Surroundings monitoring device for work machines

Abstract

To provide a periphery monitoring device of a working machine which performs display so that a distance to an object around the working machine can be correctly grasped.SOLUTION: A periphery monitoring device displays a working machine 1 and a bird's-eye view image around its surroundings. The periphery monitoring device has: detecting means 634 for detecting a distance to a surrounding object with respect to the working machine 1; and display means 622 for displaying the object reflecting the distance between the working machine 1 and the object. A display range E of the object of the display means 622 is within a range extracted from a part of a detecting range F of the detecting means 634. Since the distance to the surrounding object is detected and extracted and the object is displayed in this way, the periphery monitoring device allows accurate grasp of the distance to the object.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a surroundings monitoring device for a work machine. [Background technology]

[0002] Conventional surroundings monitoring devices for work machines convert images taken diagonally downward by cameras installed on all four sides of the work machine into images viewed vertically from above, then combine these converted images to generate an overhead image known as an around view, which is displayed on a display device (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-074929 Summary of the Invention [Problem to be solved by the invention]

[0004] However, since images that have undergone line-of-sight conversion are distorted, it can sometimes be difficult to grasp the correct distance to surrounding objects from the overhead image displayed by conventional surroundings monitoring devices.

[0005] An object of the present invention is to provide a display that allows the distance to an object around a work machine to be more accurately understood. [Means for solving the problem]

[0006] The present invention provides a surroundings monitoring device that displays an overhead image of a work machine and its surroundings, a detection means for detecting a distance of a surrounding object relative to the work machine; a display means for displaying the object in the overhead image while reflecting the distance between the work machine and the object, a display range that is narrower than the detection range of the detection means is set inside the detection range, the display range is a range within a predetermined distance in each predetermined direction with respect to the detection range, The display means displays the display range and a portion of the detection range outside the display range, and displays only objects within the display range as objects detected by the detection means. , and is structured as follows. [Effects of the Invention]

[0007] According to the present invention, it is possible to display the distance to objects around the work machine so that the distance can be more accurately understood. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view of a crane equipped with a perimeter monitoring device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing the configuration of a crane control device and its peripherals. [Figure 3] 10 is a display example of a detected image that displays on a display device the detection result when a surrounding object is detected in a three-dimensional detection range by the surrounding detection device. [Figure 4] FIG. 10 is a right side view of the rear part of the crane showing an example of the display range. [Figure 5] 10 is a display example of a detected image in which only objects detected within a display range are displayed on a display device. [Figure 6] 10 is a display example of a detected image in which only objects detected within a display range are displayed when height and distance restrictions are applied. [Figure 7] 10 is a display example of a detected image when a display range that is rectangular in plan view is set. [Figure 8] 10 is a display example in which an alarm range is displayed on a display device. [Figure 9] 10 is a flowchart of a surroundings monitoring process. [Figure 10] Figure 10(A) is an example of a display of an icon with a design that omits the part corresponding to the crane's lower running structure, and Figure 10(B) is an example of a display of an icon with a design that omits the part corresponding to the crane's lower running structure as well as the boom. DETAILED DESCRIPTION OF THE INVENTION

[0009] [Crane outline] FIG. 1 is a side view of a crane as a work machine equipped with a surroundings monitoring device according to an embodiment of the present invention. Crane 1 is a so-called mobile crawler crane. In describing crane 1, the front, rear, left, and right directions as seen by a person on the upper rotating structure 3 will be described as the front, rear, left, and right directions of crane 1. Unless otherwise specified, the front, rear, left, and right directions of crane 1 will be described assuming that the lower running structure 2 is in a state where the front and rear directions of the lower running structure 2 and the upper rotating structure 3 are aligned (reference position). In addition, the up and down direction of crane 1 when placed on a horizontal surface may also be referred to as the vertical direction.

[0010] As shown in Figure 1, the crane 1 is composed of a self-propelled crawler-type lower running body 2, an upper rotating body 3 rotatably mounted on the lower running body 2, and a boom 4 attached to the front side of the upper rotating body 3 so that it can be raised and lowered.

