Surrounding area monitoring system for work machine, work machine, and surrounding area monitoring method for work machine

Abstract

To suppress inappropriate setting of an alarm.SOLUTION: A periphery monitoring system of a work machine comprises: an object detection device for detecting an object in a periphery of the work machine having a cab; an outer alarm device disposed outside the cab; an operator alarm device disposed inside the cab; and a processor. The processor sets a control mode for controlling an operation of the work machine when an object is detected to either a valid mode for restricting at least a part of the operation of the work machine or an invalid mode not restricting it based on input data for setting the control mode of the work machine from an input device. The processor makes the operator alarm device valid or invalid based on the set control mode.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The technology disclosed in this specification relates to a work machine periphery monitoring system, a work machine, and a work machine periphery monitoring method. [Background technology]

[0002] In the technical field related to work machines, work machines equipped with a perimeter monitoring device such as that disclosed in Patent Document 1 are known. In Patent Document 1, the perimeter monitoring device can switch the setting of an object detection function between on and off. When an object is detected with the object detection function set to on, an alarm is output. When the object detection function is set to off, no alarm is output, improving the comfort of the work machine operator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-014737 Summary of the Invention [Problem to be solved by the invention]

[0004] If an operator can arbitrarily set whether to output or stop an alarm, there is a possibility that the alarm may be set inappropriately. [Means for solving the problem]

[0005] According to one aspect of the present disclosure, a perimeter monitoring system for a work machine includes an object detection device, an operator warning device, and a processor. The object detection device detects objects in the periphery of the work machine. The operator warning device is arranged to output a warning to an operator operating the work machine. The processor sets the control mode that controls operation of the work machine when an object is detected to either an enabled mode that restricts operation of at least a portion of the work machine or a disabled mode that does not restrict operation, based on input data for setting the control mode of the work machine from an input device. The processor enables or disables the operator warning device based on the set control mode. [Effects of the Invention]

[0006] According to the above aspect, inappropriate settings of the alarm are suppressed. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a perspective view showing a work machine according to an embodiment. [Figure 2] FIG. 1 is a diagram showing a cab of a hydraulic excavator according to an embodiment. [Figure 3] 5A and 5B are schematic diagrams showing a detection range and an alarm range according to the embodiment; [Figure 4] FIG. 2 is a diagram illustrating a periphery monitoring monitor according to the embodiment. [Figure 5] 10A and 10B are diagrams for explaining operation modes of an external buzzer, an operation mode of an in-cab buzzer, and a control mode of a vehicle body controller according to an embodiment. [Figure 6] 1 is a functional block diagram showing a perimeter monitoring system according to an embodiment; [Figure 7] 1A and 1B are diagrams illustrating an example of a display on a display device according to an embodiment. [Figure 8] 1A and 1B are diagrams illustrating an example of a display on a display device according to an embodiment. [Figure 9] 1A and 1B are diagrams illustrating an example of a display on a display device according to an embodiment. [Figure 10] 10A and 10B are diagrams for explaining processing by a forced setting unit according to the embodiment; [Figure 11] 3 is a flowchart showing a method for monitoring the periphery of a hydraulic excavator according to the embodiment. [Figure 12] 1A and 1B are diagrams illustrating an example of a display on a display device according to an embodiment. [Figure 13] 1 is a block diagram illustrating a computer system according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0009] [Work machinery] 1 is a perspective view showing a work machine 1 according to an embodiment. In this embodiment, the work machine 1 is a hydraulic excavator. In the following description, the work machine 1 will be referred to as a hydraulic excavator 1 where appropriate.

[0010] As shown in FIG. 1, the hydraulic excavator 1 includes an upper rotating body 2, a lower traveling body 3, a work implement 4, a hydraulic cylinder 5, an object detection device 6, an external alarm device 7, and a vehicle controller 8.

[0011] The upper rotating body 2 is rotatably supported on the lower traveling body 3. The upper rotating body 2 rotates around a rotation axis RX. The upper rotating body 2 supports a work implement 4. The upper rotating body 2 has a cab 9. An operator of the hydraulic excavator 1 rides in the cab 9. An operator's seat 10 on which the operator sits is provided in the cab 9.

[0012] The lower traveling body 3 travels while supporting the upper rotating body 2. The lower traveling body 3 has drive wheels 3A and crawler belts 3B. The rotation of the drive wheels 3A causes the rotation of the crawler belts 3B. The rotation of the crawler belts 3B causes the lower traveling body 3 to travel.

[0013] The work implement 4 is connected to the upper rotating body 2. The work implement 4 includes a boom 4A, an arm 4B, and a bucket 4C. The boom 4A is connected to the upper rotating body 2 so as to be rotatable about a boom rotation axis AX. The arm 4B is connected to the boom 4A so as to be rotatable about an arm rotation axis BX. The bucket 4C is connected to the arm 4B so as to be rotatable about a bucket rotation axis CX.

[0014] The boom rotation axis AX, the arm rotation axis BX, and the bucket rotation axis CX are parallel to each other. An axis parallel to the boom rotation axis AX and the swing axis RX are perpendicular to each other. In the embodiment, the direction parallel to the swing axis RX will be referred to as the up-down direction, the direction parallel to the boom rotation axis AX will be referred to as the left-right direction, and the direction perpendicular to both the boom rotation axis AX and the swing axis RX will be referred to as the front-to-rear direction. The direction in which the bucket 4C exists relative to the operator seated in the operator's seat 10 is the front, and the opposite direction of the front is the rear. The direction in which the boom 4A exists relative to the operator seated in the operator's seat 10 is the right, and the opposite direction of the right is the left. The direction away from the ground contact surface of the lower traveling body 3 is the up direction, and the opposite direction of the up direction is the down direction.

[0015] The hydraulic cylinder 5 generates power for operating the work implement 4. The hydraulic cylinder 5 includes a boom cylinder 5A, an arm cylinder 5B, and a bucket cylinder 5C. The boom cylinder 5A operates the boom 4A. The arm cylinder 5B operates the arm 4B. The bucket cylinder 5C operates the bucket 4C.

[0016] The object detection device 6 detects objects around the hydraulic excavator 1. The object detection device 6 includes cameras 11 that capture images of the area around the hydraulic excavator 1. A plurality of cameras 11 are provided on the upper rotating body 2. The cameras 11 include a rear camera 11A provided at the rear of the upper rotating body 2, a right side camera 11B and a right front camera 11C provided at the right part of the upper rotating body 2, and a left side camera 11D provided at the left part of the upper rotating body 2.

[0017] The rear camera 11A captures images behind the upper rotating body 2. The right side camera 11B captures images to the right side and right rear of the upper rotating body 2. The right front camera 11C captures images to the right front of the upper rotating body 2. The left side camera 11D captures images to the left side and left rear of the upper rotating body 2. Each of the multiple cameras 11 has an optical system and an image sensor. The image sensor includes a CCD (Couple Charged Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor.

[0018] The external alarm device 7 is a device for outputting an alarm to the outside of the work machine. In the embodiment, the external alarm device 7 is arranged on the outer surface of the upper rotating body 2. In the embodiment, the external alarm device 7 is arranged outside the cab 9. The external alarm device 7 includes a buzzer that outputs an alarm sound as an alarm. The external alarm device 7 outputs an alarm to the vicinity of the hydraulic excavator 1. For example, if there is a person near the hydraulic excavator 1, the external alarm device 7 outputs an alarm to the person near the hydraulic excavator 1. In the following description, the external alarm device 7 will be referred to as the external buzzer 7 where appropriate.

[0019] The vehicle body controller 8 includes a computer system. The vehicle body controller 8 controls the upper rotating body 2, the lower traveling body 3, the work machine 4, and the external buzzer 7.

[0020] [Cab] Fig. 2 is a view showing the cab 9 of the hydraulic excavator 1 according to the embodiment. As shown in Fig. 2, an operator's seat 10 on which the operator of the hydraulic excavator 1 sits is provided in the cab 9.

[0021] The hydraulic excavator 1 includes an operating device 12 disposed in the cab 9. The operating device 12 is operated by an operator seated in the cab 9. The operating device 12 is operated to operate at least a part of the hydraulic excavator 1. The hydraulic excavator 1 can operate based on the operation of the operating device 12. The vehicle controller 8 controls the operation of the hydraulic excavator 1 based on the operation of the operating device 12. The operation of the hydraulic excavator 1 includes at least one of the rotating operation of the upper rotating body 2, the traveling operation of the lower traveling body 3, and the working operation of the work implement 4.

