Work machine

Abstract

Provided is a work machine that comprises a vehicle body that has an operation chamber, a first notification device that is provided inside the operation chamber, a second notification device that is provided outside the operation chamber, an input device that sets a notification level for the second notification device, and a control device that controls the first notification device and the second notification device. The control device changes a notification level for the first notification device in accordance with the notification level for the second notification device set by the input device. The present invention thereby makes it possible to set the mode of notifications directed toward surrounding workers in accordance with circumstances and to direct appropriate notifications that correspond to the notifications directed toward the surrounding workers toward an operator in the operation chamber.

Description

Work machinery

[0001] The present invention relates to a work machine such as a hydraulic excavator.

[0002] Some work machines, such as hydraulic excavators, are equipped with a function that detects nearby workers and notifies the operator using sound or light. While sound notifications have the advantage of being perceptible no matter where the operator is looking, there is a concern that frequent sounds may be annoying to the operator or the operator may become accustomed to them and miss them. On the other hand, light notifications are suitable for specifically conveying detection information to the operator through a display on a monitor or the like, but may not be noticed unless the operator pays attention to the display.

[0003] In response to this, a surrounding monitoring system for work machines is known that issues an audible alarm when an object is detected, and if the object continues to be detected, stops the audible alarm and issues an optical alarm under specified conditions (Patent Document 1).

[0004] Patent No. 7009063

[0005] In recent years, some work machines have the function of not only notifying the operator when a worker is detected, but also notifying surrounding workers. By notifying surrounding workers when a worker is detected, not only is the operator alerted to their surroundings, but surrounding workers are also alerted to the work machine.

[0006] For example, when an audible alarm is issued to surrounding workers, the alarm sound may also reach the ears of the operator in the cab. Therefore, if notifications are given using sound and light in the cab as in Patent Document 1, the operator may receive excessive notifications, which may increase the operator's discomfort and affect work efficiency.

[0007] On the other hand, it is expected that notifications to nearby workers can be turned off or the notification level can be lowered, for example, if the work site is in a residential area and the noise can be a nuisance to neighbors. In this case, if notifications to nearby workers are turned off, the surrounding workers will not be alerted to the work machine, so it becomes even more important to alert the operator.

[0008] An object of the present invention is to provide a work machine that can set the method of notification to surrounding workers depending on the situation, and that can make appropriate notifications to the operator in the cab in response to the notifications to surrounding workers.

[0009] In order to achieve the above-mentioned object, the present invention provides a work machine comprising a vehicle body having a driver's cab, a first alarm device provided inside the driver's cab, a second alarm device provided outside the driver's cab, an input device for setting the alarm level of the second alarm device, and a control device for controlling the first alarm device and the second alarm device, wherein the control device changes the alarm level of the first alarm device in accordance with the alarm level of the second alarm device set by the input device.

[0010] According to the present invention, the way in which notifications are given to surrounding workers can be set according to the situation, and appropriate notifications can be made to the operator in the cab in accordance with the notifications given to the surrounding workers.

[0011] 1 is a side view showing the appearance of a hydraulic excavator, which is an example of a work machine according to one embodiment of the present invention. FIG. 2 is a schematic diagram showing the interior of the driver's cab of the hydraulic excavator of FIG. 1. FIG. 3 is a schematic diagram showing the entire control system of a work machine according to one embodiment of the present invention. FIG. 4 is a block diagram showing a schematic representation of the functions of a notification control device for a work machine according to one embodiment of the present invention. FIG. 5 is a diagram showing an overview of a detection area according to one embodiment of the present invention. FIG. 6 is a diagram showing an example of table-format data that defines notification patterns of the first notification device and the second notification device for each notification level according to one embodiment of the present invention. FIG. 7 is a diagram showing another example of table-format data that defines notification patterns of the first notification device and the second notification device for each notification level according to one embodiment of the present invention. FIG. 8 is a diagram showing an example of a monitor display that is determined by the notification control device of a work machine according to one embodiment of the present invention. FIG. 9 is a table showing display patterns of a detection state display bar. FIG. 10 is an explanatory diagram of an example of a buzzer sound pattern that is determined by the notification control device of a work machine according to one embodiment of the present invention. FIG. 11 is an explanatory diagram of an example of a buzzer sound pattern that is determined by the notification control device of a work machine according to one embodiment of the present invention. 1 is a flowchart showing a control procedure for the first and second alarm devices by the alarm control device of a work machine according to one embodiment of the present invention. FIG. 2 is a diagram showing an example of table-format data that defines the alarm forms of the first and second alarm devices for each alarm level in a modified example. FIG. 3 is a diagram showing another example of table-format data that defines the alarm forms of the first and second alarm devices for each alarm level in a modified example. FIG. 4 is a diagram showing yet another example of table-format data that defines the alarm forms of the first and second alarm devices for each alarm level in a modified example. FIG. 5 is a flowchart showing a procedure for setting the alarm forms of the first and second alarm devices by the alarm control device of a work machine according to a modified example. FIG. 6 is a flowchart showing a procedure for changing the alarm form of the first alarm device by the alarm control device of a work machine according to a modified example.10 is a flowchart showing another example of the procedure for setting the notification modes of the first notification device and the second notification device by the notification control device of the work machine according to the modified example.

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0013] 1 is a side view showing the appearance of a hydraulic excavator, which is an example of a work machine according to an embodiment of the present invention. The right side in FIG. 1 is the front of a rotating body 1d.

