Position detection device, work machine, and position detection method

Abstract

To provide a position detecting device suitable for detecting where movable members are located in multiple position ranges, a work machine and a position detecting method.SOLUTION: A position detecting device comprises: a detecting body attached to either a movable member or a support member that swingably supports the movable member; and a first proximity switch and a second proximity switch attached on the other side. The first proximity switch and the second proximity switch are spaced apart in a swinging direction of the movable member. The detecting body approaches to or separates from both the first proximity switch and the second proximity switch in a first swing position range of the movable member, approaches only to the first proximity switch in the second proximity switch in a first swing position range of the movable member, and approaches only to the second proximity switch in a third swing position range of the movable member opposite to the second swing position range, using the first swing position range as a reference.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a position detection device, a work machine, and a position detection method. [Background technology]

[0002] Patent Document 1 describes the following position detection device. Specifically, the position detection device described in Patent Document 1 includes a fixed member, a movable member that moves relative to the fixed member, a test object provided on one of the fixed member and the movable member, and a non-contact sensor provided on the other of the fixed member and the movable member that detects the test object and thereby determines whether the movable member is at a predetermined position. The test object has a test surface that corresponds to the detection surface of the non-contact sensor, and at least an end region of the test surface in the direction of relative movement between the test object and the non-contact sensor transitions away from the detection surface as it approaches the end of the relative movement direction of the test surface. With this position detection device, the detection position when the non-contact sensor detects the predetermined position of the movable member can be shifted closer to the center of the test surface, compared to when the distance from the detection surface to the test surface is constant from the center to the end of the test surface in the direction of relative movement. This improves the accuracy of determining whether the movable member is at a predetermined position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-99000 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the position detection device described in Patent Document 1 is designed to detect whether or not a movable member is located at a predetermined position, and therefore has the problem of not being suitable for detecting in which position range among multiple position ranges the movable member is located.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide a position detection device, a work machine, and a position detection method that are suitable for detecting where a movable member is located within multiple position ranges. [Means for solving the problem]

[0006] In order to solve the above problem, the position detection device disclosed herein comprises a detection body attached to one of a movable member or a support member that supports the movable member in a swingable manner, and a first proximity switch and a second proximity switch attached to the other, wherein the first proximity switch and the second proximity switch are arranged at a distance in the swing direction of the movable member, and the detection body is close to or spaced apart from both the first proximity switch and the second proximity switch in a first swing position range of the movable member, is close to only the first proximity switch in a second swing position range of the movable member, and is close to only the second proximity switch in a third swing position range of the movable member that is on the opposite side of the second swing position range based on the first swing position range. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide a position detection device, a work machine, and a position detection method that are suitable for detecting where a movable member is located within a plurality of position ranges. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view showing an outline of the configuration of a work machine according to an embodiment of the present disclosure. [Figure 2] 1 is a plan view showing an outline of the configuration of a work machine according to an embodiment of the present disclosure. [Figure 3] FIG. 2 is a plan view schematically illustrating an example of operation of a work machine according to an embodiment of the present disclosure. [Figure 4] FIG. 1 is a perspective view schematically illustrating an example configuration of a driver's cab according to an embodiment of the present disclosure. [Figure 5] FIG. 2 is a perspective view illustrating a configuration example of a swing detection unit according to an embodiment of the present disclosure. [Figure 6] FIG. 2 is a perspective view illustrating a configuration example of a swing detection unit according to an embodiment of the present disclosure. [Figure 7] FIG. 10 is a perspective view illustrating an example of operation of a swing detection unit according to an embodiment of the present disclosure. [Figure 8] FIG. 10 is a perspective view illustrating an example of operation of a swing detection unit according to an embodiment of the present disclosure. [Figure 9] FIG. 10 is a perspective view illustrating an example of operation of a swing detection unit according to an embodiment of the present disclosure. [Figure 10] 10 is a diagram for explaining an example of the operation of a swing detection unit according to an embodiment of the present disclosure. [Figure 10A] FIG. 10 is a plan view schematically illustrating an example of the operation of a swing detection unit according to an embodiment of the present disclosure. [Figure 10B] FIG. 10 is a plan view schematically illustrating an example of the operation of a swing detection unit according to an embodiment of the present disclosure. [Figure 10C] FIG. 10 is a plan view schematically illustrating an example of the operation of a swing detection unit according to an embodiment of the present disclosure. [Figure 10D] 10 is a diagram illustrating an example of operation of a swing detection unit according to a modified example of an embodiment of the present disclosure. [Figure 10E] 10A and 10B are plan views schematically illustrating an example of operation of a swing detection unit according to a modified example of the embodiment of the present disclosure. [Figure 10F] 10A and 10B are plan views schematically illustrating an example of operation of a swing detection unit according to a modified example of the embodiment of the present disclosure. [Figure 10G] 10A and 10B are plan views schematically illustrating an example of operation of a swing detection unit according to a modified example of the embodiment of the present disclosure. [Figure 11] FIG. 2 is a plan view schematically illustrating a detection area of ​​an obstacle detection unit according to an embodiment of the present disclosure. [Figure 12] FIG. 10 is a plan view schematically illustrating an alarm region according to an embodiment of the present disclosure. [Figure 13] FIG. 10 is a plan view schematically illustrating an alarm region according to an embodiment of the present disclosure. [Figure 14] FIG. 10 is a plan view schematically illustrating an alarm region according to an embodiment of the present disclosure. [Figure 15]1 is a system diagram illustrating an outline of a drive system according to an embodiment of the present disclosure. [Figure 16] 1 is a block diagram illustrating an overview of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 17] 1 is a diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. [Figure 18] FIG. 2 is a transition diagram for explaining an example of operation of the obstacle detection alarm system according to the embodiment of the present disclosure. [Figure 19] FIG. 2 is a transition diagram for explaining an example of operation of the obstacle detection alarm system according to the embodiment of the present disclosure. [Figure 20] 10 is a flowchart for explaining an example of the operation of the obstacle detection alarm system according to an embodiment of the present disclosure. [Figure 21] 10 is a flowchart for explaining an example of the operation of the obstacle detection alarm system according to an embodiment of the present disclosure. [Figure 22] 10 is a flowchart for explaining an example of the operation of the obstacle detection alarm system according to an embodiment of the present disclosure. [Figure 23] 10 is a flowchart for explaining an example of the operation of the obstacle detection alarm system according to an embodiment of the present disclosure. [Figure 24] 10 is a flowchart for explaining an example of the operation of the obstacle detection alarm system according to an embodiment of the present disclosure. [Figure 25] 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. [Figure 26] 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. [Figure 27] 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. [Figure 28] 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. [Figure 29] 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. [Figure 30] 1 is a schematic diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of the present disclosure. FIG. [Figure 31] 1 is a block diagram illustrating a basic configuration example of an obstacle detection alarm system according to an embodiment of the present disclosure. [Figure 32] 1 is a block diagram illustrating a basic configuration example of an obstacle detection alarm system according to an embodiment of the present disclosure. [Figure 33] 1 is a block diagram illustrating a basic configuration example of an obstacle detection alarm system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding components are designated by the same reference numerals, and the description thereof will be omitted as appropriate.

