Work machinery

Abstract

To provide a work machine capable of reducing human errors by urging an operator to surely execute a confirmation operation for checking the surrounding situation of the work machine.SOLUTION: A work machine 100 includes an external sensor 140, a display device 150, an operation input device 160, and a control device 200. The external sensor 140 detects external information around the work machine 100. The display device 150 displays an image based on external information detected by the external sensor 140. The operation input device 160 receives input operations performed by an operator of the work machine 100. The control device 200 controls a traveling device 110, a revolving structure 120, a work device 130, and the display device 150 based on operations input to the operation input device 160. The control device 200 includes a confirmation operation determination unit 210 that determines whether a confirmation operation for confirming the surrounding situation of the work machine 100 has been performed based on the operation input to the operation input device 160.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to work machines. [Background technology]

[0002] Devices for monitoring the periphery of a work machine have been known for some time. For example, the device for monitoring the periphery of a work machine described in Patent Document 1 below comprises an acquisition unit, an information output unit, a lifting state detection unit, and an output control unit (see, for example, Patent Document 1, Abstract, paragraph 0010, claim 1, etc.). The acquisition unit acquires the situation around the work machine. The information output unit outputs the information acquired by the acquisition unit.

[0003] The lifting / lowering state detection unit detects the lifting / lowering state of a lifting ladder provided on the work machine. The output control unit changes the output content related to the information acquired by the acquisition unit in the information output unit, depending on the lifting / lowering state of the lifting ladder detected by the lifting / lowering state detection unit. With this configuration, this conventional device can monitor the surroundings according to the lifting / lowering state of the lifting ladder (Patent Document 1, paragraph 0021, etc.).

[0004] Furthermore, the surroundings monitoring device for a work machine described in Patent Document 2 below comprises an input unit and an alarm output unit, and also has a human presence determination means and an alarm control means (same document, Abstract, paragraph 0006, claim 1, etc.). The input unit receives input from an operator, and the alarm output unit outputs an alarm to that operator. The human presence determination means determines whether or not a person is present around the work machine, and the alarm control means controls the alarm output unit.

[0005] The warning control means outputs a warning when it is determined that a person is present around the work machine, and continues to output the warning until it receives an input from the operator via the input unit to stop the warning. With this configuration, this conventional device can prompt the operator to confirm that a person who was present within a predetermined range around the work machine has left the predetermined range (Patent Document 2, paragraph 0021, etc.). [Prior art documents] [Patent documents]

[0006] [Patent Document 1] International Publication No. 2016 / 174977 [Patent Document 2] Japanese Patent Application Laid-Open No. 2014-181508 Summary of the Invention [Problem to be solved by the invention]

[0007] In the above-mentioned conventional work machine perimeter monitoring devices, the decision of whether to check the output content of the information output unit and whether to check the situation around the work machine after the alarm has stopped is left to the operator. As a result, with these conventional devices, if the operator neglects to check the output content of the information output unit or the situation around the work machine, there is a risk of human error, such as overlooking an obstacle around the work machine.

[0008] The present disclosure provides a work machine that is capable of reducing human error by encouraging the operator to reliably perform a confirmation operation to check the situation around the work machine. [Means for solving the problem]

[0009] One aspect of the present disclosure is a work machine comprising a traveling device, a rotating body rotatably mounted on the traveling device, and a working device operably mounted in front of the rotating body, the work machine comprising: an external environment sensor that detects external environment information around the work machine; a display device that displays an image based on the external environment information detected by the external environment sensor; an operation input device into which operations by an operator of the work machine are input; and a control device that controls the traveling device, the rotating body, the working device, and the display device based on the operations input to the operation input device, wherein the control device has a confirmation operation determination unit that determines whether a confirmation operation has been performed to check the situation around the work machine based on the operation input to the operation input device. [Effects of the Invention]

[0010] According to the above aspect of the present disclosure, a work machine can be provided that can reduce human error by encouraging the operator to reliably check the situation around the work machine. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view of a hydraulic excavator illustrating an embodiment of a work machine of the present disclosure. [Figure 2] FIG. 2 is a plan view of the work machine shown in FIG. 1. [Figure 3] FIG. 2 is a block diagram of the work machine shown in FIG. 1. [Figure 4] FIG. 4 is a perspective view showing an example of the operation input device and the display device shown in FIG. 3. [Figure 5] FIG. 5 is an enlarged view of an overhead image displayed on the image display device shown in FIG. 4. [Figure 6] 4 is a flowchart illustrating the flow of processing by the control device of the work machine shown in FIG. 3. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of a work machine according to the present disclosure will be described with reference to the drawings.

[0013] Fig. 1 is a side view of a hydraulic excavator showing one embodiment of a work machine according to the present disclosure. Fig. 2 is a plan view of the work machine 100 shown in Fig. 1. Fig. 3 is a block diagram of the work machine 100 shown in Fig. 1. The work machine 100 of this embodiment is, for example, a hydraulic excavator. The work machine 100 may also be, for example, a remotely controlled ultra-large hydraulic excavator used at mining sites.

[0014] The work machine 100 is equipped with, for example, a traveling device 110, a revolving body 120, and a work device 130. The work machine 100 is also equipped with, for example, an external sensor 140, a display device 150, an operation input device 160, a notification device 170, and a control device 200. The work machine 100 is also equipped with the general components of a normal work machine or hydraulic excavator, such as a hydraulic pump, control valves, hydraulic motor, electric motor, and engine, which are not shown.