[0022] The operating device 12 includes a left operating lever 12A, a right operating lever 12B, a left traveling lever 12C, a right traveling lever 12D, a left foot pedal 12E, and a right foot pedal 12F.

[0023] The left working lever 12A and the right working lever 12B are operated to rotate the upper rotating body 2 and to perform work operations on the work implement 4. When the left working lever 12A is operated in the forward / backward direction, the arm 4B performs a dumping operation or an excavating operation. When the left working lever 12A is operated in the left / right direction, the upper rotating body 2 rotates left or right. When the right working lever 12B is operated in the left / right direction, the bucket 4C performs an excavating operation or a dumping operation. When the right working lever 12B is operated in the forward / backward direction, the boom 4A performs a lowering operation or a raising operation.

[0024] The left traveling lever 12C and the right traveling lever 12D are operated to cause the undercarriage 3 to travel. By operating the left traveling lever 12C in the forward or backward direction, the left crawler 3B of the undercarriage 3 moves forward or backward. By operating the right traveling lever 12D in the forward or backward direction, the right crawler 3B of the undercarriage 3 moves forward or backward. The left foot pedal 12E is linked to the left traveling lever 12C. The right foot pedal 12F is linked to the right traveling lever 12D. By operating the left foot pedal 12E and the right foot pedal 12F, the undercarriage 3 may move forward or backward.

[0025] The hydraulic excavator 1 is equipped with a periphery monitoring monitor 20 disposed in the cab 9. The periphery monitoring monitor 20 is disposed to the right front of the operator's seat 10. The periphery monitoring monitor 20 has an input device 21, a display device 22, an operator alarm device 23, and a periphery monitoring controller 24.

[0026] The input device 21 is operated by an operator in the cab 9. In the embodiment, the input device 21 includes a plurality of push buttons. The input device 21 generates input data when operated by the operator.

[0027] The display device 22 displays display data and includes a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OLED).

[0028] The operator warning device 23 is a device for outputting a warning to the operator who operates the work machine. The operator warning device 23 includes a buzzer that outputs a warning sound as a warning. In the embodiment, the operator warning device 23 is disposed inside the cab 9. The operator warning device 23 outputs a warning toward the inside of the cab 9. When the operator of the hydraulic excavator 1 is present in the cab 9, the operator warning device 23 outputs a warning to the operator. In the following description, the operator warning device 23 will be referred to as the in-cab buzzer 23 where appropriate.

[0029] The periphery monitoring controller 24 includes a computer system and controls the input device 21, the display device 22, and the in-cab buzzer 23.

[0030] The periphery monitoring controller 24 performs calculation processing and image processing. The image data acquired by the camera 11 is subjected to image processing by the periphery monitoring controller 24.

[0031] [Detection range and alarm range] 3 is a schematic diagram showing a detection range 13 and an alarm range 14 according to the embodiment. The detection range 13 and the alarm range 14 are defined around the hydraulic excavator 1.

[0032] Detection range 13 is the detection range of object detection device 6. Object detection device 6 detects objects present in detection range 13. Examples of objects detected by object detection device 6 include a person or an obstacle.

[0033] In the embodiment, the detection range 13 of the object detection device 6 includes the field of view (image capture range) of the camera 11. The camera 11 captures an image of the detection range 13 and acquires image data of the detection range 13. The periphery monitoring controller 24 can detect an object present in the detection range 13 of the object detection device 6 by performing image processing on the image data acquired by the camera 11.

[0034] In the embodiment, the detection range 13 does not exist in front and on the left front of the cab 9. The operator seated in the operator's seat 10 can directly see the conditions in front and on the left front of the cab 9. Therefore, the hydraulic excavator 1 is not provided with a camera 11 that acquires image data showing the front and left front of the cab 9. This makes it possible to reduce the number of cameras 11 provided in the hydraulic excavator 1. However, a camera 11 that acquires image data showing the front and left front of the cab 9 may be provided.

[0035] The alarm range 14 is a range within which an alarm is requested to be output from at least one of the external buzzer 7 and the in-cab buzzer 23 when an object is detected by the object detection device 6. The alarm range 14 is smaller than the detection range 13. The alarm range 14 is set so as to include the hydraulic excavator 1. The alarm range 14 is set inside the detection range 13.

[0036] In the embodiment, the alarm range 14 includes a first alarm range 14A and a second alarm range 14B. Each of the first alarm range 14A and the second alarm range 14B is substantially rectangular. The second alarm range 14B is set to include the hydraulic excavator 1. The second alarm range 14B is smaller than the first alarm range 14A. The second alarm range 14B is defined inside the first alarm range 14A.

[0037] [Periphery monitoring monitor] 4 is a diagram showing the periphery monitoring monitor 20 according to the embodiment. As shown in FIG. 4, the periphery monitoring monitor 20 has an input device 21 and a display device 22.

[0038] In the example shown in FIG. 4, the display device 22 displays a surrounding image 30 showing the surroundings of the hydraulic excavator 1 and a guide line 33 showing the warning range 14.

[0039] The surrounding image 30 is an image showing the situation around the hydraulic excavator 1. The surrounding image 30 includes at least one of an overhead image 31 and a single camera image 32 of the surroundings of the hydraulic excavator 1.

[0040] The overhead image 31 refers to an image generated by synthesizing a plurality of image data acquired by a plurality of cameras 11 from an upper viewpoint.

[0041] The single camera image 32 refers to an image of a portion of the periphery of the hydraulic excavator 1 acquired by one of the multiple cameras 11. In the example shown in Fig. 4, the single camera image 32 is a single camera image that shows the situation behind the hydraulic excavator 1 acquired by the rear camera 11A.

[0042] 4, the overhead image 31 and the single camera image 32 are arranged in the left-right direction on the display screen of the display device 22. The overhead image 31 is arranged on the left side of the single camera image 32.

[0043] 4, the display device 22 displays a vehicle body symbol 1S indicating the hydraulic excavator 1 together with the overhead image 31. The vehicle body symbol 1S corresponds to an image of the hydraulic excavator 1 viewed from above. The vehicle body symbol 1S clarifies the positional relationship between the hydraulic excavator 1 and its surroundings.

[0044] The reference lines 33 indicate the warning range 14 in the peripheral image 30. The reference lines 33 also indicate the distance and direction from the upper rotating body 2. In the overhead image 31, the reference lines 33 are displayed around the vehicle body symbol 1S. In the single camera image 32, the reference lines 33 are displayed around at least a portion of the periphery of the hydraulic excavator 1.

[0045] The display device 22 also displays a status symbol 34 indicating the status of the hydraulic excavator 1. The status symbol 34 is displayed below the peripheral image 30. The status symbol 34 includes a water temperature gauge 34A indicating the temperature of the engine coolant, an oil temperature gauge 34B indicating the temperature of the hydraulic oil for the hydraulic equipment, and a fuel level gauge 34C indicating the level of remaining fuel.

[0046] Furthermore, the display device 22 displays a first symbol 35, a second symbol 36, a third symbol 37, and a fourth symbol 38. The first symbol 35, the second symbol 36, the third symbol 37, and the fourth symbol 38 are each displayed in the upper left corner of the overhead image 31.

[0047] The first symbol 35 indicates the setting status of the operation mode of the external buzzer 7. The second symbol 36 indicates the setting status of the operation mode of the in-cab buzzer 23. The third symbol 37 indicates the setting status of the control mode of the vehicle body controller 8. The fourth symbol 38 indicates the detection status of an object by the object detection device 6.

[0048] Furthermore, the display device 22 displays a direction symbol 39 indicating the direction from the hydraulic excavator 1 of the single camera image 32 displayed on the display device 22. The direction symbol 39 is displayed in the upper right corner of the single camera image 32. The direction symbol 39 has four identification regions corresponding to the rear camera 11A, the right side camera 11B, the right front camera 11C, and the left side camera 11D. When a single camera image 32 captured by one of the four cameras 11 is displayed on the display device 22, one of the four identification regions of the direction symbol 39 corresponding to the camera 11 that captured the single camera image 32 displayed on the display device 22 is highlighted. In the example shown in FIG. 4, the single camera image 32 displayed on the display device 22 is a single camera image captured by the rear camera 11A, and therefore the identification region corresponding to the rear camera 11A is highlighted.

