Working machine

Abstract

A work machine comprising a vehicle body having a driver's cab, a first notification device provided inside the driver's cab, a second notification device provided outside the driver's cab, an input device for setting a notification level by the second notification device, and a control device for controlling the first notification device and the second notification device, wherein the control device provides a work machine that changes the notification level of the first notification device according to the notification level of the second notification device set by the input device. By doing so, a method of notification to surrounding workers is set according to the situation, and appropriate notification based on the notification to surrounding workers is made to an operator inside the driver's cab.

Description

Technology Field

[0001] The present invention relates to a working machine, for example, a hydraulic shovel. Background Technology

[0002] Working machines, such as hydraulic shovels, are sometimes equipped with a function that detects nearby workers and notifies the operator using sound or light. While notification by sound has the advantage of being perceptible regardless of where the operator is looking, there is a risk that if the sound rings frequently, the operator may feel annoyed or become accustomed to it and miss it. On the other hand, notification by light is suitable for conveying detection information specifically to the operator through a display such as a monitor, but there are cases where the operator cannot notice it unless they pay attention to the display.

[0003] In this regard, a peripheral monitoring system for a work machine is known that provides a sound alarm upon the detection of an object, and if the state in which the object is detected continues, stops the sound alarm under predetermined conditions and provides a light alarm (Patent Document 1). Prior art literature

[0004] Japanese Patent Publication No. 7009063 The problem to be solved

[0005] Recently, there are work machines equipped with a function that not only notifies the operator but also notifies surrounding workers when a worker is detected. By notifying surrounding workers when a worker is detected, not only is the operator alerted to their surroundings, but the surrounding workers can also be alerted to the work machine.

[0006] For example, when warning surrounding workers with sound, the warning sound can also reach the ears of the operator inside the control room. Therefore, if notification using sound and light is performed inside the control room as in Patent Document 1, the notification to the operator becomes excessive, increasing the operator's discomfort and potentially affecting work efficiency.

[0007] On the other hand, regarding notifications to surrounding workers, it is assumed that they may be turned off or the notification level lowered, for example, because noise may become a nuisance to the neighborhood if the work site is in a residential area. In this case, if the notification targeting surrounding workers is turned off, for instance, it fails to alert them to the work machinery, making it even more important to alert the operator.

[0008] The objective of the present invention is to provide a work machine capable of setting a method of notification to surrounding workers depending on the situation, and also enabling appropriate notification based on the notification to surrounding workers to be made to an operator in the control room. means of solving the problem

[0009] To achieve the above objective, the present invention provides a work machine comprising a vehicle body having a driver's cab, a first notification device provided inside the driver's cab, a second notification device provided outside the driver's cab, an input device for setting a notification level by the second notification device, and a control device for controlling the first notification device and the second notification device, wherein the control device changes the notification level of the first notification device according to the notification level of the second notification device set by the input device. Effects of the invention

[0010] According to the present invention, a method of notification targeting surrounding workers can be established depending on the situation, and appropriate notification based on the notification targeting surroundings can also be made to an operator in the control room. Brief explanation of the drawing

[0011] FIG. 1 is a side view showing the appearance of a hydraulic shovel, which is an example of a working machine related to one embodiment of the present invention. Figure 2 is a schematic diagram showing the interior of the driver's cab of the hydraulic shovel of Figure 1. FIG. 3 is a schematic diagram showing the entire control system of a work machine related to one embodiment of the present invention. FIG. 4 is a block diagram schematically illustrating the function of a notification control device of a work machine related to one embodiment of the present invention. FIG. 5 is a diagram showing a schematic of a detection area in one embodiment of the present invention. FIG. 6 is a figure showing an example of table-format data defining the notification patterns of the first notification device and the second notification device for each notification level in one embodiment of the present invention. FIG. 7 is a figure showing another example of table-format data defining the notification patterns of the first notification device and the second notification device for each notification level in one embodiment of the present invention. FIG. 8a is a drawing showing an example of a monitor display determined by a notification control device of a work machine related to one embodiment of the present invention. Figure 8b is a table showing the display pattern of the detection status indicator bar. FIG. 9a is an explanatory diagram of an example of a buzzer sound pattern determined by a notification control device of a work machine related to one embodiment of the present invention. FIG. 9b is an explanatory diagram of an example of a buzzer sound pattern determined by a notification control device of a work machine related to one embodiment of the present invention. FIG. 9c is an explanatory diagram of an example of a buzzer sound pattern determined by a notification control device of a work machine related to one embodiment of the present invention. FIG. 10 is a flowchart showing the control sequence of a first notification device and a second notification device by a notification control device of a work machine related to an embodiment of the present invention. FIG. 11 is a figure showing an example of table-format data defining the notification types of the first notification device and the second notification device for each notification level in a modified example. FIG. 12 is a figure showing another example of table-format data defining the notification types of the first notification device and the second notification device for each notification level in a modified example. FIG. 13 is a figure showing another example of table-format data defining the notification types of the first notification device and the second notification device for each notification level in a modified example. FIG. 14 is a figure showing another example of table-format data defining the notification types of the first notification device and the second notification device for each notification level in a modified example. FIG. 15 is a flowchart showing the procedure for setting the notification types of the first notification device and the second notification device by the notification control device of the work machine related to the modified example. FIG. 16 is a flowchart showing the procedure for changing the notification form of the first notification device by the notification control device of the work machine related to the modified example. FIG. 17 is a flowchart showing another example of the procedure for setting the notification types of the first notification device and the second notification device by the notification control device of the work machine related to the modified example. Specific details for implementing the invention

[0012] An embodiment of the present invention will be described below using the drawings.

[0013] -Work Machine-

[0014] FIG. 1 is a side view showing the appearance of a hydraulic shovel, which is an example of a work machine related to one embodiment of the present invention. The right side of FIG. 1 is considered the front of the swivel body (1d).

[0015] The hydraulic shovel (1) comprises a vehicle body (1B) and a multi-jointed front work device (1A) mounted on the vehicle body (1B). The front work device (1A) has a boom (1a), an arm (1b), and a bucket (1c) that rotate within a vertical plane. The vehicle body (1B) is composed of a vehicle body (1e) and a swivel body (1d) swivelly mounted on the vehicle body (1e). The swivel body (1d) is equipped with a cab (1f). The base of the boom (1a) of the front work device (1A) is connected to the front of the swivel body (1d), the arm (1b) is connected to the front end of the boom (1a), and the bucket (1c) is connected to the front end of the arm (1b). The boom (1a), arm (1b), bucket (1c), slewing body (1d), and driving body (1e) are each driven by corresponding hydraulic actuators, specifically boom cylinder (2a), arm cylinder (2b), bucket cylinder (2c), slewing motor (3d) (Fig. 3) and left and right driving motors (3e, 3f). The boom (1a), arm (1b), and bucket (1c) (strictly speaking, bucket links) are each equipped with angle sensors (8a, 8b, 8c) that detect the rotational motion angle of the boom (1a), arm (1b), and bucket (1c).

