software. For example, the controller 30 is mainly composed of a computer including 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, for example, loading a program installed in the auxiliary storage device into the memory device and executing it on the CPU.

[0061] Furthermore, some or all of the functions of controller 30 may be implemented by other controllers (control devices). These other controllers may be installed inside or outside the crane 100. In other words, the functions of controller 30 may be implemented by a single controller or by being distributed among multiple controllers. For example, the automatic control function may be implemented by a dedicated controller (control device).

[0062] The controller 30 controls, for example, the proportional valve 29 as the control target, and performs control related to the operation of the hydraulic actuator HA (driven element) of the crane 100.

[0063] Specifically, the controller 30 may control the operation of the hydraulic actuator HA (driven element) of the crane 100 based on the operation of the operating device 26, with the proportional valve 29 as the control target.

[0064] [Crane object detection] Figure 3 is a diagram illustrating object detection by the object detection device S7 according to this embodiment. In the example shown in Figure 3, the object detection device S7 is capable of detecting objects within a 270-degree range (hereinafter referred to as the monitoring range) 1301 centered on the object detection device S7.

[0065] The monitoring range 1301 is defined as a predetermined range (for example, a range of 2m from the rear end) based on a circle (with a rear end radius) indicated at the rear end of the crane 100 when the crane 100 is rotating. However, this embodiment 100 does not limit the monitoring range 1300 to the range described above; for example, the monitoring range may be determined based on the movable range of the boom hook 81 of the crane 100.

[0066] Among the objects within the monitoring range 1301, there are some that do not require a warning to the operator of crane 100. Examples of objects that do not require a warning include fences and engines. If the operator of crane 100 is continuously notified (warned) of the presence of these objects, there is a possibility that the operator may be slow to notice other objects that intrude.

[0067] Therefore, in situations where there are objects that do not need to be notified (warned), the controller 30 in this embodiment performs a process to register the area in which objects are detected as an object detection range, excluding the area in which the objects that do not need to be notified exist.

[0068] In the example shown in Figure 3, the controller 30 defines the area within the range detectable by the object detection device S7 where objects 1311, 1312, and 1313 exist as an area where notification of object detection is suppressed (hereinafter referred to as the object detection exclusion range).

[0069] The controller 30 then registers the object detection range in the background data storage unit STA of the storage device ST as background data for detecting objects (hereinafter referred to as background data), which is the range in which object detection is reported, excluding the object detection exclusion range in which notification of object detection is suppressed, from the range in which the object detection device S7 can detect objects. The background data indicates the range in which notification is given when an object is present (object detection range) within a total of 270 degrees on both the left and right sides that the object detection device S7 can detect.

[0070] The controller 30 then uses the object detection device S7 to perform object detection processing on the object detection range registered as background data. The controller 30 then provides notification based on the object detection results.

[0071] In this embodiment, the controller 30 registers data indicating the object detection range in which object detection is reported for each rotation angle of the upper rotating body 3 detected by the rotation sensor S5, as background data for object detection in the background data storage unit STA. For example, if the resolution of the rotation sensor S5 is 0.1 degrees, the controller 30 may register 3600 pieces of background data in the background data storage unit STA. Note that this embodiment does not limit the resolution of the rotation sensor S5 to 0.1 degrees; it may be less than 0.1 degrees or greater than 0.1 degrees.

[0072] Therefore, the background data storage unit STA stores background data indicating the object detection range, which is the range detectable by the object detection device S7, excluding the range excluded from object detection, for each rotation angle of the upper rotating body 3 (for example, every 0.1 degrees).

[0073] Therefore, when detecting an object, the controller 30 retrieves background data corresponding to the rotation angle detected by the rotation sensor S5, and performs object detection processing by comparing this background data with the detection result from the object detection device S7. Specifically, the controller 30 notifies that an object is present if the detection result from the object detection device S7 indicates that an object is present within the object detection range shown by the background data.

[0074] However, if the controller does not update the background data after an object within the object detection exclusion range has moved, a situation may arise where the intruded object cannot be detected.

[0075] Figure 4 is a conceptual diagram illustrating object detection by a controller that does not update background data. The example shown in Figure 4 is for a crane 1400, which is different from the crane 100 according to this embodiment. The crane 1400 is equipped with an object detection device S7A, similar to the crane 100 according to this embodiment. The difference from this embodiment is that the controller mounted on the crane 1400 does not update background data.

[0076] Figure 4(A) shows an example where background data indicating the object detection range 1401 is registered. It also shows that object 1411, which is located within the object detection exclusion range, is far from the crane 1400.