[0049] The display device 22 also displays a service meter symbol 41 indicating the value of the service meter and a work mode symbol 42 indicating the setting status of the work mode. The service meter symbol 41 and the work mode symbol 42 are displayed above the peripheral image 30.

[0050] The input device 21 has a plurality of function buttons F (F1, F2, F3, F4, F5, F6) arranged below the display screen of the display device 22. A specific function is assigned to each of the multiple function buttons F. A plurality of function symbols 40 are displayed at the bottom of the display screen of the display device 22. The function symbols 40 are displayed directly above the function buttons F. When a function button F is operated by an operator, input data for the specific function corresponding to the function symbol 40 displayed directly above the function button F is generated. In the example shown in FIG. 4, the function symbols 40 include a function symbol 40A displayed directly above the function button F3, a function symbol 40B displayed directly above the function button F4, and a function symbol 40C displayed directly above the function button F6.

[0051] [Operation mode and control mode] 5 is a diagram for explaining the operation modes of the external buzzer 7, the operation modes of the in-cab buzzer 23, and the control modes of the vehicle body controller 8 according to the embodiment. The operator can set each of the operation modes of the external buzzer 7, the operation modes of the in-cab buzzer 23, and the control modes of the vehicle body controller 8 by operating the input device 21. The control modes of the vehicle body controller 8 are synonymous with the control modes of the vehicle body operation control unit 58, which will be described later.

[0052] The operation modes of the external buzzer 7 include an effective mode in which an alarm is output when an object is detected by the object detection device 6 within the alarm range 14, and an ineffective mode in which no alarm is output even when an object is detected.

[0053] The operation modes of the in-cab buzzer 23 include an effective mode in which an alarm is output when an object is detected by the object detection device 6 within the alarm range 14, and an ineffective mode in which an alarm is not output even when an object is detected.

[0054] The control modes of the vehicle body controller 8 include an effective mode in which at least part of the operation of the hydraulic excavator 1 is restricted when an object is detected by the object detection device 6 within the alarm range 14, and an ineffective mode in which the operation of the hydraulic excavator 1 is not restricted even if an object is detected.

[0055] The operator can operate the input device 21 to set the operation mode of the external buzzer 7 to either the enabled mode or the disabled mode when an object is detected within the alarm range 14. By operating the input device 21, first input data Da for setting the operation mode of the external buzzer 7 is generated. Based on the first input data Da from the input device 21, the periphery monitoring controller 24 sets the operation mode of the external buzzer 7 to either the enabled mode or the disabled mode when an object is detected within the alarm range 14.

[0056] The operator can operate the input device 21 to set the operation mode of the in-cab buzzer 23 to either the enabled mode or the disabled mode when an object is detected within the warning range 14. By operating the input device 21, second input data Db for setting the operation mode of the in-cab buzzer 23 is generated. Based on the second input data Db from the input device 21, the periphery monitoring controller 24 sets the operation mode of the in-cab buzzer 23 to either the enabled mode or the disabled mode when an object is detected within the warning range 14.

[0057] The operator can operate the input device 21 to set the control mode of the vehicle body controller 8 when an object is detected in the warning range 14 to either the valid mode or the invalid mode. By operating the input device 21, third input data Dc for setting the control mode of the vehicle body controller 8 is generated. Based on the third input data Dc from the input device 21, the periphery monitoring controller 24 sets the control mode of the vehicle body controller 8 when an object is detected in the warning range 14 to either the valid mode or the invalid mode.

[0058] By setting the operation mode of the external buzzer 7 to the enabled mode, the external buzzer 7 outputs an alarm if there is a person within the alarm range 14 around the hydraulic excavator 1. The person within the alarm range 14 can recognize that they are approaching the hydraulic excavator 1 based on the alarm output from the external buzzer 7.

[0059] By setting the operation mode of the external buzzer 7 to the disabled mode, the external buzzer 7 will not output an alarm even if a person is present within the alarm range 14 around the hydraulic excavator 1. For example, if the people present around the hydraulic excavator 1 are fully aware of the working status of the hydraulic excavator 1, the people present around the hydraulic excavator 1 may feel annoyed if an alarm is output from the external buzzer 7. In other words, depending on the situation around the hydraulic excavator 1, there may be situations where it is not necessary to output an alarm from the external buzzer 7. In order to prevent unnecessary output of alarms from the external buzzer 7, the operator can operate the input device 21 to set the operation mode of the external buzzer 7 to the disabled mode.

[0060] By setting the operation mode of the in-cab buzzer 23 to the enabled mode, the in-cab buzzer 23 outputs an alarm if a person is present within the alarm range 14 around the hydraulic excavator 1. The operator of the hydraulic excavator 1 in the cab 9 can recognize that a person is present within the alarm range 14 based on the alarm output from the in-cab buzzer 23.

[0061] By setting the operation mode of the in-cab buzzer 23 to the disabled mode, the in-cab buzzer 23 will not output an alarm even if a person is present within the alarm range 14 around the hydraulic excavator 1. For example, if the operator is fully aware of the situation around the hydraulic excavator 1, the operator may feel annoyed if an alarm is output from the in-cab buzzer 23. In other words, depending on the work situation of the hydraulic excavator 1, there may be situations where it is not necessary to output an alarm from the in-cab buzzer 23. In order to prevent unnecessary output of an alarm from the in-cab buzzer 23, the operator can operate the input device 21 to set the operation mode of the in-cab buzzer 23 to the disabled mode.

[0062] By setting the control mode of the vehicle body controller 8 to the valid mode, if a person is present within the warning range 14 around the hydraulic excavator 1, the vehicle body controller 8 restricts at least a portion of the operation of the hydraulic excavator 1. The restriction on the operation of the hydraulic excavator 1 includes at least one of the following: restriction on the swing operation of the upper rotating body 2, restriction on the traveling operation of the undercarriage 3, and restriction on the work operation of the work equipment 4. Even if the operator operates the control device 12, the vehicle body controller 8 disables the operation of the control device 12 to restrict the operation of the hydraulic excavator 1. For example, if the output pressure of hydraulic oil is adjusted by operation of the control device 12 and the hydraulic oil supplied to the hydraulic actuator that operates the hydraulic excavator 1 is adjusted based on the output pressure of the control device 12, the vehicle body controller 8 can disable the operation of the control device 12 by controlling a valve that can cut off the output pressure of the control device 12. For example, if a person is present within the warning range 14, the vehicle body controller 8 restricts the traveling operation of the undercarriage 3 even if the control device 12 is operated to cause the undercarriage 3 to travel. For example, even if the operation device 12 is operated to start the traveling of the undercarriage 3, the vehicle body controller 8 implements start lock control to prevent the traveling of the undercarriage 3. Furthermore, if a person is present in the warning range 14, even if the operation device 12 is operated to maintain the traveling of the undercarriage 3, the vehicle body controller 8 implements stop control to stop the undercarriage 3. Note that, if a person is present in the warning range 14, the vehicle body controller 8 may restrict the rotational movement of the upper rotating body 2 even if the operation device 12 is operated to rotate the upper rotating body 2. If a person is present in the warning range 14, the vehicle body controller 8 may restrict the work operation of the work equipment 4 even if the operation device 12 is operated to cause the work equipment 4 to perform a work operation.

[0063] By setting the control mode of the vehicle body controller 8 to the disabled mode, the vehicle body controller 8 does not restrict the operation of the hydraulic excavator 1 even if a person is present within the warning range 14 around the hydraulic excavator 1. The vehicle body controller 8 operates the hydraulic excavator 1 based on the operation of the operation device 12. The hydraulic excavator 1 operates based on the operation of the operation device 12 by the operator. For example, if the operator is fully aware of the situation around the hydraulic excavator 1, restricting the operation of the hydraulic excavator 1 may cause annoyance to the operator or reduce work efficiency. In other words, depending on the work situation of the hydraulic excavator 1, there may be situations where restricting the operation of the hydraulic excavator 1 is not necessary. In order to prevent unnecessary restrictions on the operation of the hydraulic excavator 1, the operator can operate the input device 21 to set the control mode of the vehicle body controller 8 to the disabled mode.

