Surroundings monitoring device for work machine and work machine

Abstract

Provided are a surroundings monitoring device for a work machine and a work machine that can reduce the complexity of calibration processing. A surroundings monitoring device according to the present invention comprises a detection unit that can be installed on a work machine (2, 3) and can detect the surrounding situation of the work machine (2, 3), a plurality of candidate site presentation units (31) that are provided to the work machine and indicate candidate sites for installation of the detection unit, and a determination unit that determines at which of the plurality of candidate site presentation units (31) the detection unit has been installed.

Description

Surrounding area monitoring device for work machine and work machine

[0001] The present invention relates to a surroundings monitoring device for a work machine and a work machine.

[0002] Patent Document 1 describes a calibration process for correcting positional deviation of a sensor that detects surrounding obstacles in a work machine.

[0003] JP 2016-223963 A

[0004] Conventionally, the above-described calibration process has been a very complicated process, requiring the sensor to be attached to the work machine and then the position of the sensor to be measured accurately.

[0005] An object of the present invention is to provide a periphery monitoring device for a work machine and a work machine that can reduce the complexity of calibration processing.

[0006] The surroundings monitoring device for a work machine according to the present invention comprises a detection unit that can be attached to a work machine and that can detect the surrounding conditions of the work machine; a plurality of candidate location presentation units that are provided on the work machine and that indicate candidate locations for attaching the detection unit; and a determination unit that determines to which of the plurality of candidate location presentation units the detection unit is attached.

[0007] A work machine according to the present invention is equipped with the above-described surroundings monitoring device.

[0008] According to the present invention, it is possible to provide an apparatus for monitoring the periphery of a work machine and a work machine that can reduce the complexity of calibration processing.

[0009] FIG. 1 is a diagram showing a perimeter monitoring device and a work machine according to an embodiment of the present invention. FIG. 2 is a block diagram showing the configuration of a control system of the perimeter monitoring device according to an embodiment of the present invention. FIG. 3 is a rear rear view of the work machine showing a plurality of candidate location presentation units of embodiment 1. FIG. 4 is a rear plan view of the work machine showing a plurality of candidate location presentation units of embodiment 1. FIG. 5 is a rear side view of the work machine showing a plurality of candidate location presentation units of embodiment 1. FIG. 6 is an example of a flowchart showing the setup procedure for the perimeter monitoring device according to embodiment 1. FIG. 7 is a rear rear view of the work machine showing a plurality of candidate location presentation units of embodiment 2. FIG. 8 is a rear plan view of the work machine showing a plurality of candidate location presentation units of embodiment 2. FIG. 9 is a rear side view of the work machine showing a plurality of candidate location presentation units of embodiment 2. FIG. 10 is an example of a flowchart showing the setup procedure for the perimeter monitoring device according to embodiment 2.

[0010] Hereinafter, each embodiment of the present invention will be described in detail with reference to the drawings.

[0011] (First embodiment) Fig. 1 is a diagram showing a periphery monitoring device and a work machine according to an embodiment of the present invention, Fig. 2 is a block diagram showing the configuration of a control system of the periphery monitoring device.

[0012] The periphery monitoring device 20 of the first embodiment is a device that is applied to a work machine 1 and monitors the situation around the work machine 1. In the first embodiment, an example is shown in which the periphery monitoring device 20 is applied to a crane as the work machine 1.

[0013] The work machine 1 comprises a travellable lower traveling body 2, an upper rotating body 3 rotatably mounted relative to the lower traveling body 2, a boom 4 connected to the upper rotating body 3 so as to be rotatable in a hoisting direction, a live mast 6 supporting the boom 4, a winch (not shown) that winds in or pays out the wire ropes W1, W2, a counterweight 9 mounted on the rear of the upper rotating body 3, and a hoisting device 10 that suspends a load. A cab 8 for a driver to ride in is mounted on the upper rotating body 3. A driving operation unit for operating the work machine 1 is provided inside the cab 8.

[0014] The periphery monitoring device 20 comprises a plurality of detectors 21 attached to the work machine 1 to detect the surrounding conditions of the work machine 1, a monitoring control unit 22 (see FIG. 2 ) that creates output information representing the surrounding conditions based on the output of the detectors 21, and a surrounding condition output unit 23 that outputs the output information. There may be only one detector 21. The monitoring control unit 22 is a functional module realized by a computer 20X to which the detection results of the plurality of detectors 21 are input.