[0016] Additionally, the rotating body (1d) is equipped with a GNSS antenna (9a, 9b) for acquiring the current position of the hydraulic shovel (1), and a plurality of cameras (10a, 10b, 10c) for capturing images of the surroundings of the vehicle body (1B). Camera (10a) captures the left side of the rotating body (1d), camera (10b) captures the rear side of the rotating body (1d), and camera (10c) captures the right side of the rotating body (1d). In addition to being a device for acquiring images of the surroundings of the vehicle body (1B), in this embodiment, the cameras (10a-10c) also function as object detection sensors for detecting objects (workers, other work machines, various obstacles, etc.) around the vehicle body (1B). However, LiDAR (Light Detection and Ranging) may be installed as the object detection sensor for detecting objects. LiDAR irradiates multiple laser beams with different optical axis angles in the left-right direction (yaw direction) and the up-down direction (pitch direction), and acquires distance data (point cloud data) to the irradiation point of each laser from the time it takes for each laser beam to be reflected from an object and incident.

[0017] On the upper surface of the vehicle body (1B), in this embodiment, the driver's cabin (1f), a surrounding speaker (18) and a surrounding indicator light (19) are provided. The surrounding speaker (18) and the surrounding indicator light (19) are examples of a second notification device provided outside the driver's cabin (1f) to notify workers around the vehicle body (1B). The surrounding speaker (18) emits a buzzer sound or voice to the surroundings, and the volume can be adjusted. The surrounding indicator light (19) can change the lighting color, and the lighting pattern, such as lighting, flashing, and flashing intervals, can also be changed.

[0018] Additionally, although not shown in FIG. 1, the slewing body (1d) is equipped with an engine (4) as a prime mover, a hydraulic pump (5) driven by the engine (4), and a valve (6) that controls the flow of hydraulic fluid from the hydraulic pump (5) to a hydraulic actuator (boom cylinder (2a), etc.), as shown in FIG. 3, which will be described later. The valve (6) is controlled by the operation of the operating lever device (7a-7d) (Fig. 2) provided in the driver's cab (1f), thereby controlling the supply direction and flow rate of hydraulic fluid from the hydraulic pump (5) to each hydraulic actuator, and each actuator operates. In some cases, an electric motor is used instead of the engine (4) as the prime mover.

[0019] -Cab-

[0020] FIG. 2 is a schematic diagram showing the interior of the driver's cabin (1f). The driver's cabin (1f) is equipped with an operating lever device (7a-7d) for operating the vehicle body or the front work device (1A), a shut-off lever (17) for restricting the operation of the operating lever device (7a-7d), a speaker (11) for transmitting information to the operator via sound within the driver's cabin (1f), and a monitor (12), which is a display device for transmitting information to the operator via light within the driver's cabin (1f). For example, if the operating lever device (7a) located on the left side of the driver's seat is operated back and forth, the slewing body (1d) rotates left and right, and if operated left and right, the arm (1b) rotates back and forth. If the operating lever device (7b) located on the right side of the driver's seat is operated back and forth, the boom (1a) rotates up and down, and if operated left and right, the bucket (1c) rotates. The speaker (11) and monitor (12) are examples of a first notification device provided inside the driver's cabin (1f) to notify an operator who is on board the driver's cabin (1f). In this embodiment, the speaker (11) is built into the monitor (12), but the installation location of the speaker is not limited to this as long as it can transmit sound to the operator. In addition, as a monitor operation device for operating the monitor (12), the monitor (12) of this embodiment is equipped with a touch panel (15).

[0021] -Control System-

[0022] FIG. 3 is a schematic diagram showing the entire control system of a work machine related to an embodiment of the present invention. A control device (200) for controlling each mounted device is mounted on the swivel body (1d) of a hydraulic shovel (1). The control device (200) is configured to include a main C / U (50) for controlling actuators, etc., a GNSS C / U (40) for processing information acquired by GNSS antennas (9a, 9b), and a notification C / U (60) for controlling various notifications to an operator. The main C / U (50) and the notification C / U (60) are computers having a memory device (e.g., HHD, RAM, ROM) or a computing device (e.g., CPU).

[0023] Signals are input to the main C / U (50) from the operating lever device (7a-7d), angle sensor (8a-8c), camera (10a-10c), key cylinder (14), shut-off lever (17), etc. The main C / U (50) controls the engine (4), hydraulic pump (5), and valve (6) according to these input signals, and drives the hydraulic shovel (1) by controlling hydraulic actuators such as the boom cylinder (2a). The key cylinder (14) is an operating device that directs the start or stop of the engine (4) and is installed in the driver's cab (1f). The shut-off lever (17) is an operating device that restricts the operation of the operating lever device (7a-7d) as described above. In addition to a configuration in which the shut-off lever (17) blocks the pilot pressure driving the valve (6) to hydraulically restrict the operation of the hydraulic actuator by the operating lever device (7a-7d), a configuration in which the main C / U (50) prohibits the output of a command signal to the valve (6) (strictly speaking, an electronic valve that controls the pilot pressure for the valve (6)) depending on the position of the shut-off lever (17) to electrically restrict the operation of the hydraulic actuator by the operating lever device (7a-7d) may be adopted. In either configuration, the position of the shut-off lever (17) is detected by a potentiometer (not shown) or the like and input to the main C / U (50). Furthermore, a communication device (16) is also connected to the main C / U (50), and communication with various terminals or servers outside the hydraulic shovel (1) is possible via the communication device (16).

[0024] -Notification Control Device-

[0025] (Overview of the notification control device)

[0026] The notification C / U (60) receives and receives data from the main C / U (50) and performs various processing. For example, the notification C / U (60) calculates display information to be output to the monitor (12) inside the driver's cabin (1f), lighting patterns of the surrounding indicator lights (19), and sound information to be output to the speaker (11) and surrounding speaker (18), and sends command signals to the corresponding devices. In addition, the notification C / U (60) has the function of displaying the operating status of the hydraulic shovel (1), the menu screen, camera images captured by the camera (10a-10c), etc., on the monitor (12) according to the operation of the touch panel (15).

[0027] The notification C / U (60), together with the main C / U (50), constitutes a notification control device (100) that controls a first notification device (speaker (11) and monitor (12)) and a second notification device (ambient speaker (18) and ambient indicator light (19)). In this embodiment, a configuration in which the functions of the notification control device (100) are divided between the main C / U (50) and the notification C / U (60) is exemplified, but the functions of the notification control device (100) may be provided in a single C / U (Control Unit). In this embodiment, a touch panel (15) is used as an input device for setting the notification level by the second notification device (ambient speaker (18) and ambient indicator light (19)) or the first notification device (speaker (11) and monitor (12)). However, it goes without saying that the input device is not limited to a touch panel (15) and other types of input devices, such as mechanical buttons, can be applied. The notification control device (100) controls the first notification device (speaker (11) and monitor (12)) and the second notification device (surrounding speaker (18) and surrounding indicator light (19)) based on object information detected by the object detection sensor. “Object information” refers to information regarding an object detected by the object detection sensor, which in the object detection sensor detection information, is information obtained by processing camera images from the camera (10a-10c) in this embodiment, and is, for example, the type of the detected object (worker, work machine, etc.), the positional relationship between the detected worker and the vehicle body (1B) (distance, orientation, etc.). For example, the notification control device (100) determines whether an object detected by the camera (10a-10c) is a person, and if the detected object is a person, it provides a notification by at least the first notification device (speaker (11) and monitor (12)), preferably both the first notification device and the second notification device.