[0015] The traveling device 110 has, for example, tracks and a hydraulic motor that rotates the tracks. The rotation direction and rotation speed of the hydraulic motor of the traveling device 110 are controlled by the control device 200, for example, based on the operation of the operation input device 160 by the operator of the work machine 100. More specifically, by operating the operation lever 162 of the operation input device 160, the operator can control the rotation direction and rotation speed of the hydraulic motor of the traveling device 110 using the control device 200, rotate the tracks of the traveling device 110, and cause the work machine 100 to travel freely.

[0016] The rotating body 120 is provided on the traveling device 110 so as to be able to rotate. The rotating body 120 has, for example, a cab 121 and a swing motor 122. The rotating body 120 also has, for example, a swing angle sensor 123, as shown in Fig. 3. Inside the cab 121, for example, a control seat is provided for an operator to sit in and operate the work machine 100 when the work machine 100 is not being remotely operated.

[0017] The swing motor 122 is, for example, a hydraulic motor or an electric motor provided on the traveling device 110. The swing motor 122 of the swing unit 120 is controlled by the control device 200, for example, based on the operation of the operation input device 160 by the operator of the work machine 100. More specifically, the operator controls the rotation direction and rotation speed of the swing motor 122 of the swing unit 120 by the control device 200 by operating the operation lever 162 of the operation input device 160. In this way, the operator can freely swing the swing unit 120 relative to the traveling device 110 around a rotation axis that is parallel to the height direction of the work machine 100.

[0018] The slewing angle sensor 123 is a sensor that detects the slewing angle of the slewing unit 120 relative to the traveling device 110. The slewing angle sensor 123 is provided, for example, in the slewing motor 122, and detects the rotation angle of the slewing motor 122 to detect the slewing angle of the slewing unit 120 relative to the traveling device 110. The slewing angle sensor 123 outputs the detected slewing angle of the slewing unit 120 to the control device 200.

[0019] The working device 130 is operably provided on the front side of the rotating body 120. The working device 130 has, for example, a boom 131, an arm 132, a bucket 133, a boom cylinder 134, an arm cylinder 135, and a bucket cylinder 136.

[0020] The boom 131 is provided, for example, at the center of the front of the revolving unit 120, so as to be rotatable about a rotation axis parallel to the width direction of the revolving unit 120. The arm 132 is provided, at the tip of the boom 131, so as to be rotatable about a rotation axis parallel to the width direction of the revolving unit 120. The bucket 133 is provided, for example, at the tip of the arm 132, so as to be rotatable about a rotation axis parallel to the width direction of the revolving unit 120.

[0021] For example, one end of the boom cylinder 134 is attached to the front of the rotating body 120, and the other end is attached to the tip side of the rotation axis of the boom 131. One end of the arm cylinder 135 is attached to an intermediate portion between the tip and base ends of the boom 131, and the other end is attached to the base end opposite the tip end of the arm 132. One end of the bucket cylinder 136 is attached to the base end of the arm 132, and the other end is attached to the base end of the bucket 133 via a link mechanism.

[0022] The boom cylinder 134, arm cylinder 135, and bucket cylinder 136 of the work implement 130 are controlled by the control device 200, for example, based on operation of the operation input device 160 by the operator of the work machine 100. More specifically, by operating the operation lever 162 of the operation input device 160, the operator controls the hydraulic pump and control valve of the hydraulic system that supplies hydraulic oil to the boom cylinder 134, arm cylinder 135, and bucket cylinder 136 via the control device 200. In this way, the operator can freely extend and retract the boom cylinder 134, arm cylinder 135, and bucket cylinder 136, respectively, and freely rotate the boom 131, arm 132, and bucket 133, respectively.

[0023] The external environment sensor 140 is a sensor that acquires external environment information around the work machine 100. The external environment information includes, for example, information about objects around the work machine 100 and information about the terrain. The external environment sensor 140 includes, for example, a plurality of cameras 141 that capture images of the surroundings of the work machine 100. The external environment sensor 140 may also include, for example, millimeter wave radar, laser radar, an ultrasonic sensor, an infrared sensor, or the like.

[0024] 1 and 2, the imageable areas of adjacent cameras 141 overlap with each other. That is, the image capturing areas of the multiple cameras 141 cover a 360-degree area around the work machine 100. Of the multiple cameras 141, three cameras 141 are attached to the front of the revolving unit 120, including above the cab 121, and face forward and diagonally forward from the front of the revolving unit 120, and capture images of the excavation target when the work implement 130 is performing work such as excavation.

[0025] The images from these three cameras 141 facing forward of the revolving unit 120 are most closely viewed by the operator when working with the work implement 130. For this reason, the resolution of these three cameras 141 on the front of the revolving unit 120 may be set higher than the resolution of the other cameras 141 facing to the sides or rear of the revolving unit 120, for example. Note that the multiple cameras 141 facing to the sides or rear of the revolving unit 120 capture images of areas that may be blind spots when the operator is in the cab 121.

[0026] Fig. 4 is a perspective view showing an example of the display device 150 and operation input device 160 shown in Fig. 3. The display device 150 is, for example, a device that displays an image based on external information detected by an external sensor 140 including a plurality of cameras 141. The operation input device 160 is a device that accepts operations by the operator of the work machine 100 and is a device into which operations by the operator are input. The display device 150 and the operation input device 160 are installed, for example, in a remote location that is separate from the traveling device 110, the revolving unit 120, and the work device 130, as well as the control device 200 mounted on the revolving unit 120, in order to enable remote operation of the work machine 100.

