Work machine

Abstract

A turning body (13) is disposed on a traveling body (15) and turns relative to the traveling body (15). A first object detection sensor (RD1) and a second object detection sensor (RD2) are disposed at intervals from each other on a curved surface part (CL) forming a curved line in the outer shape of the turning body (13) in a top view.

Description

Work machinery

[0001] The present disclosure relates to work machines.

[0002] A work machine having an object detection sensor such as a radar is disclosed, for example, in Japanese Patent Laid-Open No. 2002-48490 (Patent Document 1). The work machine in Patent Document 1 is equipped with multiple radars to monitor the surroundings of the work machine.

[0003] Japanese Patent Application Laid-Open No. 2002-48490

[0004] However, in Patent Document 1, a large number of radars are required to cover the entire periphery of the work machine.

[0005] An object of the present disclosure is to provide a work machine that can monitor a wide range of its surroundings with a small number of object detection sensors.

[0006] The work machine disclosed herein includes a running body, a revolving body, a first object detection sensor, and a second object detection sensor. The revolving body is disposed on the running body and revolves relative to the running body. The first object detection sensor and the second object detection sensor are disposed at intervals on a curved surface portion of the outer shape of the revolving body when viewed from above.

[0007] According to the present disclosure, a work machine can be realized that is capable of monitoring a wide surrounding area with a small number of object detection sensors.

[0008] Fig. 3 is a side view showing the configuration of a work machine according to an embodiment of the present disclosure. Fig. 4 is a top view of the work machine shown in Fig. 1. Fig. 5 is a rear view of the work machine shown in Fig. 1. Fig. 6 is a horizontal cross-sectional view taken along line IV-IV in Fig. 3. Fig. 7 is a vertical cross-sectional view taken along line V-V in Fig. 3. Fig. 8 is a rear view of a counterweight showing a modified example in which an object detection sensor is attached to the counterweight.

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the specification and drawings, identical or corresponding components are designated by the same reference numerals, and redundant descriptions will not be repeated. In addition, in the drawings, configurations may be omitted or simplified for the sake of convenience. Furthermore, at least some of the embodiments and modified examples may be combined with each other in any desired manner.

[0010] In the following description, the fore-aft direction refers to the direction in which the boom 16 extends between the base end and the tip end in a top view. The left-right direction refers to the direction perpendicular to the fore-aft direction in a top view. The up-down direction refers to the direction perpendicular to a plane that includes the fore-aft direction and the left-right direction, which are perpendicular to each other.

[0011] The direction from the base end of the boom 16 to the tip end is the front, and the direction from the tip end of the boom 16 to the base end is the rear. When looking forward from the rear, the right and left sides are the right and left, respectively. In the up-down direction, the side with the ground is the bottom, and the side with the sky is the top. A top view means a view from which the work machine 10 is viewed from above downwards. A rear view means a view from which the rotating unit 13 is viewed from behind to the front.

[0012] <Configuration of Work Machine 10> Figure 1 is a diagram that schematically shows the configuration of a work machine according to one embodiment of the present disclosure. As shown in Figure 1, the work machine 10 according to this embodiment is, for example, a hydraulic excavator, such as a small hydraulic excavator. The work machine 10 according to this embodiment may also be, for example, a short swing type or ultra-short swing type hydraulic excavator. However, the work machine 10 is not limited to a hydraulic excavator, and may be any work machine 10 that has a revolving unit 13 and a traveling unit 15, and in which the revolving unit 13 has a curved surface that forms a curve when viewed from above.

[0013] The hydraulic excavator 10, which is an example of a work machine 10, has a main body 11 and a hydraulically operated work implement 12. The main body 11 has a revolving body 13 and a traveling body 15.

[0014] The running body 15 has a pair of left and right crawler tracks 15Cr and a traveling motor 15M. The hydraulic excavator 10 can travel by rotation of the crawler tracks 15Cr. The traveling motor 15M is provided as a drive source for the running body 15.

[0015] The rotating body 13 is disposed on and supported by the running body 15. The rotating body 13 can be rotated relative to the running body 15 about a rotation axis RX by a rotation motor (not shown). The rotation axis RX is an imaginary straight line that serves as the rotation center of the rotating body 13.