[0028] The notification control device (100) has the function of changing the notification level of the first notification device (speaker (11) and monitor (12)) according to the notification level of the second notification device (ambient speaker (18) and ambient indicator light (19)) set by the touch panel (15). However, the notification level of the first notification device is not determined if the operator does not set the notification level of the second notification device by operating the touch panel (15). For example, before the operator sets the notification level of the second notification device, the first notification device and the second notification device are set to a standard setting notification level (for example, pattern A or B, etc., described later). “Notification level” refers to the degree of emphasis of a notification intended to convey information about the situation or draw attention to the notification target (workers around the hydraulic shovel (1) or an operator in the control room (1f)), and is adjusted, for example, by sound from a speaker (11) or a surrounding speaker (18), light from a monitor (12) or a surrounding indicator light (19), or a combination thereof. In the case of sound from a speaker (11) or a surrounding speaker (18), the notification level can be changed by volume, frequency, rhythm, interval of sound, combination thereof, etc. In the case of light from a monitor (12) or a surrounding indicator light (19), the notification level can be changed by light amount, lighting color, lighting interval, lighting rhythm, combination thereof, etc. Turning off the notification can be understood as setting the notification level to 0.

[0029] In this embodiment, the notification control device (100) sets the notification level of the first notification device (speaker (11) and monitor (12)) high when the notification level of the second notification device (ambient speaker (18) and ambient indicator light (19)) is set low. The notification control device (100) raises the notification level of the first notification device when the notification level of the second notification device is lowered by the touch panel (15). The notification control device (100) sets the notification level of the first notification device (speaker (11) and monitor (12)) low when the notification level of the second notification device (ambient speaker (18) and ambient indicator light (19)) is set high. The notification control device (100) lowers the notification level of the first notification device when the notification level of the second notification device is raised by the touch panel (15).

[0030] Additionally, the notification control device (100) stores a plurality of notification forms for the first notification device (speaker (11) and monitor (12)) and the second notification device (surrounding speaker (18) and surrounding indicator light (19)) for each notification level of the second notification device (surrounding speaker (18) and surrounding indicator light (19)). For example, in the memory device of the notification control device (100) (notification pattern memory unit (105) described later), a plurality of notification forms preset for each notification level are stored for the first notification device (speaker (11) and monitor (12)) and the second notification device (surrounding speaker (18) and surrounding indicator light (19)). As for the setting of the notification type of the first notification device, examples may be given such that at a low notification level, the notification is made with a display by the monitor (12) and a low volume by the speaker (11), and at a high notification level, the notification is made with a display by the monitor (12) and a high volume by the speaker (11). As for the setting of the notification type of the second notification device, examples may be given such that at a low notification level, both the notification by the ambient speaker (18) and the ambient indicator light (19) are turned off, and at a high notification level, the notification by the ambient speaker (18) and the ambient indicator light (19) is executed. The notification control device (100) stores the notification pattern (combination of notification types) of the first notification device and the second notification device in a memory device (notification pattern memory unit (105) described later), and when a notification level is set for the second notification device, it automatically determines and sets the notification level of the first notification device according to the notification level of the second notification device under the notification pattern. As described above, when the notification level of the second notification device is set low, the notification level of the first notification device is set high, and when the notification level of the second notification device is set high, the notification level of the first notification device is set low.

[0031] More specifically, the notification control device (100) controls the first notification device (speaker (11) and monitor (12)) and the second notification device (surrounding speaker (18) and surrounding indicator light (19)) based on object information detected by the camera (10a-10c), in addition to the notification level of the second notification device (surrounding speaker (18) and surrounding indicator light (19)). In this embodiment, each of the multiple notification forms for each notification level of the first notification device and the second notification device is defined according to the positional relationship between the object detected by the camera (10a-10c) and the vehicle body (1B), for example, the distance between the vehicle body (1B) and the object, and is different even at the same notification level. Therefore, when a worker is simply detected by the camera (10a-10c), the first notification device or the second notification device does not operate in a uniform notification form corresponding to the set notification level, but rather, depending on the positional relationship between the detected worker and the vehicle body (1B), the first notification device or the second notification device operates in a different notification form even at the same notification level. For example, regarding the first notification device, even if the notification level is "high," if the distance between the detected object and the vehicle body (1B) is less than a predetermined distance, both the monitor (12) and the speaker (11) operate, and if the distance between the detected object and the vehicle body (1B) is greater than or equal to the predetermined distance, only the monitor (12) operates. Likewise, regarding the second notification device, even if the same notification level "high," if the distance between the detected object and the vehicle body (1B) is less than a predetermined distance, both the surrounding speaker (18) and the surrounding indicator light (19) operate, and if the distance between the detected object and the vehicle body (1B) is greater than or equal to the predetermined distance, only the surrounding indicator light (19) operates.

[0032] Additionally, the notification patterns of the first notification device and the second notification device for each notification level, which are stored in the notification pattern memory unit (105) (e.g., the data table described later in FIG. 6), can be changed using, for example, a touch panel (15). For example, the notification type may include a type in which one of the first notification device (speaker (11) and monitor (12)) and the second notification device (ambient speaker (18) and ambient indicator light (19)) is turned off. Additionally, when the operating site of the hydraulic shovel (1) is a residential area, the notification type may include a notification by sound from the second notification device, i.e., a type in which the operation of the ambient speaker (18) is always turned off.

[0033] (Configuration example of a notification control device)

[0034] FIG. 4 is a block diagram schematically illustrating the functions of a notification control device of a work machine related to an embodiment of the present invention. As shown in FIG. 4, the notification control device (100) has an object detection unit (101), a detection area memory unit (102), a notification control unit (103), a notification pattern switching unit (104), and a notification pattern memory unit (105) to perform the above-mentioned display control. These may be realized by hardware elements such as circuits or by software elements such as programs. For example, the object detection unit (101), the notification control unit (103), and the notification pattern switching unit (104) are functions executed by a computing device (e.g., a CPU) of the notification control device (100), and the detection area memory unit (102) and the notification pattern memory unit (105) are composed of memory devices (e.g., HDDs) provided in or connected to the notification control device (100). Each function will be described below.

[0035] [Object detection unit]

[0036] The object detection unit (101) performs object detection using information acquired by the camera (10a-10c) and information of the detection area stored in the detection area memory unit (102). The object detected by the object detection unit (101) is a worker (person), or a worker and an object (a work machine other than the self, other obstacles, etc.). In this embodiment, the worker (person) around the vehicle body (1B) is detected from the image acquired by the camera (10a-10c). When the data input from the camera (10a-10c) is raw image data, image processing is performed in the object detection unit (101) to detect the surrounding worker, and the position of the detected worker relative to the vehicle body (1B) is calculated. If the camera (10a-10c) is equipped with an image processing device, the object detection unit (101) inputs the detection result of a worker from the camera (10a-10c), and if the detection result does not include location information of the worker, calculates the location of the worker. Additionally, the object detection unit (101) compares the detected location of the worker with the detection area stored in the detection area memory unit (102) to determine which detection area the detected worker is located in.

[0037] In addition, in this embodiment, although the configuration in FIG. 4 illustrates the processing of images input from a vehicle-mounted camera (10a-10c) into an object detection unit (101), the configuration may also be such that the location of the worker is determined by the object detection unit (101) based on data obtained from an external device (a device installed outside the hydraulic shovel (1)), for example, a worker detection system placed at the work site or a portable terminal carried by the worker.