[0015] The plurality of detection units 21 include an imaging device that captures an image of the detection range and a three-dimensional sensor (e.g., LiDAR (Light Detection And Ranging), radar, ultrasonic sensor, etc.) that detects the three-dimensional position of an object in the detection range. The detection unit 21 may have any configuration as long as it is a device that can detect the surrounding situation.

[0016] The output information created by the monitoring control unit 22 includes video information of the surroundings, display information in which an image is superimposed on video of the surroundings, notification information that notifies of abnormalities in the surroundings, etc. The monitoring control unit 22 may be mounted on the work machine 1, or may be installed in a location separate from the work machine 1, receive the output of the detection unit 21 via communication, and send the output information to the surrounding condition output unit 23 via communication.

[0017] The surrounding condition output unit 23 includes a display device that outputs video information and display information, a warning light that outputs notification information, an audio output device, etc. The surrounding condition output unit 23 outputs information that indicates the surrounding condition created by the monitoring control unit 22. The surrounding condition output unit 23 may be provided in the cab 8, or in a control room separate from the work machine 1, or may be provided in a mobile terminal.

[0018] <Outline of Calibration Processing> Images such as lines, figures, and patterns indicating a positional relationship with the work machine 1 may be superimposed on the video of the surroundings in the peripheral display information created by the monitoring control unit 22. Examples of the superimposed images that can be used include images indicating a radius related to the turning radius of the upper rotating body 3 (specifically, a safety radius, a caution radius, etc.), and images such as lines indicating a specific orientation and position of the upper rotating body 3 (for example, a position such as the rear center, rear left end, or rear right end of the upper rotating body 3).

[0019] In order for the monitoring control unit 22 to superimpose the above-mentioned image on the video, it is necessary to determine, by calibration processing, the positional relationship of the detection range (e.g., the angle of view of the camera) of the detection unit 21 that acquires the video with respect to the work machine 1 (e.g., its upper rotating body 3). The above-mentioned positional relationship changes depending on the installation position of the detection unit 21.

[0020] In addition, the surrounding display information created by the monitoring control unit 22 may include an image such as a red frame indicating an abnormal area such as an obstacle detected by a detection unit 21 such as a three-dimensional sensor, superimposed on the surrounding image acquired by a detection unit 21 such as an imaging device.

[0021] In order for the monitoring control unit 22 to superimpose an image indicating an abnormality on the video, a calibration process is required to align the detection position of the detection unit 21 that acquires the video with the detection position of the detection unit 21 that detects the three-dimensional position of the object. By aligning the position of an obstacle detected by one detection unit 21 with the position of the obstacle in the video acquired by the other detection unit 21 through the calibration process, it becomes possible to point out the obstacle in the video with little deviation using the image.

[0022] The monitoring control unit 22 also determines whether the surrounding situation is abnormal (for example, an obstacle is approaching the work machine 1), and if it determines that there is an abnormality, creates notification information to notify of the abnormality in the surroundings. In order to determine whether the surrounding situation is abnormal, it is necessary to determine, by calibration processing, what positional relationship the detection range of the detection unit 21, which detects the three-dimensional position of an object, has with respect to the work machine 1 (for example, its upper rotating body 3). By undergoing the calibration processing, the monitoring control unit 22 can calculate in what direction and how far away an object detected by the detection unit 21 is located with respect to the upper rotating body 3. The above-mentioned positional relationship changes depending on the installation position of the detection unit 21.

[0023] <Candidate location presentation unit, judgment unit, and sensor position calculation unit> Figures 3A to 3C are diagrams showing multiple candidate location presentation units of embodiment 1, where Figure 3A is a rear view of the work machine, Figure 3B is a rear plan view of the work machine, and Figure 3C is a rear side view of the work machine.

[0024] 3A to 3C , the periphery monitoring device 20 further includes the following configuration in order to reduce the complexity of the above-mentioned calibration process. That is, as shown in Figures 3A to 3C , the periphery monitoring device 20 includes a plurality of candidate location presentation units 31 that present candidate locations for mounting the detection unit 21 to the worker, a determination unit 32 that determines to which candidate location presentation unit 31 the detection unit 21 is mounted, and a sensor position calculation unit 33 that calculates the position of the detection unit 21 based on the determination result of the determination unit 32. The determination unit 32 and the sensor position calculation unit 33 are functional modules realized by the computer 20X.

