Surroundings monitoring device, surroundings monitoring method, and surroundings monitoring program

Abstract

To provide a surrounding monitoring device, a surrounding monitoring method and a surrounding monitoring program capable of further accurately detecting objects around a work vehicle, while suppressing lowering of work efficiency of the work vehicle.SOLUTION: A surrounding monitoring device 1 is for a work vehicle 100 having a traveling body 110, a revolving body 120 and a work machine 130. The surrounding monitoring device 1 comprises: a sensor 10 for detecting objects existing around the work vehicle 100 by transmitting transmission waves; a detection range setting part 34 for setting a detection range Z1 of the objects by the sensor 10 according to a state of the work vehicle 100; an alert area setting part 36 for setting an alert zone Z2 in the detection range Z1 of the objects by the sensor 10 according to the state of the work vehicle 100; an allowable object identification part 37 for identifying prescribed objects out of objects around the work machine 130 as the allowable objects; and a determination part 38 for determining whether or not an object other than the objects identified as the allowable objects by the allowable object identification 37 in the alert zone Z2.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a surroundings monitoring device, a surroundings monitoring method, and a surroundings monitoring program for a work vehicle. [Background technology]

[0002] Conventionally, there are known surroundings monitoring devices that monitor the surroundings of a work vehicle such as a hydraulic excavator (for example, Patent Documents 1 and 2). Patent Document 1 describes a device that has an image sensor and an object detection sensor attached so as to be able to capture images of the blind spot of an operator in the cabin, and that determines whether or not there is a person around the work vehicle. Patent Document 2 describes a device that has a distance measurement sensor that detects the three-dimensional position of an object located around the work vehicle and an angle sensor that detects the rotation angle of an upper rotating body, and that sets a monitoring area so as to exclude the undercarriage according to the rotation angle of the upper rotating body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6689669 [Patent Document 2] Patent No. 6729146 Summary of the Invention [Problem to be solved by the invention]

[0004] In a work vehicle in which the running body, rotating body, and work implement can be driven separately, the blind spot of the operator and the area where there is a high possibility of collision with surrounding objects change depending on the operation of the vehicle. The devices described in Patent Documents 1 and 2 have room for improvement in terms of more reliably detecting objects around the work vehicle depending on the state of the work vehicle. Furthermore, in a work vehicle that transports a large amount of objects such as rubble or equipment, if an alarm is issued or the work vehicle is stopped more than necessary in response to the presence of objects around the work vehicle, the work efficiency of the work vehicle may decrease.

[0005] An object of the present invention is to provide a surroundings monitoring device, a surroundings monitoring method, and a surroundings monitoring program that can more reliably detect objects around a work vehicle while suppressing a decrease in the work efficiency of the work vehicle. [Means for solving the problem]

[0006] The present invention relates to a surroundings monitoring device for a work vehicle having a running body, a rotating body rotatably mounted on the running body, and a work machine attached to the rotating body, the surroundings monitoring device comprising: a detection unit that transmits transmission waves to detect objects present around the work vehicle; a detection range setting unit that sets a detection range for objects by the detection unit according to the state of the work vehicle; a warning area setting unit that sets a warning area within the detection range for objects by the detection unit according to the state of the work vehicle; an acceptable object identification unit that identifies specified objects from among the objects around the work machine as acceptable objects; and a determination unit that determines whether or not an object other than an object identified as an acceptable object by the acceptable object identification unit has been detected within the warning area.

[0007] The vehicle may further include an alarm unit that issues an alarm when an object other than an object identified as an acceptable object by the acceptable object identifying unit is detected within the alert area.

[0008] The detection range setting unit may set the transmission direction of the transmission wave depending on the state of the work vehicle.

[0009] The detection range setting unit may set a distance at which an object can be detected from the detection unit depending on the state of the work vehicle.

[0010] The device may further include a pulse width setting unit that sets a transmission pulse width of the transmission wave in accordance with a distance at which an object can be detected from the detection unit.

[0011] The present invention also relates to a surroundings monitoring method for monitoring the surroundings of a work vehicle having a running body, a rotating body rotatably mounted on the running body, and a work implement attached to the rotating body, the surroundings monitoring method including a detection process for transmitting transmission waves to detect objects present around the work vehicle, a detection range setting process for setting a detection range for objects in the detection process depending on the state of the work vehicle, a warning area setting process for setting a warning area within the detection range for objects in the detection process depending on the state of the work vehicle, an allowable object identification process for identifying specified objects from among the objects around the work implement as allowable objects, and a determination process for determining whether or not an object other than the object identified as an allowable object in the allowable object identification process has been detected within the warning area.