[0010] FIG. 1 is a side view showing an outline of the configuration of a work machine according to an embodiment of the present disclosure. FIG. 2 is a plan view showing an outline of the configuration of a work machine according to an embodiment of the present disclosure. FIG. 3 is a plan view schematically showing an example of the operation of a work machine according to an embodiment of the present disclosure. FIG. 4 is a perspective view schematically showing an example of the configuration of a cab according to an embodiment of the present disclosure. FIGS. 5 to 9 are perspective views showing an example of the configuration of a swing detection unit according to an embodiment of the present disclosure. FIG. 10 is a diagram for explaining an example of the operation of a swing detection unit according to an embodiment of the present disclosure. FIGS. 10A to 10C are plan views schematically showing an example of the operation of a swing detection unit according to an embodiment of the present disclosure. FIG. 10D is a diagram for explaining an example of the operation of a swing detection unit according to a modified embodiment of the present disclosure. FIGS. 10E to 10G are plan views schematically showing an example of the operation of a swing detection unit according to a modified embodiment of the present disclosure. FIG. 11 is a plan view schematically showing the detection area of ​​an obstacle detection unit according to an embodiment of the present disclosure. FIGS. 12 to 14 are plan views schematically showing the warning area according to an embodiment of the present disclosure. FIG. 15 is a system diagram illustrating an overview of a drive system according to an embodiment of the present disclosure. FIG. 16 is a block diagram illustrating an overview of an obstacle detection warning system according to an embodiment of the present disclosure. FIG. 17 is a diagram for explaining an example of operation of the obstacle detection warning system according to an embodiment of the present disclosure. FIGS. 18 to 19 are transition diagrams for explaining an example of operation of the obstacle detection warning system according to an embodiment of the present disclosure. FIGS. 20 to 24 are flowcharts for explaining an example of operation of the obstacle detection warning system according to an embodiment of the present disclosure. FIGS. 25 to 30 are schematic diagrams for explaining an example of operation of the obstacle detection warning system according to an embodiment of the present disclosure. FIGS. 31 to 33 are block diagrams illustrating an example of the basic configuration of the obstacle detection warning system according to an embodiment of the present disclosure.

[0011] As shown in Figures 1 and 2, in this embodiment, a local coordinate system is set in the work machine 100, and the positional relationship of each part will be described with reference to the local coordinate system. In the local coordinate system, the first axis extending in the left-right direction (vehicle width direction) of the work machine 100 (upper rotating body 120) is defined as the X axis, the second axis extending in the front-rear direction of the work machine 100 is defined as the Y axis, and the third axis extending in the up-down direction of the work machine 100 is defined as the Z axis. The X axis and Y axis are perpendicular to each other. The Y axis and Z axis are perpendicular to each other. The Z axis and X axis are perpendicular to each other. The arrow direction of the X axis is the left direction, and the opposite direction is the right direction. The arrow direction of the Y axis is the forward direction, and the opposite direction is the rearward direction. The arrow direction of the Z axis is the upward direction, and the opposite direction is the downward direction.

[0012] (Configuration example of work machine 100) FIG. 1 shows an example configuration of a work machine 100 according to an embodiment. The work machine 100 operates at a construction site and works on a construction target such as earth and sand. One example of the work machine 100 according to the embodiment is a hydraulic excavator (small excavator, mini excavator). The work machine 100 comprises a lower traveling body 110, an upper rotating body 120, a work implement 130, and a blade 150. The upper rotating body 120 is equipped with a cab 140, an obstacle detection unit 200, and a swing detection unit 210.

[0013] The lower running structure 110 supports the work machine 100 so that it can travel. The lower running structure 110 is equipped with, for example, a pair of left and right crawler tracks 110a (also referred to as left crawler track 110a) and 110b (also referred to as right crawler track 110b). The lower running structure 110 supports the blade 150 so that it can be driven in the vertical direction. The blade 150 is driven by a blade cylinder 150C, which is a hydraulic cylinder.

[0014] The upper rotating body 120 is supported on the lower traveling body 110 so as to be rotatable around a rotation center c. The working implement 130 is hydraulically driven. The working implement 130 is supported on the front part of the upper rotating body 120 so as to be drivable in the vertical direction. In addition, the working implement 130 is supported on the front part of the upper rotating body 120 so as to be swingable in the horizontal direction around a pin 130P as the swing center, as shown in FIG. 3 .

[0015] The cab 140 is a space where an operator (driver) sits and operates the work machine 100. The cab 140 is provided at the left front of the upper rotating body 120. Here, the portion of the upper rotating body 120 to which the work implement 130 is attached is referred to as the front. Furthermore, with respect to the upper rotating body 120, the portion opposite the front is referred to as the rear, the left portion as the left part, and the right portion as the right part.

[0016] The left and right crawlers 110a and 110b can independently drive the drive wheels (forward and reverse). If the left crawler 110a and the right crawler 110b are driven forward at the same time, the undercarriage 110 moves forward. If the left crawler 110a and the right crawler 110b are driven backward at the same time, the undercarriage 110 moves backward. Also, if the drive wheels of one crawler and the drive wheels of the other crawler are driven in opposite directions, for example, if the right crawler 110b is driven forward and the left crawler 110a is driven backward at the same time, the undercarriage 110 can rotate around the center of rotation. This type of turning is called a pivot turn.

[0017] The center of rotation of the lower traveling body 110 when it is turned in a pivotal motion may be configured to coincide with the center of rotation c of the upper rotating body 120, or may be configured to be different.

[0018] (Configuration example of work machine 130) As shown in FIGS. 1 and 2, the work machine 130 includes a boom 131, an arm 132, a bucket 133, a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, and a swing cylinder 134C.

[0019] The base end of the boom 131 is supported on the front of the upper rotating body 120 so as to be able to swing up and down and swing left and right. The arm 132 connects the boom 131 to the bucket 133. The base end of the arm 132 is attached to the tip of the boom 131 so as to be able to swing. The bucket 133 is equipped with a blade for excavating earth and sand and a storage section for storing the excavated earth and sand. The base end of the bucket 133 is attached to the tip of the arm 132 so as to be able to swing.

[0020] The boom cylinder 131C is a hydraulic cylinder for vertically operating the boom 131. A base end of the boom cylinder 131C is attached to the upper rotating body 120 so as to be able to swing. A tip end of the boom cylinder 131C is attached to the boom 131.

[0021] The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A base end of the arm cylinder 132C is attached to the boom 131. A tip end of the arm cylinder 132C is attached to the arm 132.

[0022] The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. A base end of the bucket cylinder 133C is attached to the arm 132. A tip end of the bucket cylinder 133C is attached to a link member connected to the bucket 133.

[0023] The swing cylinder 134C is a hydraulic cylinder for swinging the boom 131 in the left-right direction. A base end of the swing cylinder 134C is attached to the upper rotating body 120. A tip end of the swing cylinder 134C is attached to the base end of the boom 131.

[0024] (Configuration example of the driver's cab 140) 4 shows an example of the internal configuration of the driver's cab 140 according to the embodiment. In the driver's cab 140, a driver's seat 141, an operating device 142, and an input / output device 145 are provided.