[0025] The multiple candidate location presenting units 31 are provided at multiple locations on the work machine 1 where the detection unit 21 can be attached. Mounting holes that allow the detection unit 21 to be attached can be used as the candidate location presenting units 31. By visually checking the mounting holes, an operator can recognize that the detection unit 21 can be attached to that location. The candidate location presenting units 31 may also be marks, etc., with which a predetermined portion of the detection unit 21 can be aligned when attaching the detection unit 21. In Figures 3A to 3C, the multiple candidate location presenting units 31 are provided on the back, top, and side surfaces of the counterweight 9. The multiple candidate location presenting units 31 may also be provided at various locations on the work machine 1. When mounting holes are used as the candidate location presenting units 31, it is possible to further reduce errors in the attachment position of the detection unit 21. When marks are used as the candidate location presenting units 31, it is possible to attach the candidate location presenting units 31 to the work machine 1 with minimal modification to the work machine 1.

[0026] The periphery monitoring device 20 includes an input device 24 that allows a worker to input information. The worker can input information to the determination unit 32 via the input device 24. The input device 24 is a keyboard, a touch panel, a mobile terminal connected so as to be able to perform data communication, or the like. The multiple candidate location presentation units 31 are associated with identification information that allows each to be identified, such as by being numbered. The worker inputs the identification information of the candidate location presentation unit 31 to which the detection unit 21 is attached via the input device 24 to the determination unit 32, and the determination unit 32 determines that the detection unit 21 is attached to the candidate location presentation unit 31 that is associated with the identification information.

[0027] It should be noted that the determination method of the determination unit 32 is not limited to the above example. For example, a sensor that detects whether or not the detection unit 21 is attached may be provided to a plurality of candidate location presentation units 31, and the determination unit 32 may determine which candidate location presentation unit 31 has the detection unit 21 attached to it based on the output of the sensor.

[0028] The sensor position calculation unit 33 calculates the position of the detection unit 21 attached to the work machine 1 based on the determination result of the determination unit 32. The sensor position calculation unit 33 is provided in advance with a data table in which a plurality of candidate location presentation units 31 are associated with a plurality of pieces of position information. The position information in the data table may be information indicating the position of the candidate location presentation unit 31, or may be information indicating the position of the detection unit 21 when the detection unit 21 is attached to the candidate location presentation unit 31. The sensor position calculation unit 33 extracts from the data table the position information corresponding to the candidate location presentation unit 31 determined by the determination unit 32, and further adds a displacement vector from the attachment position of the detection unit 21 in the position information to the detection position of the detection unit 21, thereby being able to calculate the position of the detection unit 21.

[0029] Here, the position may be, for example, a position in coordinates fixed to the upper rotating body 3. By using the coordinates, the monitoring control unit 22 can identify from which position on the upper rotating body 3 the detection unit 21 is performing detection, based on the position information calculated by the sensor position calculation unit 33. Furthermore, from the identification result, the monitoring control unit 22 can calculate in which direction the detection range (specifically, the angle of view) of the detection unit 21 faces relative to the upper rotating body 3 and which angle of view it corresponds to.

[0030] Vehicle body information of the work machine 1 may also be input to the sensor position calculation unit 33. The sensor position calculation unit 33 may then calculate the position of the detection unit 21 attached to the work machine 1 based on information that combines the vehicle body information with the determination result of the determination unit 32. The vehicle body information includes vehicle type information that indicates the vehicle type, and assembly information of parts of the work machine 1. The assembly information includes, for example, information on the number of stages in which the counterweight is mounted.

[0031] The candidate location presenting unit 31 is not necessarily always fixed in the same position on the work machine 1. For example, if the candidate location presenting unit 31 is provided on the counterweight 9, the position of the candidate location presenting unit 31 may change depending on the number of stages on which the counterweight 9 is mounted. Furthermore, if the identification information of the candidate location presenting unit 31 is common to a plurality of vehicle types, the position of the candidate location presenting unit 31 may change depending on the vehicle type, even if the candidate location presenting unit 31 has the same identification information.

[0032] The sensor position calculation unit 33 can refer to a database in which data indicating the relationship between vehicle body information and position information of a plurality of candidate location presentation units 31 is registered, and calculate the position of the detection unit 21 corresponding to the vehicle model and part assembly information based on the input vehicle body information. The database may be stored in the sensor position calculation unit 33. Alternatively, the database may be provided outside the periphery monitoring device 20 and may be configured to be accessible by the sensor position calculation unit 33 via communication.

