Obstacle detection and warning system, obstacle detection and warning method, and work machine

Abstract

To provide an obstacle detection alarm system capable of properly issuing alarms about obstacles around a working machine.SOLUTION: A disclosed obstacle detection alarm system includes: a swivel operation unit that instructs an upper rotating body of a working machine to turn; an obstacle detection unit that detects an obstacle around a working machine; and an alarm unit that issues an alarm when the obstacle detector detects an obstacle in the swivel direction of the upper structure indicated by the swivel operation unit.SELECTED DRAWING: Figure 31

Description

Technical Field

[0001] The present disclosure relates to an obstacle detection and warning system, an obstacle detection and warning method, and a work machine.

Background Art

[0002] Patent Document 1 describes a peripheral monitoring device for a work machine, which includes a human presence determination means for determining the presence or absence of a person in each of a first monitoring space and a second monitoring space around the work machine, and an alarm control means installed in the cab of the work machine for controlling a first alarm output unit and a second alarm output unit that output an alarm to an operator. When it is determined that a person is present in the first monitoring space, an alarm is output from the first alarm output unit, and when it is determined that a person is present in the second monitoring space, an alarm is output from the second alarm output unit. According to the device described in Patent Document 1, the operator of the work machine can intuitively grasp the position of a person existing around the work machine.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the device described in Patent Document 1, since the turning direction of the upper slewing body is not considered in the determination of whether to output an alarm, for example, when a person is located on the side opposite to the turning direction, an alarm may be inappropriately output even when the risk of contact or the like is low.

[0005] This disclosure has been made in consideration of the above circumstances and aims to provide an obstacle detection alarm system, an obstacle detection alarm method, and a work machine that can appropriately issue alarms regarding obstacles around the work machine. [Means for solving the problem]

[0006] To solve the above problems, the obstacle detection and alarm system of this disclosure comprises a rotation operation unit that instructs the rotation of an upper rotating body of a work machine, an obstacle detection unit that detects obstacles around the work machine, and an alarm generation unit that issues an alarm when the obstacle detection unit detects an obstacle in the rotation direction of the upper rotating body instructed by the rotation operation unit.

[0007] Furthermore, the obstacle detection alarm method of this disclosure includes the steps of: obtaining a rotation instruction from a rotation operation unit for an upper rotating body of a work machine; obtaining the detection result of an obstacle around the work machine by an obstacle detection unit; and issuing an alarm when the obstacle detection unit detects an obstacle in the rotation direction of the upper rotating body instructed by the rotation operation unit.

[0008] Furthermore, the work machine of this disclosure is a work machine having an upper rotating body, and includes an obstacle detection alarm system comprising: a rotation operation unit that instructs the rotation of the upper rotating body; an obstacle detection unit that detects obstacles around the work machine; and an alarm unit that issues an alarm when the obstacle detection unit detects an obstacle in the rotation direction of the upper rotating body instructed by the rotation operation unit. [Effects of the Invention]

[0009] According to the obstacle detection alarm system, obstacle detection alarm method, and work machine of this disclosure, an alarm can be appropriately issued for obstacles in the vicinity of the work machine. [Brief explanation of the drawing]

[0010] [Figure 1] This is a side view illustrating the schematic configuration of a work machine according to an embodiment of this disclosure. [Figure 2] This is a plan view illustrating the configuration of a work machine according to an embodiment of this disclosure. [Figure 3] This is a schematic plan view illustrating an example of the operation of a work machine according to an embodiment of this disclosure. [Figure 4] This is a schematic perspective view showing an example of the configuration of a driver's cab according to the embodiment of this disclosure. [Figure 5] This is a perspective view showing an example of the configuration of the swing detection unit according to the present disclosure. [Figure 6] This is a perspective view showing an example of the configuration of the swing detection unit according to the present disclosure. [Figure 7] This is a perspective view showing an example of the operation of the swing detection unit according to the embodiment of this disclosure. [Figure 8] This is a perspective view showing an example of the operation of the swing detection unit according to the embodiment of this disclosure. [Figure 9] This is a perspective view showing an example of the operation of the swing detection unit according to the embodiment of this disclosure. [Figure 10] This diagram illustrates an example of the operation of the swing detection unit according to the embodiment of this disclosure. [Figure 11] This is a schematic plan view showing the detection area of ​​the obstacle detection unit according to an embodiment of the present disclosure. [Figure 12] This is a schematic plan view showing an alarm area according to an embodiment of the present disclosure. [Figure 13] This is a schematic plan view showing an alarm area according to an embodiment of the present disclosure. [Figure 14] This is a schematic plan view showing an alarm area according to an embodiment of the present disclosure. [Figure 15] This is a system diagram illustrating the schematic of a drive system according to an embodiment of the present disclosure. [Figure 16] This is a schematic diagram of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 17] This is a diagram illustrating an example of the operation of an obstacle detection and warning system according to the embodiment of this disclosure. [Figure 18] This is a transition diagram illustrating an example of operation of an obstacle detection and alarm system according to the present disclosure. [Figure 19] It is a transition diagram for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 20] It is a flowchart for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 21] It is a flowchart for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 22] It is a flowchart for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 23] It is a flowchart for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 24] It is a flowchart for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 25] It is a schematic diagram for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 26] It is a schematic diagram for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 27] It is a schematic diagram for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 28] It is a schematic diagram for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 29] It is a schematic diagram for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 30] It is a schematic diagram for explaining an operation example of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 31] It is a block diagram illustrating a basic configuration of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 32] It is a block diagram illustrating a basic configuration of an obstacle detection and warning system according to an embodiment of the present disclosure. [Figure 33]This is a block diagram illustrating the basic configuration of an obstacle detection and alarm system according to an embodiment of this disclosure. [Modes for carrying out the invention]

[0011] Embodiments of this disclosure will be described below with reference to the drawings. In each drawing, the same or corresponding components are given the same reference numerals, and their descriptions will be omitted as appropriate.