[0025] The operation device 142 is a device for manually operating the lower traveling body 110, the upper rotating body 120, the work implement 130, and the blade 150 by an operator. The operation device 142 includes a left operation lever 142LO, a right operation lever 142RO, a left traveling lever 142LT, a right traveling lever 142RT, a boom swing operation pedal 142BF, a blade operation lever 142BL, and a PPC (Pressure Proportional Control) lock lever 142LL.

[0026] The left operating lever 142LO is provided on the left side of the driver's seat 141. The right operating lever 142RO is provided on the right side of the driver's seat 141.

[0027] The left operation lever 142LO is an operation mechanism for, for example, performing the swing operation of the upper rotating body 120 and the excavation / dumping operation of the arm 132. Specifically, when the operator of the work machine 100 tilts the left operation lever 142LO forward, for example, the arm 132 performs the dumping operation. When the operator of the work machine 100 tilts the left operation lever 142LO rearward, the arm 132 performs the excavation operation. When the operator of the work machine 100 tilts the left operation lever 142LO to the right, the upper rotating body 120 swings to the right. When the operator of the work machine 100 tilts the left operation lever 142LO to the left, the upper rotating body 120 swings to the left. Note that in other embodiments, when the left operation lever 142LO is tilted forward or backward, the upper rotating body 120 may swing to the right or left, and when the left operation lever 142LO is tilted left or right, the arm 132 may perform the excavation or dumping operation. In another embodiment, the upper rotating body 120 may rotate left or right when the right operating lever 142RO is tilted left or right. The settings for these operations may be changed using, for example, the input / output device 145 or mechanically.

[0028] The right operating lever 142RO is an operating mechanism for, for example, performing an excavation / dumping operation of the bucket 133 and a raising / lowering operation of the boom 131. Specifically, when the operator of the work machine 100 tilts the right operating lever 142RO forward, a lowering operation of the boom 131 is performed. Conversely, when the operator of the work machine 100 tilts the right operating lever 142RO rearward, a raising operation of the boom 131 is performed. Conversely, when the operator of the work machine 100 tilts the right operating lever 142RO to the right, a dumping operation of the bucket 133 is performed. Conversely, when the operator of the work machine 100 tilts the right operating lever 142RO to the left, an excavation operation of the bucket 133 is performed. Note that in other embodiments, tilting the right operating lever 142RO in the forward / backward direction may perform a dumping operation or an excavation operation of the bucket 133, and tilting the right operating lever 142RO in the left / right direction may perform a raising or lowering operation of the boom 131.

[0029] The left traveling lever 142LT is located on the front left side of the driver's seat 141. The right traveling lever 142RT is located on the front right side of the driver's seat 141. The left traveling lever 142LT corresponds to the rotational drive of the left crawler 110a of the undercarriage 110. Specifically, when the operator of the work machine 100 pushes the left traveling lever 142LT forward, the left crawler 110a rotates in the forward direction. Conversely, when the operator of the work machine 100 pushes the left traveling lever 142LT backward, the left crawler 110a rotates in the reverse direction.

[0030] The right traveling lever 142RT corresponds to the rotational drive of the right crawler 110b of the lower traveling structure 110. Specifically, when the operator of the work machine 100 tilts the right traveling lever 142RT forward, the right crawler 110b rotates in the forward direction. Conversely, when the operator of the work machine 100 tilts the right traveling lever 142RT backward, the right crawler 110b rotates in the reverse direction.

[0031] The boom swing operation pedal 142BF corresponds to the swing drive of the work implement 130 (boom 131). For example, when the operator of the work machine 100 tilts the boom swing operation pedal 142BF to the left, the work implement 130 swings to the left. When the operator tilts the boom swing operation pedal 142BF to the right, the work implement 130 swings to the right.

[0032] The blade operating lever 142BL corresponds to driving of the blade 150. For example, when the operator of the work machine 100 tilts the blade operating lever 142BL forward, the blade 150 moves down. When the operator tilts the blade operating lever 142BL rearward, the blade 150 moves up.

[0033] The PPC lock lever 142LL is locked and unlocked by the operator. When the PPC lock lever 142LL is locked, operations using other levers, pedals, etc., except for the PPC lock lever 142LL of the operation device 142 are disabled. When the PPC lock lever 142LL is unlocked, operations using the operation device 142 are enabled.

[0034] In this embodiment, each lever and pedal of the operating device 142 has the function of outputting hydraulic oil at a pressure corresponding to the operating stroke of each lever or pedal from a valve that controls the pilot pressure for moving a spool of a control valve 303 (described later). However, in other embodiments, the levers and pedals of the operating device 142 may output an electric signal to control the control valve via an external control device. The left operating lever 142LO or the right operating lever 142RO is an example of a turning operating part. The left traveling lever 142LT and the right traveling lever 142RT are an example of a traveling operating part.

[0035] The input / output device 145 is a device that displays information related to multiple functions possessed by the work machine 100, inputs various instruction operations, issues alarm sounds, and displays alarm signals. The input / output device 145 is equipped with a display 145D. The display 145D is configured from, for example, a touch panel. The input / output device 145 also includes an alarm buzzer 145B that issues alarm sounds. Note that the display 145D and the alarm buzzer 145B may be installed separately.

[0036] (Configuration example of swing detection unit 210) As shown in FIGS. 5 to 9, the swing detection unit 210 includes two proximity switches, a proximity switch (1) 211 and a proximity switch (2) 212, and a proximity member 213. FIGS. 5, 7, and 9 show the state in which the cover 210C is in place, and FIG. 6 shows the state in which the cover 210C is removed. FIGS. 5 to 7 show the working machine 130 facing forward (the swing position in FIG. 3 is in the neutral (center) position), FIG. 8 shows the working machine 130 swung to the left, and FIG. 9 shows the working machine 130 swung to the right. The proximity switches (1) 211 and (2) 212 are fixed to the end of the working machine 130 side, spaced a predetermined distance from each other in the left-right direction in the neutral position. In the neutral position, the proximity switch (1) 211 is located on the right side, and the proximity switch (2) 212 is located on the left side. As shown in Fig. 7, the proximity member 213 has a shape that faces closely to both the detection surface 211s of the proximity switch (1) 211 and the detection surface 212s of the proximity switch (2) 212 when the work implement 130 is in the neutral position, and is fixed to the front of the upper rotating body 120. As shown in Fig. 7, when the work implement 130 is in the neutral position, both the detection surface 211s of the proximity switch (1) 211 and the detection surface 212s of the proximity switch (2) 212 face (are close to) the proximity member 213, so that both the proximity switch (1) 211 and the proximity switch (2) 212 are turned on. Also, as shown in Fig. 8, when the work implement 130 is swung to the left, only the detection surface 212s of the proximity switch (2) 212 faces (is close to) the proximity member 213, so that the proximity switch (2) 212 is turned on and the proximity switch (1) 211 is turned off. Also, as shown in Figure 9, when the work machine 130 is swung to the right, only the detection surface 211s of the proximity switch (1) 211 faces (is close to) the proximity member 213, so the proximity switch (1) 211 is turned on and the proximity switch (2) 212 is turned off.