[0012] The present invention also relates to a surroundings monitoring program that monitors the surroundings of a work vehicle that has a running body, a rotating body rotatably mounted on the running body, and a work implement attached to the rotating body, and that causes a computer to execute the following: a detection process that sends transmission waves to detect objects present around the work vehicle; a detection range setting process that sets the object detection range in the detection process depending on the state of the work vehicle; a warning area setting process that sets a warning area within the object detection range in the detection process depending on the state of the work vehicle; an acceptable object identification process that identifies specified objects from among the objects around the work implement as acceptable objects; and a determination process that determines whether or not an object other than an object identified as an acceptable object in the acceptable object identification process has been detected within the warning area. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide a surroundings monitoring device that can more reliably detect objects around a work vehicle while suppressing a decrease in the work efficiency of the work vehicle. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a side view showing a work vehicle equipped with a surroundings monitoring device according to an embodiment of the present invention. [Figure 2]1 is a functional block diagram of a surroundings monitoring device according to an embodiment of the present invention; [Figure 3] 1 is a plan view showing a detection range when a work vehicle equipped with a surroundings monitoring device according to an embodiment of the present invention is stopped. [Figure 4] FIG. 4 is a plan view showing an example of the object detection range of a sensor when the tip of a work implement of a work vehicle equipped with a surroundings monitoring device according to one embodiment of the present invention is located closer to the rotating body than the work vehicle of FIG. 3. [Figure 5] 1 is a plan view showing an example of an object detection range and a warning area detected by a sensor when a work vehicle equipped with a surroundings monitoring device according to an embodiment of the present invention is moving forward. FIG. [Figure 6A] 4 is a graph showing the pulse width of a transmission wave transmitted from a sensor of a surroundings monitoring device according to an embodiment of the present invention. [Figure 6B] 4 is a graph showing the pulse width of a transmission wave transmitted from a sensor of a surroundings monitoring device according to an embodiment of the present invention. [Figure 7] 4 is a flowchart showing an example of a processing flow for monitoring the surroundings of a work vehicle by a surroundings monitoring device according to one embodiment of the present invention. [Figure 8] 1 is a flowchart showing the flow of a surroundings monitoring method according to an embodiment of the present invention. [Figure 9] 1 is a plan view showing an example of an object detection range and a warning area detected by a sensor when a work vehicle equipped with a surroundings monitoring device according to an embodiment of the present invention is backing up; [Figure 10] 1 is a plan view showing an example of an object detection range and a surveillance area by a sensor when a rotating body of a work vehicle equipped with a surroundings monitoring device according to an embodiment of the present invention starts to turn left; FIG. [Figure 11] 1 is a plan view showing an example of an object detection range and a surveillance area by a sensor when a rotating body of a work vehicle equipped with a surroundings monitoring device according to an embodiment of the present invention starts to turn right. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the following embodiments. Furthermore, each drawing referred to in the following description merely shows a schematic representation of the shape, size, and positional relationship to the extent that the contents of the present disclosure can be understood. In other words, the present invention is not limited to only the shape, size, and positional relationship exemplified in each drawing.

[0016] The surroundings monitoring device 1 of the present invention will be described with reference to FIGS. 1 to 5. FIG. 1 is a side view of a work vehicle 100. FIG. 2 is a functional block diagram of the surroundings monitoring device 1. FIG. 3 is a plan view showing an example of the detection range Z1 of the sensor 10 of the surroundings monitoring device 1 around the work vehicle 100. FIG. 4 is a plan view showing an example of the detection range Z1 of the sensor 10 when the tip of the work implement 130 of the work vehicle 100 is located closer to the rotating bed 120 than the work vehicle 100 in FIG. 3. FIG. 5 is a plan view showing an example of the detection range Z1 and alert area Z2 of the sensor 10 when the work vehicle 100 is moving forward. In FIGS. 3 to 5, the dashed line indicates the detection range Z1 of the sensor 10, and in FIG. 5, the chain double-dashed line indicates the alert area Z2 of the sensor 10, and the outline arrow indicates the traveling direction of the work vehicle 100.

[0017] First, a work vehicle 100 equipped with a surroundings monitoring device 1 will be described with reference to Fig. 1. The work vehicle 100 is a hydraulic excavator. In addition to hydraulic excavators, examples of the work vehicle 100 include construction machinery such as mobile cranes, civil engineering machinery, transport vehicles, agricultural machinery, etc. The work vehicle 100 includes a running body 110, a revolving body 120, and a work implement 130.

[0018] The traveling body 110 is configured to be self-propelled with the rotating body 120 and the working machine 130 mounted thereon.

[0019] The rotating body 120 is mounted rotatably on the upper part of the running body 110. A cabin 121, in which the operator of the work vehicle 100 rides, is provided on the front left side of the rotating body 120. A work implement 130 is disposed on the right side of the cabin 121.

[0020] The work implement 130 is attached to the front right side of the rotating unit 120 so as to extend in front of the rotating unit 120. The work implement 130 has a boom 131, an arm 132, and a bucket 133. The boom 131 is shaped like an elongated rod, and is attached to the rotating unit 120 so as to be rotatable in the vertical direction relative to the rotating unit 120. The arm 132 is shaped like an elongated rod, and one end side is rotatably attached to the end of the boom 131 opposite the rotating unit 120, and the bucket 133 is attached to the other end side. The bucket 133 is rotatably attached to the tip of the arm 132.

[0021] Next, we will explain the surroundings monitoring device 1. The surroundings monitoring device 1 is a device for monitoring the situation around the work vehicle 100. As shown in Fig. 2, the surroundings monitoring device 1 includes a sensor 10 which is a detection unit, a camera 20, a control unit 30, a memory unit 40, and a communication unit 50.

[0022] The sensor 10 detects objects present around the work vehicle 100 by transmitting transmission waves. Specifically, the sensor 10 transmits electromagnetic waves, which are transmission waves, and receives reflected waves reflected by objects around the work vehicle 100. The sensor 10 generates information about the distance, angle, speed, etc. of the object based on the received signals. The transmission waves transmitted by the sensor 10 include, in addition to electromagnetic waves, ultrasonic waves, for example. The sensor 10 transmits information about the detected object to the control unit 30.