[0016] The rotating body 13 has a driver's cab 14. A driver's seat where an operator sits is provided in the driver's cab 14. The operator sits in the driver's seat in the driver's cab 14 and can operate the work equipment 12, rotate the rotating body 13 relative to the traveling body 15, and travel the hydraulic excavator 10 using the traveling body 15.

[0017] The revolving unit 13 has an exterior panel 13a, a counterweight CW, and a drive source (e.g., an engine). The exterior panel 13a has, for example, an engine hood, a sand cover, a metal plate cover, etc. The counterweight CW is provided to balance the weight of the work implement 12, thereby improving the stability of the main body 11 when the work machine 10 is working. The drive source supplies drive force for driving the work implement 12, rotating the revolving unit 13, traveling the traveling unit 15, etc. The drive source is located behind the operator's cab 14. The drive source is covered by the exterior panel 13a, the counterweight CW, etc. The drive source is not limited to an engine, and may be a battery-powered motor.

[0018] The work implement 12 is supported by the revolving unit 13. The work implement 12 has a boom 16, an arm 17, and a bucket 18. The work implement 12 further has a boom cylinder 19a, an arm cylinder 19b, and a bucket cylinder 19c.

[0019] The boom 16 is rotatably connected to the main body 11. Specifically, the base end of the boom 16 is rotatably connected to the revolving unit 13 with a boom foot pin BF as a fulcrum. The base end of the boom 16 is disposed to the left and right of the operator's cab 14. The arm 17 is rotatably connected to the boom 16. Specifically, the base end of the arm 17 is rotatably connected to the tip of the boom 16 with a boom top pin BT as a fulcrum. The bucket 18 is rotatably connected to the arm 17. Specifically, the base end of the bucket 18 is rotatably connected to the tip of the arm 17 with an arm top pin AT as a fulcrum.

[0020] The work machine 10 may also have a blade (not shown) attached to the running body 15 .

[0021] Fig. 2 is a top view of the work machine shown in Fig. 1. As shown in Fig. 2, the revolving unit 13 has a curved surface portion CL when viewed from above. The curved surface portion CL is a curved portion of the outer shape of the revolving unit 13 when viewed from above. The curved surface portion CL is provided, for example, at the rear of the revolving unit 13. The curved surface portion CL is located behind the work implement 12 (boom 16). The curved surface portion CL is also located behind the operator's cab 14.

[0022] The curved surface portion CL is located over the entire rear end of the revolving unit 13. The curved surface portion CL is located over the entire left-right direction at the rear of the revolving unit 13. Specifically, the curved surface portion CL is located over the entire exterior shape of the revolving unit 13, from one side to the other side.

[0023] In top view, the curved surface portion CL forms a curve that convexly extends from the inside to the outside of the outer shape of the revolving unit 13. In other words, in top view, the curved surface portion CL forms a curve that protrudes from the inside to the outside of the revolving unit 13.

[0024] The curve of the curved surface portion CL in top view may be configured as a curve with a single radius of curvature. The curved surface portion CL has, for example, an arc shape with the rotation axis RX of the rotating unit 13 as the center in top view.

[0025] Furthermore, the curved surface portion CL may be formed from a combination of curves with multiple radii of curvature when viewed from above. When the curved surface portion CL is formed from a combination of curves with multiple radii of curvature, each of the multiple curves with different radii of curvature forms a curve that is convex from the inside to the outside of the outer shape of the rotating unit 13.

[0026] The work machine 10 of this embodiment has an object detection sensor for detecting objects around the work machine 10. When the object detection sensor detects an object around the work machine 10, the work machine 10 issues a warning to the operator or controls the swing operation and the operation of the work implement 12 to slow down or stop. The object detection sensor employed in the work machine 10 of this embodiment will be described below with reference to Figures 1 to 6.

[0027] 2, the work machine 10 of this embodiment has a first object detection sensor RD1, a second object detection sensor RD2, and a third object detection sensor RD3. Each of the first object detection sensor RD1, the second object detection sensor RD2, and the third object detection sensor RD3 is a sensor that detects objects (including people) in the vicinity of the work machine 10.