[0077] In this situation, if the controller does not update the background data, the object detection exclusion range 1402 and the object detection range 1401 based on the background data will be maintained even after the object 1411 moves away from the crane 1400.

[0078] Figure 4(B) shows a situation where, after object 1411 has left, person 1421 has entered the object detection exclusion range 1402. In this way, when an object (for example, a person) enters the area, the controller may suppress notification of the object's intrusion because the area where the object is located is the object detection exclusion range 1402.

[0079] Therefore, the controller 30 according to this embodiment updates the background data indicating the object detection range when it detects that an object located within the object detection exclusion range is moving away from the rotation center of the crane 100. The controller 30 according to this embodiment also updates the background data indicating the object detection range when an object located within the object detection exclusion range can no longer be detected from the monitoring range, assuming that it has moved away from the rotation center of the crane 100.

[0080] Figure 5 is a conceptual diagram illustrating the background data update process performed by the controller 30 according to this embodiment.

[0081] Figure 5(A) shows an example where background data indicating the object detection range 1501 is registered. It also shows a situation where object 1511, which is located within the object detection exclusion range, is far from the pivot center of the crane 100.

[0082] The controller 30 then recognizes, based on the detection results from the object detection device S7, that object 1511 is separated from the pivot center of the crane 100. When the controller 30 recognizes that object 1511 is separated, it updates the background data.

[0083] Figure 5(B) shows an example where background data is updated according to the detection result from the object detection device S7. The controller 30 defines the area where the moved object 1511 is located as the object detection exclusion area and updates the background data with the object detection area 1502, which excludes the object detection exclusion area. In this embodiment, the controller 30 can detect the intrusion of an object by updating the background data.

[0084] Figure 6 is a conceptual diagram illustrating the object detection process after background data updates by the controller 30 according to this embodiment.

[0085] Figure 6(A) shows the object detection range 1502, indicated by the updated background data, as the object 1511 moves.

[0086] Figure 6(B) shows an example where person 1611 has entered an area that was previously excluded from object detection before the background data was updated. In Figure 6(B), the object detection range has been updated to 1502, so the controller 30 issues a notification regarding the intrusion of person 1611.

[0087] Thus, in this embodiment, even if an object (person) enters an area that was previously excluded from object detection, the controller 30 is included in the object detection range 1502, and therefore can provide notification regarding the intrusion of the object. Consequently, it can alert the operator of the crane 100.

[0088] [Controller Functional Configuration] Returning to Figure 2, the configuration of the controller 30 for detecting objects will be described. The controller 30 includes an acquisition unit 301, a registration unit 302, a detection unit 303, a determination unit 304, an update unit 305, and an output control unit 306.

[0089] The acquisition unit 301 acquires detection results from various sensors installed on the crane 100. For example, the acquisition unit 301 acquires the rotation angle of the upper rotating body 3 from the rotation sensor S5.

[0090] Furthermore, the acquisition unit 301 acquires the detection result from the object detection device S7. The acquisition unit 301 converts the distance from the object detection device S7 to the object, as indicated by the detection result acquired from the object detection device S7, into the distance from the pivot center of the crane 100 to the object. This embodiment describes an example in which the pivot center of the crane 100 is applied as the reference position (example of a predetermined position) for detecting the distance to the object. However, this embodiment does not limit the reference position for detecting the distance to the object to the pivot center; for example, it may be the position where the object detection device S7 is installed, or another position.

[0091] When the registration unit 302 receives a background data registration operation, it associates the rotation angle acquired by the rotation sensor S5 with the background data based on the detection result by the object detection device S7 and registers it in the background data storage unit STA. This registration is performed when there are no objects to be notified to the operator around the crane 100.

[0092] For example, the registration unit 302 registers background data in the background data storage unit STA, which indicates the range in which an object is detected by the object detection device S7 as the object detection exclusion range, and the range in which the object detection exclusion range is excluded from the monitoring range of the object detection device S7 as the object detection range.

[0093] For example, the registration unit 302 controls the rotation of the crane 100 and registers background data based on the detection results from the object detection device S7 in the background data storage unit STA for each rotation angle of the crane 100.

[0094] The detection unit 303 reads background data corresponding to the rotation angle acquired by the rotation sensor S5 from the background data storage unit STA, and performs object detection based on the read background data and the detection result acquired from the object detection device S7.

[0095] Specifically, the detection unit 303 compares the detection result obtained from the object detection device S7 with the background data to determine whether the distance information to objects present around the crane 100 matches between the detection result obtained from the object detection device S7 and the background data.