[0064] In the embodiment, when the operation mode of the external buzzer 7 is set to the effective mode, an alarm is output from the external buzzer 7 when a person (object) is present inside the first alarm range 14A or the second alarm range 14B. When the operation mode of the in-cab buzzer 23 is set to the effective mode, an alarm is output from the external buzzer 7 when a person (object) is present inside the first alarm range 14A or the second alarm range 14B. When the control mode of the vehicle body controller 8 is set to the effective mode, at least a part of the operation of the hydraulic excavator 1 is restricted when a person (object) is present inside the second alarm range 14B.

[0065] [Perimeter monitoring system] 6 is a functional block diagram showing a periphery monitoring system 50 according to an embodiment. The hydraulic excavator 1 is equipped with the periphery monitoring system 50. The periphery monitoring system 50 monitors the periphery of the hydraulic excavator 1.

[0066] The periphery monitoring system 50 includes an object detection device 6, an input device 21, a display device 22, an in-cab buzzer 23, a periphery monitoring controller 24, a vehicle body controller 8, and an external buzzer 7.

[0067] The perimeter monitoring system 50 has an object detection unit 51, an external alarm setting unit 52, an operator alarm setting unit 53, a vehicle body operation setting unit 54, a forced setting unit 55, an external alarm control unit 56, an operator alarm control unit 57, a vehicle body operation control unit 58, a display control unit 59, and an alarm range memory unit 60. In this embodiment, the perimeter monitoring controller 24 has the functions of the object detection unit 51, the external alarm setting unit 52, the operator alarm setting unit 53, the vehicle body operation setting unit 54, the forced setting unit 55, the operator alarm control unit 57, the display control unit 59, and the alarm range memory unit 60, and the vehicle body controller 8 has the functions of the external alarm control unit 56 and the vehicle body operation control unit 58.

[0068] The object detection unit 51 detects objects present in the vicinity of the hydraulic excavator 1 based on detection data from the object detection device 6. In the embodiment, the detection data from the object detection device 6 includes image data of the vicinity of the hydraulic excavator 1 captured by the camera 11. The object detection unit 51 acquires the image data from the camera 11. The object detection unit 51 detects objects present in the vicinity of the hydraulic excavator 1 based on the image data. The object detection unit 51 can determine whether or not an object exists in the vicinity of the hydraulic excavator 1 by performing image processing on the image data.

[0069] Based on the first input data Da from the input device 21, the external alarm setting unit 52 sets the operating mode of the external buzzer 7 when an object is detected within the alarm range 14 to either an enabled mode in which an alarm is output or an disabled mode in which an alarm is not output.

[0070] Based on the second input data Db from the input device 21, the operator alarm setting unit 53 sets the operating mode of the in-cab buzzer 23 when an object is detected within the alarm range 14 to either an enabled mode in which an alarm is output or an disabled mode in which an alarm is not output.

[0071] Based on the third input data Dc from the input device 21, the vehicle body operation setting unit 54 sets the control mode of the vehicle body operation control unit 58 when an object is detected in the alarm range 14 to either an effective mode that restricts at least part of the operation of the hydraulic excavator 1 or an ineffective mode that does not restrict the operation of the hydraulic excavator 1.

[0072] When the operation mode of the external buzzer 7 is set to the valid mode based on the first input data Da, the forced setting unit 55 prohibits the operator alarm setting unit 53 from setting the operation mode of the in-cab buzzer 23, and forcibly sets the operation mode of the in-cab buzzer 23 to the valid mode.

[0073] In addition, when the control mode of the vehicle body operation control unit 58 is set to the valid mode based on the third input data Dc, the forced setting unit 55 prohibits the operator alarm setting unit 53 from setting the operation mode of the in-cab buzzer 23, and forcibly sets the operation mode of the in-cab buzzer 23 to the valid mode.

[0074] The external alarm control unit 56 controls the operation of the external buzzer 7. The external alarm control unit 56 controls the operation of the external buzzer 7 based on the operation mode set by the external alarm setting unit 52.

[0075] The operator alarm control unit 57 controls the operation of the in-cab buzzer 23. The operator alarm control unit 57 controls the operation of the in-cab buzzer 23 based on the operation mode set by the operator alarm setting unit 53 or the forced setting unit 55.

[0076] The vehicle body operation control unit 58 controls the operation of the hydraulic excavator 1. The vehicle body operation control unit 58 controls the operation of the hydraulic excavator 1 based on the operation of the operation device 12. The vehicle body operation control unit 58 controls the operation of the hydraulic excavator 1 based on the control mode set by the vehicle body operation setting unit 54.

[0077] The display control unit 59 causes the display device 22 to display the display data.

[0078] The alarm range storage unit 60 stores the alarm range 14 in which an alarm is requested to be output when an object is detected.

[0079] [Display control section] 7 is a diagram showing an example of a display on the display device 22 according to the embodiment. The display control unit 59 generates a surrounding image 30 showing the periphery of the hydraulic excavator 1 based on image data captured by the object detection device 6. The display control unit 59 causes the display device 22 to display the surrounding image 30 and a guide line 33 in the surrounding image 30 that indicates the warning range 14.

[0080] As described above, the surrounding image 30 includes the overhead image 31 of the periphery of the hydraulic excavator 1 and the single camera image 32 of the periphery of the hydraulic excavator 1. As shown in Fig. 7 , the display control unit 59 causes the display device 22 to display the overhead image 31 showing the periphery of the hydraulic excavator 1 and the reference lines 33 arranged around at least a part of the vehicle body symbol 1S in the overhead image 31. The reference lines 33 indicate the warning range 14 in the overhead image 31.

[0081] The reference lines 33 are displayed so as to include the vehicle body symbol 1S. In the embodiment, the reference lines 33 include a first reference line 33A indicating the first warning range 14A and a second reference line 33B indicating the second warning range 14B. The vehicle body symbol 1S is displayed inside the second reference line 33B. The second reference line 33B is displayed inside the first reference line 33A. The area surrounded by the second reference line 33B is smaller than the area surrounded by the first reference line 33A.

[0082] In the embodiment, each of the first guide line 33A and the second guide line 33B is substantially rectangular. The front end of the first guide line 33A and the front end of the second guide line 33B are aligned. The rear end of the first guide line 33A is positioned further rearward than the rear end of the second guide line 33B. The left end of the first guide line 33A is positioned to the left of the left end of the second guide line 33B. The right end of the first guide line 33A is positioned to the right of the right end of the second guide line 33B.

[0083] When object detection unit 51 detects object 15 inside warning range 14, display control unit 59 causes display device 22 to display marker 16 so as to overlap object 15 displayed on overhead image 31. Marker 16 is a symbol that highlights object 15 present in warning range 14 on the display screen of display device 22.

[0084] 8 is a diagram showing an example of display on the display device 22 according to the embodiment. As shown in Fig. 4, Fig. 7, and Fig. 8, the display control unit 59 causes the display device 22 to display a first symbol 35 indicating the operation mode of the external buzzer 7, a second symbol 36 indicating the operation mode of the in-cab buzzer 23, and a third symbol 37 indicating the control mode of the vehicle body operation control unit 58.

[0085] As shown in the first display pattern in Figure 8, when the operation mode of the external buzzer 7 is the enabled mode, the operation mode of the in-cab buzzer 23 is the enabled mode, and the control mode of the vehicle body operation control unit 58 is the enabled mode, the first symbol 35, the second symbol 36, and the third symbol 37 are displayed on the display device 22.

[0086] As shown in the second display pattern in Figure 8, when the operation mode of the external buzzer 7 is the disabled mode, the operation mode of the in-cab buzzer 23 is the enabled mode, and the control mode of the vehicle body operation control unit 58 is the enabled mode, the first symbol 35 is not displayed on the display device 22, and the second symbol 36 and the third symbol 37 are displayed on the display device 22.

[0087] As shown in the third display pattern in Figure 8, when the operation mode of the external buzzer 7 is the enabled mode, the operation mode of the in-cab buzzer 23 is the enabled mode, and the control mode of the vehicle body operation control unit 58 is the disabled mode, the third symbol 37 is not displayed on the display device 22, and the first symbol 35 and the second symbol 36 are displayed on the display device 22.