[0027] Display device 150 has display unit 151, such as a liquid crystal display or an organic EL display, and a display content receiving unit 152 that receives information to be displayed on display unit 151 from control device 200 mounted on revolving unit 120. Display content receiving unit 152 receives information related to the display content to be displayed on display unit 151 from control device 200, for example, via a wireless communication line and a wired communication line, and outputs display content based on the received information to display unit 151. Display unit 151 displays an image according to the display content input from display content receiving unit 152.

[0028] In the example shown in Fig. 4, the display unit 151 displays a front image Gf based on images taken by the multiple cameras 141 capturing images in front of the revolving unit 120 on the entire screen. The display unit 151 also displays, in reduced size, an overhead image Gp based on images taken by the multiple cameras 141 capturing images of a 360-degree area around the revolving unit 120, and a machine status image Gm displaying the status of the work machine 100 on the side edges of the display unit 151. The machine status image Gm displays the status of the work machine 100, including, for example, the engine RPM and oil temperature. The front image Gf is an image that the operator focuses on when operating the operation lever 162, and is an image for checking the status of the excavation target and the work implement 130. For this reason, the front image Gf is displayed, for example, at a wider angle and with higher resolution than other images.

[0029] Fig. 5 is an enlarged image diagram of overhead image Gp displayed on display unit 151 shown in Fig. 4. Overhead image Gp is ​​generated, for example, by converting and combining images taken by multiple cameras 141 capturing 360-degree images around revolving unit 120 by control device 200. Overhead image Gp includes, for example, images G110, G120, G130 of traveling unit 110, revolving unit 120, and work unit 130 viewed from directly above, and a 360-degree surrounding image Gc of the revolving unit 120.

[0030] 4, the reduced image of the overhead image Gp is ​​displayed superimposed on the periphery, side edge, or corner of the display unit 151 on which the forward image Gf is displayed. Also, the enlarged image of the overhead image Gp is ​​displayed on the display unit 151, for example, enlarged more than the reduced image and superimposed on the forward image Gf, or is displayed full-screen on the display unit 151 with the reduced image of the forward image Gf superimposed on the periphery, side edge, or corner.

[0031] 3, operation input device 160 has, for example, a display content operation unit 161, an operation lever 162, a lock lever 163, and an input signal transmission unit 164. Display content operation unit 161 has, for example, a plurality of operation buttons as shown in Fig. 4. For example, by operating the operation buttons of display content operation unit 161, the operator can switch the overhead image Gp displayed on display unit 151 between an enlarged image and a reduced image.

[0032] The control levers 162 include, for example, control levers 162a, 162b, and 162c. The left and right control levers 162a and 162b have, for example, two degrees of freedom, and are used to operate the operation of the work implement 130 and the rotation of the rotating body 120 when the work machine 100 is performing work such as excavation or loading. The control lever 162c is used, for example, to operate the travel speed and direction of travel of the traveling unit 110 when the work machine 100 is traveling.

[0033] The lock lever 163 is used to switch between a locked position, which prohibits the operation of the traveling device 110, the working device 130, and the rotating unit 120, and an unlocked position, which permits their operation. By switching the lock lever 163 to the locked position, it is possible to prevent malfunction of the traveling device 110, the rotating unit 120, and the working device 130, for example, even if the operator accidentally touches the operation lever 162 when leaving or arriving at the seat.

[0034] The input signal transmitting unit 164 is connected to the control device 200 mounted on the revolving unit 120 so as to be able to communicate information, for example, via a wired communication line and a wireless communication line. The display content operating unit 161, the operating lever 162, and the lock lever 163 output signals based on the operation of the operator to the input signal transmitting unit 164. The input signal transmitting unit 164 transmits the signals based on the input operation of the operator to the control device 200 mounted on the revolving unit 120.

[0035] The notification device 170 includes, for example, at least one of a display, an indicator lamp, a speaker, and a vibrator. The notification device 170 is installed, for example, together with the display device 150 and the operation input device 160, in a remote location that is separate from the traveling device 110, the revolving unit 120, the work device 130, and the control device 200. The notification device 170 notifies the operator of the work machine 100 of warnings and notifications generated by the control device 200, for example, by at least one of an image, lighting, sound, and vibration. Note that the notification device 170 can also be replaced by, for example, the display device 150.

[0036] The control device 200 is installed, for example, in a cab 121 provided on the revolving body 120 of the work machine 100, and controls the traveling device 110, the revolving body 120, the work device 130, and the display device 150 based on operations input to the operation input device 160. The control device 200 is configured by one or more microcontrollers including, for example, a central processing unit (CPU), memory, a timer, input / output units, etc.

[0037] The control device 200 has a confirmation operation determination unit 210. The control device 200 also has, for example, a notification generation unit 212. The control device 200 also has, for example, an image generation unit 201 and a display content calculation unit 204. The control device 200 also has, for example, an operation restriction unit 211. The control device 200 also has, for example, a display content generation unit 202, an input signal reception unit 203, a machine information storage unit 205, and a display content transmission unit 206. The control device 200 also has, for example, an operation feasibility determination unit 207, a control command calculation unit 208, an operation control unit 209, and a communication abnormality detection unit 213.