[0033] The vehicle body information may be provided to the sensor position calculation unit 33 in advance, or may be input by a worker on-site or the like.

[0034] <Types of candidate location presentation unit and detection unit> The detection unit 21 includes multiple types of detection units, such as a first detection unit 21 a (e.g., an imaging device) that acquires video, and a second detection unit 21 b (e.g., a three-dimensional sensor) that detects the three-dimensional position of a surrounding object.

[0035] The plurality of candidate portion presentation units 31 include a first type candidate portion presentation unit 31 a and a second type candidate portion presentation unit 31 b that differ in appearance by, for example, color coding. Note that the above appearance is not limited to color coding, and various other appearances may be applied, such as marks, shapes of mounting holes, etc.

[0036] The first type candidate location presenting unit 31a is a candidate location where the first detection unit 21a is to be attached, and the second type candidate location presenting unit 31b is a candidate location where the second detection unit 21b is to be attached. The correspondence between the form of such candidate location presenting unit 31 and the type of detection unit 21 to be attached may be determined by a manual or the like. Alternatively, a mechanical or electrical mechanism may be provided so that only the corresponding type of detection unit 21 can be attached.

[0037] In this way, by dividing the candidate location presenting section 31 according to the type of the detecting section 21, it is possible to predefine the multiple detecting sections 21 so that they can be attached in appropriate positions according to their types.

[0038] In the above example, the surrounding area monitoring device 20 has two types of detection units 21 and two types of candidate location presentation units 31, but it may also have three or more types of detection units 21 and three or more types of candidate location presentation units 31.

[0039] <Setup Processing> Fig. 4 is a flowchart showing the setup procedure for the periphery monitoring device in embodiment 1. Setup is processing for configuring the periphery monitoring device 20 so that normal periphery monitoring can be performed after the work machine 1 has been assembled on site.

[0040] When the work machine 1 is assembled at the site, the worker first determines locations at which to attach the multiple detection units 21 from the multiple candidate location presenting units 31, and attaches the multiple detection units 21 (step S1). Here, if there are multiple types of detection units 21 and multiple forms of candidate location presenting units 31 associated with the types of detection units 21, the worker attaches the detection unit 21 of that type to the candidate location presenting unit 31 that corresponds to the type of detection unit 21.

[0041] Once the detection unit 21 is attached, the determination unit 32 determines to which candidate location presentation unit 31 the detection unit 21 is attached (step S2). In one example, in step S2, the worker inputs attachment information indicating to which candidate location presentation unit 31 the detection unit 21 is attached to the determination unit 32 via the input device 24, and the determination unit 32 determines the attachment location.

[0042] Furthermore, the worker inputs vehicle body information into the sensor position calculation unit 33 (step S3). The vehicle body information includes, for example, information indicating how many stages of counterweight 9 are installed. The vehicle body information does not have to be input by the worker; vehicle model information and the like may be input in advance, and information on assembly parts may be input by the worker into the control unit 12 of the work machine 1 (see FIG. 2 ), and sent from the control unit 12 of the work machine 1 to the sensor position calculation unit 33.

[0043] The input processing in steps S2 and S3 may be performed before step S1.

[0044] After the processes of steps S2 and S3 are completed, the sensor position calculation unit 33 calculates the positions of each of the plurality of detection units 21 based on the information on the mounting locations of the plurality of detection units 21 and the vehicle body information (step S4).

[0045] Next, the monitoring control unit 22 performs a calibration process for each detection unit 21 based on the calculated positions of the multiple detection units 21 (step S5). In the calibration process, if the detection unit 21 is an imaging device, the monitoring control unit 22 identifies from what position on the work machine 1 and at what angle of view the image of the detection unit 21 was captured, and aligns the image with the position information to determine where in the image a predetermined position (e.g., rear center position, safety radius position, caution radius position, etc.) relative to the work machine 1 (e.g., upper rotating body 3) corresponds. Furthermore, if the detection unit 21 is a three-dimensional sensor, the offset amount of the position information is aligned so that the position information (i.e., distance and direction information) of the object detected by the detection unit 21 corresponds to the position information in coordinates fixed to the work machine 1 (e.g., upper rotating body 3). In addition, when the two detection units 21, the imaging device and the three-dimensional sensor, are installed to detect the same direction and the monitoring control unit 22 creates display information that combines the image acquired by the imaging device and the position information of the object acquired by the three-dimensional sensor, the offset amount of the position information is adjusted so that the position of the object detected by the three-dimensional sensor matches the position in the image.