[0014] The hydraulic excavator 1 includes a vehicle body 1B and an articulated front working unit 1A attached to the vehicle body 1B. The front working unit 1A has a boom 1a, an arm 1b, and a bucket 1c, each of which rotates in a vertical plane. The vehicle body 1B includes a running unit 1e and a rotating unit 1d that is rotatably mounted on the running unit 1e. The rotating unit 1d is equipped with a driver's cab 1f. The base end of the boom 1a of the front working unit 1A is connected to the front of the rotating unit 1d, the arm 1b is connected to the tip of the boom 1a, and the bucket 1c is connected to the tip of the arm 1b. The boom 1a, arm 1b, bucket 1c, rotating unit 1d, and running unit 1e are driven by corresponding hydraulic actuators, specifically, a boom cylinder 2a, an arm cylinder 2b, a bucket cylinder 2c, a swing motor 3d ( FIG. 3 ), and left and right traveling motors 3e, 3f, respectively. The boom 1a, arm 1b and bucket 1c (strictly speaking, bucket link) are provided with angle sensors 8a, 8b and 8c for detecting the rotation angles of the boom 1a, arm 1b and bucket 1c, respectively.

[0015] The revolving unit 1d is also equipped with GNSS antennas 9a and 9b for acquiring the current position of the hydraulic excavator 1, and multiple cameras 10a, 10b, and 10c for capturing images of the area around the vehicle body 1B. The camera 10a captures the area to the left of the revolving unit 1d, the camera 10b captures the area behind the revolving unit 1d, and the camera 10c captures the area to the right of the revolving unit 1d. The cameras 10a-10c are devices that acquire images of the area around the vehicle body 1B, and in this embodiment, they also function as object detection sensors that detect objects around the vehicle body 1B (such as workers, other work machines, and various obstacles). However, LiDAR (Light Detection and Ranging) may also be installed as the object detection sensor that detects objects. LiDAR emits a large number of laser beams with optical axis angles shifted in the left-right direction (yaw direction) and up-down direction (pitch direction), and obtains distance data (point cloud data) to the irradiation point of each laser from the time it takes for each laser beam to reflect off an object and become incident.

[0016] A surrounding speaker 18 and a surrounding indicator light 19 are provided on the top surface of the vehicle body 1B, or in this embodiment, the driver's cab 1f. The surrounding speaker 18 and the surrounding indicator light 19 are examples of a second notification device provided outside the driver's cab 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 is also adjustable. The lighting color of the surrounding indicator light 19 is changeable, and the lighting pattern, such as lighting, flashing, and flashing interval, is also changeable.

[0017] Although not shown in Fig. 1, the rotating 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 pressurized oil from the hydraulic pump 5 to hydraulic actuators (such as the boom cylinder 2a), as shown in Fig. 3, which will be described later. The valve 6 is controlled in response to the operation of control lever devices 7a-7d (Fig. 2) provided in the operator's cab 1f, which controls the supply direction and supply flow rate of pressurized oil from the hydraulic pump 5 to each hydraulic actuator, thereby operating each actuator. An electric motor may be used as the prime mover instead of the engine 4.

[0018] -Driver's Cabin- Figure 2 is a schematic diagram showing the interior of the driver's cab 1f. The driver's cab 1f is equipped with control lever devices 7a-7d for operating the vehicle body or front work implement 1A, a shutoff lever 17 for limiting the operation of the control lever devices 7a-7d, a speaker 11 for audibly communicating information to the operator inside the driver's cab 1f, and a monitor 12, a display device for optically communicating information to the operator inside the driver's cab 1f. For example, operating the control lever device 7a on the left side of the driver's seat forward or backward causes the revolving unit 1d to rotate left or right, and operating it left or right causes the arm 1b to rotate forward or backward. Operating the control lever device 7b on the right side of the driver's seat forward or backward causes the boom 1a to rotate up or down, and operating it left or right causes the bucket 1c to rotate. The speaker 11 and monitor 12 are examples of a first notification device provided inside the driver's cab 1f to notify the operator inside the driver's cab 1f. In this embodiment, the speaker 11 is built into the monitor 12, but the speaker may be installed in any position as long as it can transmit sound to the operator. In addition, the monitor 12 of this embodiment is equipped with a touch panel 15 as a monitor operation device for operating the monitor 12.

[0019] -Control System- Figure 3 is a schematic diagram showing the overall control system of a work machine according to one embodiment of the present invention. The rotating body 1d of the hydraulic excavator 1 is equipped with a control device 200 that controls each of the on-board devices. The control device 200 is configured to include a main C / U 50 that controls the actuators, etc., a GNS SC / U 40 that processes information acquired by the GNSS antennas 9a and 9b, and an alarm C / U 60 that controls various notifications to the operator. The main C / U 50 and the alarm C / U 60 are computers that have storage devices (e.g., HHD, RAM, ROM), an arithmetic device (e.g., CPU), etc.