[0028] Each of the object detection sensors RD1, RD2, and RD3 may be, for example, a radar (Radio Detection and Ranging) that acquires information about an object by emitting radio waves. Each of the object detection sensors RD1, RD2, and RD3 may be, for example, a LiDAR (Light Detection and Ranging) that acquires information about an object by emitting laser light. Each of the object detection sensors RD1, RD2, and RD3 may be, for example, a millimeter-wave radar that uses a receiving antenna to detect how millimeter-wave band radio waves emitted from a transmitting antenna are reflected off the surface of an object and returned. Each of the object detection sensors RD1, RD2, and RD3 may be, for example, a visual sensor including a camera or an infrared sensor.

[0029] The first object detection sensor RD1 and the second object detection sensor RD2 are arranged on a curved surface portion CL that forms a curve in the outer shape of the revolving unit 13 when viewed from above. The first object detection sensor RD1 and the second object detection sensor RD2 are arranged on the curved surface portion CL so as to be spaced apart from each other when viewed from above.

[0030] When the direction of extension of the boom 16 from the base end to the tip end is parallel to the direction of extension of the tracks 15Cr, the first object detection sensor RD1 is located directly above one of the pair of left and right tracks 15Cr (the first track 15Cr), and the second object detection sensor RD2 is located directly above the other of the pair of left and right tracks 15Cr (the second track 15Cr). In a top view, the left-right distance D1 between the first object detection sensor RD1 and the second object detection sensor RD2 is greater than the left-right distance D2 between the pair of left and right tracks 15Cr. The distance D1 is the minimum dimension of an imaginary line connecting the first object detection sensor RD1 and the second object detection sensor RD2. The distance D2 is also the minimum dimension of an imaginary line connecting the pair of left and right tracks 15Cr.

[0031] The third object detection sensor RD3 is disposed on the side of the revolving unit 13. The third object detection sensor RD3 is located to the left and right of the boom 16 and boom cylinder 19a of the work implement 12. The third object detection sensor RD3 is disposed on the opposite side of the work implement 12 from the operator's cab 14. The third object detection sensor RD3 is located forward of the first object detection sensor RD1 and the second object detection sensor RD2 and near the work implement 12.

[0032] Each of the object detection sensors RD1 to RD3 is positioned so as to be able to detect objects outside the revolving structure 13. The detection range IR1 of the first object detection sensor RD1 is on the right side and rear side of the revolving structure 13. The detection range IR2 of the second object detection sensor RD2 is on the left side and rear side of the revolving structure 13. The detection range IR1 of the first object detection sensor RD1 and the detection range IR2 of the second object detection sensor RD2 overlap each other behind the revolving structure 13.

[0033] The detection range IR3 of the third object detection sensor RD3 is on the right side of the revolving unit 13. The detection range IR3 of the third object detection sensor RD3 and the detection range IR1 of the first object detection sensor RD1 overlap with each other on the right side of the revolving unit 13.

[0034] When the work machine 10 is placed on level ground, each of the object detection sensors RD1 to RD3 faces, for example, horizontally. If each of the object detection sensors RD1 to RD3 is, for example, a radar, each of the object detection sensors RD1 to RD3 emits radio waves in the horizontal direction. If each of the object detection sensors RD1 to RD3 is, for example, a LiDAR, each of the object detection sensors RD1 to RD3 emits laser light in the horizontal direction. If each of the object detection sensors RD1 to RD3 is, for example, a visual sensor, the optical axis of each of the object detection sensors RD1 to RD3 extends in the horizontal direction. If each of the object detection sensors RD1 to RD3 is, for example, an infrared sensor, each of the object detection sensors RD1 to RD3 emits infrared light in the horizontal direction.

[0035] Figure 3 is a rear view of the work machine shown in Figure 1. As shown in Figures 1 to 3, the outer surface of the rotating body 13, excluding the operator's cab 14, is mainly composed of an exterior panel 13a and a counterweight CW.

[0036] As shown in FIG. 3 , the curved surface portion CL is composed of a counterweight CW and an exterior panel 13a. The first object detection sensor RD1 and the second object detection sensor RD2 are attached to the exterior panel 13a. The first object detection sensor RD1 and the second object detection sensor RD2 are disposed in recesses CP1 and CP2, respectively. The recesses CP1 and CP2 are provided in the curved surface portion CL. The recesses CP1 and CP2 are provided in the exterior panel 13a. The recesses CP1 and CP2 are recessed toward the inside of the revolving unit 13.