[0096] If the detection unit 303 determines that the distance information to objects present around the crane 100 matches between the detection result and the background data, it recognizes that there are no objects within the object detection range and that objects within the object detection exclusion range are not moving.

[0097] If the detection unit 303 determines that the distance information to an object surrounding the crane 100 does not match between the detection result and the background data, in other words, if an object is detected at a different location than the background data, the determination unit 304 determines whether the change is due to movement away from the pivot center of the crane 100. Specifically, if the detection unit 303 determines that the distance information to an object surrounding the crane 100 does not match between the detection result obtained from the object detection device S7 and the background data, the determination unit 304 determines whether the object whose distance information does not match is an object that was in the object detection exclusion range and whether the change is due to movement away from the pivot center of the crane 100.

[0098] In this embodiment, the controller 30 determines whether the change is based on movement away from the pivot center of the crane 100 and performs different processing accordingly.

[0099] In this embodiment, the determination unit 304 determines that an object located within the object detection exclusion range has moved away from the rotation center of the crane 100 if the distance information from the pivot center increases in the direction (angle) in which the object was detected.

[0100] Therefore, for example, if an object located within the object detection exclusion range moves in a circular direction or the like with respect to the pivot center of the crane 100, or moves toward the pivot center of the crane 100, the determination unit 304 determines that the movement is not toward the pivot center.

[0101] The update unit 305 updates the background data based on the detection result obtained from the object detection device S7 when the determination unit 304 determines that an object in the object detection exclusion range is moving away from the pivot center of the crane 100. Therefore, after the object moves away from the pivot center of the crane 100, background data indicating the range in which the object exists after the movement is registered in the background data storage unit STA as the object detection exclusion range.

[0102] The output control unit 306 controls the output of information from the output device D1. For example, the output control unit 306 controls the output of a screen to the display device included in the output device D1. Another example is the output control unit 306 controlling the output of sound from the sound output device included in the output device D1.

[0103] The output control unit 306 controls the sound output device to emit a warning sound to alert the operator if the determination unit 304 determines that an object within the object detection exclusion range is not moving away from the pivot center of the crane 100.

[0104] Furthermore, the output control unit 306 displays information about the detected object on the display device included in the output device D1. In this way, the output control unit 306 outputs an alert sound to the operator so that they can refer to the screen displayed on the display device.

[0105] Figure 7 shows an example of a screen output by the output control unit 306 according to this embodiment to a display device included in the output device D1. Figure 7 describes an example of displaying an overhead view image showing the area around the crane 100. In the overhead view image shown in Figure 7, an image 1701 showing the crane 100 from above is displayed, along with the monitoring range 1702.

[0106] The monitoring range 1702 shown in Figure 7 is defined as a range within a predetermined distance (for example, 2 to 3 m) from the circle 1721 indicated by the rear end of the crane 100 during the rotation of the crane 100.

[0107] The output control unit 306 then displays the area 1711 where the detected object is located using a different color from the other areas. The displayed color may vary depending on the degree of danger, in other words, the distance. For example, the output control unit 306 displays it in red if it is within 1m of the circle 1721 indicated at the rear end, and in yellow if it is more than 1m from the circle 1721 but within 2m.

[0108] Furthermore, in the example screen output by the output control unit 306, the area where an object is located within the object detection range is displayed in a different color, thereby allowing the operator to recognize the object within the object detection range. This embodiment has described an example of displaying an area where an object is located in a different color as an example of information indicating an object. However, this embodiment is not limited to displaying information indicating an object in a manner that displays an area where an object is located in a different color; for example, an image showing the shape of the object may be displayed.

[0109] On the other hand, in the example screen output by the output control unit 306, the range of objects within the object detection exclusion range is displayed in the same color as the range where no objects have been detected. In this way, the output control unit 306 according to this embodiment suppresses the display of objects (or information indicating objects) within the object detection exclusion range. Note that this embodiment shows only one example of how the display of objects (or information indicating objects) within the object detection exclusion range is suppressed, and is not limited to this suppression method. For example, the output control unit 306 may display the range of objects within the object detection exclusion range in a grayed-out state (gray).

[0110] Furthermore, after the output control unit 306 detects the movement of an object from the object detection exclusion range and updates the background data, if it detects an object from the area that was previously excluded from object detection, it displays the area that was previously excluded from object detection on the display device with a different color from the other areas. Therefore, the operator can recognize the intrusion of an object even in the area that was previously excluded from object detection, thereby improving safety.