[0020] Signals are input to the main C / U 50 from the control lever devices 7a-7d, angle sensors 8a-8c, cameras 10a-10c, key cylinder 14, shutoff lever 17, etc. In response to these input signals, the main C / U 50 controls the engine 4, hydraulic pump 5, and valve 6, and controls hydraulic actuators such as the boom cylinder 2a to drive the hydraulic excavator 1. The key cylinder 14 is an operation device that issues commands to start and stop the engine 4 and is installed in the operator's cab 1f. As described above, the shutoff lever 17 is an operation device that limits the operation of the control lever devices 7a-7d. The shutoff lever 17 may be configured to cut off the pilot pressure that drives the valve 6 to hydraulically limit the operation of the hydraulic actuators by the control lever devices 7a-7d, or it may be configured so that the main C / U 50 prohibits the output of a command signal to the valve 6 (strictly speaking, a solenoid valve that controls the pilot pressure to the valve 6) depending on the position of the shutoff lever 17, thereby electrically limiting the operation of the hydraulic actuators by the control lever devices 7a-7d. In either configuration, the position of the shutoff lever 17 is detected by a potentiometer (not shown) or the like and input to the main C / U 50. The main C / U 50 is also connected to a communication device 16, and is capable of communicating with various terminals, servers, and the like external to the hydraulic excavator 1 via the communication device 16.

[0021] - Notification Control Device - (Outline of the Notification Control Device) The notification C / U 60 exchanges data with the main C / U 50 and executes various processes. For example, the notification C / U 60 calculates display information to be output to the monitor 12 inside the operator's cab 1f, the lighting pattern of the surroundings-facing indicator lights 19, and sound information to be output to the speaker 11 and the surroundings-facing speakers 18, and sends command signals to the corresponding devices. The notification C / U 60 also has a function to display the operating status of the hydraulic excavator 1, menu screens, camera images captured by the cameras 10a-10c, etc. on the monitor 12 in response to operation of the touch panel 15.

[0022] The alarm C / U 60, together with the main C / U 50, constitutes an alarm control device 100 that controls the first alarm device (speaker 11 and monitor 12) and the second alarm device (surrounding speaker 18 and surrounding indicator light 19). In this embodiment, a configuration in which the functions of the alarm control device 100 are shared between the main C / U 50 and the alarm C / U 60 is illustrated, but the functions of the alarm 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 alarm levels of the second alarm device (surrounding speaker 18 and surrounding indicator light 19) and the first alarm device (speaker 11 and monitor 12). However, it goes without saying that the input device is not limited to the touch panel 15, and other types of input devices, such as mechanical buttons, may also be used. The notification control device 100 controls the first notification device (speaker 11 and monitor 12) and the second notification device (surrounding area speaker 18 and surrounding area indicator light 19) based on object information detected by the object detection sensors. "Object information" refers to detection information from the object detection sensors, which is information about the object detected by the object detection sensors. In this embodiment, this information is obtained by processing camera images from cameras 10a-10c, and includes, for example, the type of detected object (worker, work machine, etc.) and the positional relationship (distance, direction, etc.) between the detected worker and the vehicle body 1B. For example, the notification control device 100 determines whether the object detected by cameras 10a-10c is a person, and if the detected object is a person, issues a notification using at least the first notification device (speaker 11 and monitor 12), and preferably both the first notification device and the second notification device.

[0023] The alarm control device 100 has a function of changing the alarm level of the first alarm device (speaker 11 and monitor 12) in accordance with the alarm level of the second alarm device (surrounding area speaker 18 and surrounding area indicator lights 19) set on the touch panel 15. However, the alarm level of the first alarm device is not necessarily determined unless the operator operates the touch panel 15 to set the alarm level of the second alarm device; for example, before the operator sets the alarm level of the second alarm device, the first alarm device and the second alarm device are set to a standard alarm level (e.g., pattern A or B, described below). The "alert level" refers to the degree of emphasis of the alarm to convey information about the situation to or to call the attention of the target of the alarm (workers, etc. around the hydraulic excavator 1 or the operator in the cab 1f), and is adjusted, for example, by sound from the speaker 11 and surrounding area speaker 18, light from the monitor 12 and surrounding area indicator lights 19, or a combination thereof. The notification level of the sound from the speaker 11 and the surrounding speaker 18 can be changed by adjusting the volume, frequency, rhythm, interval between sounds, or a combination of these. The notification level of the light from the monitor 12 and the surrounding indicator light 19 can be changed by adjusting the light intensity, lighting color, lighting interval, lighting rhythm, or a combination of these. Turning off the notification can be considered as setting the notification level to 0.

[0024] 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 (surrounding speaker 18 and surrounding 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 (surrounding speaker 18 and surrounding 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.

[0025] The notification control device 100 also stores multiple notification modes 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, the memory device (notification pattern memory unit 105 described later) of the notification control device 100 stores multiple notification modes that are preset for each notification level for the first notification device (speaker 11 and monitor 12) and the second notification device (surrounding speaker 18 and surrounding indicator light 19). The notification mode of the first notification device can be set, for example, so that at a low notification level, a notification is made by displaying on the monitor 12 and at a low volume through the speaker 11, and at a high notification level, a notification is made by displaying on the monitor 12 and at a high volume through the speaker 11. An example of the setting of the notification mode of the second notification device is that at a low notification level, both notifications by the surrounding speaker 18 and the surrounding indicator light 19 are turned off, and at a high notification level, notifications by the surrounding speaker 18 and the surrounding indicator light 19 are executed. The notification control device 100 stores the notification patterns (combinations of notification modes) of the first notification device and the second notification device in a storage device (announcement pattern storage unit 105 described later), and when a notification level is set for the second notification device, the notification control device 100 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.