[0088] As in the fourth display pattern shown in Figure 8, when the operation mode of the external buzzer 7 is the disabled mode, the operation mode of the in-cab buzzer 23 is the enabled mode, and the control mode of the vehicle body operation control unit 58 is the disabled mode, the first symbol 35 and the third symbol 37 are not displayed on the display device 22, and the second symbol 36 is displayed on the display device 22.

[0089] 9 is a diagram showing a display example of the display device 22 according to the embodiment. As shown in FIGS. 4, 7, and 9, the display control unit 59 causes the display device 22 to display a fourth symbol 38 indicating the state of object detection by the object detection unit 51.

[0090] 9, when no person is detected in the warning range 14, the fourth symbol 38 is displayed in a first color. An example of the first color is green.

[0091] 9, when a person is detected who is inside the first warning range 14A and outside the second warning range 14B, the fourth symbol 38 is displayed in a second color, such as yellow.

[0092] 9, when a person is detected inside the second warning range 14B, the fourth symbol 38 is displayed in a third color. An example of the third color is red.

[0093] [Forced setting section] 10 is a diagram for explaining the processing of the forcible setting unit 55 according to the embodiment. In the embodiment, the forcible setting unit 55 determines whether to permit or prohibit the operator from setting the operation mode of the in-cab buzzer 23, based on the operation mode of the external buzzer 7 and the operation mode of the vehicle body operation control unit 58. The operator can set the operation mode of the in-cab buzzer 23 by operating the input device 21. The operator alert setting unit 53 sets the operation mode of the in-cab buzzer 23 based on second input data Db from the input device 21. Permitting or prohibiting the operator from setting the operation mode of the in-cab buzzer 23 includes permitting or prohibiting the operator alert setting unit 53 from setting the operation mode of the in-cab buzzer 23.

[0094] 10, when the operation mode of the external buzzer 7 is set to the enabled mode based on the first input data Da, the forcing setting unit 55 prohibits the operator warning setting unit 53 from setting the operation mode of the in-cab buzzer 23. In other words, the forcing setting unit 55 prohibits the setting of the operation mode of the in-cab buzzer 23 based on the second input data Db. When the operation mode of the external buzzer 7 is set to the enabled mode based on the first input data Da, the forcing setting unit 55 forcibly sets the operation mode of the in-cab buzzer 23 to the enabled mode.

[0095] Furthermore, when the control mode of the vehicle body operation control unit 58 is set to the effective mode based on the third input data Dc, the forcing setting unit 55 prohibits the operator alert setting unit 53 from setting the operation mode of the in-cab buzzer 23. That is, the forcing setting unit 55 prohibits the setting of the operation mode of the in-cab buzzer 23 based on the second input data Db. When the control mode of the vehicle body operation control unit 58 is set to the effective mode based on the third input data Dc, the forcing setting unit 55 forcibly sets the operation mode of the in-cab buzzer 23 to the effective mode.

[0096] That is, in an embodiment, when one or both of the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 are set to the enabled mode, the setting of the operation mode of the in-cab buzzer 23 by the operator alarm setting unit 53 is prohibited, and the operation mode of the in-cab buzzer 23 is forcibly set to the enabled mode.

[0097] Note that the forcing setting unit 55 may prohibit the operator alert setting unit 53 from acquiring the second input data Db when one or both of the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 are set to the enabled mode. That is, the operator alert setting unit 53 may not accept the second input data Db. Furthermore, the forcing setting unit 55 may invalidate the second input data Db acquired by the operator alert setting unit 53.

[0098] On the other hand, when the operation mode of the external buzzer 7 is set to the disabled mode and the control mode of the vehicle body operation control unit 58 is set to the disabled mode based on the first input data Da and the third input data Dc, the forced setting unit 55 allows the operator warning setting unit 53 to set the operation mode of the in-cab buzzer 23. In other words, when both the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 are set to the disabled mode based on the first input data Da and the third input data Dc, the forced setting unit 55 allows the operation mode of the in-cab buzzer 23 to be set by the second input data Db. The operation mode of the in-cab buzzer 23 is set by the operator. The operation mode of the in-cab buzzer 23 is set to either the enabled mode or the disabled mode based on the second input data Db.

[0099] Note that the forcing setting unit 55 may permit the operator alert setting unit 53 to acquire the second input data Db when the operation mode of the external buzzer 7 is set to the disabled mode and the control mode of the vehicle body operation control unit 58 is set to the disabled mode. In other words, when acquisition of the second input data Db is prohibited, the forcing setting unit 55 may cause the operator alert setting unit 53 to accept the second input data Db. Furthermore, the forcing setting unit 55 may validate the second input data Db acquired by the operator alert setting unit 53.

[0100] [Periphery monitoring method] 11 is a flowchart showing a periphery monitoring method for the hydraulic excavator 1 according to the embodiment. When the periphery of the hydraulic excavator 1 is monitored by the periphery monitoring system 50, the operation mode of the external buzzer 7, the operation mode of the in-cab buzzer 23, and the control mode of the vehicle body operation control unit 58 are set by the operator. The operator can set each of the operation mode of the external buzzer 7, the operation mode of the in-cab buzzer 23, and the control mode of the vehicle body operation control unit 58 by operating the input device 21.

[0101] Fig. 12 is a diagram showing an example of a display on the display device 22 according to the embodiment. As shown in Fig. 12, the display control unit 59 displays a setting menu on the display device 22 to assist the operator in setting the operation mode of the external buzzer 7, the operation mode of the in-cab buzzer 23, and the control mode of the vehicle body operation control unit 58. The setting menu is display data related to the settings of the operation mode of the external buzzer 7, the operation mode of the in-cab buzzer 23, and the control mode of the vehicle body operation control unit 58.

[0102] The setting menu displays the following: "All ON", "All OFF", "Operation Restriction Control", "External Buzzer", and "In-Cab Buzzer".

[0103] 12, the operator can set the operation mode of the external buzzer 7, the operation mode of the in-cab buzzer 23, and the control mode of the vehicle body controller 8 to the enabled mode by operating the input device 21 with "all ON" selected. The operator can set the operation mode of the external buzzer 7, the operation mode of the in-cab buzzer 23, and the control mode of the vehicle body controller 8 to the disabled mode by operating the input device 21 with "all OFF" selected.

[0104] The operator can set the control mode of the vehicle body movement control unit 58 by operating the input device 21 with "movement restriction control" selected. By operating the input device 21 with "movement restriction control" selected, third input data Dc is generated. The operator operates the input device 21 to set "movement restriction control" to either ON or OFF. When "movement restriction control" is set to ON, third input data Dc is generated for setting the control mode of the vehicle body movement control unit 58 to the enabled mode. When "movement restriction control" is set to OFF, third input data Dc is generated for setting the control mode of the vehicle body movement control unit 58 to the disabled mode.

[0105] The operator can set the operation mode of the external buzzer 7 by operating the input device 21 with "external buzzer" selected. By operating the input device 21 with "external buzzer" selected, first input data Da is generated. The operator operates the input device 21 to set "external buzzer" to either ON or OFF. When "external buzzer" is set to ON, first input data Da is generated for setting the operation mode of the external buzzer 7 to the enabled mode. When "external buzzer" is set to OFF, first input data Da is generated for setting the operation mode of the external buzzer 7 to the disabled mode.

[0106] The operator can set the operation mode of the in-cab buzzer 23 by operating the input device 21 with the "in-cab buzzer" selected. When the input device 21 is operated with the "in-cab buzzer" selected, second input data Db is generated. The operator operates the input device 21 to set the "in-cab buzzer" to either ON or OFF. When the "in-cab buzzer" is set to ON, second input data Db is generated for setting the operation mode of the in-cab buzzer 23 to the enabled mode. When the "in-cab buzzer" is set to OFF, second input data Db is generated for setting the operation mode of the in-cab buzzer 23 to the disabled mode.

[0107] The external alarm setting unit 52 acquires the first input data Da. The operator alarm setting unit 53 acquires the second input data Db. The vehicle body operation setting unit 54 acquires the third input data Dc (step S1).