[0011] The lower traveling body 2 includes a main body 21 and crawlers 22 provided on both the left and right sides of the main body 21. The left and right crawlers 22 are each rotationally driven by a traveling hydraulic motor (not shown).

[0012] A lower end of a boom 4 is supported on the front side of the upper rotating body 3. A lower end of a mast 31 is supported on the rear side of the boom support position on the upper rotating body 3. The upper rotating body 3 is driven to rotate about a vertical axis relative to the lower traveling body 2 by a hydraulic motor for rotation (not shown).

[0013] A counterweight 5 for balancing the weight of the boom 4 and the suspended load is attached to the rear of the upper rotating body 3. The number of counterweights 5 can be increased or decreased as needed.

[0014] A hoisting winch (not shown) that raises and lowers the boom 4 is disposed in front of the counterweight 5, and a hoisting winch (not shown) that winds and unwinds the hoisting rope 32 is disposed in front of the hoisting winch. The hoisting winch uses a hoisting hydraulic motor (not shown) to wind and unwind the hoisting rope 32, thereby raising and lowering the hook 34 and the suspended load. A cab 33 is disposed on the right front side of the upper rotating body 3.

[0015] The boom 4 is attached to the upper rotating body 3 so as to be able to rise and fall. The boom 4 includes a lower boom 41 and an upper boom 42. A sheave 43 that guides the hoisting rope 32 is rotatably attached to the upper end of the upper boom 42.

[0016] The mast 31 is equipped with an upper spreader 35 at its upper end, and the upper spreader 35 is connected to one end of a pendant rope 44, the other end of which is connected to the upper end of the boom 4. A lower spreader 36 is provided below the upper spreader 35, and when a boom hoisting rope 37 is wound multiple times between them and reeled in or out by a boom hoisting winch, the distance between the upper spreader 35 and the lower spreader 36 changes, causing the boom 4 to rise and fall. The boom hoisting winch is driven by a boom hoisting hydraulic motor (not shown).

[0017] [Crane control system] A crane control device 60 is provided adjacent to the cab 33 of the upper rotating body 3. Figure 2 is a block diagram showing the configuration of the control device 60 and its surroundings. The control device 60 is a control terminal mounted on the crane 1, and mainly controls various operations of the crane 1, such as travel, rotation, and load lifting, as well as monitoring the surroundings of the crane 1. The control device 60 includes a controller 61 that includes a processing unit having a CPU, ROM and RAM as storage devices, and other peripheral circuits. The controller 61 includes a software module of a surroundings monitoring processing unit 611 that performs surroundings monitoring processing. The surroundings monitoring processing unit 611 may be configured as hardware.

[0018] The controller 61 (periphery monitoring processing unit 611), input unit 621, and display device 622 function as a surroundings monitoring device that displays an overhead image of the crane 1 and its surroundings. The function as a surroundings monitoring device will be described later.

[0019] The controller 61 is connected to an input unit 621 , a display device 622 as a display means, an alarm 623 , an operating lever 624 , and a memory 625 , which together constitute the control device 60 . Furthermore, the controller 61 is connected to a load cell 631 , a boom angle sensor 632 , a rotation amount sensor 633 , a surroundings detection device 634 as a detection means, and a control valve 635 .

[0020] The input unit 621 is provided inside the cab 33 and is an input interface such as a touch panel, which outputs control signals corresponding to operations by the operator to the controller 61. The operator can operate the input unit 621 to input the length of the boom 4, the weight of the suspended load, and various other settings and inputs required for operation. The display device 622 is provided inside the cab 33 and includes, for example, a touch panel display that is also used as the input unit 621, and displays information such as the weight of the load, the boom angle, and the rotation angle of the upper rotating body 3 on the display screen based on control signals output from the controller 61. The alarm device 623 issues an alarm based on a control signal output from the controller 61 .