[0026] 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 the notification level of the second notification device (surrounding speaker 18 and surrounding indicator light 19) as well as object information detected by the cameras 10a-10c. 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 cameras 10a-10c and the vehicle body 1B, for example, the distance between the vehicle body 1B and the object, and differs even for the same notification level. Therefore, when a worker is detected by the cameras 10a-10c, the first notification device and the second notification device do not simply operate in a uniform notification form corresponding to the set notification level, but rather operate in different notification forms even for the same notification level depending on the positional relationship between the detected worker and the vehicle body 1B. For example, for the first alarm device, even if the alarm level is "high," both the monitor 12 and the speaker 11 operate if the distance between the detected object and the vehicle body 1B is less than a predetermined distance, and only the monitor 12 operates if the distance between the detected object and the vehicle body 1B is equal to or greater than the predetermined distance. Similarly, for the second alarm device, even if the alarm level is "high," both the surroundings-facing speaker 18 and the surroundings-facing indicator light 19 operate if the distance between the detected object and the vehicle body 1B is less than a predetermined distance, and only the surroundings-facing indicator light 19 operates if the distance between the detected object and the vehicle body 1B is equal to or greater than the predetermined distance.

[0027] The notification patterns of the first and second notification devices for each notification level stored in the notification pattern storage unit 105 (for example, a data table described later with reference to FIG. 6 and the like) can be changed using, for example, the touch panel 15. For example, the notification mode can include a mode in which one of the first notification device (speaker 11 and monitor 12) and the second notification device (surrounding speaker 18 and surrounding indicator light 19) is turned off. Furthermore, if the operation site of the hydraulic excavator 1 is in a residential area, for example, the notification mode can also include a mode in which notification by sound from the second notification device, i.e., operation of the surrounding speaker 18 is always turned off.

[0028] (Configuration example of notification control device) Figure 4 is a block diagram showing a schematic representation of the functions of a notification control device for a work machine according to one embodiment of the present invention. As shown in Figure 4, the notification control device 100 has an object detection unit 101, a detection area storage unit 102, a notification control unit 103, a notification pattern switching unit 104, and a notification pattern storage unit 105 in order to execute the above-described 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 calculation unit (e.g., a CPU) of the notification control device 100, and the detection area storage unit 102 and the notification pattern storage unit 105 are configured by a storage device (e.g., an HDD) provided in or connected to the notification control device 100. Each function will be described below.

[0029] [Object Detection Unit] The object detection unit 101 detects objects from information acquired by the cameras 10a-10c and information on the detection area stored in the detection area memory unit 102. The objects detected by the object detection unit 101 are workers (people), or workers and objects (work machines other than the vehicle itself, other obstacles, etc.). In this embodiment, workers (people) around the vehicle body 1B are detected from images acquired by the cameras 10a-10c. If the data input from the cameras 10a-10c is raw image data, the object detection unit 101 performs image processing to detect surrounding workers and calculates the positions of the detected workers relative to the vehicle body 1B. If the cameras 10a-10c are equipped with image processing devices, the object detection unit 101 inputs the detection results of the workers from the cameras 10a-10c, and calculates the position of the worker if the detection results do not include position information of the worker. Furthermore, the object detection unit 101 compares the position of the detected worker with the detection areas stored in the detection area storage unit 102, and identifies in which detection area the detected worker is located.

[0030] In this embodiment, FIG. 4 illustrates a configuration in which the object detection unit 101 processes images input from the on-board cameras 10a-10c, but the object detection unit 101 may also be configured to identify the position of the worker based on data obtained from off-vehicle equipment (equipment installed outside the hydraulic excavator 1), such as a worker detection system placed at the work site or a mobile terminal carried by the worker.

[0031] [Detection Area Storage Unit] The detection area storage unit 102 stores the detection area used for object detection by the object detection unit 101. A schematic diagram of the detection area 300 in this embodiment is shown in FIG. 5. The detection area 300 is roughly divided into three concentric areas according to the horizontal distance in the radial direction from the turning center of the vehicle body 1B. These areas are: distant areas 301a-301c, which are less than a first set distance from the turning center but are equal to or greater than a second set distance (<first set distance); intermediate areas 302a-302c, which are less than the second set distance from the turning center but are equal to or greater than a third set distance (<second set distance); and nearby areas 303a-303c, which are less than the third set distance from the turning center. It is also possible to distinguish these distant, intermediate, and nearby areas based on their orientation relative to the vehicle body 1B, thereby identifying the orientation in which a detected worker is located. In the example of Fig. 5, a distant area 301a, an intermediate area 302a, and a nearby area 303a are areas photographed by the camera 10a and are areas to the left of the vehicle body 1B. Further, a distant area 301b, an intermediate area 302b, and a nearby area 303b are areas photographed by the camera 10b and are areas rearward of the vehicle body 1B. A distant area 301c, an intermediate area 302c, and a nearby area 303c are areas photographed by the camera 10c and are areas to the right of the vehicle body 1B. The detection area storage unit 102 stores divisions of detection areas based on the turning center of the vehicle body 1B as illustrated in Fig. 5.

[0032] [Notification control unit] The notification control unit 103 determines the output of the first notification device and the second notification device based on the currently set notification pattern and the detection result of the worker by the object detection unit 101. As the output of the first notification device, a buzzer sound to be output from the speaker 11 and 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 from 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 issue a notification to the operator and surrounding workers.