[0038] [Inspection Area Memory Unit]

[0039] The detection area memory unit (102) stores the detection area used for object detection by the object detection unit (101). A schematic of the detection area (300) in this embodiment is shown in FIG. 5. The detection area (300) can be divided into three concentric areas based on the horizontal distance in the radial direction from the turning center of the vehicle body (1B). These are a distant area (301a-301c) that is less than the first set distance from the turning center and greater than the second set distance (< first set distance), an intermediate area (302a-302c) that is less than the second set distance from the turning center and greater than the third set distance (< second set distance), and a nearby area (303a-303c) that is less than the third set distance from the turning center. In addition, it is possible to distinguish these distant areas, intermediate areas, and nearby areas by their orientation relative to the vehicle body (1B), so that the detected worker is located in which orientation. In the example of FIG. 5, the distant area (301a), intermediate area (302a), and nearby area (303a) are shooting areas by the camera (10a) and are left-facing areas relative to the vehicle body (1B). Also, the distant area (301b), intermediate area (302b), and nearby area (303b) are shooting areas by the camera (10b) and are rear-facing areas relative to the vehicle body (1B). The distant area (301c), intermediate area (302c), and nearby area (303c) are shooting areas by the camera (10c) and are areas in the right direction relative to the vehicle body (1B). The detection area memory unit (102) stores a classification of detection areas based on the turning center of the vehicle body (1B) as exemplified in FIG. 5.

[0040] [Notification Control Unit]

[0041] The notification control unit (103) determines the output of the first notification device and the second notification device based on the detection result of the worker in the object detection unit (101) and the currently set notification pattern. As the output of the first notification device, a buzzer sound to be output to the speaker (11) and a display content to be displayed on the monitor (12) are determined, and as the output of the second notification device, a buzzer sound to be output to the surrounding speaker (18) and a lighting pattern of the surrounding indicator light (19) are determined. The notification control unit (103) outputs the determined notification output to the first notification device (speaker (11) and monitor (12)) and the second notification device (surrounding speaker (18) and surrounding indicator light (19)) to execute a notification to the operator or surrounding workers.

[0042] [Notification Pattern Switching Section]

[0043] The notification pattern used to determine the notification output in the notification control unit (103) is read from the notification pattern switching unit (104) to the notification control unit (103). In the notification pattern switching unit (104), the operator sets the notification level of the second notification device using the touch panel (15), thereby setting the notification pattern of the second notification device corresponding to the notification level of the second notification device. At the same time, the notification level of the first notification device is determined according to the notification level of the second notification device, and the notification pattern of the first notification device corresponding to the notification level of the first notification device is set.

[0044] [Notification Pattern Memory Unit]

[0045] The notification pattern set by the notification pattern switching unit (104) is based on data (e.g., table data) stored in the notification pattern memory unit (105). The data stored in the notification pattern memory unit (105) can be appropriately changed by an operator or the like by operating, for example, a touch panel (15) to adjust the settings.

[0046] ·Example of a notification pattern (1)

[0047] FIG. 6 is a diagram showing an example of table-format data defining the notification patterns of the first notification device and the second notification device for each notification level. For the first notification device and the second notification device, two notification levels, "low" and "high," are provided as options, and pattern A is defined corresponding to the notification level "low" of the second notification device, and pattern B is defined corresponding to the notification level "high" of the second notification device. In the data exemplified in FIG. 6, the notification form of the first notification device and the second notification device is determined for each notification level of the second notification device, that is, for each pattern A and B. In pattern A, compared to pattern B, the notification level of the second notification device is low, but the notification level of the first notification device is high. In addition, in the example of the same diagram, the positional relationship between the detected worker and the vehicle body (1B) is distinguished. In this example, the area where the worker is detected is distinguished as either a "nearby area," a "middle area," or a "far area," and even at the same notification level, the notification form may differ depending on where the detected worker is located in the "nearby area," "middle area," or "far area." Additionally, in the example of FIG. 6, the second notification device outputs a notification only when the notification level is "high" (pattern B), and the notification of the second notification device is turned off when the notification level is "low" (pattern A). Accordingly, by performing a setting operation in terms of whether or not to provide a notification to the surroundings by the second notification device, the notification level of the second notification device and the notification pattern of the notification level of the first notification device according to the notification level of the second notification device are set. For example, a setting screen that allows selecting the on / off of the surrounding speaker (18) is displayed on the touch panel (15), and by selecting the on / off of the surrounding speaker (18) on the setting screen, the notification pattern of the first notification device and the second notification device can be set.

[0048] In the example of FIG. 6, when the notification level of the second notification device is set to "low" due to circumstances requiring consideration for the neighborhood, such as a residential area, pattern A is selected and the notification level of the first notification device is set to "high." In this case, when a worker is detected, the second notification device does not perform a notification operation with the surrounding speaker (18) or the surrounding indicator light (19), regardless of the location of the detected worker (stop is indicated for the surrounding speaker (18) and the surrounding indicator light (19)). Meanwhile, the first notification device performs a notification operation according to the location of the detected worker. When a worker is detected in a nearby area, a notification to the operator is made by a combination of information display by the monitor (12) and a continuous buzzer sound by the speaker (11). When a worker is detected in an intermediate area, notification to the operator is provided through a combination of information display via the monitor (12) and intermittent buzzer sounds via the speaker (11). As the buzzer sounds intermittently, the intensity of the warning sound is reduced compared to when a worker is detected in a nearby area. When a worker is detected in a distant area, notification to the operator is provided only through information display via the monitor (12), and the buzzer sounds are turned off.

[0049] In the example of Fig. 6, for instance, when the need to notify the surroundings is high and the notification level of the second notification device is set to "high," pattern B is selected and the notification level of the first notification device is set to "low."

[0050] In this case, when a worker is detected in the nearby area, notification to the surroundings is provided by a combination of the flashing of the surrounding indicator light (19) and a continuous buzzer sound from the surrounding speaker (18). Notification to the operator is provided by a combination of information display by the monitor (12) and an intermittent buzzer sound from the speaker (11). Even when a worker is detected in the same nearby area, compared to when the notification level of the second notification device is set to "low," when the notification level of the second notification device is set to "high," notification to the surroundings is emphasized, whereas notification to the operator is suppressed.

[0051] When a worker is detected in the intermediate area, notification to the surroundings is provided by a combination of the flashing of the surrounding indicator light (19) and the intermittent buzzer sound of the surrounding speaker (18). For the operator, notification to the operator is provided by a combination of information display by the monitor (12) and the single buzzer sound of the speaker (11). Even when a worker is detected in the same intermediate area, compared to when the notification level of the second notification device is set to "low," when the notification level of the second notification device is set to "high," notification to the surroundings is emphasized, whereas notification to the operator is suppressed. Furthermore, even at the same notification level, when a worker is detected in the intermediate area, notification to the surroundings and the operator is mitigated compared to when a worker is detected in the nearby area.

[0052] When a worker is detected in a remote area, notification to the surroundings is provided only by the illumination of the surrounding indicator light (19), and the buzzer sound of the surrounding speaker (18) is turned off. For the operator, both the information display by the monitor (12) and the buzzer sound by the speaker (11) are turned off. Even when a worker is detected in the same remote area, compared to when the notification level of the second notification device is set to "low," when the notification level of the second notification device is set to "high," notification to the surroundings is emphasized, whereas notification to the operator is suppressed. Furthermore, even at the same notification level, when a worker is detected in a remote area, notification to the surroundings and the operator is mitigated compared to when a worker is detected in an intermediate area.