[0037] The recesses CP1 and CP2 are arranged to sandwich the counterweight CW therebetween. For example, the recesses CP1 and CP2 are arranged to be in contact with the counterweight CW. The recesses CP1 and CP2 have shapes that are line-symmetrical to each other with respect to the rotation axis RX in a rear view.

[0038] The first object detection sensor RD1 and the second object detection sensor RD2 are arranged so as to sandwich the counterweight CW therebetween. The first object detection sensor RD1 and the second object detection sensor RD2 are arranged apart from the counterweight CW. The first object detection sensor RD1 and the second object detection sensor RD2 may also be arranged in contact with the counterweight CW.

[0039] By dividing the vertical height HC of the curved surface portion CL into thirds, the curved surface portion CL is divided into a lower region RL, a middle region RM, and an upper region RU. The middle region RM is located above the lower region RL, and the upper region RU is located above the middle region RM. The middle region RM is sandwiched between the lower region RL and the upper region RU. Both the first object detection sensor RD1 and the second object detection sensor RD2 are disposed in the middle region RM.

[0040] The height HC of the curved surface portion CL in the vertical direction is the height from the lower end of the revolving body 13 to the upper end of the counterweight CW. The lower end of the revolving body 13 may be the lower end of the counterweight CW.

[0041] 1, the third object detection sensor RD3 is attached to the exterior panel 13a. The third object detection sensor RD3 is disposed in a recess CP3. The recess CP3 is provided in the exterior panel 13a. The recess CP3 is recessed toward the inside of the rotating unit 13.

[0042] The third object detection sensor RD3 is disposed in the middle region RM. The third object detection sensor RD3 is disposed at a height position lower in the vertical direction than both the first object detection sensor RD1 and the second object detection sensor RD2. The third object detection sensor RD3 may be disposed at the same height in the vertical direction as both the first object detection sensor RD1 and the second object detection sensor RD2.

[0043] 4 and 5 are cross-sectional views taken along lines IV-IV and V-V in Fig. 3, respectively. As shown in Fig. 4 and 5, recess CP1 has a bottom wall CPB, one side wall CPS1, the other side wall CPS2, a lower wall CPL, and an upper wall CPU. One side wall CPS1, the other side wall CPS2, the lower wall CPL, and the upper wall CPU each extend from the outer surface of the rotating unit 13 toward the inside of the rotating unit 13. The inner ends of one side wall CPS1, the other side wall CPS2, the lower wall CPL, and the upper wall CPU are connected to the bottom wall CPB.

[0044] The bottom wall CPB, one side wall CPS1, lower wall CPL, and upper wall CPU are each formed of an exterior panel 13a. The other side wall CPS2 is formed of a counterweight CW. Note that the other side wall CPS2 may also be formed of the exterior panel 13a.

[0045] The first object detection sensor RD1 is positioned so as to remain within the recess CP1 and does not protrude beyond the recess CP1. In other words, as shown in FIG. 5 , the upper end surface TS of the first object detection sensor RD1 is located inside the recess CP1 relative to a virtual line SL connecting the upper end UE and lower end LE of the recess CP1, and does not protrude beyond the recess CP1. The upper end UE is the connection between the upper wall CPU of the recess CP1 and the outer surface of the exterior panel 13a. The lower end LE is the connection between the lower wall CPL of the recess CP1 and the outer surface of the exterior panel 13a.

[0046] Similarly to the first object detection sensor RD1, the second object detection sensor RD2 and the third object detection sensor RD3 are positioned so as to remain within the recesses CP2 and CP3, and are configured so as not to protrude from the recesses CP2 and CP3.

[0047] In the above description, the first object detection sensor RD1 and the second object detection sensor RD2 are attached to the exterior panel 13a, but they may also be attached to the counterweight CW.