[0033] [Alarm Pattern Switching Unit] The alarm pattern used by the alarm control unit 103 to determine the alarm output is read into the alarm control unit 103 from the alarm pattern switching unit 104. In the alarm pattern switching unit 104, the operator sets the alarm level of the second alarm device using the touch panel 15, and the alarm pattern of the second alarm device corresponding to the alarm level of the second alarm device is set. At the same time, the alarm level of the first alarm device is determined according to the alarm level of the second alarm device, and the alarm pattern of the first alarm device corresponding to the alarm level of the first alarm device is set.

[0034] [Notification Pattern Storage Unit] The notification pattern set by the notification pattern switching unit 104 is based on data (e.g., table data) stored in the notification pattern storage unit 105. The data stored in the notification pattern storage unit 105 can also be changed as needed by an operator, for example, by operating the touch panel 15 to adjust the settings.

[0035] Example of Notification Pattern (1) FIG. 6 shows an example of table-format data specifying notification patterns for the first and second notification devices for each notification level. Two notification levels, "low" and "high," are provided as options for each of the first and second notification devices. Pattern A corresponds to the "low" notification level of the second notification device, and pattern B corresponds to the "high" notification level of the second notification device. In the data shown in FIG. 6, notification patterns for the first and second notification devices are defined for each notification level of the second notification device, i.e., for each of patterns A and B. In pattern A, the notification level of the second notification device is lower than in pattern B, but the notification level of the first notification device is higher. In the example shown in FIG. 6, the positional relationship between the detected worker and the vehicle body 1B is also distinguished. In this example, the area in which the worker is detected is distinguished as a "near area," "intermediate area," or "far area." Even if the alert level is the same, the alert format may differ depending on whether the detected worker is located in the "near area," "intermediate area," or "far area." In the example of FIG. 6 , the second alert device outputs an alert only when the alert level is "high" (pattern B), and the alert of the second alert device is turned off when the alert level is "low" (pattern A). Therefore, the operator sets the alert level of the second alert device and the alert pattern of the alert level of the first alert device corresponding to the alert level of the second alert device by performing a setting operation based on whether or not to alert the surroundings using the second alert device. For example, a setting screen that allows the surrounding speaker 18 to be turned on or off is displayed on the touch panel 15. By selecting on or off for the surrounding speaker 18 on the setting screen, the alert patterns of the first alert device and the second alert device can be set.

[0036] In the example of FIG. 6 , if the notification level of the second notification device is set to “low” due to consideration for neighbors, such as in 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, neither the surrounding speaker 18 nor the surrounding indicator light 19 performs a notification operation in the second notification device, regardless of the location of the detected worker (both the surrounding speaker 18 and the surrounding indicator light 19 are instructed to stop). On the other hand, the first notification device performs a notification operation according to the location of the detected worker. If a worker is detected in the nearby area, the operator is notified by a combination of information displayed on the monitor 12 and a continuous buzzer sound from the speaker 11. If a worker is detected in the intermediate area, the operator is notified by a combination of information displayed on the monitor 12 and an intermittent buzzer sound from the speaker 11. Since the buzzer sound is intermittent, the warning sound is less severe than when a worker is detected in a nearby area. When a worker is detected in a distant area, the operator is notified only by the information displayed on the monitor 12, and the buzzer sound is turned off.

[0037] In the example of Figure 6, for example, if there is a high need to notify those in the vicinity 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."

[0038] In this case, when a worker is detected in the nearby area, the surrounding area is notified by a combination of flashing surrounding indicator lights 19 and continuous buzzer sounds from surrounding speaker 18. The operator is notified by a combination of information displayed on monitor 12 and intermittent buzzer sounds from speaker 11. Even when a worker is detected in the same nearby area, when the notification level of the second notification device is set to "high," the notification to the surrounding area is emphasized while the notification to the operator is suppressed, compared to when the notification level of the second notification device is set to "low."

[0039] When a worker is detected in the intermediate area, the surrounding area is notified by a combination of flashing of the surrounding indicator light 19 and an intermittent buzzer sound from the surrounding area speaker 18. The operator is notified by a combination of information displayed on the monitor 12 and a single buzzer sound from the speaker 11. Even when a worker is detected in the same intermediate area, when the notification level of the second notification device is set to "high," the notification to the surrounding area is emphasized while the notification to the operator is suppressed, compared to when the notification level of the second notification device is set to "low." Furthermore, even with the same notification level, when a worker is detected in the intermediate area, the notification to the surrounding area and the operator is relaxed compared to when a worker is detected in a nearby area.

[0040] When a worker is detected in the far area, the surrounding area is notified only by lighting the surrounding area indicator light 19, and the buzzer sound from the surrounding area speaker 18 is turned off. For the operator, both the information display on the monitor 12 and the buzzer sound from the speaker 11 are turned off. Even when a worker is detected in the same far area, when the notification level of the second notification device is set to "high," the notification to the surrounding area is emphasized while the notification to the operator is suppressed, compared to when the notification level of the second notification device is set to "low." Furthermore, even with the same notification level, when a worker is detected in the far area, the notification to the surrounding area and the operator is relaxed compared to when a worker is detected in the intermediate area.