[0038] Each of the above-described units of the control device 200 represents a function of the control device 200 that is realized by, for example, a CPU executing a program stored in the memory of the control device 200. Note that each function or unit of the control device 200 shown in Fig. 3 may be configured by a separate microcontroller, or multiple functions or units may be configured by a single microcontroller.

[0039] Figure 6 is a flow diagram illustrating the flow of processing by the control device 200 of the work machine 100 shown in Figure 3. For example, when the control device 200 is started from a paused state, it repeatedly executes the processing flow PF shown in Figure 6 at a predetermined cycle until it is next paused.

[0040] More specifically, for example, when starting up the work machine 100 from a resting state, the operator of the work machine 100 turns on the start switch of the operation input device 160 installed in a remote location separate from the traveling unit 110, the revolving unit 120, and the work device 130. Note that instead of using the start switch, the operator may operate the lock lever 163 from the locked position to the unlocked position.

[0041] When the work machine 100 is started by operating the start switch or lock lever 163, a start signal indicating that the work machine 100 has been started is input to the input signal transmitting unit 164. The input signal transmitting unit 164 transmits the input start signal to the control device 200 mounted on the revolving body 120 of the work machine 100, for example, via a wired communication line and a wireless communication line.

[0042] The control device 200 is started, for example, by receiving a start signal transmitted from the operation input device 160 via the input signal receiving unit 203, and starts the process flow PF shown in Fig. 6. Furthermore, the input signal receiving unit 203 outputs the received start signal to the display content calculation unit 204, for example. When the control device 200 starts the process flow PF, it executes a process P1 for determining whether the control device 200 has just been started.

[0043] In this process P1, the display content calculation unit 204 determines, for example, whether the currently executing process flow PF is the first process flow PF after the input of the startup signal. When the display content calculation unit 204 determines that the currently executing process flow PF is the first process flow PF after the input of the startup signal, that is, immediately after the startup of the control device 200 (YES), the control device 200 executes a process P2 to display an enlarged image of the overhead image Gp.

[0044] In this process P2, the image generation unit 201 of the control device 200 generates an image based on external environment information detected by the external environment sensor 140. The image generation unit 201 generates, for example, an overhead image Gp of the area around the revolving unit 120 of the work machine 100 and a front image Gf of the area directly in front of the revolving unit 120 on which the work implement 130 is provided, based on images captured by the multiple cameras 141. The image generation unit 201 outputs the generated overhead image Gp and front image Gf to the display content generation unit 202.

[0045] Furthermore, the display content calculation unit 204 outputs a signal indicating that an enlarged image of the overhead-view image Gpf should be displayed to the display content generation unit 202. Furthermore, the machine information holding unit 205 holds machine information relating to the state of the work machine 100, such as the engine speed and oil temperature of the work machine 100, and outputs this machine information to the display content generation unit 202. The display content generation unit 202 generates display content for displaying an enlarged image of the overhead-view image Gp on the display unit 151, based on the input overhead-view image Gp and forward image Gf, a signal indicating that an enlarged image of the overhead-view image Gp should be displayed, and the machine information.

[0046] Display content generation unit 202 outputs the generated display content to display content transmission unit 206. Display content transmission unit 206 transmits the display content input from display content generation unit 202 to display device 150 via a wireless communication line and a wired communication line. Display content reception unit 152 of display device 150 receives the display content from display content transmission unit 206 via a wireless communication line and a wired communication line, and outputs it to display unit 151. Display unit 151 displays an enlarged image of overhead image Gp on display unit 151 based on the display content input from display content reception unit 152.

[0047] This completes process P2 shown in Figure 6. In this way, in process P2, by displaying an enlarged image of the overhead image Gp on the display unit 151 immediately after starting the control device 200, the operator can be prompted to check the overhead image Gp before starting work. This makes it possible to prompt the operator to check the conditions around the traveling device 110, the revolving body 120, and the work device 130, such as the presence or absence of workers or obstacles, before starting work. After completing process P2, the control device 200 executes the next process P3.

[0048] In process P3, the confirmation operation determination unit 210 determines whether or not a confirmation operation has been performed by the operator after startup of the control device 200. Although details will be described later, the confirmation operation is a predetermined operation performed by the operator to check the conditions around the traveling device 110, revolving body 120, and work device 130 of the work machine 100. Process P3, which follows process P2 described above, is performed immediately after startup of the control device 200, and no confirmation operation has been performed after startup of the control device 200. Therefore, in this process P3, the confirmation operation determination unit 210 determines that a confirmation operation has not been performed (NO), and the control device 200 executes the next process P4.

[0049] In process P4, control device 200 determines whether the operator has reduced the overhead-view image Gp. More specifically, the operator closely watches the enlarged image of overhead-view image Gp displayed on display unit 151 immediately after starting control device 200, and then operates display content operation unit 161 of operation input device 160 to switch the enlarged image of overhead-view image Gp to a reduced image. Display content operation unit 161 outputs an image switching signal indicating that overhead-view image Gp has been switched from an enlarged image to a reduced image to input signal transmission unit 164.

[0050] In the control device 200, the image switching signal transmitted from the input signal transmitting unit 164 is received by the input signal receiving unit 203, and input from the input signal receiving unit 203 to the display content calculation unit 204. Based on the image switching signal, the display content calculation unit 204 calculates display content for displaying a forward image Gf, a reduced image of the overhead image Gp, and a machine state image Gm, and outputs the calculated display content to the display content generation unit 202 and the confirmation operation determination unit 210.