[0037] 10 shows the relationship between the operation of the swing detection unit 210 and the swing position. When proximity switch (1) 211 is on and proximity switch (2) 212 is off, the swing position is right. When proximity switch (1) 211 is on and proximity switch (2) 212 is on, the swing position is neutral. When proximity switch (1) 211 is off and proximity switch (2) 212 is on, the swing position is left.

[0038] The swing detection unit 210 of this embodiment detects whether the work machine 130 is swinging to the right, in a neutral state, or swinging to the left based on the outputs of multiple (two in this example) proximity switches (1) 211 and (2) 212 which are in different on / off states when the work machine 130 is swinging to the right, in a neutral state, or in a swing to the left. In this case, by changing the arrangement of the multiple proximity switches (1) 211 and (2) 212 and the shape of the proximity member 213, the angle detected as the neutral state can be easily adjusted.

[0039] The number of proximity switches may be three or more. Also, the proximity switches may be fixed to the upper rotating body 120, and the proximity member 213 may be fixed to the work machine .

[0040] 10A to 10C schematically show the positional relationship between the two proximity switches (1) 211 and (2) 212 and the proximity member 213. FIG. 10A shows the positional relationship when the swing position is neutral, FIG. 10B shows the positional relationship when the swing position is left (two examples shown by solid lines and dashed lines), and FIG. 10C shows the positional relationship when the swing position is right (two examples shown by solid lines and dashed lines). In the neutral position shown in FIG. 10A, the proximity member 213 is close to (facing) both the two proximity switches (1) 211 and (2) 212. In the left position shown in FIG. 10B, the proximity member 213 is close to (facing) only the proximity switch (2) 212. In the right position shown in FIG. 10C, the proximity member 213 is close to (facing) only the proximity switch (1) 211. In addition, in the neutral state shown in Figure 10A, the range (swing position range) in which both proximity switch (1) 211 and proximity switch (2) 212 are turned on is determined by the vertical and horizontal distances between proximity switch (1) 211 and proximity switch (2) 212 and proximity member 213, the characteristics of proximity switch (1) 211 and proximity switch (2) 212, etc.

[0041] The swing detection unit 210 of this embodiment is one example of a configuration of a position detection device disclosed herein. The position detection device disclosed herein can be considered to have the following aspects. In the following aspects, one example of a "movable member" is the work implement 130. One example of a "support member" is the upper rotating body 120. The upper rotating body 120 corresponds to the main body of the work machine 100 ("work machine main body"). One example of a "detection body" is the proximity member 213. The "first proximity switch" corresponds to the proximity switch (1) 211. The "second proximity switch" corresponds to the proximity switch (2) 212. The "first swing position range of the movable member" corresponds to the case where the swing position of the work implement 130 is neutral. The "second swing position range of the movable member" corresponds to the case where the swing position of the work implement 130 is to the right. The "third swing position range of the movable member" corresponds to the case where the swing position of the work implement 130 is to the left.

[0042] That is, one aspect of the position detection device (swing detection unit 210) disclosed herein includes a detection body (proximity member 213) attached to one side of the movable member (work implement 130) or a support member (upper rotating body 120) that swingably supports the movable member, and a first proximity switch (proximity switch (1) 211) and a second proximity switch (proximity switch (1) 212) attached to the other side. The first proximity switch and the second proximity switch are arranged spaced apart in the swing direction of the movable member. The detection body is adjacent to both the first proximity switch and the second proximity switch in a first swing position range of the movable member (neutral swing position), is adjacent only to the first proximity switch in a second swing position range of the movable member (right swing position), and is adjacent only to the second proximity switch in a third swing position range of the movable member (left swing position) that is opposite the second swing position range based on the first swing position range.

[0043] According to the position detection device (swing detection unit 210) of the present disclosure, it is possible to provide a position detection device, a work machine, and a position detection method that are suitable for detecting where a movable member is located within multiple position ranges (swing position ranges).

[0044] In this embodiment, the swing direction is the circumferential direction, but is not limited to this. For example, the swing direction may be a linear direction or an arbitrary curved direction.

[0045] (Modification of the swing detection unit 210) Next, a modified example of the swing detection unit 210 described above will be described with reference to FIGS. 10D to 10G. In the swing detection unit 210 described above, both the proximity switch (1) 211 and the proximity switch (2) 212 are adjacent to the proximity member 213 when the work implement 130 is in the neutral position. On the other hand, in this modified example, both the proximity switch (1) 211 and the proximity switch (2) 212 are separated from the proximity member 213 when the work implement 130 is in the neutral position. When the work implement 130 swings left or right, one of the proximity switches (1) 211 and (2) 212 is adjacent to the proximity member 213, and the other is separated. In this case, the relationship between the operation and swing position of this modified example is, for example, as shown in FIG. 10D. In the example shown in FIG. 10D, when the proximity switch (1) 211 is on and the proximity switch (2) 212 is off, the swing position is to the right. When proximity switch (1) 211 is off and proximity switch (2) 212 is off, the swing position is neutral. When proximity switch (1) 211 is off and proximity switch (2) 212 is on, the swing position is left.

[0046] 10E to 10G schematically show the positional relationship between the two proximity switches (1) 211 and (2) 212 and the proximity member 213 in a modified example. FIG. 10E shows the positional relationship when the swing position is neutral, FIG. 10F shows the positional relationship when the swing position is left (two examples shown by solid lines and dashed lines), and FIG. 10G shows the positional relationship when the swing position is right (two examples shown by solid lines and dashed lines). In the neutral case shown in FIG. 10E, the proximity member 213 is separated from (not facing) both the two proximity switches (1) 211 and (2) 212. In the left case shown in FIG. 10F, the proximity member 213 is in proximity to (facing) only the proximity switch (2) 212. In the right case shown in FIG. 10G, the proximity member 213 is in proximity to (facing) only the proximity switch (1) 211. 10E, the range (swing position range) in which both proximity switch (1) 211 and proximity switch (2) 212 are turned off is determined by the vertical and horizontal distances between proximity switch (1) 211 and proximity switch (2) 212 and the proximity member 213, as well as the characteristics of proximity switch (1) 211 and proximity switch (2) 212. In this modified example, the number of proximity switches may be three or more. Alternatively, the proximity switches may be fixed to the upper rotating body 120, and the proximity member 213 may be fixed to the work implement 130.

[0047] The modified example of the swing detection unit 210 described with reference to Figures 10D to 10G can be considered to have the following aspect. That is, the position detection device (swing detection unit 210) of the present disclosure includes a detection body (proximity member 213) attached to one of the movable member (work implement 130) or the support member (upper rotating body 120) that swingably supports the movable member, and a first proximity switch (proximity switch (1) 211) and a second proximity switch (proximity switch (1) 212) attached to the other. The first proximity switch and the second proximity switch are arranged spaced apart in the swing direction of the movable member. The detection body is separated from both the first proximity switch and the second proximity switch in a first swing position range of the movable member (swing position is neutral), is close to only the first proximity switch in a second swing position range of the movable member (swing position is right), and is close to only the second proximity switch in a third swing position range of the movable member (swing position is left) which is on the opposite side of the second swing position range from the first swing position range.