[0041] Example of Notification Pattern (2) FIG. 7 shows another example of table-format data defining notification patterns for the first and second notification devices for each notification level. In the data shown in FIG. 7 , patterns A and B are defined for the first and second notification devices, similar to the example shown in FIG. 6 . However, in the example shown in 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 only issues a notification using the indicator light. Specifically, even when the notification of the second notification device is set to "low" (pattern A), if a worker is detected in the nearby or intermediate area, the surrounding speaker 18 is not activated and the surrounding indicator light 19 is flashed. If a worker is detected in the distant area, the surrounding speaker 18 is not activated and the surrounding indicator light 19 is illuminated. In addition, in the pattern A of the example of FIG. 7 , the surrounding indicator light 19 is set to light up when a worker is detected in a distant area, and therefore the notification for the operator is set to off. Therefore, the operator sets the notification level of the second notification device by performing a setting operation from the perspective of whether or not to notify the surroundings by sound using 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 the operator to select whether to turn the notification using the surrounding speaker 18 on or off is displayed on the touch panel 15. By selecting on or off for the surrounding speaker 18 on the setting screen, the notification levels of the first notification device and the second notification device, and therefore the notification mode, can be set. The other settings in the example of FIG. 7 are the same as those in the example of FIG. 6 .

[0042] Display Example of Monitor 12 FIG. 8A is a diagram showing an example of a monitor display determined by the notification control device 100. The monitor 12 has a liquid crystal display area 12a, in which a camera image 501 is displayed. The camera image 501 displays a vehicle body icon 502 resembling the hydraulic excavator 1 and a bird's-eye view image projected as if looking down from above the hydraulic excavator 1. The bird's-eye 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. Detection status display bars 504a-504c are displayed on the outer edges of the camera images 504a, 504b, and 504c, respectively. The display of the detection status display bars 504a-504c changes depending on which area of ​​the detection area 300 (FIG. 5) the worker was detected in. Specifically, the detection status display bars 504a-504c display the direction (left, rear, right) of the detected worker relative to the vehicle body 1B, and when a worker is detected, only the bar corresponding to the detected area lights up. The lighting pattern of the detection status display bars 504a-504c differs depending on whether the worker is detected in the "distant area," "intermediate area," or "nearby area."

[0043] The display patterns of the detection status display bars 504a-504c are shown in table 505 of Fig. 8B. Fig. 8B shows an example in which all of the detection status display bars 504a-504c are set to flash red when a worker is detected in the "far area," flash yellow when a worker is detected in the "intermediate area," and remain lit yellow when a worker is detected in the "near area."

[0044] Display example of the perimeter indicator light 19 The lighting pattern of the perimeter indicator light 19 is assumed to have two patterns, for example, a steady light and a flashing light. However, the lighting pattern of the perimeter indicator light 19 is not limited to only the steady light and the flashing light, and the number of patterns can be increased according to the number of events to be notified by appropriately combining differences in the flashing interval, lighting color, brightness, etc. Also, while Figure 1 illustrates an example of a configuration in which only one perimeter indicator light 19 is installed above the driver's cab 1f, the number and position of the perimeter indicator light 19 can be changed as appropriate, taking into account visibility from the surroundings.

[0045] Examples of Buzzer Sounds from the Speaker 11 / Surrounding Speaker 18 FIGS. 9A-9C are explanatory diagrams illustrating examples of buzzer sound patterns determined by the notification control device 100. Each graph shown in FIGS. 9A-9C shows 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 a continuous buzzer sound (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). If a plurality of workers are detected, a notification is given using a buzzer sound pattern corresponding to the position of the worker closest to the vehicle body 1B.

[0046] - Notification Control - Fig. 10 is a flowchart showing the control procedure for the first and second notification devices by the notification control device 100. The notification control device 100 periodically repeats the flow of Fig. 10 while power is being supplied.

[0047] 10 starts, the notification control device 100 first determines in step S200 whether a worker has been detected by the cameras 10a-10c within the detection area 300. If the cameras 10a-10c have not yet detected a worker, the notification control device 100 processes the captured images input from the cameras 10a-10c to perform a recognition process for a worker (person) and determines whether a worker has been detected in the detection area 300. If a worker has not been detected in the detection area 300 (No), the notification control device 100 repeats the process of step S200.

[0048] If a worker has been detected in the detection area 300 (Yes), the notification control device 100 proceeds from step S200 to step S201, determines the currently set notification level for the surrounding area (of the second notification device), and proceeds from step S201 to processing corresponding to the currently set notification level for the surrounding area. In the example of FIG. 10 , if the notification level for the surrounding area is "low" (Yes), the notification control device 100 proceeds from step S201 to step S202, and if the notification level for the surrounding area is "high" (No), the notification control device 100 proceeds from step S201 to step S203. Here, a case will be described in which there are two notification level options, "low" or "high." However, even if there are three or more notification level options, the procedure proceeds to processing corresponding to the currently set notification level.

[0049] If the procedure proceeds to step S202, the notification control device 100 sets pattern A in accordance with the data (e.g., FIG. 6) stored in the notification pattern storage unit 105 (FIG. 4), and proceeds to step S204. By setting pattern A, a notification mode of a notification level of "low" is set for the second notification device, and a notification level of "high" is set for the first notification device. If the procedure proceeds to step S203, the notification control device 100 sets pattern B in accordance with the same data table, and proceeds to step S204. By setting pattern B, a notification mode of a notification level of "high" is set for the second notification device, and a notification level of "low" is set for the first notification device.