[0111] In this embodiment, the update unit 305 updates the background data indicating the object detection range at a slower rate than the output control unit 306 updates the screen displayed based on the detection results from the object detection device S7. This is based on the possibility that the change in distance information to an object detected by the object detection device S7 may be instantaneous due to disturbances. For example, the distance information to an object detected by the object detection device S7 may change due to a disturbance and then immediately return to its original state. Therefore, the update unit 305 updates the background data indicating the object detection range when it recognizes a change in distance information in the detection results from the object detection device S7, and only after a predetermined time has elapsed, it recognizes that the changed distance information is still present. Consequently, the update frequency of the background data is slower than the update frequency of the screen. By performing this control, the update unit 305 in this embodiment can suppress the effects of disturbances and update with highly accurate background data, and also suppress repeated update processing, thereby reducing the processing burden. Note that the frequency of updating the background data and the frequency of updating the screen displayed based on the detection results are not limited to the embodiments described above. As a variation, the frequency at which background data is updated and the frequency at which the screen displayed based on the detection results is updated may be made the same, so that the updating of background data and the updating of the screen displayed based on the detection results are performed repeatedly and simultaneously.

[0112] Furthermore, the update unit 305 updates the background data only when it detects that an object of a predetermined size or larger, located within the object detection exclusion range, has moved away from the pivot center of the crane 100. The predetermined size can be determined according to the specific implementation, and may be, for example, 20 cm x 20 cm. In this embodiment, the update unit 305 updates the background data only when an object of a predetermined size or larger moves away from the pivot center, as detected by the object detection device S7. This suppresses erroneous updates due to disturbances and reduces the processing burden by reducing the update frequency. The size of the object can be determined using any method, for example, by performing a process such as clustering.

[0113] After the update unit 305 updates the background data, the detection unit 303 compares the detection result of the object detection device S7 with the background data to detect objects even when an object enters an area that was previously excluded from object detection (see, for example, Figure 6). The output control unit 306 then displays the area where the detected object is located using a different color from other areas. Therefore, the operator can recognize the presence of an object even when it enters an area that was previously excluded from object detection. Thus, improved safety can be achieved.

[0114] In this embodiment, an example was described in which the screen output by the output control unit 306 represents the area around the crane 100 as an overhead view. However, this embodiment is not limited to the screen output by the output control unit 306 representing the area around the crane as an overhead view. For example, an image (for example, point cloud data obtained from the detection results of the object detection device S7) may be displayed on the screen, representing a person viewing the surroundings from an arbitrary viewpoint around the crane 100. In such a screen, for example, areas different from the background data may be colored differently from other areas.

[0115] An example has been described in which the output control unit 306 of this embodiment outputs an alert sound and displays information on the screen. However, this embodiment does not limit the control by the output control unit 306 to the output of an alert sound and the display of information on the screen; either the output of an alert sound or the display of information on the screen may be performed. Furthermore, the control by the output control unit 306 may also include illuminating a warning light or vibrating the driver's seat, etc.

[0116] As described above, the controller 30 according to this embodiment detects when an object within the object detection exclusion range moves away from the pivot center, and then, when it detects an object outside the previously excluded range, it notifies the operator with an audible alert and a screen display. Therefore, the operator can recognize that an object has entered the monitoring range and can operate the crane 100 taking the presence of the object into consideration. Thus, the crane 100 according to this embodiment can achieve improved safety.

[0117] The processing procedure performed by the controller 30 according to this embodiment will now be described. Figure 8 is a flowchart showing the processing procedure for detecting an object in the controller 30 according to this embodiment. In the flowchart shown in Figure 8, the registration of background data has already been completed.

[0118] The acquisition unit 301 acquires the detection result from the object detection device S7 (S1801). The acquisition unit 301 also acquires the current rotation angle of the upper rotating body 3 from the rotation sensor S5.

[0119] The detection unit 303 reads background data corresponding to the rotation angle acquired by the rotation sensor S5 from the background data storage unit STA, compares the read background data with the detection result acquired from the object detection device S7, and determines whether the distance information to objects present around the crane 100 matches (S1802). If the detection unit 303 determines that the distance information matches (S1802: YES), it terminates the process.

[0120] On the other hand, if the detection unit 303 determines that the distance information does not match (S1802: NO), the determination unit 304 determines whether the object whose distance information does not match was an object that was in the object detection exclusion range and whether the distance information changed based on movement away from the pivot center of the crane 100 (S1803). Whether or not an object was in the object detection exclusion range is determined, for example, by whether or not the azimuth angle in which the object detection exclusion range is defined matches the azimuth angle in which the object whose distance information does not match was detected.