[0021] The operating lever 624 is provided in the cab 33 and is used to manually input, for example, operations to cause the crane 1 to perform various operations, and to input a control signal corresponding to the amount of operation of the operating lever 624 to the controller 61. For example, the operating lever 624 can perform operation inputs for the traveling operation of the lower traveling body 2, the rotating operation of the upper rotating body 3, the raising and lowering operation of the boom 4, and the winding and unwinding of the hoisting rope 32 by the hoisting winch.

[0022] The load cell 631 is attached to the upper spreader 35, detects the tension acting on the pendant rope 44 that raises and lowers the boom 4, and outputs a control signal corresponding to the detected tension to the controller 61.

[0023] The boom angle sensor 632 is attached to the base end side of the boom 4, detects the hoisting angle of the boom 4 (hereinafter also referred to as the boom angle), and outputs a control signal corresponding to the detected boom angle to the controller 61. The boom angle sensor 632 detects, for example, the ground angle, which is the angle with respect to the horizontal plane, as the boom angle.

[0024] The rotation amount sensor 633 is attached between the lower traveling body 2 and the upper rotating body 3, detects the rotation angle of the upper rotating body 3, and outputs a control signal corresponding to the detected rotation angle to the controller 61. The rotation amount sensor 633 detects, for example, an angle around a vertical axis as the rotation angle.

[0025] The control valve 635 is composed of a plurality of valves that can be switched in response to a control signal from the controller 61 . For example, the control valve 635 includes a valve that controls the rotational drive of the left and right crawlers 22 of the lower traveling body 2, a valve that controls the rotational operation of the upper rotating body 3, a valve that controls the rotational drive of the luffing winch, and a valve that controls the rotational drive of the hoisting winch.

[0026] [Ambient detection device] The surroundings detection device 634 is a sensor that detects the distance to an object present around the crane 1, for example, a distance measuring device that uses a laser scanner such as LiDAR (Light Detection and Ranging). Note that the "object" that is the target of distance detection includes not only things but also people. As shown in FIG. 1, the surroundings detection device 634 is attached to the bottom surface of the rear end portion of the upper rotating body 3 (the rear end portion in a state where the counterweight 5 is not provided). The perimeter detection device 634 has as one of its detection planes a horizontal, fan-shaped, two-dimensional plane that extends from a straight line LB, approximately 25 m long and extending horizontally backward, in the horizontal direction of the crane 1, and that extends from the perimeter detection device 634 at a range of 135° on both the left and right sides (270° in total). Furthermore, the perimeter detection device 634 has as its detection range a three-dimensional range in which the fan-shaped detection plane is tilted upward and downward at an angle of 90° or less around a horizontal axis that passes through the perimeter detection device 634 in the left-right direction. That is, the perimeter detection device 634 scans the two-dimensional plane with a laser beam within a range of 135° on both the left and right sides of the straight line LB, and further detects distances in a three-dimensional range by changing the scanning of the two-dimensional plane by small angles up and down around the horizontal axis at an angle of 90° or less. As described above, the surroundings detection device 634 detects the distance to an object in all directions around it, and the surroundings monitoring processing unit 611 can generate detected image data that associates the direction and distance relative to the surroundings detection device 634 from the detection results. However, since the periphery detection device 634 uses irradiation of laser light, it cannot detect objects in areas that are blocked by various parts of the crane 1.

[0027] It should be noted that the length of the straight line LB and the horizontal and vertical angular ranges for detection in the surroundings detection device 634 are merely examples and are not limited to the above numerical values. Moreover, the surroundings detection device 634 may perform detection by rotating a detection plane parallel to the vertical direction of the crane 1 left and right around a vertical axis. Furthermore, the surroundings detection device 634 may be provided at any position on the vehicle body, for example, at a plurality of positions such as the left end, right end, front end, etc. of the upper rotating body 3.

[0028] The "horizontal direction" of the crane 1 refers to a direction along a plane perpendicular to the rotation axis of the upper rotating body 3, and is a direction parallel to the aforementioned front-rear and left-right directions. Moreover, the "vertical direction" of the crane 1 refers to a direction parallel to the rotation axis of the upper rotating body 3, and is a direction parallel to the above-mentioned up-and-down direction.