[0050] When the procedure proceeds to step S204, the notification control device 100 determines the notification mode of the first notification device according to the notification pattern set in step S202 or S203. In this case, for example, when distinguishing the position of the detected worker as in the example of Fig. 6, the notification control device 100 changes the notification mode of the first notification device according to the area in which the worker is detected. Furthermore, when distinguishing the direction of the detected worker as in the example of Fig. 8B, the notification control device 100 changes the notification mode (the illumination color or lighting / flashing of the detection status display bars 504a-504c) of the first notification device (the monitor 12 in the example of Fig. 8B) according to the direction in which the worker is detected.

[0051] In the following step S205, the notification control device 100 determines the notification mode of the second notification device according to the notification pattern set in step S202 or S203. In this case, for example, when distinguishing the location of the detected worker as in the example of Fig. 6, the notification control device 100 changes the notification mode of the second notification device according to the area in which the worker is detected. The processing of steps S204 and S205 may be performed in reverse order or simultaneously.

[0052] After determining the notification form of the first and second alarm devices in steps S204 and S205, the alarm control device 100 proceeds to step S206 and outputs commands to the first and second alarm devices so that the notification operation is performed in the determined notification form.

[0053] After outputting commands to the first and second alarm devices, the alarm control device 100 returns to step S200 and repeats the above steps, and when the power is turned off, performs appropriate delay processing, etc., before ending the flow of Figure 10.

[0054] -Effects- (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 on the touch panel 15. The notification level of the first notification device is automatically changed 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).

[0055] 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 excavator 1 by, for example, multiple or emphasized notification using a buzzer sound from the surrounding speaker 18 or the light of the surrounding indicator light 19. In this case, the fact that the hydraulic excavator 1 is approaching the surrounding workers is also shared with those workers, so the notification level can be lowered for the operator in the cab 1f by, for example, reducing the volume of the buzzer from the speaker 11 that is output together with the display on the monitor 12, thereby reducing the annoyance to the operator and improving workability.

[0056] On the other hand, if the notification level of the second notification device is set low, the attention of surrounding workers will be reduced or no attention will be given. In this case, the surrounding workers may have a reduced understanding of the distance to the hydraulic excavator 1, so the notification level can be increased for the operator in the cab 1f by, for example, increasing the volume of the buzzer from the speaker 11 that is output together with the display on the monitor 12, thereby making the notification more emphatically to the operator and encouraging them to pay attention.

[0057] As described above, according to this embodiment, by automatically changing the notification settings for the operator in accordance with the notification settings for surrounding workers, it is possible to set the method of notification for surrounding workers according to the situation, and to direct notifications to the operator in the cab 1 f in accordance with the notifications directed to the surrounding workers. Since the operator can be notified of the surrounding situation at an appropriate level, it becomes easier for the operator to grasp the surrounding situation, and further, it can contribute to improving work efficiency by reducing the annoyance of the operator due to excessive notifications.

[0058] (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 warning to nearby workers about the hydraulic excavator 1 is eased, the warning to the operator about the nearby workers is emphasized, thereby making it possible to increase the level of attention of the operator. Conversely, when the notification level of the second notification device is raised, the notification level of the first notification device is lowered, so the warning to nearby workers about the hydraulic excavator 1 is emphasized. In this case, because both the operator and nearby workers pay attention to each other, the warning to the operator can be eased, reducing the operator's discomfort and improving work efficiency.

[0059] (3) The notification modes of the first and second notification devices are stored in the notification control device 100 for each notification level of the second notification device, and the notification control device 100 controls the first and second notification devices based on the notification level of the surrounding notification device and the detected object information by referring to the stored notification modes. The behavior of the first and second notification devices when a worker is detected can be specified in advance as a pattern, for example, in a data table, which stabilizes notification control by the notification control device 100 and also simplifies programming of the notification control device 100.

[0060] (4) By defining a plurality of different notification modes depending on the positional relationship between the detected worker and the vehicle body 1B, it is possible to more emphasize the notification when the worker is detected relatively close to the vehicle body 1B than when the worker is detected relatively far from the vehicle body 1B. In other words, when the worker is detected close to the vehicle body 1B, the notification can be emphasized, while when the worker is detected at a position more than a predetermined distance away from the vehicle body 1B, the notification can be toned down to a confirmation level. In this way, it is possible to provide more flexible notifications depending on the situation.

[0061] (5) The notification mode written in the notification pattern storage unit 105 can be changed using the touch panel 15. Therefore, an operator can fine-tune the settings of the notification mode of the first notification device and the second notification device for each notification level after the fact, and can set a flexible notification mode that suits the circumstances of the actual operating site.

[0062] (6) The notification mode can be set in advance or afterward, and can include a mode in which one of the first and second notification devices is turned off. Therefore, the operator can easily set an appropriate notification setting, for example, in terms of whether to turn on or off notification by the second notification device ( FIG. 6 ). It is also possible to set the notification by the first notification device to be turned off when a worker is detected in a distant area and notification by the second notification device is to be issued ( FIG. 7 ).

[0063] (7) The notification mode can be set in advance or afterward, and can include a mode in which the sound notification by the second notification device is always turned off. Therefore, the operator can select, for example, to keep the light notification to the surroundings enabled but to always turn off the sound notification ( FIG. 7 ).

[0064] (8) The notification control device 100 activates the second notification device when a worker (person) is detected. If the object detected by the cameras 10a-10c is an obstacle such as a rock, it is pointless to issue a notification to the surrounding area. Therefore, by configuring the second notification device to activate when a worker is detected, it is possible to avoid unnecessary warnings. However, if the detected object is, for example, a work machine, it is meaningful to issue a warning to the operator riding on that work machine. Therefore, the second notification device may also be configured to activate when an object that an operator of a work machine or the like may ride on is detected.