[0108] The external alarm setting unit 52 determines whether or not the first input data Da acquired in step S1 is the first input data Da for setting the operation mode of the external buzzer 7 to the disabled mode. That is, the external alarm setting unit 52 determines whether or not the operator has set the operation mode of the external buzzer 7 to the disabled mode (step S2).

[0109] The vehicle body movement setting unit 54 determines whether or not the third input data Dc acquired in step S1 is the third input data Dc for setting the control mode of the vehicle body movement control unit 58 to the disabled mode. That is, the vehicle body movement setting unit 54 determines whether or not the operator has set the control mode of the vehicle body movement control unit 58 to the disabled mode (step S3).

[0110] If it is determined in step S2 that the operation mode of the external buzzer 7 has been set to the disabled mode (step S2: Yes), and if it is determined in step S3 that the control mode of the vehicle body operation control unit 58 has been set to the disabled mode (step S3: Yes), the operator alarm setting unit 53 sets the operation mode of the in-cab buzzer 23 based on the second input data Db acquired in step S1 (step S4).

[0111] If it is determined in step S2 that the operation mode of the external buzzer 7 has been set to the enabled mode (step S2: No), or if it is determined in step S3 that the control mode of the vehicle body operation control unit 58 has been set to the enabled mode (step S3: No), the forcible setting unit 55 forcibly sets the operation mode of the in-cab buzzer 23 to the enabled mode (step S5).

[0112] In the embodiment, the display control unit 59 changes the display format of the setting menu related to the operation mode of the in-cab buzzer 23 depending on whether the operation mode of the external buzzer 7 is set to the enabled mode or the disabled mode. The display control unit 59 also changes the display format of the setting menu related to the operation mode of the in-cab buzzer 23 depending on whether the control mode of the vehicle body operation control unit 58 is set to the enabled mode or the disabled mode. In the example shown in Fig. 12, the display format of the setting menu related to the operation mode of the in-cab buzzer 23 includes the display format of the words "in-cab buzzer."

[0113] 12, when at least one of the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 is set to the enabled mode based on the first input data Da and the third input data Dc and the operation mode of the in-cab buzzer 23 is forcibly set to the enabled mode, the display control unit 59 erases the characters "in-cab buzzer" from the display device 22. Furthermore, when the forcing setting unit 55 sets at least one of the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 to the enabled mode based on the first input data Da and the third input data Dc and the operation mode of the in-cab buzzer 23 is forcibly set to the enabled mode, the forcing setting unit 55 prohibits the operator alert setting unit 53 from acquiring the second input data Db.

[0114] On the other hand, when the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 are both set to the disabled mode based on the first input data Da and the third input data Dc, the display control unit 59 displays the words "in-cab buzzer" on the display device 22. Furthermore, when the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 are both set to the disabled mode based on the first input data Da and the third input data Dc, the forcing setting unit 55 permits the operator alert setting unit 53 to acquire the second input data Db.

[0115] For example, in the setting menu shown in Figure 12, if the operator sets "operation restriction control," "external buzzer," and "in-cab buzzer" to ON or OFF in that order, and if either "operation restriction control" or "external buzzer" is set to ON, the words "in-cab buzzer" will be erased and the operator alarm setting unit 53 will be prohibited from accepting the second input data Db.

[0116] Furthermore, in the setting menu shown in Figure 12, if the operator sets "in-cab buzzer," "operation restriction control," and "external buzzer" to ON or OFF in that order, and even if "in-cab buzzer" is set to OFF, if either "operation restriction control" or "external buzzer" is set to ON, the second input data Db will be invalidated by the forcing setting unit 55, the words "in-cab buzzer" will be erased, and the operator alarm setting unit 53 will be prohibited from accepting the second input data Db.

[0117] [Computer System] FIG. 13 is a block diagram showing a computer system 1000 according to an embodiment. The perimeter monitoring controller 24 includes the computer system 1000. The computer system 1000 includes a processor 1001 such as a central processing unit (CPU), a main memory 1002 including a nonvolatile memory such as a read-only memory (ROM) and a volatile memory such as a random access memory (RAM), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the perimeter monitoring controller 24 are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003, loads it into the main memory 1002, and executes the above-described processing in accordance with the computer program. That is, the processor 1001 executes the processing of the object detection unit 51, external alarm setting unit 52, operator alarm setting unit 53, vehicle body operation setting unit 54, forced setting unit 55, operator alarm control unit, and display control unit 59 of the perimeter monitoring controller 24. The computer program may be distributed to the computer system 1000 via a network.

[0118] According to the above-described embodiment, the computer program or computer system 1000 can detect an object in the vicinity of the hydraulic excavator 1 having a cab 9, set the operation mode of the external buzzer 7 disposed outside the cab 9 to either an enabled mode in which an alarm is output or a disabled mode in which no alarm is output when an object is detected based on first input data Da, and enable or disable the operator alarm device based on the set operation mode of the external alarm device. Furthermore, the computer program or computer system 1000 can set the operation mode of the in-cab buzzer 23 disposed inside the cab 9 to either an enabled mode in which an alarm is output or a disabled mode in which no alarm is output when an object is detected based on second input data Db, and, when the operation mode of the external buzzer 7 is set to the enabled mode, prohibit setting of the operation mode of the in-cab buzzer 23 based on the second input data Db and forcibly set the operation mode of the in-cab buzzer 23 to the enabled mode.

[0119] [effect] As described above, according to the embodiment, the periphery monitoring system 50 for the hydraulic excavator 1 includes the object detection device 6 that detects objects in the periphery of the hydraulic excavator 1, the in-cab buzzer 23 located inside the cab 9, a vehicle body operation setting unit 54 that sets the control mode for controlling the operation of the work machine 21 when an object is detected to either an enabled mode that restricts at least a portion of the operation of the work machine or an disabled mode that does not restrict the operation, based on the third input data Dc from the input device 21, and an operator alert setting unit 53 that executes processing to enable or disable the in-cab buzzer 23 based on the set control mode. The processing of the operator alert setting unit 53 and the object operation setting unit 54 is executed by the processor 1001.

[0120] This prevents the operation modes of the external buzzer 7 and the in-cab buzzer 23 from being set inappropriately by controlling the setting of the enabled mode or disabled mode of the in-cab buzzer 24 based on the operation mode.

[0121] When the control mode is set to the valid mode, the operator alarm setting unit 53 enables the in-cab buzzer, thereby preventing the operation mode of the in-cab buzzer 23 from being set inappropriately.

[0122] The perimeter monitoring system 50 of the hydraulic excavator 1 has an external alarm setting unit 52 that sets the operation mode of the external buzzer 7 when an object is detected to either an effective mode in which an alarm is output or an ineffective mode in which no alarm is output, based on the second input data Db, and the forcing setting unit 55 does not acquire the second input data Db when the control mode is set to the effective mode. Since the perimeter monitoring controller 24 is prohibited from accepting the second input data Db, when the control mode is set to the effective mode, even if the operator operates the input device 21 to set the operation mode of the in-cab buzzer 23 to the ineffective mode, the perimeter monitoring controller 24 sets the operation mode of the in-cab buzzer 23 to the effective mode.

[0123] The periphery monitoring system 50 of the hydraulic excavator 1 has an external buzzer 7 arranged outside the cab 9, and an external alarm setting unit 52 that sets the operation mode of the external buzzer 7 when an object is detected to either an enabled mode in which an alarm is output or an disabled mode in which an alarm is not output based on first input data Da from the input device 21, and an operator alarm setting unit 53 executes processing to enable or disable the in-cab buzzer 23 based on the set operation mode of the external buzzer 7.

[0124] As a result, in the case where the operator can arbitrarily set the operation mode of each of the external buzzer 7 and the in-cab buzzer 23 to either the enabled mode or the disabled mode, if the operation mode of the external buzzer 7 is set to the enabled mode, even if the operator attempts to set the operation mode of the in-cab buzzer 23 to the disabled mode, the operation mode of the in-cab buzzer 23 is set to the enabled mode by the perimeter monitoring controller 24. Therefore, the operation modes of the external buzzer 7 and the in-cab buzzer 23 are prevented from being set inappropriately.

[0125] When the operation mode of the external buzzer 7 is set to the enabled mode, the operator alarm setting unit 53 enables the in-cab buzzer 23. This prevents the operation mode of the in-cab buzzer 23 from being set inappropriately.