[0048] (Configuration example of obstacle detection unit 200) The upper rotating body 120 is provided with multiple millimeter-wave radars (right-looking radar 201, left-looking radar 202, and rearward radar 203) as the obstacle detection unit 200 that detect obstacles (detection targets) around the work machine 100. The obstacle detection unit 200 is equipped with the right-looking radar 201, left-looking radar 202, and rearward radar 203. The right-looking radar 201, left-looking radar 202, and rearward radar 203 detect the angle, distance, and speed of detection targets (people, work structures, etc.) located within a detection area within a predetermined distance, for example, 75 degrees left and right and 5 degrees up and down, and output the detection results. The number of detection targets detected is zero or more. Note that the angle of the detection area, etc., is an example. The obstacle detection unit 200 may be equipped with multiple radars, for example, three or more. FIG. 11 shows examples of detection areas 201s, 202s, and 203s of the right radar 201, the left radar 202, and the rear radar 203.

[0049] (Example of warning area configuration) In this embodiment, four warning areas A1, A2, A3, and A4 are set within the detection area (detection areas 201s, 202s, and 203s) of the obstacle detection unit 200, and the size of the warning areas A1 and A2 is changed depending on the rotation operation state of the upper rotating body 120, the swing position of the work implement 130, and the traveling state of the work machine 100, and control is performed to issue or not issue a warning when an obstacle is detected within the warning areas A1, A2, A3, and A4. Also, in this embodiment, an area where a warning of warning level 1 and an area where a warning of warning level 2 are issued are set within the warning areas A1 and A2, and control is performed to switch between the warning of warning level 1 and the warning of warning level 2. The warning of warning level 2 is issued in a manner that indicates a more severe situation than that of warning level 1 (for example, by changing the cycle or frequency of the alarm sound or the volume of the alarm sound).

[0050] 12 to 14, examples of setting warning areas A1, A2, A3, and A4, areas for issuing a warning of warning level 1, and areas for issuing a warning of warning level 2 will be described. As shown in Fig. 12, warning area A1 is a warning area located on the right side of the upper rotating body 120, and is an area where a risk of contact or the like is expected when the upper rotating body 120 is rotated to the right if a detection object is present in the warning area A1. Furthermore, warning area A2 is a warning area located on the left side of the upper rotating body 120, and is an area where a risk of contact or the like is expected when the upper rotating body 120 is rotated to the left if a detection object is present in the warning area A2.

[0051] The warning area A1 is set as either a warning area A1a when the swing position of the work implement 130 is neutral as shown in Fig. 12, or a warning area A1b when the swing position of the work implement 130 is to the right as shown in Fig. 13. The warning area A1b is an area that excludes an area where the work implement 130 may be located (an area where the obstacle detection unit 200 may erroneously detect the work implement 130 as an obstacle) from the warning area A1a, and is a narrower area than the warning area A1a. In addition, within the warning area A1 (warning area A1a or A1b), an area for warning level 2 and an area for warning level 1 are set, which are indicated by dashed two-dot lines and depend on the distance from the work implement 130.

[0052] The warning area A2 is set as either a warning area A2a when the swing position of the work implement 130 is neutral as shown in FIG. 12, or a warning area A2b when the swing position of the work implement 130 is to the left as shown in FIG. 14. The warning area A2b is an area obtained by excluding the area where the work implement 130 may be located from the warning area A2a, and is a narrower area than the warning area A2a. In addition, in the warning area A2 (warning area A2a), areas of warning level 2 and warning level 1, which are shown as separate areas separated by two-dot chain lines, are set according to the distance from the work implement 130. In addition, the warning area A2 (warning area A2b) is set to all be warning level 2.

[0053] 12, the warning area A3 and the warning area A4 are both warning areas set behind the upper rotating structure 120, with the warning area A3 being wider than the warning area A4. The warning area A3 is a warning area that is effective while the work machine 100 is traveling. The warning area A4 is a warning area that is effective while the work machine 100 is stopped from traveling. In the example shown in FIG. 12, the warning area A3 and the warning area A4 are equal in size in the left-right direction, the warning area A3 is larger in size in the front-to-rear direction, and the forward ends of the warning area A3 and the warning area A4 coincide with each other and coincide or nearly coincide with the end of the upper rotating structure 120. In the work machine 100 of this embodiment, the warning area A3 and the warning area A4 are not affected by the direction of the lower traveling structure 110 even when the upper rotating structure 120 is in a rotating state. In other words, the warning area A3 and the warning area A4 are always located behind the upper rotating structure 120 when the work machine 100 is in a traveling state (or in a state where it is possible to travel). Furthermore, in the warning area A3, warning levels 1 and 2 are determined using as parameters the speed at which the detected object approaches the work machine 100 and the distance between the detected object and the work machine 100. Similarly, in the warning area A4, warning levels 1 and 2 are determined using as parameters the speed at which the detected object approaches the work machine 100 and the distance between the detected object and the work machine 100.

[0054] (Outline of the drive system) Fig. 15 shows an overview of a drive system according to an embodiment of the present disclosure. As shown in Fig. 15, the work machine 100 includes, as drive system components, a drive source 300, a hydraulic pump 301, a hydraulic oil tank 302, a control valve 303, a swing motor 304, a travel motor 305, and a hydraulic rotary joint 306.

[0055] Drive source 300 generates drive force for operating work machine 100. Examples of drive source 300 include an internal combustion engine and an electric motor. Hydraulic pump 301 is driven by drive source 300 and discharges hydraulic oil. At least a portion of the hydraulic oil discharged from hydraulic pump 301 is supplied via control valve 303 to each of boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, swing cylinder 134C, swing motor 304, and traveling motor 305. Control valve 303 controls the flow rate and direction of hydraulic oil supplied from hydraulic pump 301 to each of boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, swing cylinder 134C, swing motor 304, and traveling motor 305 via hydraulic rotary joint 306, depending on the operating state of operation device 142.

[0056] The sensor unit 400 includes a plurality of PPC pressure sensors, switches, etc., and detects the operating state of the operating device 142 and outputs the detection result.

[0057] (Configuration example of an obstacle detection and warning system) FIG. 16 shows an overview of an obstacle detection alarm system according to an embodiment of the present disclosure. The obstacle detection alarm system 600 shown in FIG. 16 includes an obstacle detection alarm device 500. The obstacle detection alarm device 500 can be configured using hardware such as a computer, such as a microcomputer or a CPU (Central Processing Unit), and peripheral circuits and devices of the computer. The obstacle detection alarm device 500 includes a functional configuration formed by a combination of hardware and software, such as a program executed by the computer, including an obstacle detection result acquisition unit 501, a sensor detection result acquisition unit 502, a swing detection result acquisition unit 503, and an alarm transmission unit 504.

[0058] The obstacle detection and warning device 500 may be configured using a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device). Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions realized by a processor may be realized by the integrated circuit.

[0059] Furthermore, for example, the obstacle detection alarm device 500 may be mounted on the work machine 100, or may be provided in a remote control room that is provided remotely from the work machine 100.