[0029] [Image detected by surrounding detection device] FIG. 3 shows an example of a detected image (bird's-eye view image) G1 displayed on display device 622, reflecting the distance that is the detection result when surrounding objects are detected within a three-dimensional detection range by surroundings detection device 634. The phrase "displaying... reflecting the distance" means displaying the distance detected by the surroundings detection device 634 multiplied by a predetermined magnification. The phrase "displaying... reflecting the distance" also includes displaying the distance by changing the magnification only for a specific area, and displaying the distance by a uniform magnification without changing the magnification. When the setting is such that the entire detection range of the periphery detection device 634 is displayed without restriction, the periphery monitoring processing unit 611 causes the display device 622 to display a detection image in which all surrounding objects detected in the three-dimensional detection range by the periphery detection device 634 are orthogonally projected onto a horizontal plane. Furthermore, when a display range, which will be described later, is set, the periphery monitoring processing unit 611 causes the display device 622 to display a detection image in which all surrounding objects detected in the display range are orthogonally projected onto a horizontal plane. Moreover, the surroundings monitoring processing unit 611 displays the object on the detected image at a distance obtained by multiplying the distance detected by the surroundings detection device 634 by the same magnification as the display magnification of the detected image. For example, if the detected image displays a range of 25 m in length and width at 5 cm in length and width, an object at the X and Y positions of the distance (X, Y, Z) detected by the surroundings detection device 634 is displayed on the detected image at a position that is a distance multiplied by 5 / 2500.

[0030] The detected image G1 is an image in which dots representing each point on the object are displayed at predetermined positions on the screen corresponding to the detection direction and detection distance, in accordance with the direction and distance of each point on the object surface detected by the periphery detection device 634. For example, when multiple consecutive points are detected on the surface of the object, the dots in the detected image are displayed consecutively so as to trace the outline of the object. In addition, within the detection image G1 displayed on the display device 622 by the surrounding detection device 634, an icon Ic representing the crane 1 in plan view is displayed at a scale and orientation corresponding to the scale of the detection image and the detection direction of the surrounding detection device 634.

[0031] [Display of detected images based on the display range by the surrounding monitoring processing unit] As shown in Figure 3, when the detection results within the entire detection range of the perimeter detection device 634 are set to be displayed without limit, objects at heights that have little effect on the operation of the crane 1, unevenness in the ground, and parts of the body of the crane 1 that are within the detection range of the perimeter detection device 634 will be displayed, which may make it difficult to distinguish them from obstacles that may actually affect the operation of the crane 1. Therefore, the surroundings monitoring processing unit 611 performs control so that only objects that are included in the entire detection range of the surroundings detection device 634 and that are detected within a display range that is narrower than the detection range are displayed on the display device 622. The display range can be arbitrarily set using the input section 621, for example.

[0032] Fig. 4 is a right side view of the rear of the crane 1, showing an example of the above-mentioned display range. Fig. 4 illustrates a display range E in which a height restriction is applied to the entire detection range F of the perimeter detection device 634. More specifically, the display range E in Fig. 4 illustrates a case in which the display range E is the height of the bottom surface of the upper rotating body 3, and is limited to a plane along the horizontal direction of the crane 1, relative to the entire detection range F of the perimeter detection device 634. The display range E is a horizontal, two-dimensional sector-shaped plane that extends from the line LB in Fig. 1 to both the left and right of the surroundings detection device 634 within a range of 135° (270° in total) with the surroundings detection device 634 at the center. Therefore, the display range E extends to the front of the surroundings detection device 634 (the part in front of the 0 point on the vertical axis in Fig. 3), but the range in front of the surroundings detection device 634 is not shown in Fig. 4.

[0033] 3, the detection range F and display range E lack a 90° range in a plan view on the front side of the crane 1, and the detection range F and display range E are smaller on the front side of the crane 1 than on the rear side. This is because the 90° range on the front side of the crane 1 is a range where visibility from the cab 33 is good, and therefore there is little need for object detection. However, it goes without saying that detection and display may also be performed within a 90° range on the front side of the crane 1 by providing the surroundings detection device 634 at the front end of the vehicle body, for example.