[0126] The operator alarm setting unit 53 sets the operation mode of the in-cab buzzer 23 when an object is detected to either an enabled mode in which an alarm is output or a disabled mode in which no alarm is output, based on the second input data Db from the input device 21, and the forcing setting unit 55 does not acquire the second input data Db when the operation mode of the external buzzer 7 is set to the enabled mode. Since the perimeter monitoring controller 24 is prohibited from accepting the second input data Db, when the operation mode of the external buzzer 7 is set to the enabled mode, even if the operator operates the input device 21 to set the operation mode of the in-cab buzzer 23 to the disabled mode, the operation mode of the in-cab buzzer 23 is set to the enabled mode by the perimeter monitoring controller 24.

[0127] The periphery monitoring system 50 for the hydraulic excavator 1 includes a vehicle body operation control unit 58 that controls the operation of the hydraulic excavator 1 based on the operation of the operating device 12, and a vehicle body operation setting unit 54 that sets the control mode of the vehicle body operation control unit 58 when an object is detected to an enabled mode that restricts at least part of the operation of the hydraulic excavator 1 or an disabled mode that does not restrict it, based on third input data Dc from the input device 21. When the control mode of the vehicle body operation control unit 58 is set to the enabled mode, the forcing setting unit 55 prohibits the operator alarm setting unit 53 from setting the operation mode of the in-cab buzzer 23, and sets the operation mode of the in-cab buzzer 23 to the enabled mode.

[0128] As a result, in the case where the operator can arbitrarily set the control mode of the vehicle body operation control section 58 to either the enabled mode or the disabled mode, if the control mode of the vehicle body operation control section 58 is set to the enabled mode, even if the operator attempts to set the operation mode of the in-cab buzzer 23 to the disabled mode, the control mode of the vehicle body controller 8 is set to the enabled mode by the periphery monitoring controller 24. Therefore, the operation mode of the in-cab buzzer 23 is prevented from being set inappropriately.

[0129] Based on second input data Db from input device 21, operator alarm setting unit 53 sets the operation mode of in-cab buzzer 23 when an object is detected to either an effective mode in which an alarm is output or an ineffective mode in which no alarm is output, and when the control mode of vehicle body operation control unit 58 is set to the effective mode, forcing setting unit 55 does not acquire second input data Db in operator alarm setting unit 53. In other words, acquisition of second input data Db by operator alarm setting unit 53 is prohibited. Because acceptance of second input data Db by perimeter monitoring controller 24 is prohibited, when the control mode of vehicle body controller 8 is set to the effective mode, even if the operator operates input device 21 to set the operation mode of in-cab buzzer 23 to the ineffective mode, the operation mode of in-cab buzzer 23 is set to the effective mode by perimeter monitoring controller 24.

[0130] When the operation mode of the external buzzer 7 is set to the disabled mode and the control mode of the vehicle body operation control unit 58 is set to the disabled mode, the forcing setting unit 55 permits the operator alarm setting unit 53 to acquire the second input data Db. As a result, when both the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 are set to the disabled mode, the operator can operate the input device 21 to arbitrarily set the operation mode of the in-cab buzzer 23.

[0131] The operator alarm setting unit 53 sets the operation mode of the in-cab buzzer 23 when an object is detected to either an enabled mode in which an alarm is output or an disabled mode in which no alarm is output, based on the second input data Db from the input device 21, and the forcing setting unit 55 acquires the second input data Db from the operator alarm setting unit 53 when the operation mode of the external buzzer 7 is set to the disabled mode and the control mode for controlling the operation of the work machine by the vehicle body operation control unit 58 is set to the disabled mode. This allows the perimeter monitoring controller 24 to accept the second input data Db, so the operator can operate the input device 21 to arbitrarily set the operation mode of the in-cab buzzer 23.

[0132] The periphery monitoring system 50 of the hydraulic excavator 1 includes a display control unit 59 that causes the display device 22 to display setting menus related to the setting of each of the operation mode of the external buzzer 7 and the operation mode of the in-cab buzzer 23. The display control unit 59 changes the display form of the setting menu related to the operation mode of the in-cab buzzer 23 depending on whether at least one of the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 is set to the enabled mode or whether both the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 are set to the disabled mode. As described with reference to FIG. 12 , in the embodiment, the setting menu related to the operation mode of the in-cab buzzer 23 includes the words "in-cab buzzer." When at least one of the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 is set to the enabled mode, the words "in-cab buzzer" are hidden. When both the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 are set to the disabled mode, the words "in-cab buzzer" are displayed. This allows the operator to recognize whether or not the situation allows setting the operation mode of the in-cab buzzer 23 using the input device 21.

[0133] The display control unit 59 causes the display device 22 to display a first symbol 35 indicating the operation mode of the external buzzer 7, a second symbol 36 indicating the operation mode of the in-cab buzzer 23, and a third symbol 37 indicating the control mode of the vehicle body operation control unit 58. This allows the operator to recognize the setting status of the operation mode of the external buzzer 7, the setting status of the operation mode of the in-cab buzzer 23, and the setting status of the control mode of the vehicle body operation control unit 58.

[0134] The periphery monitoring system 50 for the hydraulic excavator 1 includes an alarm range storage unit 60 that stores an alarm range 14 in which an alarm is requested to be output when an object is detected. A display control unit 59 causes the display device 22 to display a peripheral image 30 showing the periphery of the hydraulic excavator 1 and a guide line 33 indicating the alarm range 14 in the peripheral image 30. This allows the operator to recognize the positional relationship between the hydraulic excavator 1 and the alarm range 14.

[0135] [Other embodiments] In the above-described embodiment, the external alarm device 7 is an external buzzer that outputs an alarm sound as an alarm, but is not limited to this. For example, the external alarm device 7 may be a warning light or a rotating light that outputs light as an alarm.

[0136] In the above embodiment, the operator warning device 23 is an in-cab buzzer that outputs an audible warning as a warning, but is not limited to this. For example, the operator warning device 23 may be a warning light or rotating light that outputs light as a warning, or a display device that displays a message or symbol as a warning.

[0137] In the above-described embodiment, the object detection device 6 has the camera 11, but this is not limited to this. The object detection device 6 may detect an object in a non-contact manner, and may be, for example, a radar device or a laser device provided on the hydraulic excavator 1.

[0138] In the above-described embodiment, the operation mode and the control mode are set by operating the buttons of the input device 21, but this is not limiting. The input device 21 may include a touch sensor provided on the display screen of the display device 22. That is, the display device 22 may include a touch panel having the functions of the input device 21. The operation mode and the control mode may be set by operating the touch panel.

[0139] In the above-described embodiment, the display device 22 switches between displaying and hiding the characters "in-cab buzzer" depending on whether at least one of the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 is set to the enable mode or whether both the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 are set to the disable mode. However, this is not limited to this. For example, the display control unit 59 may change the display form of the setting menu related to the operation mode of the in-cab buzzer 23 depending on whether at least one of the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 is set to the enable mode or whether both the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 are set to the disable mode. For example, when at least one of the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 is set to the enable mode, the characters "in-cab buzzer" may be displayed in red, and when both the operation mode of the external buzzer 7 and the control mode of the vehicle body operation control unit 58 are set to the disable mode, the characters "in-cab buzzer" may be displayed in blue.

[0140] In the above-described embodiment, the periphery monitoring monitor 20 includes the input device 21, the display device 22, the in-cab buzzer 23, and the periphery monitoring controller 24, but this is not limited to this. For example, the input device 21, the display device 22, the in-cab buzzer 23, and the periphery monitoring controller 24 may be separate entities. Furthermore, a tablet terminal that can be separated from the hydraulic excavator 1 may have the functions of the input device 21, the display device 22, and the periphery monitoring controller 24.