[0051] The display content generation unit 202 generates display content based on the input calculation results and transmits the display content to the display device 150 via the display content transmission unit 206. The display device 150 receives the display content transmitted from the display content transmission unit 206 via the display content reception unit 152 and inputs the display content from the display content reception unit 152 to the display unit 151. Based on the input display content, the display unit 151 displays the forward image Gf in full screen display and displays the overhead image Gp and the machine state image Gm as reduced images.

[0052] On the other hand, the confirmation operation determination unit 210 determines in process P4, based on the calculation result of the display content input from the display content calculation unit 204, that the overhead-view image Gp has been switched from an enlarged image to a reduced image, i.e., that the overhead-view image Gp has been reduced (YES). That is, in this embodiment, the control device 200 determines, based on the fact that the overhead-view image Gp has been switched from an enlarged image to a reduced image, that confirmation of the enlarged image of the overhead image Gp, which is requested by the operator as one of the confirmation operations, has been completed. The confirmation operation determination unit 210 holds the determination result of process P4, for example, until the control device 200 is paused or a predetermined condition, which will be described later, is satisfied. Thereafter, the control device 200 performs the next process P5.

[0053] In process P5, the control device 200 determines whether the revolving unit 120 has rotated 360 degrees. More specifically, as one of the confirmation operations, the operator is required to rotate the revolving unit 120 by an angle of 360 degrees by operating the operation lever 162 of the operation input device 160 while gazing at the forward image Gf, and check the situation around the revolving unit 120. The rotation angle of the revolving unit 120 is detected by the rotation angle sensor 123 and input to the confirmation operation determination unit 210.

[0054] In process P5, if the input rotation angle of the rotating body 120 is 360 degrees or more, the confirmation operation determination unit 210 determines that a 360-degree rotation has been performed (YES). Thereafter, in the next process P6, the confirmation operation determination unit 210 records the execution of the confirmation operation and holds the record until the control device 200 is paused or a predetermined condition is satisfied. Thereafter, the control device 200 executes the next process P7.

[0055] In process P7, the control device 200 cancels the restrictions on the operations of the traveling device 110, the revolving body 120, and the working device 130, and cancels notifications such as warnings sent to the notification device 170. More specifically, the confirmation operation determination unit 210 outputs a signal to the operation restriction unit 211 and the notification generation unit 212 to cancel all restrictions or notifications. Then, the operation restriction unit 211 cancels the restriction command sent to the operation control unit 209, and the notification generation unit 212 cancels the notification command sent to the notification device 170. Thereafter, the control device 200 ends the process flow PF shown in FIG. 6 and starts it again.

[0056] In process P1 from the second time onward after the control device 200 is started, it is determined that the control device 200 has not just been started (NO), and process P2 for displaying an enlarged image of the overhead image Gp is ​​not performed, and process P3 for determining whether a confirmation operation has been performed is executed. If the execution of a confirmation operation is recorded in process P6 of the previous process flow PF, in process P3 the confirmation operation determination unit 210 determines that a confirmation operation has been performed (YES). Thereafter, the control device 200 executes the next process P8.

[0057] In process P8, the control device 200 determines whether or not a communication abnormality has occurred. The communication abnormality detection unit 213 detects a communication abnormality when the display content is transmitted from the display content transmission unit 206 to the display content reception unit 152 of the display device 150, or when the input signal reception unit 203 receives an input signal from the input signal transmission unit 164 of the operation input device 160. The communication abnormality includes, for example, a communication interruption, a communication delay of a predetermined time or more, and a bit error in the communication signal. The confirmation operation determination unit 210 determines whether or not a communication abnormality has occurred based on the communication abnormality detection result input from the communication abnormality detection unit 213.

[0058] If the confirmation operation determination unit 210 determines in process P8 that a communication abnormality has not occurred (NO), the control device 200 executes process P9 to determine whether the lock lever 163 of the operation input device 160 has been in the locked position for a long period of time. The position of the lock lever 163 of the operation input device 160 is input to the confirmation operation determination unit 210 via the input signal receiving unit 203 and the operation feasibility determination unit 207.

[0059] In process P9, if the input position of the lock lever 163 is in the unlocked position or in the locked position but the predetermined time has not elapsed, the confirmation operation determination unit 210 determines that the lock lever 163 has not been in the locked position for a long time (NO). Then, the control device 200 ends the process flow PF shown in FIG. 6.

[0060] In this case, the operator has already performed a confirmation operation that includes checking the enlarged image of the overhead image Gp and rotating the revolving unit 120 360 degrees while gazing at the forward image Gf. Also, no communication abnormality has occurred between the display device 150 and the operation input device 160 and the control device 200, and the lock lever 163 is either in the unlocked position or has not been in the locked position for a long time.

[0061] In other words, the safety around the traveling device 110, the revolving unit 120, and the work device 130 has been confirmed by the operator. Therefore, the operations of the traveling device 110, the revolving unit 120, and the work device 130 are not restricted, and no warnings or notifications are issued by the notification device 170. In other words, when the operator operates the operation lever 162 while the lock lever 163 is in the unlocked position, a signal based on the operation is input to the operation control unit 209 via the input signal transmitting unit 164, the input signal receiving unit 203, and the control command computing unit 208. As a result, the operator can operate the traveling device 110, the revolving unit 120, and the work device 130 without receiving notifications such as operation restrictions or warnings.