[0023] The sensor 10 is configured to be able to change the transmission direction of the transmission wave. For example, the sensor 10 may be configured to be able to change the transmission direction of the transmission wave by beamforming. Alternatively, for example, the sensor 10 may be configured to be able to change the transmission direction of the transmission wave by mechanically changing the angle of the sensor 10 with respect to the rotating unit 120. Alternatively, for example, the sensor 10 may be configured to include multiple antenna elements with different directions C of the field of view center, and to be able to change the transmission direction of the transmission wave by selecting the antenna element to be used.

[0024] In this embodiment, the surroundings monitoring device 1 includes four sensors 10: a front sensor 11, a rear sensor 12, a right sensor 13, and a left sensor 14.

[0025] The front sensor 11 is disposed on the front surface 122 of the revolving unit 120 of the work vehicle 100. The front sensor 11 is disposed at least in front of the revolving unit 120 so as to be able to transmit electromagnetic waves.

[0026] The rear sensor 12 is disposed on the rear surface 123 of the revolving unit 120 of the work vehicle 100. The rear sensor 12 is disposed at least behind the revolving unit 120 so as to be able to transmit electromagnetic waves.

[0027] The right sensor 13 is disposed on the right side surface 124 of the revolving unit 120 of the work vehicle 100. The right sensor 13 is disposed so as to be able to transmit electromagnetic waves at least in the right direction of the revolving unit 120.

[0028] The left sensor 14 is disposed on the left side surface 125 of the revolving unit 120 of the work vehicle 100. The left sensor 14 is disposed so as to be able to transmit electromagnetic waves at least in the left direction of the revolving unit 120.

[0029] The camera 20 is disposed at any location, for example, on the surface of the front face 122, or between the front sensor 11 and the work implement 130 on the front face 122. The camera 20 is disposed so as to be able to capture images of at least the periphery of the arm 132 and the bucket 133. The camera 20 transmits information about the captured images to the control unit 30.

[0030] The control unit 30 includes, for example, a microcomputer and various circuits having a CPU, memories such as ROM and RAM, input / output ports, etc. The control unit 30 is a part that controls the entire surroundings monitoring device 1, and realizes various functions in this embodiment by appropriately reading and executing various programs from a storage area such as a memory.

[0031] The control unit 30 is electrically connected to the sensor 10, the camera 20, the memory unit 40, and the communication unit 50. The control unit 30 performs processing to determine the situation around the work vehicle 100 using information about objects detected by the sensor 10 and the camera 20.

[0032] As shown in Figure 2, the control unit 30 includes a sensor information acquisition unit 31, a camera information acquisition unit 32, a vehicle information acquisition unit 33, a detection range setting unit 34, a pulse width setting unit 35, a warning area setting unit 36, an allowable target identification unit 37, a judgment unit 38, and an alarm unit 39.

[0033] The sensor information acquiring unit 31 acquires object information generated by the sensors 10. As a method for identifying which sensor 10 generated the object information, for example, the sensor information acquiring unit 31 may acquire the object information along with a unique ID of each sensor 10, or may identify the object information by a unique identification number assigned to each port to which each sensor 10 is connected.

[0034] The camera information acquisition unit 32 acquires information about the image captured by the camera 20.

[0035] The vehicle information acquisition unit 33 acquires information relating to the state of the work vehicle 100 from the ECU 60, which is a higher-level device of the work vehicle 100, via the communication unit 50. Information relating to the state of the work vehicle 100 acquired by the vehicle information acquisition unit 33 includes, for example, operation information of the running unit 110 of the work vehicle 100, operation information and position information of the rotating unit 120, and position information of the work implement 130. Operation information of the running unit 110 includes, for example, information indicating the running direction, such as forward or backward, of the running unit 110, and the running speed. Position information of the rotating unit 120 includes, for example, information indicating the angle of the rotating unit 120 relative to the running unit 110. Operation information of the rotating unit 120 includes, for example, the swing direction and swing speed of the rotating unit 120. Examples of the position information of the work implement 130 include angle information of the boom 131 relative to the revolving unit 120, angle information of the arm 132 relative to the boom 131, angle information of the bucket 133 relative to the arm 132, position information of the bucket 133, and the distance L from the front surface 122 of the revolving unit 120 to the tip of the work implement 130 in a plan view. Note that the position information of the work implement 130 may be identified by analyzing information on an image captured by the camera 20.

[0036] The detection range setting unit 34 sets the detection range Z1 of an object by the sensors 10 according to the state of the work vehicle 100. Specifically, the detection range setting unit 34 determines the detection range Z1 of each sensor 10 using information about the work vehicle 100 acquired by the vehicle information acquisition unit 33, and controls the operation of each sensor 10 based on the determined detection range Z1. As a result, for example, a detection range Z1 is formed by the sensors 10 arranged at the front, rear, left and right of the work vehicle 100 as shown in FIG.

[0037] In this embodiment, the detection range setting unit 34 includes a transmission direction setting unit 341 and a detection distance setting unit 342 .

[0038] The transmission direction setting unit 341 sets the transmission direction of the transmission waves from the sensors 10 according to the state of the work vehicle 100. Specifically, the detection range setting unit 34 determines the transmission direction of each sensor 10 using information about the work vehicle 100 acquired by the vehicle information acquisition unit 33, and adjusts the direction C of the center of the field of view of each sensor 10 based on the determined transmission direction.