[0034] FIG. 5 shows an example of a detected image (bird's-eye view image) G2 in the case where only objects detected in the display range E of FIG. Compared to Figure 3, in the detected image G2 of Figure 5, all objects that exist at a height that does not affect the operation of the crane 1, unevenness in the ground, and parts of the body of the crane 1 that exist within the detection range of the surrounding detection device 634 are not displayed, and only objects near the bottom height of the upper rotating body 3 that are likely to affect the operation of the crane 1 are displayed. Therefore, obstacles that may affect the operation of the crane 1 can be easily recognized from the detected image G2.

[0035] It is also possible to impose not only a height restriction but also a distance restriction on the entire detection range of the perimeter detection device 634. Fig. 6 shows an example of a display of a detected image (bird's-eye view image) G3 in the case where only objects detected in a display range E are displayed on the display device 622 when height restrictions and distance restrictions are imposed on the entire detection range of the perimeter detection device 634. The display range of the detected image G3 is shown as an example in which it is limited to about half the detection range of the perimeter detection device 634. For example, if the display range E of the detection image G2 extends to a distance that cannot affect the operation of the crane 1, by limiting the display range E to a distance that can affect the operation of the crane 1, unnecessary information outside the display range E with the distance restriction, such as the detection image G3, will not be displayed, making it possible to more clearly recognize obstacles that may affect the operation of the crane 1.

[0036] Furthermore, when imposing a distance limit on the entire detection range F of the surroundings detection device 634, it is not limited to setting it as a circular display range E in a planar view that is a uniform distance in all directions around the surroundings detection device 634 as the center. For example, a display range E with a distance restriction of any shape in planar view may be set by individually setting a restriction distance for each direction around the periphery detection device 634. For example, Fig. 7 shows a detected image G4 when a display range E that is rectangular in planar view is set. This makes it possible, for example, to display detected objects in a display range E that more appropriately corresponds to the planned operation of the crane 1 and the planar shape of the crane 1, making it possible to more clearly recognize objects that could become obstacles.

[0037] [Alarm control based on alarm range by surrounding monitoring processing unit] When an object is detected in a warning range W, which is included in the entire detection range F of the perimeter detection device 634 but is narrower than the detection range F, the perimeter monitoring processing unit 611 executes warning control to warn the operator operating the crane 1 in a manner different from the display of the object in the display range E, for example, by highlighting the warning range W with a color or the like. Here, the perimeter monitoring processing unit 611, which executes warning control to warn the operator by highlighting the warning range W with a color or the like, also functions as an "warning means." The warning range W can be arbitrarily set from the input unit 621, for example.

[0038] As shown in Fig. 4 above, an example of an alarm range W is shown in which height and distance restrictions are imposed on the entire detection range F of the surroundings detection device 634. This alarm range W is shown as an example in which it is narrower than the display range E in the horizontal direction and wider than the display range E in the vertical direction compared to the display range E shown in Fig. 4. Within the alarm range W, the area that overlaps with the display range E is called the overlapping area WA, and the area extended vertically from the display range E is called the extended area WB. More specifically, the warning range W in Figure 4 illustrates an example in which the horizontal distance is closer to the surrounding detection device 634 than the display range E, and the vertical distance includes the entire range below the bottom height of the upper rotating body 3. The warning range W in side view also extends somewhat forward of the surrounding detection device 634, but similar to the illustration of the display range E, the range forward of the surrounding detection device 634 (the portion forward of the 0 point on the vertical axis in FIG. 3) is omitted in FIG. 4.

[0039] FIG. 8 is a display example in which a more detailed warning range W is displayed on the display device 622. As shown in the figure, the warning range W may be set in stages according to the distance from the crane 1. For example, ranges in the warning range W that are farther away from the crane 1 may be set as caution ranges W11 to W14, and ranges that are closer to the crane 1 may be set as warning ranges W21 to W24. The caution ranges W11 to W14 indicate, for example, ranges within a distance within which a worker is warned, and the warning ranges W21 to W24 indicate, for example, ranges within a distance within which some kind of action should be taken against the worker. Furthermore, like caution areas W11 to W14 and warning areas W21 to W24, the area may be divided into multiple directions around the crane 1. Although Fig. 8 shows an example of division into four areas, the number of divisions can be changed as desired.