[0012] Figure 1 is a side view showing a schematic configuration of a work machine according to an embodiment of this disclosure. Figure 2 is a plan view showing a schematic configuration of a work machine according to an embodiment of this disclosure. Figure 3 is a plan view schematically showing an example of operation of a work machine according to an embodiment of this disclosure. Figure 4 is a perspective view schematically showing an example of the configuration of an operator's cab according to an embodiment of this disclosure. Figures 5 to 9 are perspective views showing an example of the configuration of a swing detection unit according to an embodiment of this disclosure. Figure 10 is a diagram for explaining an example of operation of a swing detection unit according to an embodiment of this disclosure. Figure 11 is a plan view schematically showing the detection area of ​​an obstacle detection unit according to an embodiment of this disclosure. Figures 12 to 14 are plan views schematically showing the alarm area according to an embodiment of this disclosure. Figure 15 is a system diagram showing a schematic of a drive system according to an embodiment of this disclosure. Figure 16 is a block diagram schematic of an obstacle detection alarm system according to an embodiment of this disclosure. Figure 17 is a diagram for explaining an example of operation of an obstacle detection alarm system according to an embodiment of this disclosure. Figures 18 to 19 are transition diagrams for explaining an example of operation of an obstacle detection alarm system according to an embodiment of this disclosure. Figures 20 to 24 are flowcharts illustrating an example of operation of an obstacle detection and alarm system according to the embodiment of this disclosure. Figures 25 to 30 are schematic diagrams illustrating an example of operation of an obstacle detection and alarm system according to the embodiment of this disclosure. Figures 31 to 33 are block diagrams illustrating the basic configuration of an obstacle detection and alarm system according to the embodiment of this disclosure.

[0013] As shown in Figures 1 and 2, in this embodiment, a local coordinate system is set for the work machine 100, and the positional relationships of each part will be explained while referring 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 orthogonal. The Y-axis and Z-axis are orthogonal. The Z-axis and X-axis are orthogonal. The arrow direction of the X-axis is to the left, and the opposite direction is to the right. The arrow direction of the Y-axis is forward, and the opposite direction is backward. The arrow direction of the Z-axis is upward, and the opposite direction is downward.

[0014] (Example configuration of the work machine 100) Figure 1 shows an example of the configuration of a work machine 100 according to an embodiment. The work machine 100 operates at a construction site and performs construction work on materials such as soil and sand. One example of the work machine 100 according to an 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 machine 130, and a blade 150. The upper rotating body 120 is equipped with a driver's cab 140, an obstacle detection unit 200, and a swing detection unit 210.

[0015] The lower running body 110 supports the work machine 100 so that it can move. The lower running body 110 includes, for example, a pair of left and right tracks 110a (also referred to as the left track 110a) and a track 110b (also referred to as the right track 110b). The lower running body 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.

[0016] The upper slewing body 120 is supported on the lower traveling body 110 so as to be able to slewing around the pivot center c. The work implement 130 is driven by hydraulics. The work implement 130 is supported on the front of the upper slewing body 120 so as to be able to steer vertically. In addition, as shown in Figure 3, the work implement 130 is supported on the front of the upper slewing body 120 so as to be able to swing horizontally around a pin 130P as the pivot point.

[0017] The cab 140 is a space where the operator (driver) sits and operates the work machine 100. The cab 140 is located on the left front of the upper slewing body 120. Here, the part of the upper slewing body 120 to which the work machine 130 is attached is called the front. Also, with respect to the upper slewing body 120, the part opposite the front is called the rear, the part to the left is called the left side, and the part to the right is called the right side.

[0018] Furthermore, the left and right tracks 110a and 110b can be driven independently (forward and backward). If the left track 110a and the right track 110b are moved forward simultaneously, the lower track 110 will move forward, and if the left track 110a and the right track 110b are moved backward simultaneously, the lower track 110 will move backward. Also, if the drive wheels of one track and the drive wheels of the other track are driven in opposite directions, for example, if the right track 110b is moved forward and the left track 110a is moved backward at the same time, the lower track 110 can rotate around a pivot point. This method of turning is called a pivot turn.

[0019] Furthermore, the turning center of the lower traveling body 110 when it is turned in a pivot position may be configured to coincide with the turning center c of the upper rotating body 120, or they may be configured to be different.

[0020] (Example configuration of work machine 130) As shown in Figures 1 and 2, the work machine 130 comprises 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.

[0021] The base end of the boom 131 is supported at the front of the upper slewing body 120 so as to be able to swing vertically and horizontally. The arm 132 connects the boom 131 and the bucket 133. The base end of the arm 132 is pivotably attached to the tip of the boom 131. The bucket 133 has a blade for excavating soil and other materials and a container for collecting the excavated soil and other materials. The base end of the bucket 133 is pivotably attached to the tip of the arm 132.

[0022] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131 in the vertical direction. The base end of the boom cylinder 131C is swingably mounted on the upper slewing body 120. The tip end of the boom cylinder 131C is mounted on the boom 131.

[0023] The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. The base end of the arm cylinder 132C is attached to the boom 131. The tip end of the arm cylinder 132C is attached to the arm 132.

[0024] The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. The base end of the bucket cylinder 133C is attached to the arm 132. The tip end of the bucket cylinder 133C is attached to a link member connected to the bucket 133.

[0025] The swing cylinder 134C is a hydraulic cylinder for swinging the boom 131 in the left-right direction. The base end of the swing cylinder 134C is attached to the upper slewing body 120. The tip end of the swing cylinder 134C is attached to the base end of the boom 131.

[0026] (Example configuration of driver's cab 140) Figure 4 shows an example of the internal configuration of the driver's cab 140 according to the embodiment. The driver's cab 140 is equipped with a driver's seat 141, an operating device 142, and an input / output device 145.