[0039] For example, when the work vehicle 100 transitions from the stopped state shown in Fig. 3 to the forward moving state shown in Fig. 5 in which the work vehicle 100 moves forward in front of the revolving unit 120, the transmission direction setting unit 341 changes the transmission directions of the transmission waves from the right sensor 13 and the left sensor 14. Specifically, the transmission direction setting unit 341 controls the right sensor 13 so that the direction C of the field of view of the right sensor 13 faces diagonally forward to the right of the revolving unit 120. As a result, the object detection range Z1 of the right sensor 13 is set to include the vicinity of the front of the revolving unit 120 on the right side surface 124. In addition, the transmission direction setting unit 341 controls the left sensor 14 so that the direction C of the field of view of the left sensor 14 faces diagonally forward to the left of the revolving unit 120. As a result, the object detection range Z1 of the left sensor 14 is set to include the vicinity of the front of the revolving unit 120 on the left side surface 125. This makes it possible to detect objects present near the front of the right side 124 and left side 125 of the rotating body 120, which are likely to be in the blind spot of the operator riding in the cabin 111 when the work vehicle 100 is moving forward.

[0040] The transmission direction setting unit 341 may control the transmission direction of the transmission wave of the sensor 10 by, for example, beamforming, or may control the transmission direction of the transmission wave by mechanically adjusting the angle of the sensor 10 disposed on the rotating body 120. Alternatively, the sensor 10 may be configured to include multiple antennas with different directions C of the center of the field of view, and the transmission direction of the transmission wave may be controlled by selecting the antenna to be used.

[0041] The detection distance setting unit 342 sets the distance d at which an object can be detected from the sensor 10 according to the state of the work vehicle 100. Specifically, the detection distance setting unit 342 determines the distance d at which an object can be detected from each sensor 10, using information about the work vehicle 100 acquired by the vehicle information acquisition unit 33. Then, the detection distance setting unit 342 adjusts the gain of the transmission amplifier of the RFIC used for each sensor 10 based on the determined information about the distance d for each sensor 10, thereby adjusting the power supplied to each sensor 10.

[0042] The detection distance setting unit 342 sets the distance d at which an object can be detected by the front sensor 11 in accordance with, for example, the distance L from the front surface 122 to the tip of the work implement 130 in a plan view. For example, as shown in Figures 3 and 4, when the distance L from the front surface 122 to the tip of the work implement 130 becomes shorter, the detection distance setting unit 342 can correspondingly shorten the distance d at which an object can be detected by the front sensor 11.

[0043] The pulse width setting unit 35 sets the pulse width of the transmission wave of each sensor 10 in accordance with the distance d of each sensor 10 set by the detection distance setting unit 342. Specifically, the pulse width setting unit 35 can shorten the pulse width of the transmission wave of each sensor 10 when the distance d at which each sensor 10 can detect an object becomes shorter, and can widen the pulse width when the distance d becomes longer.

[0044] 6A and 6B, the distance resolution of the sensor 10 will be described. Figures 6A and 6B are graphs showing pulse widths P1 and P2 of the transmission waves transmitted from the sensor 10.

[0045] The distance resolution of sensor 10 decreases as the distance d at which the sensor 10 can detect an object increases, and increases as the distance d decreases. The distance resolution of sensor 10 also varies depending on the pulse width, which is the time width at half the maximum amplitude of a pulse wave, in addition to the distance d. Specifically, the distance resolution is calculated by multiplying the pulse width by the radio wave speed and dividing the result by two. That is, the distance resolution of the transmission wave of sensor 10 can be improved by increasing the pulse width P1 shown in FIG. 6A to the pulse width P2 shown in FIG. 6B. This prevents degradation of the distance resolution caused by increasing the distance d at which the sensor 10 can detect an object.

[0046] The alert area setting unit 36 ​​sets an alert area Z2 within the object detection range Z1 of the sensors 10 depending on the state of the work vehicle 100. For example, when the work vehicle 100 is moving forward, as shown in Fig. 5, the alert area setting unit 36 ​​sets an alert area Z2 within the detection range Z1 of the right sensor 13 and within the detection range Z1 of the left sensor 14. Specifically, as shown in Fig. 5, the alert area Z2 of the right sensor 13 is set near the front side of the right side surface 124 of the revolving unit 120, and the alert area Z2 of the left sensor 14 is set near the front side of the left side surface 125 of the revolving unit 120.

[0047] The allowable object identifying unit 37 identifies predetermined objects as allowable objects among the objects around the work machine 130. Specifically, the allowable object identifying unit 37 references information indicating allowable objects stored in the memory unit 40, and determines whether or not the subject shown in the image acquired by the camera information acquiring unit 32 is an allowable object. Examples of allowable objects stored in the memory unit 40 include earth and sand, rubble, etc. carried by the bucket 133.

[0048] The determination unit 38 determines whether or not an object other than the object identified as an acceptable object by the acceptable object identification unit 37 has been detected within the alert area Z2.

[0049] The alarm unit 39 issues an alarm when an object other than an object identified as an acceptable object by the acceptable object identification unit 37 is detected within the alert zone Z2. The type of alarm is not particularly limited. For example, an alarm sound may be generated using a buzzer or speaker.