[0053] ·Example of a notification pattern (2)

[0054] FIG. 7 is a figure showing another example of table-format data defining the notification patterns of the first notification device and the second notification device for each notification level. In the data exemplified in FIG. 7, patterns A and B are defined for the first notification device and the second notification device, just as in the example of FIG. 6. However, in the example of FIG. 7, the buzzer sound of the second notification device is output only when the notification level is "high" (pattern B), and when the notification level is "low" (pattern A), the second notification device provides notification only with an indicator light. Specifically, even if the notification of the second notification device is set to "low" (pattern A), if a worker is detected in a nearby area or an intermediate area, the surrounding speaker (18) is not operated, and the surrounding indicator light (19) is flashed. If a worker is detected in a distant area, the surrounding speaker (18) is not operated, and the surrounding indicator light (19) is lit. Additionally, in pattern A of the example in FIG. 7, when a worker is detected in a remote area, the surrounding indicator light (19) is set to light up, so the notification for the operator is set to be off. Accordingly, the operator performs a setting operation in terms of whether or not to provide a notification to the surroundings by sound using the second notification device, thereby setting the notification level of the second notification device, and the notification level of the first notification device is set according to the notification level of the second notification device. For example, a setting screen that allows selecting the on / off of the notification by the surrounding speaker (18) is displayed on the touch panel (15), and by selecting the on / off of the surrounding speaker (18) on the setting screen, the notification levels of the first notification device and the second notification device, and furthermore, the notification type, can be set. Other settings of the example in FIG. 7 are the same as those of the example in FIG. 6.

[0055] ·Example of display on the monitor (12)

[0056] FIG. 8a is a diagram showing an example of a monitor display determined by a notification control device (100). The monitor (12) has a liquid crystal area (12a), and a camera image (501) is displayed within the liquid crystal area (12a). The camera image (501) displays a vehicle body icon (502) modeled after a hydraulic shovel (1) and an overhead view image projected as if looking down from above the hydraulic shovel (1). The overhead view image is a composite of a left camera image (503a) captured by camera (10a), a rear camera image (503b) captured by camera (10b), and a right camera image (503c) captured by camera (10c). On the outer edges of the camera images (504a, 504b, 504c), detection status display bars (504a-504c) are displayed, respectively. The detection status indicator bar (504a-504c) changes its display depending on which area of ​​the detection area (300) (Fig. 5) the worker is detected in. Specifically, the detection status indicator bar (504a-504c) displays the orientation (left, rear, right) of the detected worker's vehicle body (1B), and when a worker is detected, only the area corresponding to the detected area lights up. The lighting pattern of the detection status indicator bar (504a-504c) varies depending on whether the worker is detected in the "far area," "intermediate area," or "near area."

[0057] The display pattern of the detection status indicator bars (504a-504c) is shown in the table (505) of FIG. 8b. FIG. 8b illustrates a case where all of the detection status indicator bars (504a-504c) are set to flash red when a worker is detected in the "distant area," flash yellow when a worker is detected in the "intermediate area," and light up yellow when a worker is detected in the "nearby area."

[0058] · Example of display of surrounding indicator light (19)

[0059] The lighting pattern of the surrounding indicator light (19) is, for example, to have two patterns of lighting and flashing. However, the lighting pattern of the surrounding indicator light (19) is not limited to only two patterns of lighting and flashing, and the number can be increased according to the number of items to be notified by appropriately combining differences such as flashing intervals, lighting colors, and brightness. In addition, although FIG. 1 illustrates a configuration in which only one surrounding indicator light (19) is installed on the driver's cab (1f), the number or position of the surrounding indicator light (19) can be appropriately changed considering visibility from the surroundings.

[0060] · Example of a buzzer sound from a speaker (11) / ambient speaker (18)

[0061] FIGS. 9a-9c are explanatory diagrams of examples of buzzer sound patterns determined by a notification control device (100). Each graph shown in FIGS. 9a-9c indicates the on / off status of the buzzer sound (on=1, off=0) on the vertical axis and time (t) on the horizontal axis. In this embodiment, for a single buzzer sound (e.g., FIG. 6 / Pattern B / Operator / Intermediate Area), the speaker (11) or the surrounding speaker (18) is controlled and output according to the pattern of graph (510A) (Fig. 9a). For an intermittent buzzer sound (e.g., FIG. 6 / Pattern A / Operator / Intermediate Area), the speaker (11) or the surrounding speaker (18) is controlled and output according to the pattern of graph (510B) (Fig. 9b). For continuous buzzer sounds (e.g., FIG. 6 / pattern A / operator / nearby area), the speaker (11) or the surrounding speaker (18) is controlled and output according to the pattern of graph (510C) (Fig. 9c). When multiple workers are detected, a notification is made with a buzzer sound pattern corresponding to the position of the worker closest to the vehicle body (1B).

[0062] -Notification Control-

[0063] FIG. 10 is a flowchart showing the control sequence of the first notification device and the second notification device by the notification control device (100). The notification control device (100) periodically repeats the flow of FIG. 10 while power is supplied.

[0064] When the flow of FIG. 10 is initiated, the notification control device (100) first determines whether a worker is detected within the detection area (300) by the camera (10a-10c) in step S200. If the worker is not detected by the camera (10a-10c), the notification control device (100) processes the captured image input from the camera (10a-10c) to perform worker (person) recognition processing and determines whether a worker is detected in the detection area (300). If no worker is detected in the detection area (300) (No), the notification control device (100) repeats the processing of step S200.

[0065] When a worker is detected in the detection area (300) (Yes), the notification control device (100) moves the sequence from step S200 to step S201, determines the currently set notification level for surrounding use (of the second notification device), and moves the sequence from step S201 to the processing according to the currently set notification level for surrounding use. In the case of the example of FIG. 10, the notification control device (100) moves the sequence from step S201 to step S202 if the notification level for surrounding use is "low" (Yes), and moves the sequence from step S201 to step S203 if the notification level for surrounding use is "high" (No). Here, the case where there are two options for the notification level, whether "low" or "high," is explained, but for example, even if there are three or more options for the notification level, the sequence is executed to the processing corresponding to the currently set notification level.

[0066] When the procedure is moved to step S202, the notification control device (100) sets pattern A according to data stored in the notification pattern memory unit (105) (Fig. 4) (e.g., Fig. 6) and moves the procedure to step S204. By setting pattern A, a notification form of "low" notification level for the second notification device and "high" notification level for the first notification device is set. When the procedure is moved to step S203, the notification control device (100) likewise sets pattern B according to the data table and moves the procedure to step S204. By setting pattern B, a notification form of "high" notification level for the second notification device and "low" notification level for the first notification device is set.

[0067] When the procedure is moved to step S204, the notification control device (100) determines the notification form of the first notification device according to the notification pattern set in step S202 or S203. At that time, for example, when distinguishing the location of a detected worker as in the example of FIG. 6, the notification control device (100) changes the notification form of the first notification device according to the area where the worker is detected. Furthermore, when distinguishing the orientation of a detected worker as in the example of FIG. 8b, the notification control device (100) changes the notification form (lighting color or lighting / flashing of the detection status display bar (504a-504c)) of the first notification device (monitor (12) in the example of FIG. 8b) according to the orientation where the worker is detected.

[0068] In the subsequent step S205, the notification control device (100) determines the notification form of the second notification device according to the notification pattern set in step S202 or S203. At that time, for example, when distinguishing the location of a detected worker as in the example of FIG. 6, the notification control device (100) changes the notification form of the second notification device according to the area where the worker is detected. The execution order of the processing of steps S204 and S205 may be reversed or simultaneous.

[0069] When the notification type of the first notification device and the second notification device is determined in steps S204 and S205, the notification control device (100) moves the procedure to step S206 and outputs a command to the first notification device and the second notification device so that a notification operation is performed in the determined notification type.