[0046] Note that the calibration process does not have to be completed by processing based solely on the calculated position information of the detection unit 21. The monitoring control unit 22 may first perform a rough calibration process based on the calculated position information of the detection unit 21. Then, the monitoring control unit 22 may perform a detailed calibration process using the output of the detection unit 21. The rough calibration process described above significantly reduces the complexity of the detailed calibration process. For example, in a calibration process for aligning an image captured by an imaging device with the position information of an object captured by a three-dimensional sensor, if roughly identical locations are known in both the captured image and the three-dimensional position information, it is possible to associate the object in the image with the object in the three-dimensional position information by simply comparing them within a small range. Then, for example, a fine alignment process may be performed to complete the calibration process.

[0047] When the matching process is completed, the monitor and control unit 22 ends the setup process.

[0048] As described above, according to the perimeter monitoring device 20 of this embodiment, the work machine 1 is provided with a plurality of candidate location presenting units 31 that indicate candidate locations for installing the detection unit 21. Therefore, the operator can select an appropriate candidate location presenting unit 31 from the plurality of candidate location presenting units 31 and install the detection unit 21 thereon. Furthermore, the perimeter monitoring device 20 is provided with a determination unit 32 that determines which candidate location presenting unit 31 the detection unit 21 is installed on. Then, based on the determination result of the determination unit 32, it is possible to easily calculate the range that the detection unit 21 is detecting in coordinates based on the work machine 1. Therefore, by using this information, the complexity of the calibration process for the detection unit 21 can be reduced.

[0049] Furthermore, according to the periphery monitoring device 20 of this embodiment, the periphery monitoring device 20 includes a sensor position calculation unit 33 that calculates the position of the detection unit 21 based on the determination result of the determination unit 32. Therefore, by using information on the calculated position of the detection unit 21, the monitoring control unit 22 can reduce the complexity of the calibration process, for example, by omitting the measurement process of the detection unit 21 that was previously required for the calibration process of the detection unit 21.

[0050] The work machine 1 is assembled on-site, and parts may be reassembled depending on the site conditions. For example, a counterweight 9 originally equipped with n stages may be changed to m stages. Such reassembly changes the position of the detection unit 21 attached to the counterweight 9, necessitating redoing the calibration process. In this case, with a conventional perimeter monitoring device, it would be necessary to start over from the measurement of the detection unit 21, which would be a very cumbersome process. On the other hand, with the perimeter monitoring device 20 of this embodiment, even if the above-mentioned reassembly occurs, calibration can be performed with minimal complication, enabling normal perimeter monitoring. Therefore, the perimeter monitoring device 20 of this embodiment is particularly effective for work machines 1 that are assembled on-site. Furthermore, the perimeter monitoring device 20 of this embodiment is particularly effective for work machines 1 in which the detection unit 21 is attached to a part that may be reassembled depending on the site conditions.

[0051] Furthermore, according to the periphery monitoring device 20 of this embodiment, the sensor position calculation unit 33 calculates the position of the detection unit 21 using vehicle body information. Therefore, even if the position of the candidate location presenting unit 31 varies depending on the vehicle model or if the candidate location presenting unit 31 is provided on an assembly part (for example, the counterweight 9), it is possible to calculate the position of the detection unit 21 based on the vehicle body information. Therefore, the candidate location presenting unit 31 can be provided in various locations.

[0052] Furthermore, according to the periphery monitoring device 20 of this embodiment, the monitoring control unit 22 performs calibration processing based on the position of the detection unit 21 calculated by the sensor position calculation unit 33. Therefore, calibration processing with reduced complexity can be realized, for example, by omitting measurement of the detection unit 21.

[0053] Furthermore, according to the perimeter monitoring device 20 of this embodiment, the detection unit 21 has multiple types, such as an imaging device and a three-dimensional sensor, and the candidate location presenting unit 31 includes a first type candidate location presenting unit 31 a and a second type candidate location presenting unit 31 b, which are different from each other. Therefore, the worker can select a candidate location presenting unit 31 according to the type of detection unit 21 and attach each of the multiple types of detection units 21 to appropriate locations according to the type.