[0027] The control device 142 is a device for manually operating the lower travel body 110, upper slewing body 120, work implement 130, and blade 150 by the operator. The control device 142 includes a left control lever 142LO, a right control lever 142RO, a left travel lever 142LT, a right travel lever 142RT, a boom swing control pedal 142BF, a blade control lever 142BL, and a PPC (Pressure Proportional Control) lock lever 142LL.

[0028] The left control lever 142LO is located to the left of the driver's seat 141. The right control lever 142RO is located to the right of the driver's seat 141.

[0029] The left operating lever 142LO is an operating mechanism for, for example, the rotation of the upper slewing body 120 and the digging / dumping of the arm 132. Specifically, when the operator of the work machine 100 pushes the left operating lever 142LO forward, the arm 132 performs a dumping operation. When the operator of the work machine 100 pushes the left operating lever 142LO backward, the arm 132 performs an digging operation. When the operator of the work machine 100 pushes the left operating lever 142LO to the right, the upper slewing body 120 rotates to the right. When the operator of the work machine 100 pushes the left operating lever 142LO to the left, the upper slewing body 120 rotates to the left. In other embodiments, the upper slewing body 120 may rotate to the right or left when the left operating lever 142LO is pushed forward or backward, and the arm 132 may perform an digging or dumping operation when the left operating lever 142LO is pushed left or right. In other embodiments, the upper rotating body 120 may rotate left or right when the right operating lever 142RO is tilted left or right. These operations can also be changed, for example, using an input / output device 145 or mechanically.

[0030] The right operating lever 142RO is an operating mechanism for, for example, performing digging / dumping operations of the bucket 133 and raising / lowering operations of the boom 131. Specifically, when the operator of the work machine 100 pushes the right operating lever 142RO forward, the boom 131 is lowered. When the operator of the work machine 100 pushes the right operating lever 142RO backward, the boom 131 is raised. When the operator of the work machine 100 pushes the right operating lever 142RO to the right, the bucket 133 is dumped. When the operator of the work machine 100 pushes the right operating lever 142RO to the left, the bucket 133 is dug. In other embodiments, when the right operating lever 142RO is pushed forward or backward, the bucket 133 may perform a dumping or digging operation, and when the right operating lever 142RO is pushed left or right, the boom 131 may perform a raising or lowering operation.

[0031] The left travel lever 142LT is located on the front left side of the driver's seat 141. The right travel lever 142RT is located on the front right side of the driver's seat 141. The left travel lever 142LT corresponds to the rotational drive of the left track 110a of the lower track 110. Specifically, when the operator of the work machine 100 pushes the left travel lever 142LT forward, the left track 110a rotates in the forward direction. Also, when the operator of the work machine 100 pushes the left travel lever 142LT backward, the left track 110a rotates in the reverse direction.

[0032] The right travel lever 142RT corresponds to the rotational drive of the right track 110b of the lower track 110. Specifically, when the operator of the work machine 100 pushes the right travel lever 142RT forward, the right track 110b rotates in the forward direction. Conversely, when the operator of the work machine 100 pushes the right travel lever 142RT backward, the right track 110b rotates in the reverse direction.

[0033] The boom swing control pedal 142BF controls the swing drive of the implement 130 (boom 131). For example, if the operator of the implement 100 pushes the boom swing control pedal 142BF to the left, the implement 130 will swing to the left. If the operator pushes the boom swing control pedal 142BF to the right, the implement 130 will swing to the right.

[0034] The blade operating lever 142BL controls the movement of the blade 150. For example, if the operator of the work machine 100 pushes the blade operating lever 142BL forward, the blade 150 will move downward. Conversely, if the blade operating lever 142BL is pushed backward, the blade 150 will move upward.

[0035] The PPC lock lever 142LL can be locked or unlocked by the operator. When the PPC lock lever 142LL is locked, operations by other levers, pedals, etc. of the operating device 142, excluding the PPC lock lever 142LL, are disabled. When the PPC lock lever 142LL is unlocked, operations by the operating device 142 become active again.

[0036] In this embodiment, each lever and pedal of the operating device 142 has the function of outputting hydraulic fluid at a pressure corresponding to the operating stroke of each lever or pedal from a valve that controls the pilot pressure for moving the spool of the control valve 303, which will be described later. However, in other embodiments, the levers and pedals of the operating device 142 may output electrical signals and be configured to control the control valve by an external control device. Also, the left operating lever 142LO or the right operating lever 142RO is one example of the configuration of the slewing operation unit. The left travel lever 142LT and the right travel lever 142RT are one example of the configuration of the travel operation unit.

[0037] The input / output device 145 is a device that displays information related to multiple functions of the work machine 100, inputs various instruction operations, emits alarm sounds, and displays alarm signals. The input / output device 145 is equipped with a display 145D. The display 145D is composed of, for example, a touch panel. The input / output device 145 is also equipped with an alarm buzzer 145B that emits an alarm sound. Note that the display 145D and the alarm buzzer 145B may be installed separately.