[0070] When a command is output to the first notification device and the second notification device, the notification control device (100) returns the procedure to step S200 and repeats the above procedure, and when the power is turned off, performs appropriate delay processing, etc., and then terminates the flow of FIG. 10.

[0071] -effect-

[0072] (1) In this embodiment, the notification level of the first notification device is determined according to the notification level of the second notification device set by the touch panel (15). Depending on whether the notification level of the second notification device is set low or high (for example, whether the notification of the second notification device is turned off or on), the notification level of the first notification device is automatically changed.

[0073] When the notification level of the second notification device is set high, it is possible to alert surrounding workers that they are approaching the hydraulic shovel (1) by a combination or emphasis, for example, by the buzzer sound of the surrounding speaker (18) or the light of the surrounding indicator light (19). In this case, since the fact that the hydraulic shovel (1) and surrounding workers are approaching is shared with the workers, the notification level can be lowered for the operator inside the control room (1f) by, for example, suppressing the volume of the buzzer sound of the speaker (11) that is output along with the display of the monitor (12), thereby reducing the inconvenience for the operator and improving work efficiency.

[0074] Meanwhile, if the notification level of the second notification device is set low, the alertness to surrounding workers is reduced or not alerted. In this case, since the degree to which surrounding workers perceive the distance from the hydraulic shovel (1) may be reduced, the notification level can be raised for the operator inside the control room (1f) by, for example, raising the buzzer volume of the speaker (11) that is output along with the display on the monitor (12), thereby notifying the operator more emphatically and promoting alertness.

[0075] As described above, according to the present embodiment, by automatically changing the notification settings for the operator in accordance with the notification settings for surrounding workers, the method of notification targeting surrounding workers can be set according to the situation, and the notification targeting surroundings can be directed to the operator inside the control room (1f). Since the surrounding situation can be notified to the operator at an appropriate level, it becomes easier for the operator to grasp the surrounding situation, and furthermore, the inconvenience to the operator caused by excessive notification can be reduced, thereby contributing to the improvement of work efficiency.

[0076] (2) When the notification level of the second notification device is lowered, the notification level of the first notification device is raised, so even if the surrounding workers' attention to the hydraulic shovel (1) is relaxed, the operator's attention to the surrounding workers is emphasized, and the operator's level of attention can be increased. Conversely, when the notification level of the second notification device is raised, the notification level of the first notification device is lowered, so the surrounding workers' attention to the hydraulic shovel (1) is emphasized. In this case, since attention is mutually applied by both the operator and the surrounding workers, the notification to the operator is relaxed, thereby reducing the operator's discomfort and improving work efficiency.

[0077] (3) For each notification level of the second notification device, the notification type of the first notification device and the second notification device is stored in the notification control device (100), and the notification control device (100) is configured to control the first notification device and the second notification device based on the notification level of the above notification device and the detected object information by referring to the stored notification type. The behavior of the first notification device and the second notification device when a worker is detected can be defined in advance as a pattern, for example, in a data table, and the notification control by the notification control device (100) can be stabilized and the programming of the notification control device (100) can also be made easier.

[0078] (4) As a form of notification, multiple different forms are defined according to the positional relationship between the detected worker and the vehicle body (1B). For example, when a worker is detected at a position relatively close to the vehicle body (1B), the notification can be made more emphatic. In other words, when a worker is detected at a position close to the vehicle body (1B), the notification is made emphatically, whereas when a worker is detected at a position farther than a certain distance from the vehicle body (1B), the notification can be softened to the level of confirmation. In this way, more flexible notification can be made depending on the situation.

[0079] (5) In addition, the notification type written to the notification pattern memory unit (105) can be changed by the touch panel (15). Therefore, the operator can fine-tune the setting of the notification type of the first notification device or the second notification device for each notification level afterward, and set a flexible notification type that is suitable for the actual operating site conditions.

[0080] (6) The notification type can be set in advance or subsequently, and it is also possible to include a type in which either the first notification device or the second notification device is turned off. Accordingly, the operator can easily set the appropriate notification in terms of, for example, whether to turn off or on the notification by the second notification device (Fig. 6). In addition, it is possible to set the notification by the first notification device to be turned off when the second notification device is notified when a worker is detected in a remote area (Fig. 7).

[0081] (7) The notification type can be set in advance or afterward, and it is also possible to include a type in which the sound notification of the second notification device is always turned off. Thus, the operator can make a choice such as wanting to keep the light notification to the surroundings active but keeping the sound notification always turned off (Fig. 7).

[0082] (8) The notification control device (100) activates the second notification device when a worker (person) is detected. When the object detected by the camera (10a-10c) is an obstacle such as a rock, it is unnecessary to provide a notification to the surroundings. Therefore, the second notification device is configured to activate when a worker is detected, thereby omitting unnecessary alarms. However, if the detected object is, for example, a work machine, an alarm to the operator riding on the work machine is meaningful. Therefore, the second notification device may be configured to activate even when an object that an operator can ride on, such as a work machine, is detected.

[0083] -Example of Variation-

[0084] The present invention is not limited to the embodiments described above and may include various modifications. For example, the present invention is not necessarily limited to a configuration having all the configurations described in each of the above embodiments. For example, it is possible to replace some of the configurations with other configurations. It is also possible to delete some of the configurations of the embodiments or add other configurations. For example, although a hydraulic shovel (1) equipped with a plurality of cameras (10a-10c) was described as an example, the present invention is applicable to a hydraulic shovel (1) equipped with only one camera. Furthermore, although a hydraulic shovel (1) was described as an example of a construction machine to which the invention is applied, the present invention is applicable to other construction machines such as wheel loaders.

[0085] In addition to this, for example, an example has been described in which patterns A and B of the combination of the notification forms of the first and second notification devices are predetermined for each notification level of the second notification device, but this example is not limited thereto. For example, only the notification forms for each notification level of the first and second notification devices are predetermined (patterns A and B are not set), and the notification control device (100) may be configured such that the notification level of the first notification device is set at each time according to the notification level of the second notification device set by the operator. Below, examples of data for the notification forms in that case and examples of flowcharts will be explained sequentially.

[0086] ·Example of notification form (1)

[0087] FIG. 11 is a diagram showing an example of table-format data that defines the notification type of the first notification device and the second notification device for each notification level in a modified example. In the data exemplified in FIG. 11, two notification levels, “low” and “high,” are defined for the first notification device and the second notification device, respectively, and the notification type of the first notification device and the second notification device is determined for each “low” and “high” notification level. In the example of the same figure, the positional relationship between the detected operator and the vehicle body (1B) is not distinguished. For the first notification device, the buzzer sound output in parallel with the monitor display is set to low at the notification level “low,” whereas the buzzer sound output in parallel with the monitor display is set to high (< low) at the notification level “high,” so the degree of notification to the operator is set relatively higher compared to the notification level “low.” Regarding the second notification device, at the notification level "low," both sound and light notifications are turned off, whereas at the notification level "high," light notification is turned off but sound notification is performed, so the degree of notification to the surroundings is set relatively higher compared to the notification level "low." In addition, in the example of FIG. 11, as in the example of FIG. 6, the second notification device outputs a notification only when the notification level is "high," and the notification of the second notification device is turned off when the notification level is "low." Accordingly, the operator sets the notification level of the second notification device by operating a setting operation to determine whether or not to provide notification to the surroundings by the second notification device, and the notification level of the first notification device is set according to the notification level of the second notification device. For example, when the notification of the second notification device is set to off (notification level "low"), the notification level of the first notification device is set to "high," and when the notification of the second notification device is set to on (notification level "high"), the notification level of the first notification device is set to "low."