[0040] As described above, when an object is detected within the warning range W, the surroundings detection device 634 executes warning control to warn the operator operating the crane 1. When the warning range W is divided into multiple ranges as described above, for example, the surroundings detection device 634 may execute warning control to highlight the ranges in which an object is detected in the attention ranges W11 to W14 and the warning ranges W21 to W24 by adding color, increasing brightness, flashing, or the like. In this case, as shown in Fig. 8, when an object h is detected in each range, it is preferable to display the warning ranges W21 to W24, which are closer to the crane 1, more emphatically than the caution ranges W11 to W14, which are farther from the crane 1. Examples of an emphatized display include a display in a darker color, a display in a brighter color, or a display that increases the blinking speed of the relevant range.

[0041] Furthermore, if the areas are individually divided in multiple directions around the crane 1, such as into caution areas W11 to W14 and warning areas W21 to W24, it is possible to clearly and quickly recognize in which direction the object h is located.

[0042] [Flow of surrounding monitoring process by crane] FIG. 15 is a flowchart showing the surroundings monitoring process performed by the surroundings monitoring processing unit 611 of the controller 61 of the crane 1. First, the surroundings monitoring processing unit 611 causes the surroundings detection device 634 to detect an object within the detection range F (step S1). Then, it is determined whether or not a display range E extracted from the detection range F is set (step S3).

[0043] As a result, if the display range E is not set, the surroundings monitoring processing unit 611 causes the display device 622 to display a detection image based on the detection results for the entire detection range F (step S5). Furthermore, when the display range E is set, the surroundings monitoring processing unit 611 causes the display device 622 to display a detected image based on the detection result in the display range E (step S7).

[0044] After the detection image is displayed, the surroundings monitoring processing unit 611 determines whether or not an alarm range W extracted from the detection range F has been set (step S11). If the warning range W is not set, the process ends.

[0045] Furthermore, if the warning range W is set, the surroundings monitoring processing unit 611 determines whether an object has been detected within the warning range W (step S13). If no object is detected within the warning range W, the process ends.

[0046] Furthermore, when an object is detected within the warning range W, the surroundings monitoring processing unit 611 controls the display device 622 to highlight the warning range W. In this case, if the alarm range W is divided into multiple ranges such as the caution range W11 to W14 and the warning range W21 to W24, the range in which the object is detected is identified and the display device 622 is controlled to highlight that range in a predetermined manner. Then, the process ends.

[0047] [Technical Effects of the Embodiments of the Invention] As described above, the surroundings monitoring processing unit 611 of the controller 61 of the crane 1 causes the display device 622 to display a detected image showing the object, reflecting the distance detected by the surroundings detection device 634 that detects the distance of the surrounding object to the crane 1, thereby eliminating the need for line-of-sight conversion processing of the captured image and making it possible to display a detected image that allows a more accurate understanding of the distance to the object. Furthermore, the surroundings monitoring processing unit 611 displays the detection image as a range E of the object on the display device 622 that is an extracted part of the detection range F of the surroundings detection device 634, thereby preventing the crane 1 from displaying detection results in less important ranges, allowing the worker to properly and clearly recognize surrounding objects. Furthermore, in the detected image, the object is displayed at a distance obtained by multiplying the distance detected by the surroundings detection device 634 by the same magnification as the display magnification of the detected image, making it easier to recognize the sense of distance.

[0048] In addition, when an object enters the preset warning range W, the surrounding monitoring processing unit 611 issues an alarm in a manner different from the display of the object in the display range E, thereby making it possible to alert the worker to the entry of an object into the warning range W.