[0121] If the determination unit 304 determines that the distance information has changed based on the movement of the crane 100 away from its pivot center (S1803: YES), the update unit 305 generates background data with an object detection exclusion range defined so that the object after movement is not detected, based on the detection result by the object detection device S7, and updates the background data storage unit STA with this background data in association with the current pivot angle (S1804), and then terminates the process. When processing starts again from S1801, the controller 30 will make a determination using the updated background data.

[0122] On the other hand, if the determination unit 304 determines that the change in distance information is not based on movement away from the pivot center of the crane 100 (S1803: NO), the output control unit 306 outputs a notification sound from the sound output device included in the output device D1 and displays an overhead image showing the range in which the detected object exists (S1805).

[0123] In the embodiments described above, the case in which the controller 30 functions as an object detection device for the crane 100 was explained. However, the embodiments described above do not limit the object detection device for the crane 100 to the controller 30, and other configurations are also possible. For example, a management device provided outside the crane 100, or a communication terminal held by the operator of the crane 100, may be used as the object detection device for the crane 100.

[0124] In the embodiments described above, the case in which a crane 100 is used as the work machine was explained. However, the embodiments are not limited to a crane 100 as the work machine, and may also be applied to an excavator that can rotate and move according to the operator's commands. Furthermore, it may also be a forklift that can move according to the operator's commands, or road machinery including an asphalt finisher, etc.

[0125] <effect> The controller 30 according to the above embodiment updates the background data indicating the object detection range when it detects that an object within the object detection exclusion range is moving away from a predetermined position. Therefore, the controller 30 can provide notification regarding an object if an object enters the area that was previously the object detection exclusion range after the update. In other words, the controller 30 can improve safety by enabling the detection of other objects if, after the excluded object has moved out of the object detection exclusion range, another object enters the area where the excluded object was located.

[0126] Furthermore, the controller 30 according to this embodiment can automatically update the background data without any operator intervention when it detects that an object within the object detection exclusion range is moving away from a predetermined position. Therefore, the operator's operational burden can be reduced. In addition, since the controller 30 according to this embodiment updates the background data without the operator having to be aware that an object within the object detection exclusion range is moving, the operator does not need to periodically check whether an object has moved within the object detection exclusion range, thus reducing the operator's burden.

[0127] Preferred embodiments and modifications 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 conflict technically. [Explanation of symbols]

[0128] 100 Cranes 1. Lower running body 2. Swivel mechanism 3. Upper rotating body 4 cabins 5 Counterweight AT attachment S5 Swivel Sensor S7 Object Detection Device 30 controllers 301 Acquisition Department 302 Registration Department 303 Detection unit 304 Judgment section 305 Update Department 306 Output Control Unit D1 Output Device D2 Input Device

Claims

1. The object detection process is performed on the object detection range in which the detection of an object is reported, excluding the object detection exclusion range in which the notification of object detection is suppressed, from the range in which the distance detection unit, which detects the distance from a predetermined position on the crane body to an object, can detect the object. A control unit that, after detecting that the object located within the object detection exclusion range is moving away from the predetermined position, detects another object from the area that was previously the object detection exclusion range, provides notification. A crane object detection device equipped with the following features.

2. When the control unit detects another object within the range that was previously excluded from object detection, it displays information on the display device indicating the range that was previously excluded from object detection. The object detection device for a crane according to claim 1.

3. The object detection process is performed on the object detection range in which the detection of an object is reported, excluding the object detection exclusion range in which the notification of object detection is suppressed, from the range in which the distance detection unit, which detects the distance from a predetermined position on the crane body to an object, can detect the object. A control unit that updates the object detection range when it detects that the object located within the object detection exclusion range is moving away from the predetermined position, A crane object detection device equipped with the following features.

4. The control unit displays information indicating the object that is within the object detection range as a display of the detection result of the distance detection unit, and suppresses the display of information indicating the object that is outside the object detection exclusion range. The frequency at which the object detection range is updated is slower than the frequency at which the display of the detection results is updated. The object detection device for a crane according to claim 3.

5. The control unit displays information indicating objects within the object detection range as a display of the detection results of the distance detection unit, and suppresses the display of information indicating objects within the object detection exclusion range. After updating the object detection range, if an object is detected in a range that was previously excluded from object detection, information about the object detected in that range will be displayed. The object detection device for a crane according to claim 3.

6. The object detection device according to claim 1 or 3, The distance detection unit, Lower running body and An upper rotating body that rotates relative to the lower traveling body, It comprises a boom that moves up and down relative to the upper slewing body, The object detection device is provided on the upper rotating body. crane.

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