[0048] Figure 6 is a rear view of a counterweight showing a modified example in which object detection sensors are attached to the counterweight. As shown in Figure 6, recesses CP1 and CP2 are provided in the counterweight CW. Each of the recesses CP1 and CP2 is positioned so as to reach both side ends of the counterweight CW. Each of the recesses CP1 and CP2 is recessed from the outer surface of the rotating unit 13 toward the inside of the rotating unit 13. The first object detection sensor RD1 is positioned in the recess CP1. The second object detection sensor RD2 is positioned in the recess CP2.

[0049] Note that, other than the above, the configuration of the modified example shown in FIG. 6 is substantially the same as the configuration shown in FIGS. 1 to 5, and therefore the same elements are given the same reference numerals and description thereof will not be repeated.

[0050] <Effects> Next, the effects of this embodiment will be described.

[0051] 2, in this embodiment, the first object detection sensor RD1 and the second object detection sensor RD2 are arranged at intervals on a curved surface portion CL that forms a curve in the outer shape of the revolving unit 13 when viewed from above. This makes it possible to detect objects over a wide range around the revolving unit 13 with a small number of object detection sensors.

[0052] 2, in this embodiment, the curved surface portion CL forms a convex curve from the inside to the outside of the outer shape of the revolving unit 13 in a top view, thereby preventing the curved surface portion CL of the revolving unit 13 from obstructing the detection ranges of the object detection sensors RD1 and RD2.

[0053] 2 , in this embodiment, the revolving unit 13 has recesses CP1 and CP2 in parts of the curved surface portion CL in the height direction. The first object detection sensor RD1 and the second object detection sensor RD2 are disposed in the recesses CP1 and CP2, respectively. This prevents the first object detection sensor RD1 and the second object detection sensor RD2 from protruding outward from the outer surface of the revolving unit 13. This prevents the first object detection sensor RD1 and the second object detection sensor RD2 from interfering with obstacles outside the revolving unit 13.

[0054] If the object detection sensors RD1 and RD2 are installed too low, there is a possibility that they may erroneously detect a part of the work machine 10, such as a blade (not shown) attached to the traveling body 15, as an obstacle. Also, if the object detection sensors RD1 and RD2 are installed too high, they will be unable to detect objects near the ground (such as a person standing on the ground) unless they are facing downward. However, if the object detection sensors RD1 and RD2 are facing downward, there is a possibility that they may erroneously detect the ground as an obstacle.

[0055] 3, in this embodiment, both the first object detection sensor RD1 and the second object detection sensor RD2 are arranged in a middle region RM sandwiched between a lower region RL and an upper region RU. This prevents the first object detection sensor RD1 and the second object detection sensor RD2 from erroneously detecting a part of the work machine 10 or the ground as an obstacle.

[0056] 2, in this embodiment, the third object detection sensor RD3 is disposed on the side of the revolving unit 13 opposite the operator's cab 14 with respect to the work machine 12 in a top view. This makes it possible to compensate for blind spots for an operator sitting in the operator's cab 14 through detection by the third object detection sensor RD3.

[0057] 1, in this embodiment, when the curved surface portion CL is divided into thirds in the vertical direction into a lower region RL, a middle region RM, and an upper region RU, the third object detection sensor RD3 is disposed in the middle region RM sandwiched between the lower region RL and the upper region RU. This prevents the third object detection sensor RD3 from erroneously detecting a part of the work machine 10 or the ground as an obstacle.

[0058] In this embodiment, both the first object detection sensor RD1 and the second object detection sensor RD2 may be disposed on the counterweight CW as shown in Fig. 6. Alternatively, both the first object detection sensor RD1 and the second object detection sensor RD2 may be disposed on the exterior panel 13a as shown in Figs. 1 and 3. This reduces restrictions on the placement of the first object detection sensor RD1 and the second object detection sensor RD2, increasing design freedom.

[0059] <Additional Notes> The above-described embodiment includes the following technical ideas.

[0060] (Supplementary Note 1) A work machine comprising: a running body; a rotating body arranged on the running body and rotating relative to the running body; and a first object detection sensor and a second object detection sensor arranged at a distance from each other on a curved surface portion of the outer shape of the rotating body that forms a curve in a top view.

[0061] (Supplementary Note 2) The work machine according to Supplementary Note 1, wherein the curved surface portion forms a curve that convexly extends from the inside to the outside of the outer shape of the rotating body in a top view.