[0049] The surroundings monitoring processing unit 611 also sets an alarm range W based on the distance of an object relative to the crane 1, and divides it into a plurality of areas such as caution ranges W11 to W14 and warning ranges W21 to W24. Furthermore, when the object h enters any of the caution ranges W11 to W14 or the warning ranges W21 to W24, the surroundings monitoring processing unit 611 causes the display device 622 to highlight and display the corresponding range. Therefore, if the ranges are divided into different distances of objects from the crane 1, such as the caution range W11 to W14 and the warning range W21 to W24, it becomes possible for the operator to clearly recognize at what distance the object is located. Furthermore, if the area is divided into multiple areas according to the direction relative to the crane 1, such as the caution area W11 to W14 or the warning area W21 to W24, it becomes possible for the worker to clearly recognize in which direction the object is located.

[0050] Furthermore, by the surroundings monitoring processing unit 611 setting the display range E in the horizontal direction of the crane 1 to a range equal to or greater than the warning range W, it becomes possible to recognize in advance the presence of an object with low alert potential that is outside the warning range W. It also becomes possible to respond to the approach of an object at an earlier stage.

[0051] Furthermore, by having the surrounding monitoring processing unit 611 set the alarm range W not only to the overlapping area where it overlaps with the display range E but also to an extended area in the vertical direction of the crane 1 that is greater than the display range E, it becomes possible to recognize alarm ranges W that require high alert with reduced or no height restrictions. In addition, the surrounding monitoring processing unit 611 does not display objects in a range greater than the display range E of the warning range W, so it is possible to meet the request to issue a warning while displaying objects only in the display range that is the range that is desired to be displayed.

[0052] Furthermore, if the surrounding monitoring processing unit 611 sets the display range E to be smaller in front of the crane 1 than in the rear, it is possible to omit displaying objects in areas with good visibility, thereby optimizing the object recognition range of the display device 622.

[0053] [others] The details shown in the above embodiment of the invention can be modified as appropriate without departing from the spirit of the invention. For example, the above-mentioned icon Ic of the crane 1 is configured to show a bird's-eye view of the entire crane 1, but the present invention is not limited to this. For example, as in the icon Ic shown in Fig. 10(A), a configuration may be used in which a design is shown that omits the portion corresponding to the lower structure 2 (crawler 22) of the crane 1. Furthermore, as in the icon Ic shown in Fig. 10(B), a configuration may be used in which a design is shown that omits the portion corresponding to the boom 4 in addition to the lower structure 2 of the crane 1. In this case, each of the above icons Ic may be selectively usable.

[0054] For example, when the display range E of these icons Ic shown in Figure 10(A) or Figure 10(B) is the horizontal plane range corresponding to the height of the surrounding detection device 634 as described above, by displaying icons Ic excluding the configuration of the crane 1 that is unlikely to cause interference at the height of the displayed object, it becomes possible to clearly recognize the distance between objects that may cause interference. Furthermore, if the crane 1 has removable crawlers 22 and boom 4, when the crane 1 is used with these removed, the appropriate icon Ic can be used depending on the state of the crane 1, making it possible to properly recognize the distance to an object.

[0055] Furthermore, the configuration for implementing the surroundings monitoring device in the crane 1 is not limited to crawler cranes, but can be applied to other mobile cranes such as wheel cranes and truck cranes, as well as any cranes that have a winch drum, such as port cranes, overhead cranes, jib cranes, gantry cranes, unloaders, and fixed cranes. Furthermore, the surroundings monitoring device can also be applied to other work machines than cranes, such as hydraulic excavators and foundation machines.

[0056] Furthermore, the surroundings detection device 634 is not limited to a laser scanner, and distance detection means such as a camera or ultrasonic waves can also be used as long as they can detect the distance to an object.

[0057] Furthermore, in the detection image, the entire detection image including the object is displayed at a fixed scale, but the magnification of a part of the image may be changed.

[0058] In addition, in the above embodiment, an example is shown in which the detected image (bird's-eye view image) is displayed on the display device 622 provided on the crane 1, but the detected image (bird's-eye view image) may also be displayed on a mobile terminal or a display device viewed by a manager outside the crane.