[0088] In the example of FIG. 11, when the notification level of the second notification device is set to "low," the notification form of the "low" notification level for the second notification device is read by the notification control unit (103) via the notification pattern switching unit (104). At the same time, along with the notification level of the second notification device being set to "low," the notification level of the first notification device is set to "high," and the notification form of the "high" notification level for the first notification device is read by the notification control unit (103) via the notification pattern switching unit (104). Under this setting, when a worker is detected, a signal commanding a notification operation to the second notification device (surrounding speaker (18) and surrounding indicator light (19)) is not output from the notification control unit (103), and no notification is made to the worker, etc., around the vehicle body (1B). Instead, when a worker is detected, the notification control unit (103) commands the output of a loud buzzer sound to the speaker (11), and also commands the display of information such as the fact that a worker has been detected and the location of the worker to the monitor (12), so that a notification of the notification level “high” is executed for the operator inside the driver’s cabin (1f).

[0089] Meanwhile, in the example of FIG. 11, when the notification level of the second notification device is set to "high," the notification form of the notification level "high" for the second notification device is read by the notification control unit (103) via the notification pattern switching unit (104). At the same time, along with the notification level of the second notification device being set to "high," the notification level of the first notification device is set to "low," and the notification form of the notification level "low" for the first notification device is read by the notification control unit (103) via the notification pattern switching unit (104). Under this setting, when a worker is detected, a signal commanding a notification operation to the surrounding indicator light (19) is not output from the notification control unit (103), but a buzzer sound output is commanded to the surrounding speaker (18), and a notification by buzzer sound is made to the worker, etc., around the vehicle body (1B). Instead, when an operator is detected, the notification control unit (103) commands the display of information on the monitor (12), but the speaker (11) sounds at a volume lower than the buzzer sound of the notification level “high,” thereby executing a notification for the operator of the notification level “low” in which the buzzer sound that is forcibly heard inside the driver’s cabin (1f) is suppressed.

[0090] ·Examples of notification forms (2)

[0091] FIG. 12 is a diagram showing another example of table-format data defining the notification types of the first notification device and the second notification device for each notification level in a modified example. In the data exemplified in FIG. 12, three notification levels, “low,” “medium,” and “high,” are defined for the first notification device and the second notification device, respectively, and the notification types of the first notification device and the second notification device are determined for each notification level of “low,” “medium,” and “high.” Even in the example of the same figure, the positional relationship between the detected worker and the vehicle body (1B) is not distinguished. The notification levels are not limited to two as in the example of FIG. 11, and may be subdivided into three or more as in the present example. In the present example, for instance, when the notification level of the second notification device is set to “low,” the notification level of the first notification device is set to “high,” and when the notification level of the second notification device is set to “high,” the notification level of the first notification device is set to “low.” And, if the notification level of the second notification device is set to "medium," the notification level of the first notification device is also set to "medium." The rest is the same as the example in FIG. 11.

[0092] ·Examples of notification forms (3)

[0093] FIG. 13 is a diagram showing another example of table-format data defining the notification types of the first notification device and the second notification device for each notification level in a modified example. In the data exemplified in FIG. 13, as in the example of FIG. 11, two notification levels, "low" and "high," are defined for the first notification device and the second notification device, respectively, and the notification types of the first notification device and the second notification device are determined for each "low" and "high" notification level. In this example, as in the examples of FIG. 6 and FIG. 7, the positional relationship between the detected worker and the vehicle body (1B) is distinguished. In addition, the setting of the notification types of the first notification device and the second notification device for each notification level corresponds to the example of FIG. 6. In the example of FIG. 13, as in the example of FIG. 11, the second notification device outputs a notification only when the notification level is "high," and the notification of the second notification device is turned off when the notification level is "low." Accordingly, the operator sets the notification level of the second notification device by operating on whether or not to provide notification to the surroundings via the second notification device, and the notification level of the first notification device is set according to the notification level of the second notification device. Specifically, when the notification level of the second notification device is set to "low," the notification level of the first notification device is set to "high," and when the notification level of the second notification device is set to "high," the notification level of the first notification device is set to "low."

[0094] ·Example of notification form (4)

[0095] FIG. 14 is a diagram showing another example of table-format data defining the notification type of the first notification device and the second notification device for each notification level in a modified example. In the data exemplified in FIG. 14, as in the example of FIG. 13, two notification levels, "low" and "high," are defined for the first notification device and the second notification device, respectively, and additionally, the notification type of the first notification device and the second notification device is determined according to the positional relationship between the detected worker and the vehicle body (1B) for each "low" and "high" notification level. In this example, as in the examples of FIG. 6 and FIG. 7, the positional relationship between the detected worker and the vehicle body (1B) is distinguished. Also, the setting of the notification type of the first notification device and the second notification device for each notification level corresponds to the example of FIG. 7. In the example of FIG. 14, the buzzer sound of the second notification device is output only when the notification level is "high," and when the notification level is "low," the second notification device provides notification only with an indicator light. Accordingly, the operator sets whether or not to provide notification to the surroundings by sound using the second notification device, thereby setting the notification level of the second notification device, and the notification level of the first notification device is set according to the notification level of the second notification device. For example, when the notification by sound of the second notification device is set to off (notification level “low”), the notification level of the first notification device is set to “high,” and when the notification by sound of the second notification device is set to on (notification level “high”), the notification level of the first notification device is set to “low.”

[0096] ·Example of notification setting (1)

[0097] FIG. 15 is a flowchart showing the procedure for setting the notification forms of the first notification device and the second notification device by the notification control device (100) associated with the modified example. The notification control device (100) periodically repeats the flowchart of FIG. 15 while power is supplied. The flowchart of FIG. 15 corresponds to the setting of the pattern of steps S201-S203 in the flowchart of FIG. 10 of the first embodiment, and the processing regarding the notification control before and after is the same as that of FIG. 10.

[0098] When the flow of FIG. 15 is initiated, the notification control device (100) first determines whether the notification level of the second notification device has been changed by the touch panel (15) in step S210. If the notification level of the second notification device has not been changed (No), the notification control device (100) repeats the processing of step S210.

[0099] If the notification level of the second notification device is changed (Yes), the notification control device (100) moves the sequence from step S210 to step S211 and determines whether the change raises the notification level of the second notification device. If the setting of the notification level of the second notification device is raised (Yes), the notification control device (100) moves the sequence from step S211 to step S212, and if the setting of the notification level of the second notification device is lowered (No), it moves the sequence from step S211 to step S213.

[0100] When the procedure is moved to step S212, the notification control device (100) lowers the setting of the notification level of the first notification device from the current setting by referring to a data table (e.g., FIG. 11) in accordance with the increase in the notification level of the second notification device, and moves the procedure to step S214. When the procedure is moved to step S213, the notification control device (100) raises the setting of the notification level of the first notification device from the current setting by referring to a data table (e.g., FIG. 11) in accordance with the decrease in the notification level of the second notification device, and moves the procedure to step S214.

[0101] When the procedure is moved to step S214, the notification control device (100) outputs to the monitor (12) that the notification setting has been changed to inform the operator, returns the procedure to step S210 to repeat the above procedure, and when the power is turned off, performs appropriate delay processing, etc., and then terminates the flow of FIG. 15. The notification control is executed under the notification setting made in step S212 or S213.