[0038] (Example configuration of the swing detection unit 210) As shown in Figures 5 to 9, the swing detection unit 210 includes two proximity switches (1) 211 and (2) 212, and a proximity member 213. Figures 5, 7 to 9 show the unit with the cover 210C in place, and Figure 6 shows the unit with the cover 210C removed. Figures 5 to 7 show the work machine 130 facing forward (the swing position in Figure 3 is neutral (center)), Figure 8 shows the work machine 130 swung to the left, and Figure 9 shows the work machine 130 swung to the right. The proximity switches (1) 211 and (2) 212 are fixed to the end of the work machine 130 at 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 Figure 7, the proximity member 213 has a shape that is close to and facing both the detection surface 211s of proximity switch (1) 211 and the detection surface 212s of proximity switch (2) 212 when the work machine 130 is in the neutral position, and is fixed in front of the upper slewing body 120. As shown in Figure 7, when the work machine 130 is in the neutral position, both the detection surface 211s of proximity switch (1) 211 and the detection surface 212s of proximity switch (2) 212 face (are close to) the proximity member 213, so both proximity switch (1) 211 and proximity switch (2) 212 are turned on. Also, as shown in Figure 8, when the work machine 130 is swung to the left, only the detection surface 212s of proximity switch (2) 212 face (are close to) the proximity member 213, so proximity switch (2) 212 is turned on and proximity switch (1) 211 is turned off. Furthermore, 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 (approaches) the proximity member 213, so the proximity switch (1) 211 turns on and the proximity switch (2) 212 turns off.

[0039] Figure 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 to the 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 to the left.

[0040] The swing detection unit 210 of this embodiment detects whether the work implement 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 have different on / off states, depending on whether the work implement 130 is swinging to the right, in a neutral state, or swinging to the left. In this case, the angle at which the neutral state is detected can be easily adjusted by changing the arrangement of the multiple proximity switches (1) 211 and (2) 212 and the shape of the proximity member 213.

[0041] 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 machine 130.

[0042] (Example of the configuration of the obstacle detection unit 200) The upper rotating body 120 is equipped with multiple millimeter-wave radars (right radar 201, left radar 202, and rear radar 203) as an obstacle detection unit 200 for detecting obstacles (objects to be detected) around the work machine 100. The obstacle detection unit 200 comprises the right radar 201, the left radar 202, and the rear radar 203. The right radar 201, the left radar 202, and the rear radar 203 detect the angle, distance, and speed of objects to be detected (people, work structures, etc.) located within a detection area within a predetermined distance, for example, 75 degrees to the left and right and 5 degrees up and down, and output the detection result. The number of objects to be detected is 0 or more. Note that the angles of the detection area, etc. are examples. The obstacle detection unit 200 may be equipped with, for example, 3 or more radars. Figure 11 shows examples of detection areas 201s, 202s, and 203s of the right-hand radar 201, left-hand radar 202, and rear-hand radar 203.

[0043] (Example of alarm area configuration) In this embodiment, four alarm areas A1, A2, A3, and A4 are set within the detection area (detection areas 201s, 202s, and 203s) of the obstacle detection unit 200. Depending on the rotation operation state of the upper rotating body 120, the swing position of the work machine 130, and the travel state of the work machine 100, control is performed to change the size of alarm areas A1 and A2, or to issue an alarm or not issue an alarm when an obstacle is detected within alarm areas A1, A2, A3, and A4. In addition, in this embodiment, areas for issuing alarm level 1 and areas for issuing alarm level 2 are set within alarm areas A1 and A2, and control is performed to switch between alarm level 1 and alarm level 2. Alarm level 2 is issued in a manner that indicates a more urgent situation than alarm level 1 (for example, by changing the period or frequency of the alarm sound or the volume of the alarm sound).

[0044] Referring to Figures 12 to 14, we will explain the settings for alarm areas A1, A2, A3, and A4, as well as the areas that trigger alarms at alarm level 1 and alarms at alarm level 2. As shown in Figure 12, alarm area A1 is an alarm area located to the right of the upper rotating body 120, and is the area where contact or other incidents are likely to occur when the upper rotating body 120 rotates to the right if an object to be detected is present within alarm area A1. Alarm area A2 is an alarm area located to the left of the upper rotating body 120, and is the area where contact or other incidents are likely to occur when the upper rotating body 120 rotates to the left if an object to be detected is present within alarm area A2.

[0045] Furthermore, alarm area A1 is set to either alarm area A1a when the swing position of the work implement 130 is neutral, as shown in Figure 12, or alarm area A1b when the swing position of the work implement 130 is to the right, as shown in Figure 13. Alarm area A1b is the area obtained by subtracting the area where the work implement 130 may be located (the area where the work implement 130 may be mistakenly detected as an obstacle by the obstacle detection unit 200) from alarm area A1a, and is a narrower area than alarm area A1a. In addition, alarm area A1 (alarm area A1a or A1b) is set to have alarm level 2 areas and alarm level 1 areas, which are shown as being separated by a dashed line, depending on the distance from the work implement 130.

[0046] Furthermore, alarm area A2 is set to either alarm area A2a when the swing position of the work implement 130 is neutral, as shown in Figure 12, or alarm area A2b when the swing position of the work implement 130 is to the left, as shown in Figure 14. Alarm area A2b is the area obtained by subtracting the area where the work implement 130 may be located from alarm area A2a, and is a narrower area than alarm area A2a. In addition, alarm area A2 (alarm area A2a) is set to have alarm level 2 areas and alarm level 1 areas, which are shown by a dashed line depending on the distance from the work implement 130. In addition, alarm area A2 (alarm area A2b) is set to be entirely alarm level 2.

[0047] Furthermore, as shown in Figure 12, alarm areas A3 and A4 are both alarm areas set behind the upper slewing body 120, with alarm area A3 having a wider range than alarm area A4. Alarm area A3 is an alarm area that is active when the work machine 100 is moving. Alarm area A4 is an alarm area that is active when the work machine 100 is stopped moving. In the example shown in Figure 12, the left-right size of alarm area A3 and alarm area A4 is equal, while the front-rear size of alarm area A3 is larger. Also, the front ends of alarm area A3 and alarm area A4 coincide and coincide or nearly coincide with the end of the upper slewing body 120. In this embodiment, even when the upper slewing body 120 of the work machine 100 is slewing, alarm areas A3 and A4 are not affected by the direction of the lower traveling body 110. That is, when the work machine 100 is in a moving state (or a state in which it can move), alarm areas A3 and A4 are always located behind the upper slewing body 120. In alarm area A3, alarm levels 1 and 2 are determined using the speed at which the detected object approaches the work machine 100 and the distance between the detected object and the work machine 100 as parameters. Similarly, in alarm area A4, alarm levels 1 and 2 are determined using the speed at which the detected object approaches the work machine 100 and the distance between the detected object and the work machine 100 as parameters.