[0062] On the other hand, if it is determined in the above-mentioned process P8 that a communication abnormality has occurred (YES), or if it is determined in the above-mentioned process P9 that the lock lever 163 has been in the locked position for a long time (YES), the control device 200 executes the next processes P10 to P12. In process P10, the confirmation operation determination unit 210 records that the operator has not performed a confirmation operation. For example, if a communication abnormality has occurred in the above-mentioned process P8, this is because there is a possibility that a structure or moving object that is interfering with communication is approaching, and the operator is prompted to perform the confirmation operation again after the communication abnormality is resolved. Also, if it is determined in the above-mentioned process P9 that the lock lever 163 has been in the locked position for a long time, this is because there is a possibility that the surrounding conditions have changed or the operator has been replaced, and the operator is prompted to perform the confirmation operation again after the lock lever 163 has been operated to the unlocked position.

[0063] In process P11, the movement limiting unit 211 limits the movement speeds of the traveling device 110, the revolving unit 120, and the working device 130 to an upper limit speed or less. More specifically, the movement limiting unit 211 limits, for example, at least one of the traveling speed of the traveling device 110, the movement speed of the working device 130, and the rotation speed of the revolving unit 120 to a speed closer to a lower limit speed than the upper limit speed. More particularly, in process P11, the movement limiting unit 211 limits the movement speeds of the traveling device 110, the revolving unit 120, and the working device 130 to a speed, for example, equal to or less than 1 / 3, 1 / 5, or 1 / 10 of the upper limit speed.

[0064] Thereafter, the control device 200 executes a process P12 for displaying an enlarged image of the overhead image Gp, similar to the process P2 described above. This allows the operator to be prompted to look at the overhead image Gp again and check for safety around the revolving unit 120 when it is determined in the process P8 described above that a communication error has occurred or when it is determined that the lock lever 163 has been in the locked position for a long period of time.

[0065] Thereafter, the control device 200 performs a process P13 for determining whether or not the lock lever 163 is in the unlocked position. In this process P13, the control device 200 receives, via the input signal receiving unit 203, position information of the lock lever 163 transmitted from the operation input device 160 via the input signal transmitting unit 164. The input signal receiving unit 203 outputs the received position information of the lock lever 163 to the operation feasibility determining unit 207. In this process P13, the operation feasibility determining unit 207 determines whether or not the lock lever 163 is in the unlocked position based on the position information of the lock lever 163 input from the input signal receiving unit 203.

[0066] In process P13, when the operation possibility determination unit 207 determines that the lock lever 163 is in the unlocked position (YES), the control device 200 executes a confirmation operation urging notification P14. In this process P14, the notification generation unit 212 generates a confirmation operation urging notification for the operator and outputs it to the notification device 170. The notification device 170 issues a confirmation operation urging notification to the operator by, for example, at least one of a display, an indicator lamp, a speaker, and a vibrator, to urge the operator to perform the confirmation operation.

[0067] The display content of the confirmation operation reminder notice in process P14 may be generated by, for example, the display content calculation unit 204 and the display content generation unit 202. In this case, the generated display content may be transmitted to the display content reception unit 152 of the display device 150 via the display content transmission unit 206 and displayed on the display unit 151. After the end of process P14, the control device 200 ends the process flow PF shown in FIG. 6.

[0068] On the other hand, in the above-mentioned process P13, if the operation possibility determination unit 207 determines that the lock lever 163 is not in the unlocked position (NO), that is, that it is in the locked position, it prohibits the operation of the traveling device 110, the revolving body 120, and the work device 130. Furthermore, the control device 200 performs process P15 to cancel the confirmation operation reminder notice. In this process P15, the notice generation unit 212, for example, discards the generated confirmation operation reminder notice. This is because, when the lock lever 163 is in the locked position, the operator has no intention of operating the work machine 100, and there is no need to perform a confirmation operation. After the process P15 ends, the control device 200 ends the process flow PF shown in FIG. 6.

[0069] On the other hand, in the above-mentioned process P4, if the confirmation operation determination unit 210 determines that the overhead image Gp has not been reduced (NO), the control device 200, similar to the above-mentioned process P11, executes process P16 to limit the operating speeds of the traveling device 110, the revolving unit 120, and the working device 130. Also, in the above-mentioned process P5, if the confirmation operation determination unit 210 determines that the revolving unit 120 has not rotated 360 degrees (NO), the control device 200 executes process P17 to limit the speed and operation of the traveling device 110 and the working device 130.

[0070] In process P17, the movement restriction unit 211, for example, restricts the movement speed of the traveling device 110 and the working device 130 to an upper limit speed or less, and restricts movement of the working device 130 in a direction that increases the turning radius. Here, to encourage 360-degree rotation of the rotating unit 120, the movement speed of the rotating unit 120 and the movement of the working device 130 in a direction that decreases the turning radius are not restricted. Note that in this embodiment, restricting movement includes prohibiting movement and restricting the movement speed. After completing process P16 or P17, the control device 200 executes the next process P18.

[0071] In process P18, the confirmation operation determination unit 210 records and stores the fact that the operator has not performed a confirmation operation around the traveling device 110, the revolving body 120, and the work device 130. As a result, in process P3 of the next process flow PF, the confirmation operation determination unit 210 determines that a confirmation operation has not been performed (NO). After process P18 ends, the control device 200 executes the above-mentioned process P13, and executes the above-mentioned process P14 or process P15 depending on the position of the lock lever 163, and ends the process flow PF shown in FIG. 6.