[0102] ·Example of notification setting (2)

[0103] FIG. 16 is a flowchart showing the procedure for changing the notification form of the first notification device by the notification control device (100) related to the modified example. According to the above embodiment, the notification control device (100) sets the notification level of the first notification device according to the setting of the notification level of the second notification device, but it is not impossible to set the notification level of the first notification device by the operator's touch panel (15), and it may be allowed when certain conditions are satisfied. Specifically, in the present example, the notification level of the first notification device can be set by the touch panel (15), and the notification control device (100) allows the setting of the notification level of the first notification device only when the notification level of the first notification device is higher than the notification level of the second notification device that has already been set when the operation to set the notification level of the first notification device is performed by the touch panel (15). The flowchart of FIG. 16 is executed periodically in parallel with the flowchart of FIG. 10 or FIG. 15, and is executed when the notification level of the first notification device is changed by the touch panel (15) while the notification level of the first notification device is set together with the notification level of the second notification device according to the notification level of the second notification device or by a standard setting.

[0104] When the flow of FIG. 16 is initiated, the notification control device (100) first determines whether an operation to change the notification level of the first notification device by the touch panel (15) has been performed in step S220. If no operation to change the notification level of the first notification device has been performed (No), the notification control device (100) repeats the processing of step S220.

[0105] If an operation to change the notification level of the first notification device is performed (Yes), the notification control device (100) moves the procedure from step S220 to step S221 and determines whether the operation is intended to set the notification level of the first notification device lower than the notification level of the second notification device currently set. If the notification level of the first notification device related to the operation is lower than the notification level of the second notification device currently set (Yes), the notification control device (100) moves the procedure from step S221 to step S222, and if the notification level of the first notification device related to the operation is greater than or equal to the notification level of the second notification device currently set (No), the procedure moves from step S221 to step S223.

[0106] When the procedure is moved to step S222, the notification control device (100) ignores the operation to change the setting of the notification level of the first notification device, maintains the current setting of the notification level of the first notification device, and moves the procedure to step S224. When the procedure is moved to step S223, the notification control device (100) accepts the operation to change the setting of the notification level of the first notification device, changes the setting of the notification level of the first notification device according to the operation, and moves the procedure to step S224.

[0107] When the procedure is moved to step S224, the notification control device (100) outputs to the monitor (12) that the notification setting is maintained or changed to inform the operator, and returns the procedure to step S220 to repeat the above procedure.

[0108] In the case of the present example, for instance, if the notification level of the first notification device is automatically set lower than the operator's intention in conjunction with the setting of the notification level of the second notification device, the notification level of the first notification device can be manually raised.

[0109] ·Example of notification setting (3)

[0110] FIG. 17 is a flowchart illustrating another example of the procedure for setting the notification type of the first notification device and the second notification device by the notification control device (100) associated with the modified example. In the above embodiment, a case was described in which the notification level of the first notification device is automatically changed according to the notification level of the second notification device. However, in this example, when the notification level of the first notification device is lowered due to a change in the notification level of the second notification device, the notification control device (100) confirms with the operator whether they agree to lower the notification level of the first notification device, and lowers the notification level of the first notification device when an operation indicating consent to lowering the notification level of the first notification device is performed by the touch panel (15). The flowchart of FIG. 17 is executed periodically, as in the flowcharts of FIG. 10 and FIG. 15.

[0111] The processing content of steps S210, S211, S212, S213, and S214 of FIG. 17 is the same as the processing content of the same number in FIG. 15. In the example of FIG. 17, the notification control device (100) moves the sequence from step S211 to step S211' if the setting of the notification level of the second notification device is raised (Yes) in the determination of step S211, and displays a confirmation screen on the monitor (12) to confirm whether there is agreement to lower the notification level of the first notification device. When the confirmation screen is displayed, the notification control device (100) determines in the subsequent step S211'' whether an operation agreeing to lower the notification level of the first notification device has been performed by the operator, and if an operation agreeing has been performed (Yes), moves the sequence to step S212, and if an operation rejecting has been performed (No), moves the sequence to step S212''.

[0112] When the procedure is moved to step S212, the notification control device (100) lowers the setting of the notification level of the first notification device from the current setting as the notification level of the second notification device rises, as in the example of FIG. 15, and moves the procedure to step S214. When the procedure is moved to step S212', the notification control device (100) maintains the setting of the notification level of the first notification device at the current setting and moves the procedure to step S214.

[0113] The other steps of FIG. 17 are the same as the example of FIG. 15. In the case of this example, for example, if the notification level of the first notification device is lowered in conjunction with the setting of the notification level of the second notification device, an operator who does not want the notification level of the first notification device to be lowered may reject it. Explanation of the symbols

[0114] 1… Hydraulic shovel (working machine) 1A… Front Work Log 1B… body 1f… driver's cab 10a-10c… Camera (object detection sensor) 11… Speaker (First notification device) 12… Monitor (First Notification Device) 15… Touch panel (input device) 18… Peripheral speaker (second notification device) 19… Ambient indicator light (second notification device) 100… Notification control device (control device)

Claims

Claim 1 A work machine comprising a vehicle body having a driver's cab, a first notification device provided inside the driver's cab, a second notification device provided outside the driver's cab, an input device for setting a notification level by the second notification device, and a control device for controlling the first notification device and the second notification device, wherein the control device changes the notification level of the first notification device according to the notification level of the second notification device set by the input device. Claim 2 A work machine according to claim 1, characterized in that the control device raises the notification level of the first notification device when the notification level of the second notification device is lowered by the input device. Claim 3 A work machine according to claim 1, characterized in that the control device lowers the notification level of the first notification device when the notification level of the second notification device is raised by the input device. Claim 4 A work machine according to claim 1, comprising an object detection sensor that detects objects surrounding the vehicle body, wherein the control device controls the notification level of the first notification device and the notification level of the second notification device based on the notification level of the second notification device set by the input device and the detection information of the object detection sensor. Claim 5 A work machine according to claim 4, wherein the control device stores a plurality of notification forms of the first notification device and the second notification device for each notification level of the second notification device, and the plurality of notification forms for each notification level of the second notification device are each defined according to the positional relationship between the object detected by the object detection sensor and the vehicle body. Claim 6 A work machine according to claim 1, wherein the control device stores the notification form of the first notification device and the second notification device for each notification level of the second notification device, and the notification form is changeable by the input device. Claim 7 A work machine according to claim 1, wherein the control device stores a notification form of the first notification device and the second notification device for each notification level of the second notification device, and the notification form includes a form of turning off one of the first notification device and the second notification device. Claim 8 A work machine according to claim 1, wherein the control device stores the notification type of the first notification device and the second notification device for each notification level of the second notification device, and the notification type includes a type that keeps the notification by sound of the second notification device always off. Claim 9 A work machine according to claim 4, wherein the control device determines whether an object detected by the object detection sensor is a person, and when the detected object is determined to be a person, performs a notification by the first notification device and the second notification device. Claim 10 A work machine according to claim 1, wherein the notification level by the first notification device can be set by the input device, and the control device allows the setting of the notification level of the first notification device only when the notification level of the first notification device is higher than the notification level of the second notification device that has already been set, when the operation to set the notification level of the first notification device is performed by the input device. Claim 11 A work machine according to claim 1, wherein the control device lowers the notification level of the first notification device when an operation indicating consent to lowering the notification level of the first notification device is performed by the input device, in the case where the notification level of the first notification device is lowered according to a change in the notification level of the second notification device.

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