[0060] In the example shown in FIG. 16, the sensor unit 400, the outline of which was described with reference to FIG. 15, includes a PPC lock lever switch 401, a travel PPC pressure sensor 402, a right-turn PPC pressure sensor 403, and a left-turn PPC pressure sensor 404. The PPC lock lever switch 401 detects whether the PPC lock lever 142LL is locked or unlocked and outputs the detection result as an ON / OFF signal. The travel PPC pressure sensor 402 turns on its output when the right travel lever 142RT and the left travel lever 142LT are operated to instruct travel, and turns off its output when the operation to instruct travel is stopped (or released). The right-turn PPC pressure sensor 403 turns on its output when the left operation lever 142LO or the right operation lever 142RO is operated to instruct the upper structure 120 to turn right, and turns off its output when the operation to instruct right turn is stopped (or released). The left-turn PPC pressure sensor 404 turns on its output when an operation to instruct the upper rotating body 120 to turn left is performed using the left operation lever 142LO or the right operation lever 142RO, and turns off its output when the operation to instruct the left turn is stopped (or released). The output of the sensor unit 400 may be sent directly to the obstacle detection alarm device 500 or may be sent via another controller.

[0061] In the obstacle detection alarm device 500, an obstacle detection result acquisition unit 501 repeatedly acquires the detection result of the obstacle detection unit 200 at a predetermined cycle.

[0062] The sensor detection result acquisition unit 502 repeatedly acquires the detection results of the sensor unit 400 at a predetermined cycle.

[0063] The swing detection result acquisition section 503 repeatedly acquires the detection result of the swing detection section 210 at a predetermined cycle.

[0064] Based on the information acquired by the obstacle detection result acquisition unit 501, the sensor detection result acquisition unit 502, and the swing detection result acquisition unit 503, the alarm issuing unit 504 performs processes such as determining which alarm area to activate, determining whether to issue an alarm, and if an alarm is issued, determining whether the alarm should be issued at alarm level 2 or alarm level 1, as will be described below.

[0065] (Operation example of obstacle detection alarm device 500) FIG. 17 shows the correspondence between the alarm activation unit 504's determination of whether each alarm region A1 to A4 is enabled or disabled and the combination of the on / off (or unlocked / locked) states of the PPC lock lever switch 401, travel PPC pressure sensor 402, right-turn PPC pressure sensor 403, and left-turn PPC pressure sensor 404. FIG. 17 also shows the behavior of the vehicle body (whether the upper rotating body 120 is turning right or left, or traveling or not) for each correspondence. For example, if the travel PPC pressure sensor 402, right-turn PPC pressure sensor 403, and left-turn PPC pressure sensor 404 are all off, only alarm region A4 is enabled, and an alarm is activated when an obstacle is detected in alarm region A4. Even if an obstacle is detected in the other alarm regions A1 to A3, no alarm is activated.

[0066] Fig. 18 shows, as a state transition diagram, the flow of the process for determining whether the warning area shown in Fig. 17 is valid or invalid. Fig. 19 also shows, as a state transition diagram, the flow of the process for determining whether the warning area A1 should be set to warning area A1a or warning area A1b, and the flow of the process for determining whether the warning area A2 should be set to warning area A2a or warning area A2b, for the warning areas A1 and A2.

[0067] The state transition diagram shown in FIG. 18 includes an initial state ST0 and states ST1 to ST8. The initial state ST0 is the state before the drive source is operated, and transitions to state ST1 when the drive source is operated. In state ST1, the PPC lock lever 142LL is locked, and all of the alarm areas A1 to A4 are disabled. When the PPC lock lever 142LL is unlocked, transition occurs to state ST3. Note that state ST2 includes states ST3 to ST8, and when the PPC lock lever 142LL is locked in any of states ST3 to ST8, the state transitions to state ST1.

[0068] State ST3 is a state in which only the warning region A4 is active. State ST4 is a state in which the warning region A2 and the warning region A4 are active. State ST5 is a state in which the warning region A1 and the warning region A4 are active. State ST6 is a state in which the warning region A1 and the warning region A3 are active. State ST7 is a state in which the warning region A3 is active. State ST8 is a state in which the warning region A2 and the warning region A3 are active.

[0069] If the driving PPC (pressure sensor) is turned on in state ST3, the state transitions to state ST7. If the right-turn PPC (pressure sensor) is turned on in state ST3, the state transitions to state ST5. If the left-turn PPC (pressure sensor) is turned on in state ST3, the state transitions to state ST4.

[0070] If the traveling PPC (pressure sensor) is turned on in state ST4, the state transitions to state ST8. If the left-turn PPC (pressure sensor) is turned off in state ST4, the state transitions to state ST3.

[0071] If the traveling PPC (pressure sensor) is turned on in state ST5, the state transitions to state ST6. If the right-turn PPC (pressure sensor) is turned off in state ST5, the state transitions to state ST3.

[0072] If the traveling PPC (pressure sensor) turns off in state ST6, the state transitions to state ST5. If the right-turn PPC (pressure sensor) turns off in state ST6, the state transitions to state ST7.

[0073] If the driving PPC (pressure sensor) turns off in state ST7, the state transitions to state ST3. If the right-turn PPC (pressure sensor) turns on in state ST7, the state transitions to state ST6. If the left-turn PPC (pressure sensor) turns on in state ST7, the state transitions to state ST8.

[0074] If the traveling PPC (pressure sensor) turns off in state ST8, the state transitions to state ST4. If the right-turn PPC (pressure sensor) turns off in state ST8, the state transitions to state ST7.

[0075] The state transition diagram shown in FIG. 19 includes states ST11 to ST13. State ST11 is the state when the swing position is neutral. In state ST11, the warning region A1 is the warning region A1a, and the warning region A2 is the warning region A2a. In state ST12, the warning region A1 is the warning region A1a, and the warning region A2 is the warning region A2b. In state ST13, the warning region A1 is the warning region A1b, and the warning region A2 is the warning region A2a. When the boom swing position becomes right in state ST11, a transition occurs to state ST13. When the boom swing position becomes neutral in state ST13, a transition occurs to state ST11. When the boom swing position becomes left in state ST11, a transition occurs to state ST12. When the boom swing position becomes neutral in state ST12, a transition occurs to state ST11.

[0076] Next, an example of the operation of the obstacle detection alarm device 500 will be described with reference to the flowcharts shown in Figures 20 to 24. Figure 20 shows the main flow of the example of the operation described here. The process shown in Figure 20 is repeatedly executed at a predetermined interval while the drive source is operating and the PPC lock lever 142LL is in the unlocked state.

[0077] When the processing shown in Fig. 20 starts, the obstacle detection alarm device 500 acquires the detection result from the obstacle detection unit (step S101), acquires the detection result from the sensor unit (step S102), acquires the detection result of the swing direction (step S103), and cancels the alarm level 1 detection state and the alarm level 2 detection state (step S104). Next, the obstacle detection alarm device 500 (alarm issuing unit 504) executes an alarm switching and determination process (step S105). In step S105, the alarm issuing unit 504 executes the alarm switching and determination process shown in Fig. 21. In the alarm switching and determination process in step S105, the detection state is set to be the alarm level 1 detection state, the alarm level 2 detection state, or neither.