[0050] Next, an example of the process of monitoring the situation around the work vehicle 100 by the surroundings monitoring device 1 will be described. Figure 7 is a flowchart showing an example of the flow of the process of monitoring the surroundings of the work vehicle 100 by the control unit 30.

[0051] In step S11, the vehicle information acquisition unit 33 acquires information relating to the state of the work vehicle 100 from the ECU 60 via the communication unit 50.

[0052] In step S12, the detection range setting unit 34 sets the object detection range Z1 of the sensor 10 based on the information about the state of the work vehicle 100 acquired in step S11. For example, when information that the work vehicle 100 is in a forward moving state is acquired in step S11, the transmission direction setting unit 341 controls the right sensor 13 so that the direction C of the field of view of the right sensor 13 faces diagonally forward to the right from the right side surface 124 of the revolving unit 120, as shown in FIG. 5. Then, the transmission direction setting unit 341 controls the left sensor 14 so that the direction C of the field of view of the left sensor 14 faces diagonally forward to the left from the left side surface 125 of the revolving unit 120. Furthermore, for example, when information that the distance L from the front surface 122 of the revolving unit 120 to the tip of the work implement 130 is shortened is acquired in step S11, the detection distance setting unit 342 shortens the distance d at which an object can be detected from the front sensor 11 in accordance with the distance L, as shown in FIG. 4.

[0053] In step S13, the pulse width setting unit 35 sets the pulse width of the transmission wave of each sensor 10 in accordance with the distance d of each sensor 10 set in step S12.

[0054] In step S14, the alert area setting unit 36 ​​sets an alert area Z2 within the detection range Z1 of the sensors 10 set in step S12, based on the information about the state of the work vehicle 100 acquired in step S11. For example, as shown in FIG. 5, if information is acquired in step S11 that the work vehicle 100 is in a forward moving state, the alert area setting unit 36 ​​sets an alert area Z2 within the detection range Z1 of the right sensor 13 and within the detection range Z1 of the left sensor 14. Specifically, the alert area setting unit 36 ​​sets the alert area Z2 of the right sensor 13 near the front side of the right side 124, and sets the alert area Z2 of the left sensor 14 near the front side of the left side 125.

[0055] In step S15, the sensor information acquisition unit 31 acquires information about the object detected by the sensor 10.

[0056] In step S16, the camera information acquisition unit 32 acquires the image captured by the camera 20.

[0057] In step S17, the acceptable object identification unit 37 refers to information indicating acceptable objects stored in the memory unit 40, and identifies acceptable objects and unacceptable objects from the subjects of the image acquired in step S16.

[0058] In step S18, the determination unit 38 determines whether or not an object detected by the sensor 10 is present within the alert area Z2. If the determination unit 38 determines that an object is not present within the alert area Z2 using the information acquired in step S15 (NO in step S18), the process returns to step S11. On the other hand, if the determination unit 38 determines that an object is present within the alert area Z2 using the information acquired in step S15 (YES in step S18), the process proceeds to step S19.

[0059] In step S19, the determination unit 38 determines whether the objects determined to exist within the alert region Z2 in step S18 are all the objects identified as acceptable targets in step S17. If the objects determined to exist within the alert region Z2 in step S18 are all the objects identified as acceptable targets in step S17 (YES in step S19), the determination unit 38 returns the process to step S11. On the other hand, if the objects determined to exist within the alert region Z2 in step S18 include objects other than the objects identified as acceptable targets in step S17 (YES in step S19), the determination unit 38 proceeds to step S20.

[0060] In step S20, the alarm unit 39 issues an alarm to those around the work vehicle 100. After issuing the alarm, the control unit 30 repeats the processing from step S11 again.

[0061] That is, in this embodiment, a surroundings monitoring method including step S1 which is a detection range setting step, step S2 which is a warning area setting step, step S3 which is a detection step, step S4 which is an allowable object identifying step, and step S5 which is a determination step is executed by the surroundings monitoring device 1. Fig. 8 is a flowchart showing the surroundings monitoring method according to this embodiment.

[0062] As shown in FIG. 8, first, in step S1, a detection range Z1 for an object by the sensor 10 is set in accordance with the state of the work vehicle 100 acquired from the ECU 60.

[0063] In step S2, a warning area Z2 is set within the object detection range Z1 of the sensor 10 in accordance with the state of the work vehicle 100 acquired from the ECU 60.

[0064] In step S3, the sensor 10 transmits a transmission wave to detect objects present around the work vehicle 100. At this time, the sensor 10 detects objects around the work vehicle 100 within the detection range Z1 set in step S1 and the alert area Z2 set in step S2.

[0065] In step S4, a predetermined object among the objects around the work machine 130 is identified as an allowable object from the image captured by the camera 20.

[0066] In step S5, it is determined whether or not an object other than the object identified as an acceptable object in step S4 has been detected within the alert area Z2. In this embodiment, the processes of steps S1 to S5 are repeatedly performed by the surroundings monitoring device 1.

[0067] Next, examples of the detection range Z1 and the warning area Z2 that are set depending on the state of the work vehicle 100 will be described with reference to Figs. 9 to 11. Fig. 9 is a plan view showing an example of the object detection range Z1 and the warning area Z2 by the sensor 10 when the work vehicle 100 is backing up. Fig. 10 is a plan view showing the object detection range Z1 and the warning area Z2 by the sensor 10 when the revolving unit 120 starts to turn left. Fig. 11 is a plan view showing an example of the object detection range Z1 and the warning area Z2 by the sensor 10 when the revolving unit 120 starts to turn right. In Figs. 9 to 11, the dashed line indicates the detection range Z1 of the sensor 10, and the two-dot chain line indicates the warning area Z2 of the sensor 10. In Fig. 9, the outline arrow indicates the traveling direction of the work vehicle 100.