[0141] In the above-described embodiment, the perimeter monitoring controller 24 has the functions of the object detection unit 51, the external alarm setting unit 52, the operator alarm setting unit 53, the vehicle body operation setting unit 54, the compulsory setting unit 55, the operator alarm control unit 57, the display control unit 59, and the alarm range storage unit 60, and the vehicle body controller 8 has the functions of the external alarm control unit 56 and the vehicle body operation control unit 58, but this is not limited to this. For example, at least some of the functions of the perimeter monitoring controller 24 may be provided in the vehicle body controller 8, or at least some of the functions of the vehicle body controller 8 may be provided in the perimeter monitoring controller 24. Furthermore, the perimeter monitoring controller 24 and the vehicle body controller 8 may be integrated. Furthermore, the object detection unit 51, the external alarm setting unit 52, the operator alarm setting unit 53, the vehicle body operation setting unit 54, the compulsory setting unit 55, the external alarm control unit 56, the operator alarm control unit 57, the vehicle body operation control unit 58, the display control unit 59, and the alarm range storage unit 60 may each be configured as separate hardware (computer systems).

[0142] In the above-described embodiment, the hydraulic excavator 1 may be a hydraulic excavator used in mines or a hydraulic excavator used at construction sites.

[0143] In the above-described embodiment, the work machine 1 is a hydraulic excavator, but is not limited to this. The work machine 1 may be any machine as long as it has a work implement, and may be, for example, a bulldozer or a wheel loader. The work machine 1 may also be a dump truck that has a vessel instead of a work implement. The perimeter monitoring system 50 according to the above-described embodiment is applicable to various work machines 1.

[0144] In the above-described embodiment, the work machine 1 is operated by an operator inside the cab 9, but this is not limited to this. The work machine 1 may also be remotely operated by an operator in a remote location, and for example, the operator may operate the work machine 1 from an operation room located away from the work machine 1. In this case, the operator alarm device 23 is disposed in the operation room to output an alarm to the operator operating the work machine. [Explanation of symbols]

[0145] 1... Hydraulic excavator (work machine), 1S... Body symbol, 2... Upper rotating body, 3... Lower running body, 3A... Drive wheel, 3B... Track, 4... Work machine, 4A... Boom, 4B... Arm, 4C... Bucket, 5... Hydraulic cylinder, 5A... Boom cylinder, 5B... Arm cylinder, 5C... Bucket cylinder, 6... Object detection device, 7... External buzzer (external alarm device), 8... Body controller, 9... Cab, 10... Driver's seat, 11... Camera, 11A... Rear camera, 11B... Right side camera, 11C... Right front camera, 11D... Left side camera, 1 2...operating device, 12A...left working lever, 12B...right working lever, 12C...left travel lever, 12D...right travel lever, 12E...left foot pedal, 12F...right foot pedal, 13...detection range, 14...alarm range, 14A...first alarm range, 14B...second alarm range, 15...object, 16...marker, 20...periphery monitoring monitor, 21...input device, 22...display device, 23...in-cab buzzer (operator alarm device), 24...periphery monitoring controller, 30...periphery image, 31...bird's-eye view image, 32...single camera image, 33...guide line, 33A...first Guide line, 33B...second guide line, 34...status symbol, 34A...water temperature gauge, 34B...oil temperature gauge, 34C...fuel level gauge, 35...first symbol, 36...second symbol, 37...third symbol, 38...fourth symbol, 39...direction symbol, 40...function symbol, 40A...function symbol, 40B...function symbol, 40C...function symbol, 41...service meter symbol, 42...operation mode symbol, 50...perimeter monitoring system, 51...object detection unit, 52...external alarm setting setting unit, 53...operator alarm setting unit, 54...vehicle body operation setting unit, 55...forcing setting unit, 56...external alarm control unit, 57...operator alarm control unit, 58...vehicle body operation control unit, 59...display control unit, 60...alarm range memory unit, 1000...computer system, 1001...processor, 1002...main memory, 1003...storage, 1004...interface, AX...boom rotation axis, BX...arm rotation axis, CX...bucket rotation axis, Da...first input data, Db...second input data, Dc...third input data, RX...swing axis.

Claims

1. 1. A perimeter monitoring system for a work machine, comprising: an object detection device that detects objects around the work machine; an operator warning device arranged to output a warning to an operator operating the work machine; a processor, The processor: setting a control mode for controlling the operation of the work machine when the object is detected to either an effective mode that restricts the operation of at least a portion of the work machine or an ineffective mode that does not restrict the operation, based on input data from an input device for setting the control mode of the work machine; setting the operation mode of the operator alarm device when the object is detected to either an effective mode in which an alarm is output or an ineffective mode in which an alarm is not output based on input data from the input device for setting the operation mode of the operator alarm device; when the control mode is set to an enable mode, prohibiting setting of the operation mode of the operator alarm device by input data from the input device, and forcibly enabling the operation mode of the operator alarm device; when the control mode is set to the disabled mode, allowing the setting of the operation mode of the operator alarm device by input data from the input device; Perimeter surveillance system.

2. The processor: If the control mode is set to an enabled mode, the input data for setting the operation mode of the operator alarm device is not acquired. The perimeter monitoring system according to claim 1 .

3. an external alarm device arranged to output an alarm to the outside of the work machine; The processor: setting the operation mode of the external alarm device when the object is detected to either an effective mode in which an alarm is output or an ineffective mode in which an alarm is not output based on input data for setting the operation mode of the external alarm device from the input device; when the operation mode of the external alarm device is set to an enabled mode, prohibiting setting of the operation mode of the operator alarm device by input data from the input device, and forcibly enabling the operation mode of the operator alarm device; When the operation mode of the external alarm device is set to a disabled mode, the operation mode of the operator alarm device is permitted to be set by input data from the input device. The perimeter monitoring system according to claim 1 .

4. The processor: When the operation mode of the external alarm device is set to an enabled mode, the input data for setting the operation mode of the operator alarm device is not acquired. The perimeter monitoring system according to claim 3 .

5. the processor disables the operator alarm when the control mode is set to a disabled mode and the operation mode of the external alarm is set to a disabled mode. The perimeter monitoring system according to claim 3 .

6. The processor: When the control mode is set to a disabled mode and the operation mode of the external alarm device is set to a disabled mode, acquiring the input data for setting the operation mode of the operator alarm device. The perimeter monitoring system according to claim 3 .

7. The processor: displaying a setting menu relating to the setting of each of the control mode and the operation mode of the operator alarm device on a display device; a display form of a setting menu relating to an operation mode of the operator alarm device is made different depending on whether the control mode is set to an effective mode or an ineffective mode; The perimeter monitoring system according to any one of claims 1 to 6.

8. The processor: displaying on the display device a first symbol indicating the control mode and a second symbol indicating an operation mode of the operator warning device; The perimeter monitoring system according to claim 7 .

9. The processor: storing an alarm range within which an alarm is requested to be output when the object is detected; a peripheral image showing the periphery of the work machine and a reference line showing the warning range in the peripheral image are displayed on the display device; 9. The perimeter monitoring system according to claim 7 or 8.

10. A vehicle equipped with the perimeter monitoring system according to any one of claims 1 to 9. Work machinery.

11. the work machine has a cab, the operator warning device is located inside the cab; 11. A work machine according to claim 10.

12. 1. A perimeter monitoring method for a work machine, comprising: Detecting objects in the vicinity of the work machine; setting a control mode for controlling the operation of the work machine when the object is detected to either an effective mode that restricts the operation of at least a portion of the work machine or an ineffective mode that does not restrict the operation, based on input data from an input device for setting the control mode of the work machine; based on input data from the input device for setting an operation mode of an operator warning device that is arranged to output an alarm to an operator operating the work machine, the operation mode of the operator warning device being set to either an effective mode in which an alarm is output or an ineffective mode in which an alarm is not output when the object is detected; when the control mode is set to an enable mode, prohibiting setting of the operation mode of the operator alarm device by input data from the input device, and forcibly enabling the operation mode of the operator alarm device; when the control mode is set to the disabled mode, allowing the setting of the operation mode of the operator alarm device by input data from the input device; Perimeter surveillance methods.

13. Based on input data for setting the operation mode of an external alarm device arranged to output an alarm toward the outside of the work machine, the operation mode of the external alarm device when the object is detected is set to either an effective mode in which an alarm is output or an ineffective mode in which an alarm is not output; when the operation mode of the external alarm device is set to an enabled mode, prohibiting setting of the operation mode of the operator alarm device by input data from the input device, and forcibly enabling the operation mode of the operator alarm device; When the operation mode of the external alarm device is set to a disabled mode, the operation mode of the operator alarm device is permitted to be set by input data from the input device. The perimeter monitoring method according to claim 12.

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