[0072] The operation of the work machine 100 of this embodiment will now be described in comparison with a conventional work machine periphery monitoring device.

[0073] In the work machine periphery monitoring devices described in the aforementioned Patent Documents 1 and 2, the decision of whether to check the output content of the information output unit and whether to check the situation around the work machine after the alarm has stopped is left to the operator. As a result, with these conventional devices, if the operator neglects to check the output content of the information output unit or check the situation around the work machine, there is a risk of human error, such as overlooking obstacles around the work machine.

[0074] In contrast, the work machine 100 of this embodiment is equipped with a traveling device 110, a revolving unit 120 rotatably mounted on the traveling device 110, and a working device 130 operably mounted in front of the revolving unit 120. The work machine 100 further is equipped with an external environment sensor 140 that detects external environment information around the work machine 100, and a display device 150 that displays an image based on the external environment information detected by the external environment sensor 140. The work machine 100 also is equipped with an operation input device 160 to which operations by the operator of the work machine 100 are input, and a control device 200 that controls the traveling device 110, the revolving unit 120, the working device 130, and the display device 150 based on the operations input to the operation input device 160. The control device 200 also has a confirmation operation determination unit 210 that determines whether a confirmation operation has been performed to check the situation around the work machine 100 based on the operation input to the operation input device 160. Furthermore, the control device 200 may limit the operation of at least one of the traveling device 110, the revolving body 120, and the working device 130 based on the result of the above determination.

[0075] With this configuration, the work machine 100 of this embodiment can use the control device 200 to determine whether or not the operator has performed a confirmation operation to check the situation around the work machine 100, based on the operator's operation of the operation input device 160. As a result, when the control device 200 determines that the operator has not performed a confirmation operation, the work machine 100 can prompt the operator to reliably perform the confirmation operation, thereby reducing human error.

[0076] In the work machine 100 of this embodiment, the control device 200 has a notification generation unit 212 that generates a signal to notify the operator to perform a confirmation operation when the confirmation operation determination unit 210 determines that the confirmation operation has not been performed. With this configuration, the work machine 100 of this embodiment outputs a signal from the notification generation unit 212 to the notification device 170 to issue a notification or warning to prompt the operator to perform a confirmation operation, and urges the operator to reliably perform the confirmation operation, making it possible to reduce human error.

[0077] For example, when remotely operating the work machine 100, the operator's field of view is limited by the angle of view of the camera 141, the monitor size of the display unit 151, and the like. For this reason, checking the surroundings, which has traditionally been performed by the operator before boarding and from inside the cab 121 when mannedly operating the work machine 100, may become difficult when remotely operating the work machine. Furthermore, the overhead image Gp, which is used to check the surroundings of the traveling unit 110, the revolving unit 120, and the work implement 130, is checked less frequently during work than the forward image Gf, which is checked during work. For this reason, the overhead image Gp tends to be smaller than the forward image Gf or to be displayed in a corner, which may cause the operator to overlook obstacles or changes in the terrain around the traveling unit 110, the revolving unit 120, and the work implement 130.

[0078] In contrast, in the work machine 100 of this embodiment, the external sensor 140 includes a plurality of cameras 141 that capture images of the surroundings of the work machine 100. The control device 200 also has an image generation unit 201 that generates an overhead image Gp of the surroundings of the revolving unit 120 and a front image Gf of the area in front of the revolving unit 120 on which the work implement 130 is mounted, based on the images captured by the plurality of cameras 141. The control device 200 also has a display content calculation unit 204 that causes the display device 150 to switch between an enlarged image and a reduced image of the overhead image Gp, based on an operation input to the operation input device 160. With this configuration, the work machine 100 of this embodiment can enable the control device 200 to determine that a confirmation operation has been performed, based on an operation by the operator to switch the overhead image Gp from an enlarged image to a reduced image, or an operation to switch from a reduced image to an enlarged image.

[0079] Furthermore, in the work machine 100 of this embodiment, the confirmation operation determination unit 210 determines that a confirmation operation has been performed when the reduced image of the overhead image Gp displayed on the display device 150 is switched to an enlarged image based on an operation input to the operation input device 160. With this configuration, the work machine 100 of this embodiment can prompt the operator to switch the reduced image of the overhead image Gp to an enlarged image and check the enlarged image of the overhead image Gp.

[0080] Furthermore, in the work machine 100 of this embodiment, the display content calculation unit 204 causes the display device 150 to display an enlarged image of the overhead image Gp when the control device 200 is started up. Furthermore, the confirmation operation determination unit 210 determines that a confirmation operation has been performed when the enlarged image of the overhead image Gp displayed on the display device 150 is switched to a reduced image based on an operation input to the operation input device 160. With this configuration, the work machine 100 of this embodiment can force the operator to view the overhead image Gp when the control device 200 is started up, preventing the operator from forgetting or failing to check the enlarged image of the overhead image Gp. Therefore, the operator can be prompted to reliably perform the confirmation operation, making it possible to reduce human error.