[0068] 9, when the work vehicle 100 is in a reverse position behind the revolving unit 120, there is a high possibility of a collision with an object present behind the work vehicle 100. For this reason, when the work vehicle 100 is in a reverse position, the detection range setting unit 34 sets the detection range Z1 so that an object present behind can be detected more reliably.

[0069] For example, as shown in Fig. 9, the distance d of the rear sensor 12 is set so as to extend further rearward. The distance d of the rear sensor 12 is set so as to increase as the reverse speed of the work vehicle 100 increases. This allows the work vehicle 100 to back up while checking a wide area behind it, improving safety when backing up the work vehicle 100.

[0070] 9, the direction C of the field of view center of the right sensor 13 is set to point diagonally rearward to the right from the right side surface 124, and the direction C of the field of view center of the left sensor 14 is set to point diagonally forward to the left from the left side surface 125. The surveillance area Z2 of the right sensor 13 is set near the rear side of the right side surface 124, and the surveillance area Z2 of the left sensor 14 is set near the rear side of the left side surface 125. This makes it possible to more reliably avoid a collision if a pedestrian or obstacle is present in the operator's blind spot when backing up the work vehicle 100.

[0071] 10 , when the revolving unit 120 starts to turn left, there is a high possibility of a collision with an object that exists within the left-turn trajectory of the revolving unit 120 and the work implement 130. For this reason, when the work vehicle 100 is starting to turn left, the detection range setting unit 34 sets the detection range Z1 so that an object that exists within the predicted trajectory of the revolving unit 120 and the work implement 130 can be detected.

[0072] 10, the distance d of the front sensor 11 is set to a size corresponding to the distance L from the front surface 122 to the tip of the work implement 130, because the work implement 130 rotates counterclockwise. On the other hand, the alert area Z2 of the front sensor 11 is formed only in the vicinity of the front surface 122 and within the trajectory of the bucket 133, and is not formed between the vicinity of the front surface 122 and the bucket 133.

[0073] 1, the work vehicle 100 is formed so that the boom 131 extends diagonally upward from the revolving unit 120, and a space is formed between the front surface 122 and the bucket 133. For this reason, even if the revolving unit 120 rotates left, there is a low possibility that the boom 131 or arm 132 will come into contact with an object. By setting the alert area Z2 in accordance with the characteristics of the work vehicle 100, it is possible to prevent a decrease in the work efficiency of the work vehicle 100 due to the issuance of unnecessary alarms, etc.

[0074] Furthermore, for example, the direction C of the field of view center of the rear sensor 12 is set to point diagonally rearward and to the left from the rear surface 123, the direction C of the field of view center of the right sensor 13 is set to point diagonally rearward and to the right from the right surface 124, and the direction C of the field of view center of the left sensor 14 is set to point diagonally forward and to the left from the left surface 125. The distance d between the rear sensor 12, the right sensor 13, and the left sensor 14 is set to the minimum distance d necessary to detect an object present in the left turning trajectory of the rotating unit 120. This allows the sensor 10 to detect pedestrians, obstacles, etc. that may be collided with when the rotating unit 120 turns left, with higher distance resolution.

[0075] 11 , there is a high possibility of a collision with an object that exists within the right-turn trajectory of the revolving unit 120 and the work implement 130. For this reason, when the work vehicle 100 is starting to turn right, the detection range setting unit 34 sets the detection range Z1 so that an object that exists within the predicted trajectory of the revolving unit 120 and the work implement 130 can be detected.

[0076] When the revolving unit 120 turns to the right, the work implement 130 rotates clockwise, increasing the possibility of a collision with an object on the right side of the work implement 130. For this reason, objects that may collide with the work implement 130 are mainly detected by the right sensor 13. In order to detect an object that may collide with the right side of the work implement 130, the direction C of the field of view center of the right sensor 13 is set so as to face diagonally forward to the right from the right side surface 124. The distance d of the right sensor 13 is set to a size corresponding to the distance L from the front surface 122 to the tip of the work implement 130.

[0077] In addition, the warning area Z2 set within the detection range Z1 of the right sensor 13 is formed only near the front of the right side surface 124 and within the trajectory of the bucket 133, in the same manner as the front sensor 11 shown in Figure 10, in order to prevent a decrease in the work efficiency of the work vehicle 100 due to the issuance of unnecessary alarms, etc.

[0078] Furthermore, for example, the direction C of the field of view center of the rear sensor 12 is set to point diagonally rearward to the right from the rear surface 123, the direction C of the field of view center of the left sensor 14 is set to point diagonally rearward to the left from the left surface 125, and the direction C of the field of view center of the front sensor 11 is set to point diagonally forward to the left from the front surface 122. The distance d between the rear sensor 12, the left sensor 14, and the front sensor 11 is set to the minimum distance d necessary to detect an object present in the trajectory of the right turning structure 120. This allows the sensor 10 to detect pedestrians, obstacles, etc. that may be collided with when the right turning structure 120 is made, with higher distance resolution.

[0079] In this way, the surroundings monitoring device 1 sets different detection ranges Z1 and alert areas Z2 within the detection ranges Z1 depending on the state of the work vehicle 100.