[0048] (Overview of the drive system) Figure 15 shows an overview of a drive system according to an embodiment of the present disclosure. As shown in Figure 15, the work machine 100 includes, as components of the drive system, a drive source 300, a hydraulic pump 301, a hydraulic oil tank 302, a control valve 303, a slewing motor 304, a travel motor 305, and a hydraulic rotary joint 306.

[0049] The drive source 300 generates the driving force to operate the work machine 100. Examples of the drive source 300 include an internal combustion engine and an electric motor. The hydraulic pump 301 is driven by the drive source 300 and discharges hydraulic fluid. At least a portion of the hydraulic fluid discharged from the hydraulic pump 301 is supplied via the control valve 303 to the boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, swing cylinder 134C, slewing motor 304, and travel motor 305, respectively. The control valve 303 controls the flow rate and direction of the hydraulic fluid supplied from the hydraulic pump 301 to the boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, swing cylinder 134C, slewing motor 304, and travel motor 305 via the hydraulic rotary joint 306, depending on the operating state of the operating device 142.

[0050] The sensor unit 400 includes multiple PPC pressure sensors, switches, etc., and detects the operating status of the operating device 142 and outputs the detection result.

[0051] (Example of an obstacle detection and warning system configuration) Figure 16 shows an overview of an obstacle detection and alarm system according to an embodiment of the present disclosure. The obstacle detection and alarm system 600 shown in Figure 16 includes an obstacle detection and alarm device 500. The obstacle detection and alarm device 500 can be configured using a computer such as a microcomputer or CPU (Central Processing Unit) and hardware such as peripheral circuits and peripheral devices of the computer. The obstacle detection and alarm device 500 has a functional configuration consisting of a combination of hardware and software such as a program executed by the computer, and includes an obstacle detection result acquisition unit 501, a sensor detection result acquisition unit 502, a swing detection result acquisition unit 503, and an alarm generation unit 504.

[0052] The obstacle detection and alarm 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 implemented by the processor may be implemented by the integrated circuit.

[0053] Furthermore, for example, the obstacle detection and warning device 500 may be mounted on the work machine 100, or it may be configured to be installed in a remote control room located remotely from the work machine 100.

[0054] Furthermore, in the example shown in Figure 16, the sensor unit 400, which was outlined with reference to Figure 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 when the right travel lever 142RT and left travel lever 142LT are used to instruct travel, and turns off when the travel instruction operation is stopped (or released). The right-turn PPC pressure sensor 403 turns on when the left operation lever 142LO or right operation lever 142RO is used to instruct the upper slewing body 120 to turn right, and turns off when the right-turn instruction operation is stopped (or released). The left-rotating PPC pressure sensor 404 turns on its output when the left operating lever 142LO or the right operating lever 142RO is used to instruct the upper rotating body 120 to rotate left, and turns off its output when the operation to instruct the left rotation is stopped (or canceled). The output of the sensor unit 400 may be transmitted directly to the obstacle detection alarm device 500, or it may be transmitted via another controller.

[0055] In the obstacle detection alarm device 500, the obstacle detection result acquisition unit 501 repeatedly acquires the detection results from the obstacle detection unit 200 at a predetermined interval.

[0056] The sensor detection result acquisition unit 502 repeatedly acquires the detection result from the sensor unit 400 at a predetermined interval.

[0057] The swing detection result acquisition unit 503 repeatedly acquires the detection results from the swing detection unit 210 at a predetermined interval.

[0058] 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 generation unit 504 performs the following processes: determining whether or not to enable an alarm area, determining whether or not to issue an alarm, and determining whether or not to issue an alarm at alarm level 2 or alarm level 1 if an alarm is to be issued.

[0059] (Example of operation of obstacle detection and alarm device 500) Figure 17 shows the correspondence between the activation / deactivation results of each alarm area A1 to A4 determined by the alarm activation unit 504 and the on / off (or unlocked / locked) states of the PPC lock lever switch 401, the travel PPC pressure sensor 402, the right-turn PPC pressure sensor 403, and the left-turn PPC pressure sensor 404. Figure 17 also shows the behavior of the vehicle body (whether the upper rotating body 120 is turning right or left, or whether it is traveling or not) in each corresponding relationship. For example, if the travel PPC pressure sensor 402, the right-turn PPC pressure sensor 403, and the left-turn PPC pressure sensor 404 are all off, only alarm area A4 is active, and an alarm is triggered when an obstacle is detected in alarm area A4. Even if an obstacle is detected in the other alarm areas A1 to A3, no alarm will be triggered.

[0060] Figure 18 shows the state transition flow of the process for determining whether the alarm area shown in Figure 17 is enabled or disabled. Figure 19 also shows the state transition flow of the process for determining whether alarm area A1 is alarm area A1a or alarm area A1b, and whether alarm area A2 is alarm area A2a or alarm area A2b, for alarm areas A1 and A2.

[0061] The state transition diagram shown in Figure 18 includes the initial state ST0 and states ST1 to ST8. The initial state ST0 is the state before the drive source is activated, and the state transitions to ST1 when the drive source is activated. State ST1 is the state in which the PPC lock lever 142LL is locked, and alarm areas A1 to A4 are all disabled. When the lock on the PPC lock lever 142LL is released, the state transitions to ST3. State ST2 includes states ST3 to ST8, and if the PPC lock lever 142LL is locked in any of states ST3 to ST8, the state transitions to ST1.