[0054] 5A to 5C are diagrams showing a plurality of candidate location presentation units of embodiment 2, with Fig. 5A being a rear view of the work machine, Fig. 5B being a rear plan view of the work machine, and Fig. 5C being a rear side view of the work machine. Periphery monitoring device 20 of embodiment 2 is different from embodiment 1 in the candidate location presentation unit 31A and the processing of determination unit 32. The other components are the same as those of embodiment 1.

[0055] The candidate portion presentation unit 31A has an area larger than the attachment location of the detection unit 21, and this area includes a length scale h. In the examples of FIGS. 5A to 5C, grid lines function as the scale h. If the area is two-dimensional, the scale h may have a length scale in a two-dimensional direction. If the area is one-dimensional, the scale h may have a length scale in a one-dimensional direction. The scale h may be grid lines as shown in FIGS. 5A to 5C, or may be represented by dot-like marks, for example, and various other formats may be applied.

[0056] The worker inputs identification information into the determination unit 32 as to which of the multiple candidate location presentation units 31A the detection unit 21 is attached. Furthermore, the worker uses a digital camera to capture a photographic image of the candidate location presentation unit 31A to which the detection unit 21 is attached, and inputs the photographic image data into the determination unit 32. The determination unit 32 performs image recognition of the photographic image data using the scale h, thereby determining at which position within the area of ​​the candidate location presentation unit 31A the detection unit 21 is attached. Note that the above photographic image data does not have to be acquired by a worker performing a photographing process, but may be acquired by the perimeter monitoring device 20 performing a photographing process.

[0057] Each of the candidate portion presenting units 31A is assigned a plurality of pieces of identification information, and the determination unit 32 is provided in advance with a data table in which the identification information corresponds to the position information of the candidate portion presenting units 31A. Furthermore, the determination unit 32 is provided in advance with data on the length represented by the scale h, such as data on the interval length of the scale h of each candidate portion presenting unit 31A. By using this data, the determination unit 32 can determine which candidate portion presenting unit 31A the detection unit 21 is attached to and at which position.

[0058] The plurality of candidate location presenting units 31A may include, as in embodiment 1, first-type candidate location presenting units 31Aa in a first configuration (e.g., blue) that are candidates to which the first detection unit 21a is attached, and second-type candidate location presenting units 31Ab in a second configuration (e.g., black) that are candidates to which the second detection unit 21b is attached. The number of types of detection units 21 and the number of configurations of candidate location presenting units 31A may be three or more.

[0059] The candidate location presenting unit 31A may be in the form of a sheet that can be attached to the work machine 1. With this configuration, the candidate location presenting unit 31A can be provided to the work machine 1 with minimal modification to the work machine 1.

[0060] <Setup Processing> Fig. 6 is a flowchart showing the setup procedure for the periphery monitoring device in embodiment 2. Setup is processing for configuring the periphery monitoring device 20 so that normal periphery monitoring can be performed after the work machine 1 has been assembled on site.

[0061] When the work machine 1 is assembled at the site, the worker first determines locations to attach the multiple detection units 21 from the multiple candidate location presenting units 31A, and attaches the multiple detection units 21 (step S11). Here, if there are multiple types of detection units 21 and multiple forms of candidate location presenting units 31A associated with the types of detection units 21, the worker attaches the detection unit 21 of that type to the candidate location presenting unit 31A that corresponds to the type of detection unit 21. Furthermore, in the second embodiment, the candidate location presenting unit 31A has an area that is larger than the attachment portion of the detection unit 21, so the worker can attach the detection unit 21 to the candidate location presenting unit 31A with flexibility in the attachment position.

[0062] Once the detection unit 21 has been installed, the worker inputs into the surrounding monitoring device 20 installation location information indicating which candidate location presentation unit 31A the detection unit 21 has been installed on, and installation details (e.g., photographic image data) indicating where within the area of ​​the candidate location presentation unit 31A the detection unit 21 has been installed (step S12).

[0063] Next, the determination unit 32 determines at which positions of the candidate location presentation units 31A the multiple detection units 21 are attached (step S13). Here, the determination unit 32 performs image recognition of the photographic image data using the scales h of the candidate location presentation units 31A to determine where within the area of ​​the candidate location presentation units 31A the detection units 21 are attached.