[0080] According to the embodiment described above, the following effects are achieved.

[0081] The surroundings monitoring device 1 of this embodiment is a surroundings monitoring device 1 for a work vehicle 100 that has a running body 110, a rotating body 120 that is rotatably supported on the running body 110, and a work implement 130 that is attached to the rotating body 120, and is equipped with a sensor 10 that detects objects present around the work vehicle 100 by emitting transmission waves, a detection range setting unit 34 that sets a detection range Z1 for objects by the sensor 10 according to the state of the work vehicle 100, a warning area setting unit 36 ​​that sets a warning area Z2 within the detection range Z1 for objects by the sensor 10 according to the state of the work vehicle 100, an acceptable object identification unit 37 that identifies specified objects from among the objects around the work implement 130 as acceptable objects, and a judgment unit 38 that judges whether or not an object other than an object identified as an acceptable object by the acceptable object identification unit 37 has been detected within the warning area Z2.

[0082] This sets the detection range Z1 for detecting objects present in the vicinity according to the state of the work vehicle 100, allowing for more reliable object detection while responding to the specific movements of the work vehicle 100 equipped with the revolving unit 120. Furthermore, because it is determined that an object has been detected within the warning area Z2 set in consideration of the movements of the work vehicle 100 and that the detected object does not include predetermined allowable objects such as rubble carried by the bucket 133, unnecessary interruptions to work due to excessive warnings or stoppages of the work vehicle 100 are reduced.

[0083] In addition, the surroundings monitoring device 1 according to this embodiment further includes an alarm unit 39 that issues an alarm when an object other than an object identified as an acceptable object by the acceptable object identification unit 37 is detected within the alert area Z2.

[0084] This allows the operator of the work vehicle 100 and people around the work vehicle 100 to be quickly warned if there is a possibility of a collision between the work vehicle 100 and an object such as a person or an obstacle.

[0085] Furthermore, in the surroundings monitoring device 1 according to this embodiment, the detection range setting unit 34 sets the transmission direction of the transmission wave depending on the state of the work vehicle 100.

[0086] This allows the direction of detection range Z1 to be changed depending on the state of work vehicle 100, making it possible to more reliably detect objects around work vehicle 100 while minimizing the number of sensors 10. For example, when rotating unit 120 turns right, detection range Z1 can be set to center on the right side and front right side of work vehicle 100, which are blind spots for the operator.

[0087] Furthermore, in the surroundings monitoring device 1 according to this embodiment, the detection range setting unit 34 sets the distance d at which an object can be detected from the sensor 10 depending on the state of the work vehicle 100.

[0088] This allows the detectable distance d to be set to an appropriate value depending on the state of the work vehicle 100. For example, the detectable distance d can be set according to the distance L from the front surface 122 of the revolving unit 120 to the tip of the work implement 130. By setting the detectable distance d to the minimum necessary, it is possible to suppress a decrease in distance resolution and transmission power.

[0089] Moreover, the surroundings monitoring device 1 according to this embodiment further includes a pulse width setting unit 35 that sets the transmission pulse width of the transmission wave in accordance with the distance d at which the sensor 10 can detect an object.

[0090] This makes it possible to suppress deterioration of distance resolution even when the detectable distance d of the sensor 10 is increased.

[0091] In addition, the surroundings monitoring method of this embodiment is a surroundings monitoring method that monitors the surroundings of a work vehicle 100 that has a running body 110, a rotating body 120 that is rotatably mounted on the running body 110, and a work implement 130 that is attached to the rotating body 120, and includes a detection process that transmits a transmission wave to detect objects present around the work vehicle 100, a detection range setting process that sets a detection range Z1 for objects in the detection process depending on the state of the work vehicle 100, a warning area setting process that sets a warning area Z2 within the detection range Z1 for objects in the detection process depending on the state of the work vehicle 100, an acceptable object identification process that identifies specified objects from among the objects around the work implement 130 as acceptable objects, and a determination process that determines whether or not an object other than the object identified as an acceptable object in the acceptable object identification process has been detected within the warning area Z2.

[0092] This sets the detection range Z1 for detecting objects present in the vicinity according to the state of the work vehicle 100, allowing for more reliable object detection while responding to the specific movements of the work vehicle 100 equipped with the revolving unit 120. Furthermore, because it is determined that an object has been detected within the warning area Z2 set in consideration of the movements of the work vehicle 100 and that the detected object does not include predetermined allowable objects such as rubble carried by the bucket 133, unnecessary interruptions to work due to excessive warnings or stoppages of the work vehicle 100 are reduced.

[0093] The surroundings monitoring program of this embodiment is a surroundings monitoring program that monitors the surroundings of a work vehicle 100 that has a running body 110, a rotating body 120 that is rotatably mounted on the running body 110, and a work implement 130 that is attached to the rotating body 120, and causes a computer to execute a detection process that sends a transmission wave to detect objects present around the work vehicle 100, a detection range setting process that sets a detection range Z1 for objects in the detection process depending on the state of the work vehicle 100, a warning area setting process that sets a warning area Z2 within the detection range Z1 for objects in the detection process depending on the state of the work vehicle 100, an acceptable object identification process that identifies specified objects from among the objects around the work implement 130 as acceptable objects, and a determination process that determines whether or not an object other than an object identified as an acceptable object in the acceptable object identification process has been detected within the warning area Z2.