[0062] (Supplementary Note 3) The work machine according to Supplementary Note 1 or Supplementary Note 2, wherein the rotating body has a recess in a part of the curved surface in a height direction, and each of the first object detection sensor and the second object detection sensor is disposed within the recess.

[0063] (Appendix 4) A work machine described in any one of Appendices 1 to 3, wherein when the curved surface portion is divided into a lower region, a middle region, and an upper region by dividing the curved surface portion into thirds in the vertical direction, both the first object detection sensor and the second object detection sensor are arranged in the middle region sandwiched between the lower region and the upper region.

[0064] (Appendix 5) The work machine described in any one of Appendices 1 to 3, wherein the rotating body has a cab, and further comprises a work implement supported on the rotating body, and a third object detection sensor arranged on a side of the rotating body opposite the cab with respect to the work implement in a top view.

[0065] (Supplementary Note 6) The work machine according to Supplementary Note 5, wherein when the curved surface portion is divided into three equal parts in the vertical direction into a lower region, a middle region, and an upper region, the third object detection sensor is arranged in the middle region sandwiched between the lower region and the upper region.

[0066] (Supplementary Note 7) The work machine according to any one of Supplementary Note 1 to Supplementary Note 6, wherein the rotating body has a counterweight, and both the first object detection sensor and the second object detection sensor are disposed on the counterweight.

[0067] (Supplementary Note 8) The work machine according to any one of Supplementary Notes 1 to 6, wherein the rotating body has a counterweight and an exterior panel formed as a separate member from the counterweight, and both the first object detection sensor and the second object detection sensor are disposed on the exterior panel.

[0068] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0069] 10 Work machine, 11 Main body, 12 Work equipment, 13 Swing body, 13a Exterior panel, 14 Cab, 15 Traveling body, 15Cr Track, 15M Traveling motor, 16 Boom, 17 Arm, 18 Bucket, 19a Boom cylinder, 19b Arm cylinder, 19c Bucket cylinder, AT Arm top pin, BF Boom foot pin, BT Boom top pin, CL Curved surface portion, CP1, CP2, CP3 Recess, CPB Bottom wall, CPL Lower wall, CPS1 One side wall, CPS2 Other side wall, CPU Upper wall, CW Counterweight, LE Lower end, RD1 First object detection sensor, RD2 Second object detection sensor, RD3 Third object detection sensor, RL Lower region, RM Middle region, RU Upper region, RX Swing axis, TS Upper end surface, UE Top edge.

Claims

1. A work machine comprising: a running body; a rotating body arranged on the running body and rotating relative to the running body; and a first object detection sensor and a second object detection sensor arranged at a distance from each other on a curved surface portion that forms a curved line in the outer shape of the rotating body when viewed from above.

2. A work machine as set forth in claim 1, wherein the curved surface portion forms a convex curve extending from the inside to the outside of the outer shape of the rotating body when viewed from above.

3. A work machine as described in claim 1, wherein the rotating body has a recess in a part of the height direction of the curved surface portion, and each of the first object detection sensor and the second object detection sensor is disposed within the recess.

4. A work machine as described in claim 1, wherein when the curved portion is divided into thirds in the vertical direction into a lower region, a middle region, and an upper region, both of the first object detection sensor and the second object detection sensor are arranged in the middle region sandwiched between the lower region and the upper region.

5. A work machine as described in claim 1, further comprising: a rotating body having a driver's cab; a work machine supported on the rotating body; and a third object detection sensor arranged on a side of the rotating body opposite the driver's cab with respect to the work machine when viewed from above.

6. A work machine as described in claim 5, wherein when the curved portion is divided into thirds in the vertical direction into a lower region, a middle region and an upper region, the third object detection sensor is positioned in the middle region sandwiched between the lower region and the upper region.

7. The work machine according to claim 1, wherein the rotating body has a counterweight, and both the first object detection sensor and the second object detection sensor are disposed on the counterweight.

8. A work machine as described in claim 1, wherein the rotating body has a counterweight and an exterior panel formed as a separate member from the counterweight, and both the first object detection sensor and the second object detection sensor are disposed on the exterior panel.

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