[0064] Next, the worker inputs vehicle body information into the periphery monitoring device 20 via the input device 24 (step S14). The vehicle body information includes, for example, information indicating how many stages of counterweights 9 are installed. The vehicle body information does not have to be input by the worker; vehicle type information and the like may be input in advance, and information on assembly parts may be input by the worker into the control unit 12 of the work machine 1 (see FIG. 2 ), and sent from the control unit 12 of the work machine 1 to the determination unit 32 of the periphery monitoring device 20.

[0065] Next, based on the determination result of step S13 and the vehicle body information input in step S14, the sensor position calculation unit 33 calculates the positions of each of the plurality of detection units 21 (step S15).

[0066] Next, the monitoring control unit 22 performs a calibration process for each of the detecting units 21 based on the calculated positions of the detecting units 21 (step S16). The calibration process is the same as step S5 in FIG.

[0067] When the matching process is completed, the monitor and control unit 22 ends the setup process.

[0068] According to the periphery monitoring device 20 of the second embodiment, the candidate location presenting unit 31A having an area allows the worker to freely arrange and install the detection unit 21 within one candidate location presenting unit 31A. This freedom allows the arrangement to be adjusted according to the site or the request of the driver, etc. Furthermore, the determination unit 32 can accurately determine the installation location of the detection unit 21 installed with such freedom.

[0069] The above describes an embodiment of the present invention. However, the present invention is not limited to the above embodiment. For example, in the above embodiment, a crane is used as the work machine 1. However, the work machine to which the perimeter monitoring device according to the present invention can be applied is not limited to a crane. For example, any work machine, such as a shovel, may be used as long as it is equipped with a detector and monitors its surroundings. Furthermore, in the above embodiment, the candidate location presenting unit is provided on the back, side, and top surface of the counterweight. However, the candidate location presenting unit may be provided on various other parts of the work machine, such as the side and top surface of the upper rotating body, the side and back surface of the lower traveling body, the boom, the lifting device, or the arm. Other details shown in the embodiment can be modified as appropriate without departing from the spirit of the invention.

[0070] The disclosures of the specification, drawings and abstract contained in Japanese Patent Application No. 2023-214463, filed on December 20, 2023, are incorporated herein by reference in their entirety.

[0071] The present invention can be used in a surroundings monitoring device for a work machine and in the work machine.

[0072] REFERENCE SIGNS LIST 1 Work machine 2 Undercarriage 3 Upper revolving body 9 Counterweight 12 Work machine control unit 20 Surroundings monitoring device 20X Computer 21, 21a, 21b Detection unit 22 Monitoring control unit 23 Surroundings situation output unit 24 Input device 31, 31A Candidate location presentation unit 31a, 31Aa First type candidate location presentation unit 31b, 31Ab Second type candidate location presentation unit 32 Determination unit 33 Sensor position calculation unit

Claims

1. A surroundings monitoring device for a work machine comprising: a detection unit that can be attached to a work machine and can detect the surrounding conditions of the work machine; a plurality of candidate location presentation units that are provided on the work machine and indicate candidate locations for attaching the detection unit; and a determination unit that determines to which of the plurality of candidate location presentation units the detection unit is attached.

2. A surroundings monitoring device for a work machine as set forth in claim 1, further comprising a sensor position calculation section which calculates the position of said detection section based on the determination result of said determination section.

3. A surroundings monitoring device for a work machine as set forth in claim 2, wherein the sensor position calculation unit calculates the position of the detection unit based on the determination result of the determination unit and vehicle body information of the work machine.

4. The surroundings monitoring device for a work machine according to claim 2 or 3, wherein a calibration process is performed based on the position of the detection unit calculated by the sensor position calculation unit.

5. A surrounding monitoring device for a work machine as described in claim 1, comprising a plurality of the detection units, the plurality of detection units including a first detection unit and a second detection unit that are different in type from each other, and the plurality of candidate location presenting units including a first type candidate location presenting unit that indicates a candidate location for attaching the first detection unit, and a second type candidate location presenting unit that has a different aspect from the first type candidate location presenting unit and indicates a candidate location for attaching the second detection unit.

6. The surroundings monitoring device for a work machine according to claim 1, wherein the candidate location presenting section has an area larger than the attachment site of the detection section, and the area includes a length scale.

7. A work machine equipped with a surroundings monitoring device according to any one of claims 1 to 3.

Images