[0062] State ST3 is a state where only alarm area A4 is enabled. State ST4 is a state where alarm areas A2 and A4 are enabled. State ST5 is a state where alarm areas A1 and A4 are enabled. State ST6 is a state where alarm areas A1 and A3 are enabled. State ST7 is a state where alarm area A3 is enabled. State ST8 is a state where alarm areas A2 and A3 are enabled.

[0063] When the travel PPC (pressure sensor) is turned on in state ST3, the system transitions to state ST7. When the right turn PPC (pressure sensor) is turned on in state ST3, the system transitions to state ST5. When the left turn PPC (pressure sensor) is turned on in state ST3, the system transitions to state ST4.

[0064] When the driving PPC (pressure sensor) is turned on in state ST4, the system transitions to state ST8. When the left turn PPC (pressure sensor) is turned off in state ST4, the system transitions to state ST3.

[0065] When the driving PPC (pressure sensor) is turned on in state ST5, the system transitions to state ST6. When the right turn PPC (pressure sensor) is turned off in state ST5, the system transitions to state ST3.

[0066] If the travel PPC (pressure sensor) turns off in state ST6, the system transitions to state ST5. If the right turn PPC (pressure sensor) turns off in state ST6, the system transitions to state ST7.

[0067] If the travel PPC (pressure sensor) is turned off in state ST7, the system transitions to state ST3. If the right turn PPC (pressure sensor) is turned on in state ST7, the system transitions to state ST6. If the left turn PPC (pressure sensor) is turned on in state ST7, the system transitions to state ST8.

[0068] If the travel PPC (pressure sensor) turns off in state ST8, the system transitions to state ST4. If the right turn PPC (pressure sensor) turns off in state ST8, the system transitions to state ST7.

[0069] The state transition diagram shown in Figure 19 includes states ST11 to ST13. State ST11 is the state when the swing position is neutral. In state ST11, alarm area A1 is alarm area A1a, and alarm area A2 is alarm area A2a. In state ST12, alarm area A1 is alarm area A1a, and alarm area A2 is alarm area A2b. In state ST13, alarm area A1 is alarm area A1b, and alarm area A2 is alarm area A2a. When the boom swing position moves to the right in state ST11, it transitions to state ST13. When the boom swing position becomes neutral in state ST13, it transitions to state ST11. When the boom swing position moves to the left in state ST11, it transitions to state ST12. When the boom swing position becomes neutral in state ST12, it transitions to state ST11.

[0070] Next, an example of the operation of the obstacle detection and alarm device 500 will be explained with reference to the flowcharts shown in Figures 20 to 24. Figure 20 is the main flow of the operation example described here. The process shown in Figure 20 is repeatedly executed at a predetermined cycle while the drive source is running and the PPC lock lever 142LL is unlocked.

[0071] When the process shown in Figure 20 begins, the obstacle detection alarm device 500 acquires the detection result from the obstacle detection unit (step S101), the detection result from the sensor unit (step S102), the detection result for 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 (alarming unit 504) executes the alarm switching and determination process (step S105). In step S105, the alarming unit 504 executes the alarm switching and determination process shown in Figure 21. In the alarm switching and determination process of step S105, the detection state is set to determine whether it is an alarm level 1 detection state, an alarm level 2 detection state, or neither.

[0072] After step S105, the alarm unit 504 determines whether or not an alarm level 2 detection state is detected (step S106). If an alarm level 2 detection state is detected (step S106: Yes), it issues an alarm level 2 alarm (step S107) and terminates the process shown in Figure 20. On the other hand, if an alarm level 2 detection state is not detected (step S106: No), the alarm unit 504 determines whether or not an alarm level 1 detection state is detected (step S108). If an alarm level 1 detection state is detected (step S108: Yes), it issues an alarm level 1 alarm (step S109) and terminates the process shown in Figure 20. On the other hand, if an alarm level 1 detection state is not detected (step S108: No), the alarm unit 504 terminates the process shown in Figure 20.

[0073] Next, referring to Figure 21, the alarm switching and determination process performed in step S105 of Figure 20 will be described. The process shown in Figure 21 is performed by the alarm generation unit 504.

[0074] The alarm unit 504 first performs an alarm determination for all detection areas (step S201). There are six types of detection areas, and in step S201, it determines whether each area is inside or outside the alarm level 1 area or alarm level 2 area (detection areas: alarm areas A1a, A1b, A2a, A2b, A3, and A4). For each alarm area A1a, A1b, A2a, A2b, A3, and A4, the alarm unit 504 determines whether one or more obstacles have been detected, whether it corresponds to alarm level 1, and whether it corresponds to alarm level 2.

[0075] Next, the alarm unit 504 performs the following steps: masking of alarm determination results (alarm areas A1a, A1b) (step S202), masking of alarm determination results (alarm areas A2a, A2b) (step S203), and masking of alarm determination results (alarm areas A3, A4) (step S204). In steps S202 to S204, the alarm unit 504 performs masking (alarm invalidation) of alarm determination results for each detection area.

[0076] In step S202, the masking process of the alarm determination result (alarm regions A1a and A1b), as shown in Figure 22, the alarm unit 504 first determines whether the right-swing PPC sensor is off or not (step S301). If the right-swing PPC sensor is off (step S301: Yes), the alarm unit 504 masks alarm regions A1a and A1b (step S302) and terminates the process shown in Figure 22. If the right-swing PPC sensor is on (step S301: No), the alarm unit 504 determines whether the boom swing position is to the right or not (step S303). If the boom swing position is to the right (step S303: Yes), the alarm unit 504 masks alarm region A1a (step S304) and terminates the process shown in Figure 22. If the boom swing position is not to the right (step S303: No), the alarm unit 504 masks the alarm area A1b (step S305) and terminates the process shown in Figure 22.