[0081] The work machine 100 of this embodiment is also equipped with a swing angle sensor 123 that detects the swing angle of the revolving unit 120 relative to the traveling gear 110. The confirmation operation determination unit 210 determines that a confirmation operation has been performed when the operation input to the operation input device 160 is a swing operation of the revolving unit 120 and the swing angle of the revolving unit 120 detected by the swing angle sensor 123 is 360 degrees or more. With this configuration, the work machine 100 of this embodiment can urge the operator to perform a confirmation operation to rotate the revolving unit 120 360 degrees while checking the front image Gf based on the image from the wide-angle, high-resolution camera 141 that captures the area directly ahead of the revolving unit 120. This enables the operator to check the detailed situation around the traveling gear 110, the revolving unit 120, and the work device 130 that could not be grasped from the overhead image Gp.

[0082] Furthermore, in the work machine 100 of this embodiment, the control device 200 has an operation limiting unit 211 that, when the confirmation operation determination unit 210 determines that no confirmation operation has been performed, limits at least one of the travel speed of the travelling device 110, the operating speed of the work device 130, and the rotation speed of the rotating body 120 to a speed equal to or lower than the upper limit speed or closer to the lower limit speed than the upper limit speed. With this configuration, the work machine 100 of this embodiment can prompt an operator who wishes to release the speed limit to perform a confirmation operation.

[0083] Furthermore, in the work machine 100 of this embodiment, the control device 200 has an operation restriction unit 211 that restricts operation that increases the turning radius of the working device 130 when the confirmation operation determination unit 210 determines that no confirmation operation has been performed. With this configuration, the work machine 100 of this embodiment can reduce the turning radius of the working device 130, making it easier to rotate the revolving unit 120 when the operator has not performed a confirmation operation to check the surroundings of the revolving unit 120.

[0084] As described above, according to this embodiment, it is possible to provide a work machine 100 that is capable of encouraging the operator to reliably check the conditions around the work machine 100 and reducing human error.

[0085] The above has described in detail an embodiment of a work machine according to the present disclosure using the drawings, but the specific configuration is not limited to this embodiment, and even if there are design changes and the like within the scope that does not deviate from the gist of the present disclosure, they are also included in the present disclosure. [Explanation of symbols]

[0086] 100 Work Machinery 110 Running gear 120 Rotating body 123 Rotation angle sensor 130 Work equipment 140 External Sensor 150 Display device 160 Operation input device 200 control device 201 Image Generation Unit 204 Display content calculation section 210 Confirmation operation judgment section 211 Motion restriction part 212 Notification generator 141 Camera Gf Front image Gp overhead image

Claims

1. A work machine comprising: a traveling device; a rotating body rotatably provided on the traveling device; and a work device operably provided in front of the rotating body, an external environment sensor that detects external environment information around the work machine; a display device that displays an image based on the external environment information detected by the external environment sensor; an operation input device into which operations by an operator of the work machine are input; and a control device that controls the traveling device, the rotating body, the work device, and the display device based on the operations input to the operation input device, the external sensor includes a plurality of cameras that capture images of the surroundings of the work machine; The control device a confirmation operation determination unit that determines whether a confirmation operation has been performed to confirm the situation around the work machine based on an operation input to the operation input device; an image generating unit that generates an overhead image of the periphery of the rotating body and a front image of a front area in front of the rotating body on which the work implement is provided based on images captured by the plurality of cameras; a display content calculation unit that switches between displaying an enlarged image and a reduced image of the overhead image on the display device based on an operation input to the operation input device, A work machine characterized in that the operation of at least one of the traveling device, the rotating body, and the work device is restricted based on the result of the determination by the confirmation operation determination unit.

2. 2. The work machine according to claim 1, wherein the confirmation operation determination unit determines that the confirmation operation has been performed when the reduced image of the overhead image displayed on the display device is switched to the enlarged image based on an operation input to the operation input device.

3. the display content calculation unit causes the display device to display the enlarged image of the overhead image when the control device is started up; 2. The work machine according to claim 1, wherein the confirmation operation determination unit determines that the confirmation operation has been performed when the enlarged image of the overhead image displayed on the display device is switched to the reduced image based on an operation input to the operation input device.

4. A work machine comprising a traveling device, a rotating body rotatably mounted on the traveling device, and a work device operably mounted in front of the rotating body, a rotation angle sensor that detects the rotation angle of the rotating body relative to the traveling device; an external environment sensor that detects external environment information around the work machine; a display device that displays an image based on the external environment information detected by the external environment sensor; an operation input device to which operations by an operator of the work machine are input; and a control device that controls the traveling device, the rotating body, the work device, and the display device based on the operations input to the operation input device, the control device has a confirmation operation determination unit that determines whether a confirmation operation has been performed to confirm the situation around the work machine based on an operation input to the operation input device, and restricts the operation of at least one of the traveling device, the revolving body, and the work device based on the result of the determination, The confirmation operation determination unit determines that the confirmation operation has been performed when the operation input to the operation input device is a rotation operation of the rotating body and the rotation angle of the rotating body detected by the rotation angle sensor is 360 degrees or more.

5. The control device of the work machine described in Claim 1 or 4, characterized in that it has a notification generation unit that generates a signal to notify the operator to prompt the operator to perform the confirmation operation when the confirmation operation determination unit determines that the confirmation operation has not been performed.

6. 5. The work machine according to claim 1, wherein the control device has an operation limiting unit that limits at least one of the travel speed of the traveling device, the operating speed of the work device, and the rotation speed of the rotating body to an upper limit speed or less when the confirmation operation determination unit determines that the confirmation operation has not been performed.

7. 5. The work machine according to claim 1, wherein the control device has an operation limiting unit that limits an operation that increases a turning radius of the work device when the confirmation operation determination unit determines that the confirmation operation has not been performed.

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