[0078] After step S105, the alarm issuing unit 504 determines whether or not the detection state is an alarm level 2 (step S106), and if it is an alarm level 2 detection state (step S106: Yes), it issues an alarm of alarm level 2 (step S107), and ends the processing shown in Fig. 20. On the other hand, if it is not an alarm level 2 detection state (step S106: No), the alarm issuing unit 504 determines whether or not the detection state is an alarm level 1 (step S108), and if it is an alarm level 1 detection state (step S108: Yes), it issues an alarm of alarm level 1 (step S109), and ends the processing shown in Fig. 20. On the other hand, if it is not an alarm level 1 detection state (step S108: No), the alarm issuing unit 504 ends the processing shown in Fig. 20.

[0079] Next, the alarm switching and determination process executed in step S105 of Fig. 20 will be described with reference to Fig. 21. The process shown in Fig. 21 is executed by the alarm issuing unit 504.

[0080] The alarm issuing unit 504 first performs an alarm determination for all detection areas (step S201). There are six types of detection areas as shown below, and in step S201, it is determined whether each area is within or outside an alarm level 1 area or an alarm level 2 area (detection areas: alarm areas A1a, A1b, A2a, A2b, A3, and A4). For each of the alarm areas A1a, A1b, A2a, A2b, A3, and A4, the alarm issuing unit 504 determines whether one or more obstacles have been detected, whether the area corresponds to alarm level 1, and whether the area corresponds to alarm level 2.

[0081] Next, the alarm issuing unit 504 executes masking processing of the alarm determination result (alarm areas A1a, A1b) (step S202), masking processing of the alarm determination result (alarm areas A2a, A2b) (step S203), and masking processing of the alarm determination result (alarm areas A3, A4) (step S204). In steps S202 to S204, the alarm issuing unit 504 executes masking processing of the alarm determination result (alarm invalidation) for each detection area.

[0082] In the masking process of the alarm determination result in step S202 (alarm areas A1a, A1b), as shown in Fig. 22, the alarm issuing unit 504 first determines whether or not the right-turn PPC sensor is off (step S301). If the right-turn PPC sensor is off (step S301: Yes), the alarm issuing unit 504 masks the alarm areas A1a and A1b (step S302) and ends the process shown in Fig. 22. If the right-turn PPC sensor is on (step S301: No), the alarm issuing unit 504 determines whether or not the boom swing position is right (step S303). If the boom swing position is right (step S303: Yes), the alarm issuing unit 504 masks the alarm area A1a (step S304) and ends the process shown in Fig. 22. If the boom swing position is not to the right (step S303: No), the alarm issuing unit 504 masks the alarm area A1b (step S305) and ends the processing shown in FIG.

[0083] The condition for executing step S302 is that the upper rotating body 120 is stopped or turned left. The condition for executing step S304 is that the upper rotating body 120 is turned right and the boom swing position is right. The condition for executing step S305 is that the upper rotating body 120 is turned right and the boom swing position is neutral or turned left.

[0084] In the masking process of the alarm determination result in step S203 (alarm areas A2a, A2b), as shown in Fig. 23, the alarm issuing unit 504 first determines whether or not the left turning PPC sensor is off (step S401). If the left turning PPC sensor is off (step S401: Yes), the alarm issuing unit 504 masks the alarm areas A2a and A2b (step S402) and ends the process shown in Fig. 23. If the left turning PPC sensor is on (step S401: No), the alarm issuing unit 504 determines whether or not the boom swing position is left (step S403). If the boom swing position is left (step S403: Yes), the alarm issuing unit 504 masks the alarm area A2a (step S404) and ends the process shown in Fig. 23. If the boom swing position is not to the left (step S403: No), the alarm issuing unit 504 masks the alarm area A2b (step S405) and ends the processing shown in FIG.

[0085] The condition for executing step S402 is that the upper rotating body 120 is stopped or rotating to the right. The condition for executing step S404 is that the upper rotating body 120 is rotating to the left and the boom swing position is left. The condition for executing step S405 is that the upper rotating body 120 is rotating to the left and the boom swing position is neutral or right.

[0086] In the masking process of the alarm determination result in step S204 (alarm areas A3, A4), as shown in Fig. 24, the alarm issuing unit 504 first determines whether the traveling PPC sensor is off (step S501). If the traveling PPC sensor is off (step S501: Yes), the alarm issuing unit 504 masks the alarm area A3 (step S502) and ends the process shown in Fig. 24. If the traveling PPC sensor is on (step S501: No), the alarm issuing unit 504 masks the alarm area A4 (step S503) and ends the process shown in Fig. 24.

[0087] The condition for executing step S502 is that the work machine 100 is stopped from traveling. The condition for executing step S503 is that the work machine 100 is traveling.

[0088] When the processing of step S204 shown in FIG. 21 is completed, the alarm issuing unit 504 executes the processing of steps S205 to S213 for all detection areas (alarm areas A1a, A1b, A2a, A2b, A3, and A4). The processing of steps S205 to S213 is a loop processing for checking each detection area. In the loop processing, the alarm issuing unit 504 first determines whether or not the detection area is one for which an alarm is valid (an unmasked detection area) (step S206). If the detection area is not one for which an alarm is valid (step S206: No), the alarm issuing unit 504 executes the loop processing for the next detection area (S213).

[0089] If the detection area is one for which an alarm is valid (step S206: Yes), the alarm issuing unit 504 determines whether the alarm area being processed is the alarm area A3 (step S207). If it is the alarm area A3 (step S207: Yes), the alarm issuing unit 504 determines whether all of the detected obstacles are receding obstacles (step S208). In step S208, the alarm issuing unit 504 determines whether the Y-axis direction of the velocity vector of the obstacle is equal to or greater than a predetermined value set by a parameter, thereby determining whether the obstacle is a receding obstacle.

[0090] If any of the detected obstacles is not a receding obstacle (step S208: No), or is not in the alarm area A3 (step S207: No), the alarm issuing unit 504 determines whether or not alarm level 1 has been detected (step S209), and if detected (step S209: Yes), sets the alarm level 1 detection state (step S210).

[0091] If all detected obstacles are receding obstacles (step S208: Yes), or if alarm level 1 has not been detected (step S209: No), or after executing step S210, the alarm issuing unit 504 determines whether alarm level 2 has been detected (step S211), and if it has been detected (step S211: Yes), sets the alarm level 2 detection state (step S212).

[0092] If alarm level 2 has not been detected (step S211: No), or after step S212 has been executed, the alarm issuing unit 504 performs loop processing for the next detection area (S213).

[0093] In the above process, for warning area 3, the warning level 1 detection state is set only if there is an approaching obstacle, and if all obstacles are receding, only the warning level 2 detection state can be set.

[0094] Through the above processing, in the obstacle detection alarm device 500, the alarm issuing unit 504 can perform processing to determine which alarm area to activate or not, whether to issue an alarm or not, and if an alarm is to be issued, whether the alarm should be issued in alarm level 2 or alarm level 1, based on the information acquired by the obstacle detection result acquisition unit 501, the sensor detection result acquisition unit 502, and the swing detection result acquisition unit 503.

[0095] (Specific operation example) Next, a specific example of the operation of the obstacle detection alarm system 600 will be described with reference to Figs. 25 to 30. Fig. 25 shows an example in which a person H1 is detected in the alarm area A1 while the upper rotating body 120 is turning to the right. In this case, the obstacle detection alarm system 600 issues an alarm at alarm level 1 or alarm level 2. Fig. 26 shows an example in which no obstacle is detected in the alarm area A1 while the upper rotating body 120 is turning to the right, but a person H2 is detected in the alarm area A2. In this case, the obstacle detection alarm system 600 does not issue an alarm. Fig. 27 shows an example in which a person H3 is detected in the alarm area A1 while the upper rotating body 120 is stopped from rotating. In this case, the obstacle detection alarm system 600 does not issue an alarm.