[0077] Step S302 is executed when the upper slewing body 120 is stopped or moving to the left. Step S304 is executed when the upper slewing body 120 is moving to the right and the boom swing position is to the right. Step S305 is executed when the upper slewing body 120 is moving to the right and the boom swing position is neutral or to the left.

[0078] In step S203, the masking process of the alarm determination result (alarm areas A2a and A2b), as shown in Figure 23, the alarm unit 504 first determines whether the left-swing PPC sensor is off or not (step S401). If the left-swing PPC sensor is off (step S401: Yes), the alarm unit 504 masks alarm areas A2a and A2b (step S402) and terminates the process shown in Figure 23. If the left-swing PPC sensor is on (step S401: No), the alarm unit 504 determines whether the boom swing position is to the left or not (step S403). If the boom swing position is to the left (step S403: Yes), the alarm unit 504 masks alarm area A2a (step S404) and terminates the process shown in Figure 23. If the boom swing position is not to the left (step S403: No), the alarm unit 504 masks the alarm area A2b (step S405) and terminates the process shown in Figure 23.

[0079] Step S402 is executed when the upper slewing body 120 is stopped or to the right. Step S404 is executed when the upper slewing body 120 is slewing to the left and the boom swing position is to the left. Step S405 is executed when the upper slewing body 120 is slewing to the left and the boom swing position is neutral or to the right.

[0080] In step S204, the masking process of the alarm determination result (alarm areas A3 and A4), as shown in Figure 24, the alarm unit 504 first determines whether the driving PPC sensor is off or not (step S501). If the driving PPC sensor is off (step S501: Yes), the alarm unit 504 masks alarm area A3 (step S502) and terminates the process shown in Figure 24. If the driving PPC sensor is on (step S501: No), the alarm unit 504 masks alarm area A4 (step S503) and terminates the process shown in Figure 24.

[0081] The condition for step S502 to be executed is that the work machine 100 is stopped from moving. The condition for step S503 to be executed is that the work machine 100 is moving.

[0082] Once the process in step S204 shown in Figure 21 is completed, the alarm unit 504 executes the processes in steps S205 to S213 for all detection areas (alarm areas A1a, A1b, A2a, A2b, A3, and A4). The processes in steps S205 to S213 are loop processes for checking each detection area. In the loop process, the alarm unit 504 first determines whether or not it is a detection area for which an alarm is valid (an unmasked detection area) (step S206). If it is not a detection area for which an alarm is valid (step S206: No), the alarm unit 504 performs the loop process for the next detection area (S213).

[0083] If the detection area is one in which an alarm is valid (step S206: Yes), the alarm unit 504 determines whether the alarm area being processed is alarm area A3 (step S207). If it is alarm area A3 (step S207: Yes), the alarm unit 504 determines whether all detected obstacles are obstacles that move away from the user (step S208). In step S208, the unit determines whether an obstacle is an obstacle that moves away from the user by determining whether the Y-axis direction of the obstacle's velocity vector is greater than or equal to a predetermined value set by the parameter.

[0084] If none of the detected obstacles are obstacles that move away (Step S208: No), or if they are not in alarm area A3 (Step S207: No), the alarm unit 504 determines whether or not it has detected alarm level 1 (Step S209), and if it has detected it (Step S209: Yes), it sets the alarm level 1 detection state (Step S210).

[0085] If all detected obstacles are obstacles that move away (step S208: Yes), or if no alarm level 1 was detected (step S209: No), or after step S210 is executed, the alarm unit 504 determines whether or not alarm level 2 has been detected (step S211), and if it has been detected (step S211: Yes), it sets the alarm level 2 detection state (step S212).

[0086] If alarm level 2 was not detected (step S211: No), or after step S212 is executed, the alarm unit 504 performs loop processing for the next detection area (S213).

[0087] In the above process, for alarm area 3, the alarm level 1 detection state is set only when there is an approaching obstacle, and if all obstacles are moving away, only the alarm level 2 detection state can be set.

[0088] Through the above processing, the alarming unit 504 of the obstacle detection alarm device 500 can perform the following processing 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: determining whether or not to enable an alarm area, determining whether or not to issue an alarm, and determining whether or not to issue an alarm at alarm level 2 or alarm level 1 if an alarm is to be issued.

[0089] (Specific operation example) Next, with reference to Figures 25 to 30, specific examples of the operation of the obstacle detection and alarm system 600 will be described. Figure 25 shows an example where a person H1 is detected in alarm area A1 while the upper rotating body 120 is rotating to the right. In this case, the obstacle detection and alarm system 600 will issue an alarm at alarm level 1 or alarm level 2. Figure 26 shows an example where no obstacle is detected in alarm area A1, but a person H2 is detected in alarm area A2 while the upper rotating body 120 is rotating to the right. In this case, the obstacle detection and alarm system 600 will not issue an alarm. Figure 27 shows an example where a person H3 is detected in alarm area A1 while the upper rotating body 120 is stopped rotating. In this case, the obstacle detection and alarm system 600 will not issue an alarm.

[0090] Figure 28 shows an example where a person H4 is detected in alarm area A4 when the work machine 100 is not moving. In this case, the obstacle detection alarm system 600 will issue an alarm at alarm level 1 or alarm level 2. Figure 29 shows an example where a person H5 is detected in alarm area A3 when the work machine 100 is moving. In this case, the obstacle detection alarm system 600 will issue an alarm at alarm level 1 or alarm level 2. Figure 30 shows an example where a person H6 is detected in alarm area A3 when the work machine 100 is not moving. In this case, the obstacle detection alarm system 600 will not issue an alarm.

[0091] (Basic configuration example of the Obstacle Detection and Warning System 600) Next, a basic configuration example (minimum configuration example) of the obstacle detection and alarm system 600 described above will be explained. The obstacle detection and alarm system 600 described above can be understood as the obstacle detection and alarm system 601 shown in Figure 31, the obstacle detection and alarm system 602 shown in Figure 32, or the obstacle detection and alarm system 603 shown in Figure 33.