[0094] This sets the detection range Z1 for detecting objects present in the vicinity according to the state of the work vehicle 100, allowing for more reliable object detection while responding to the specific movements of the work vehicle 100 equipped with the revolving unit 120. Furthermore, because it is determined that an object has been detected within the warning area Z2 set in consideration of the movements of the work vehicle 100 and that the detected object does not include predetermined allowable objects such as rubble carried by the bucket 133, unnecessary interruptions to work due to excessive warnings or stoppages of the work vehicle 100 are reduced.

[0095] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments and can be modified as appropriate.

[0096] In the above embodiment, the surroundings monitoring device 1 has four sensors 10, but it may have five or more sensors 10. Also, a plurality of sensors 10 may be arranged on each of the front surface 122, rear surface 123, right side surface 124, and left side surface 125 of the revolving body 120.

[0097] In the above embodiment, the camera 20 is disposed only on the front surface 122 of the revolving unit 120, but it may also be disposed not only on the front surface 122 but also on the rear surface 123, right side surface 124, and left side surface 125.

[0098] Furthermore, in the above embodiment, the control unit 30 is provided with the alarm unit 39, but the control unit 30 may be configured not to include the alarm unit 39. Furthermore, when an object other than an object identified as an acceptable object by the acceptable object identification unit 37 is detected within the warning area Z2, the control unit 30 may send a stop command signal to the ECU 60 to stop the work vehicle 100.

[0099] Furthermore, depending on the state of the work vehicle 100, for example, the alert area Z2 may be set to cover the entire area within the detection range Z1.

[0100] Furthermore, for example, when the security area Z2 is set near the revolving unit 120, the security area Z2 may be set so that the running unit 110 is excluded depending on the rotation angle of the revolving unit 120 relative to the running unit 110. [Explanation of symbols]

[0101] 1. Surrounding area monitoring device 10 Sensor (detection part) 34 Detection range setting section 36 Warning area setting section 37 Acceptable object identification unit 38 Judgment section 100 Work Vehicles 110 Running body 120 Rotating body 130 Work equipment Z1 detection range Z2 warning area

Claims

1. A surroundings monitoring device for a work vehicle including a traveling body, a rotating body rotatably mounted on the traveling body, and a work implement attached to the rotating body, a detection unit that transmits a transmission wave to detect an object present around the work vehicle; a detection range setting unit that sets an object detection range by the detection unit in a sector shape within an equidistant range from the detection unit in accordance with the state of the work vehicle; a warning area setting unit that sets a warning area within an object detection range detected by the detection unit in accordance with the state of the work vehicle; an allowable object identifying unit that identifies a predetermined object among objects around the work machine as an allowable object; a determination unit that determines whether or not an object other than the object identified as an acceptable object by the acceptable object identification unit is detected within the surveillance area, A surroundings monitoring device in which the state of the work vehicle includes at least the distance from the front of the rotating body of the work vehicle to the tip of the work implement in a plan view.

2. The surroundings monitoring device according to claim 1 , further comprising an alarm unit that issues an alarm when an object other than an object identified as an acceptable object by the acceptable object identifying unit is detected within the alert area.

3. 3. The surroundings monitoring device according to claim 1, wherein the detection range setting unit sets the transmission direction of the transmission wave depending on the state of the work vehicle.

4. 3. The surroundings monitoring device according to claim 1, wherein the detection range setting unit sets a distance at which an object can be detected from the detection unit depending on the state of the work vehicle.

5. 4. The surroundings monitoring device according to claim 3, further comprising a pulse width setting unit that sets a transmission pulse width of the transmission wave in accordance with a distance at which an object can be detected from the detection unit.

6. A surroundings monitoring method for monitoring the surroundings of a work vehicle including a traveling body, a rotating body rotatably mounted on the traveling body, and a work implement attached to the rotating body, comprising: a detection step of transmitting a transmission wave to detect an object present around the work vehicle; a detection range setting step of setting an object detection range in the detection step in the shape of a sector within an equidistant range from a detection unit that detects the object in accordance with a state of the work vehicle; a warning area setting step of setting a warning area within the object detection range in the detection step in accordance with the state of the work vehicle; an allowable object identifying step of identifying a predetermined object among objects around the work machine as an allowable object; a determination step of determining whether or not an object other than the object identified as an acceptable object in the acceptable object identification step has been detected within the surveillance area, A surroundings monitoring method in which the state of the work vehicle includes at least the distance from the front of the rotating body of the work vehicle to the tip of the work implement in a plan view.

7. A surroundings monitoring program that monitors the surroundings of a work vehicle that includes a traveling body, a rotating body that is rotatably mounted on the traveling body, and a work implement that is attached to the rotating body, On the computer, a detection step of transmitting a transmission wave to detect an object present around the work vehicle; a detection range setting step of setting an object detection range in the detection step in the shape of a sector within an equidistant range from a detection unit that detects the object in accordance with a state of the work vehicle; a warning area setting step of setting a warning area within the object detection range in the detection step in accordance with the state of the work vehicle; an allowable object identifying step of identifying a predetermined object among objects around the work machine as an allowable object; a determination step of determining whether or not an object other than the object identified as an allowable object in the allowable object identification step has been detected within the surveillance area, A surroundings monitoring program in which the state of the work vehicle includes at least the distance from the front of the rotating body of the work vehicle to the tip of the work implement in a plan view.

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