[0059] In the above embodiment, the warning means (surroundings monitoring processing unit 611) warns the worker by coloring the warning range W in the detection image, but any means for calling attention can be used for the warning, such as a sound warning, a display on a screen other than the detection image, vibration, automatic stopping of the crane, etc. Furthermore, as a warning, for example, an object in the warning range may be displayed by using a separate camera. Furthermore, the target of the warning is not limited to the operator (occupant) of the crane 1, but may also be a manager outside the crane 1 or nearby field workers.

[0060] In the above embodiment, the alarm range is narrower than the display range in the horizontal direction and wider than the display range in the vertical direction, but this is not limiting, and other patterns in which the alarm range and the display range are different in the horizontal and vertical directions may be used. For example, the alarm range may be wider than the display range in both the horizontal and vertical directions, or narrower than the display range in both directions, or the alarm range may be wider than the display range in the horizontal direction and narrower than the display range in the vertical direction. The display range E and the warning range W may also be set so that they do not overlap at all. Since the processing executed when an object is present differs between the warning range and the display range, various requests can be met using the various patterns described above.

[0061] Furthermore, the display range E may be set to a range with different vertical heights depending on the horizontal distance from the crane 1 (periphery detection device 634). For example, there may be a case where the display range E and the alarm range W shown in FIG. 4 are all included in the display range. In this case, the display range E may include the entire alarm range W.

[0062] Furthermore, the display range E may be set to a range in which the vertical height increases as the horizontal distance from the work machine decreases. In this case, the display range may have a stepped shape, as in the case shown in Figure 4 above where the display range E and the warning range W all become part of the display range, or the range may have a gradually increasing vertical height as the horizontal distance from the work machine decreases. [Explanation of symbols]

[0063] 1 Crane (working machine) 2 Undercarriage 3 Upper rotating body 4. Boom 5 Counterweight 60 Control device 61 Controller (surrounding area monitoring device) 611 Surroundings monitoring processing unit (surroundings monitoring device) 621 Input section 622 Display device (display means, surroundings monitoring device) 623 Alarm 634 Surrounding detection device (detection unit, surrounding monitoring device) E Display Range F Detection Range G1~G4 Detected images (bird's-eye view images) Ic Icon W Alarm Range W11~W14 Caution range W21~W24 warning range h object

Claims

1. A surroundings monitoring device that displays an overhead image of a work machine and its surroundings, a detection means for detecting a distance of a surrounding object relative to the work machine; a display means for displaying the object in the overhead image while reflecting the distance between the work machine and the object, a display range that is narrower than the detection range of the detection means is set inside the detection range, the display range is a range within a predetermined distance in each predetermined direction with respect to the detection range, The display means displays the display range as well as the portion of the detection range outside the display range, and, with regard to objects detected by the detection means, displays only objects within the display range.

2. In the overhead image, the object is displayed at a distance obtained by multiplying the distance detected by the detection means by the same magnification as the display magnification of the overhead image. The surroundings monitoring device for a work machine according to claim 1.

3. The display range reaches the outer edge of the detection range and is limited to a predetermined height relative to the detection range. The surroundings monitoring device for a work machine according to claim 1 or 2.

4. an alarm means for issuing an alarm in a manner different from the display of the object in the display range when the object enters a preset alarm range, The warning range has an overlapping area included in the display range and an extension area that is extended vertically from the display range. The surroundings monitoring device for a work machine according to claim 1.

5. The display range varies in vertical height depending on the horizontal distance from the work machine. The surroundings monitoring device for a work machine according to any one of claims 1 to 4.

6. The display range increases in vertical height as the horizontal distance from the work machine decreases. The surroundings monitoring device for a work machine according to claim 5.

7. The alarm range is divided into a plurality of areas and set; The warning means causes the display means to highlight and display any one of the areas in the warning range when the object enters that area. The surroundings monitoring device for a work machine according to claim 4.

8. The display range does not include the area below a predetermined height in the vertical direction. The surroundings monitoring device for a work machine according to any one of claims 1 to 7.

Images