[0092] The obstacle detection and alarm system 601 shown in Figure 31 comprises a slewing operation unit 611 (configured to correspond to the left operation lever 142LO or the right operation lever 142RO) that instructs the slewing of the upper slewing 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 slewing direction of the upper slewing body 120 instructed by the slewing operation unit 611. The alarm issuing unit 504 stops issuing alarms when the slewing operation unit 611 stops instructing the slewing of the upper slewing body 120. Furthermore, the alarm issuing unit 504 changes the alarm issuing pattern according to the distance between the work machine 130 of the work machine 100 and the obstacle detected by the obstacle detection unit 200.

[0093] The obstacle detection alarm system 602 shown in Figure 32 includes 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 a first alarm area (alarm area A3) while the work machine 100 is moving, and when the obstacle detection unit 200 detects an obstacle in a second alarm area (alarm area A4) which 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 (configured to correspond to the left travel lever 142LT and the right travel lever 142RT) for operating the lower travel body 110 of the work machine 100, and the alarm issuing unit 504 stops issuing alarms when the travel operation unit 621 instructs the lower travel body 110 to stop. Furthermore, the alarm generation unit 504 changes the alarm generation pattern according to the distance between the work machine 100 and the obstacle detected by the obstacle detection unit 200, and the relative speed between the work machine 100 and the obstacle.

[0094] The obstacle detection and alarm system 603 shown in Figure 33 includes an obstacle detection unit 200 that detects obstacles around a work machine 100 having a swingable work attachment 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 attachment 130 is swinging, and when the obstacle detection unit 200 detects an obstacle in a second alarm area (alarm areas A1a, A2a) which is wider than the first alarm area when the work attachment 130 is not swinging. The alarm issuing unit 504 changes the alarm issuing mode according to the distance between the work attachment 130 of the work machine 100 and the obstacle detected by the obstacle detection unit 200. Furthermore, the alarm unit 504 determines whether the work implement 130 is swinging or not based on the outputs of multiple proximity switches (proximity switch (1) 211 and proximity switch (2) 212) which have different on / off states when the work implement 130 is swinging to the right, in a neutral state, and when it is swinging to the left.

[0095] (Effects / Actions) According to the obstacle detection alarm system, obstacle detection alarm method, and work machine of this disclosure, an alarm can be appropriately issued for obstacles in the vicinity of the work machine.

[0096] While embodiments of this invention have been described above with reference to the drawings, the specific configuration is not limited to the embodiments described above, and design modifications and the like are also included within the scope of the gist of this invention. Furthermore, some or all of the program executed by the computer in the above embodiments can be distributed via a computer-readable recording medium or communication line.

[0097] For example, the obstacle detection unit 200 may be configured using a lidar, camera, etc. (or in combination with a millimeter-wave radar), not limited to a millimeter-wave radar. Also, the shape of the warning area is not limited to a semicircular or rectangular shape, but can be any shape. [Explanation of Symbols]

[0098] 100...Work machine, 110...Lower traveling body, 120...Upper slewing body, 130...Work 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...Slewing operation unit, 621...Travel operation unit

Claims

1. An obstacle detection and warning system for a work machine having a lower traveling body, an upper rotating body supported so as to be rotatable with respect to the lower traveling body, and a work machine further supported so as to be swingable in the left-right direction with respect to the upper rotating body, A rotation control unit that instructs the rotation of the upper rotating body, An obstacle detection unit for detecting obstacles around the aforementioned work machine, If the obstacle detection unit detects an obstacle in the direction of rotation of the upper rotating body as instructed by the rotation operation unit, the alarm unit issues an alarm. Equipped with, When the swing position of the work machine is in the same direction as the rotation direction, the range in which the obstacle detection unit detects obstacles is reduced to a range that excludes areas where the work machine may be falsely detected. Obstacle detection and warning system.

2. The alarm unit stops issuing the alarm when the rotation operation unit stops giving instructions to rotate the upper rotating body. The obstacle detection and alarm system according to claim 1.

3. The alarm-emitting unit changes the alarm emission pattern according to the distance between the work equipment of the work machine and the obstacle detected by the obstacle detection unit. An obstacle detection and alarm system according to claim 1 or 2.

4. An obstacle detection and warning method for a work machine having a lower traveling body, an upper rotating body supported so as to be rotatable with respect to the lower traveling body, and a work machine further supported so as to be swingable in the left-right direction with respect to the upper rotating body, The steps include: obtaining a rotation instruction from the rotation control unit for the upper rotating body of the work machine; The steps include: obtaining the detection result of obstacles around the work machine by the obstacle detection unit; If the obstacle detection unit detects an obstacle in the direction of rotation of the upper rotating body as instructed by the rotation operation unit, the unit issues an alarm. Includes, When the swing position of the work machine is in the same direction as the rotation direction, the range in which the obstacle detection unit detects obstacles is reduced to a range that excludes areas where the work machine may be falsely detected. Obstacle detection and alarm method.

5. A work machine having a lower traveling body, an upper rotating body supported so as to be rotatable with respect to the lower traveling body, and a work machine further supported so as to be swingable in the left-right direction with respect to the upper rotating body, A rotation control unit that instructs the rotation of the upper rotating body, An obstacle detection unit for detecting obstacles around the aforementioned work machine, If the obstacle detection unit detects an obstacle in the direction of rotation of the upper rotating body as instructed by the rotation operation unit, the alarm unit issues an alarm. It has, Obstacle detection and warning system: When the swing position of the work machine is located in the same direction as the rotation direction, the range in which the obstacle detection unit detects obstacles is reduced to a range excluding areas where the work machine may be falsely detected. A work machine equipped with the following features.

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