[0096] FIG. 28 shows an example in which a person H4 is detected in the warning area A4 when the work machine 100 is not traveling. In this case, the obstacle detection warning system 600 issues a warning at warning level 1 or warning level 2. FIG. 29 shows an example in which a person H5 is detected in the warning area A3 when the work machine 100 is traveling. In this case, the obstacle detection warning system 600 issues a warning at warning level 1 or warning level 2. FIG. 30 shows an example in which a person H6 is detected in the warning area A3 when the work machine 100 is not traveling. In this case, the obstacle detection warning system 600 does not issue a warning.

[0097] (Basic configuration example of obstacle detection alarm system 600) Next, we will explain a basic configuration example (minimum configuration example) of the above-mentioned obstacle detection warning system 600. The above-mentioned obstacle detection warning system 600 can be understood as an obstacle detection warning system 601 shown in Fig. 31, an obstacle detection warning system 602 shown in Fig. 32, or an obstacle detection warning system 603 shown in Fig. 33.

[0098] The obstacle detection alarm system 601 shown in Fig. 31 includes a swing operation unit 611 (configuration corresponding to the left operation lever 142LO or the right operation lever 142RO) that instructs the swing of the upper swing body 120 of the work machine 100, an obstacle detection unit 200 that detects obstacles around the work machine 100, and an alarm issuing unit 504 that issues an alarm when the obstacle detection unit 200 detects an obstacle in the swing direction of the upper swing body 120 instructed by the swing operation unit 611. Note that the alarm issuing unit 504 stops issuing an alarm when the swing operation unit 611 stops instructing the upper swing body 120 to swing. Also, the alarm issuing unit 504 changes the mode of issuing an alarm depending on the distance between the work implement 130 of the work machine 100 and the obstacle detected by the obstacle detection unit 200.

[0099] 32 includes an obstacle detection unit 200 that detects obstacles around the work machine 100, and an alarm emitting unit 504 that emits an alarm when the obstacle detection unit 200 detects an obstacle in a first alarm area (alarm area A3) while the work machine 100 is traveling, and that emits an alarm when the obstacle detection unit 200 detects an obstacle in a second alarm area (alarm area A4) that is narrower than the first alarm area while the work machine 100 is stopped. The obstacle detection alarm system 602 also includes a travel operation unit 621 (configuration corresponding to the left travel lever 142LT and right travel lever 142RT) that operates the undercarriage 110 of the work machine 100, and the alarm emitting unit 504 stops emitting the alarm when the travel operation unit 621 instructs the undercarriage 110 to stop. Furthermore, the alarm issuing unit 504 changes the manner in which the alarm is issued depending on the distance between the work machine 100 and the obstacle detected by the obstacle detection unit 000 and the relative speed between the work machine 100 and the obstacle.

[0100] 33 includes an obstacle detection unit 200 that detects obstacles around a work machine 100 that has a swingable work implement 130, and an alarm issuing unit 504 that issues an alarm when the obstacle detection unit detects an obstacle in a first alarm area (alarm areas A1b, A2b) when the work implement 130 is swinging, and that issues an alarm when the obstacle detection unit 200 detects an obstacle in a second alarm area (alarm areas A1a, A2a) that is wider than the first alarm area when the work implement 130 is not swinging. The alarm issuing unit 504 changes the manner in which it issues an alarm depending on the distance between the work implement 130 of the work machine 100 and the obstacle detected by the obstacle detection unit 200. In addition, the alarm unit 504 determines whether the work machine 130 is swinging based on the outputs of multiple proximity switches (proximity switch (1) 211 and proximity switch (2) 212) that have different on / off states when the work machine 130 is swinging to the right, in a neutral state, and when it is swinging to the left.

[0101] (Actions and Effects) According to the obstacle detection warning system, obstacle detection warning method, and work machine disclosed herein, it is possible to appropriately issue a warning about an obstacle around the work machine.

[0102] Although the embodiments of the present invention have been described above with reference to the drawings, the specific configuration is not limited to the above-described embodiments, and design modifications and the like are also included within the scope of the gist of the present invention. Furthermore, part or all of the programs executed by the computer in the above-described embodiments can be distributed via computer-readable recording media or communication lines.

[0103] For example, the obstacle detection unit 200 is not limited to a millimeter wave radar, but may be configured using a lidar, a camera, etc. (or in combination with a millimeter wave radar). Also, the shape of the warning area is not limited to a semicircular or rectangular shape, but may be any shape. [Explanation of symbols]

[0104] 100...working machine, 110...undercarriage, 120...upper rotating body, 130...working machine, 200...obstacle detection unit, 210...swing detection unit, 211...proximity switch (1), 212...proximity switch (2), 500...obstacle detection alarm device, 504...alarm unit, 600, 601, 602, 603...obstacle detection alarm system, 611...swing operation unit, 621...traveling operation unit

Claims

1. a detection body attached to one of the movable member and a support member that supports the movable member so that the movable member can swing; a first proximity switch and a second proximity switch attached to the other; Equipped with the first proximity switch and the second proximity switch are arranged apart in the swing direction of the movable member, The detection body is close to or separated from both the first proximity switch and the second proximity switch in a first swing position range of the movable member, is close to only the first proximity switch in a second swing position range of the movable member, and is close to only the second proximity switch in a third swing position range of the movable member that is on the opposite side of the second swing position range with respect to the first swing position range. Position sensing device.

2. The first swing position range corresponds to a neutral position of the movable member. The position detection device according to claim 1 .

3. The movable member is a work machine, and the support member is a work machine body.

3. The position detection device according to claim 1 or 2.

4. A work machine, a work machine body that supports the work machine so that the work machine can swing; A detection body is attached to one of the work machine or the work machine body, and a first proximity switch and a second proximity switch are attached to the other, the first proximity switch and the second proximity switch are arranged to be spaced apart in the swing direction of the work machine, The detection body is close to or separated from both the first proximity switch and the second proximity switch in a first swing position range of the work machine, is close to only the first proximity switch in a second swing position range of the work machine, and is close to only the second proximity switch in a third swing position range of the work machine that is on the opposite side of the second swing position range with respect to the first swing position range. Position detection device A work machine comprising:

5. a detection body attached to one of the movable member and a support member that supports the movable member so that the movable member can swing; a first proximity switch and a second proximity switch attached to the other; Equipped with the first proximity switch and the second proximity switch are arranged apart in the swing direction of the movable member, The detection body is close to or separated from both the first proximity switch and the second proximity switch in a first swing position range of the movable member, is close to only the first proximity switch in a second swing position range of the movable member, and is close to only the second proximity switch in a third swing position range of the movable member that is on the opposite side of the second swing position range with respect to the first swing position range. Using a position detection device, The swing position range of the movable member is detected based on the on or off state of the first proximity switch and the second proximity switch. Position sensing method.

Images