[0065] -Modifications- The present invention is not limited to the above-described embodiments and may include various modifications. For example, the present invention is not necessarily limited to configurations that include all of the components described in the above-described embodiments. For example, it is possible to replace some of the components with other configurations. It is also possible to delete some of the configurations of the embodiments or add other configurations. For example, although the hydraulic excavator 1 equipped with multiple cameras 10a-10c has been described as an example, the present invention is also applicable to a hydraulic excavator 1 equipped with only one camera. Furthermore, although the hydraulic excavator 1 has been described as an example of a construction machine to which the present invention is applied, the present invention is also applicable to other construction machines such as wheel loaders.

[0066] In addition, for example, while an example has been described in which patterns A and B of combinations of the notification modes of the first and second notification devices are predefined for each notification level of the second notification device, this is not limiting. For example, only the notification modes for each notification level of the first and second notification devices may be predefined (patterns A and B are not set), and the notification control device 100 may set the notification level of the first notification device each time according to the notification level of the second notification device set by the operator. Below, examples of data on notification modes and examples of flowcharts for such cases will be described in order.

[0067] Example of Notification Mode (1) FIG. 11 is a diagram showing an example of table-format data specifying the notification modes of the first and second notification devices for each notification level in a modified example. In the data shown in FIG. 11 , two notification levels, "low" and "high," are specified for the first and second notification devices, respectively, and the notification modes of the first and second notification devices are determined for each of the "low" and "high" notification levels. In the example shown in the figure, the positional relationship between the detected worker 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 for the notification level "low," whereas the buzzer sound output in parallel with the monitor display is set to high (< low) for the notification level "high," thereby providing a relatively high level of notification to the operator compared to the notification level "low." For the second alarm device, at the alarm level "low," both the sound and light alarms are turned off, whereas at the alarm level "high," the light alarm is turned off but the sound alarm is still provided, resulting in a relatively high level of alarm to those around the vehicle compared to the alarm level "low." Also, in the example of FIG. 11 , as in the example of FIG. 6 , the second alarm device outputs an alarm only when the alarm level is "high," and the alarm of the second alarm device is turned off when the alarm level is "low." Therefore, the operator sets the alarm level of the second alarm device by setting whether or not to alert those around the vehicle using the second alarm device, and the alarm level of the first alarm device is set according to the alarm level of the second alarm device. For example, when the alarm of the second alarm device is set to off (alert level "low"), the alarm level of the first alarm device is set to "high," whereas when the alarm of the second alarm device is set to on (alert level "high"), the alarm level of the first alarm device is set to "low."

[0068] 11 , when the notification level of the second notification device is set to “low,” the notification form for the second notification device at the “low” notification level is read into the notification control unit 103 via the notification pattern switching unit 104. At the same time, as 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 the notification form for the “high” notification level for the first notification device is read into the notification control unit 103 via the notification pattern switching unit 104. Under this setting, when a worker is detected, the notification control unit 103 does not output a signal commanding a notification operation to the second notification device (the surrounding speaker 18 and the surrounding indicator light 19), and no notification is made to workers and the like around the vehicle body 1B. Instead, when a worker is detected, the notification control unit 103 commands the speaker 11 to output a loud buzzer sound, and commands the monitor 12 to display information such as the fact that a worker has been detected and the worker's location, and a ``high'' notification level is issued to the operator inside the driver's cab 1f.

[0069] 11 , when the notification level of the second notification device is set to “high,” the notification form for the second notification device at the “high” notification level is read into the notification control unit 103 via the notification pattern switching unit 104. At the same time, as 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 the notification form for the “low” notification level for the first notification device is read into the notification control unit 103 via the notification pattern switching unit 104. Under this setting, when a worker is detected, the notification control unit 103 does not output a signal to the surrounding indicator light 19 to instruct an alarm operation, but it instructs the surrounding speaker 18 to output a buzzer sound, and a buzzer sound is used to alert workers and others around the vehicle body 1B. Instead, when a worker is detected, the notification control unit 103 commands the monitor 12 to display information, but the speaker 11 sounds at a lower volume than the buzzer sound at the "high" notification level, and a notification for the operator at the "low" notification level is executed, with the buzzer sound that is forcibly heard by the operator inside the driver's cab 1f being suppressed.

[0070] Example of Notification Mode (2) FIG. 12 shows another example of table-format data specifying the notification modes of the first and second notification devices for each notification level in a modified example. In the data shown in FIG. 12, three notification levels—"low," "medium," and "high"—are specified for the first and second notification devices, respectively, and the notification modes of the first and second notification devices are determined for each of the notification levels. In the example shown in FIG. 12, 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 levels as in this example. In this example, for example, if 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 if the notification level of the second notification device is set to "high," the notification level of the first notification device is set to "low." When 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.” Other points are the same as in the example of FIG.

[0071] Example of Notification Mode (3) FIG. 13 shows yet another example of table-format data specifying the notification modes of the first and second notification devices for each notification level in a modified example. In the data shown in FIG. 13 , similar to the example of FIG. 11 , two notification levels, "low" and "high," are specified for the first and second notification devices, respectively, and notification modes of the first and second notification devices are determined for each of the "low" and "high" notification levels. In this example, similar to the examples of FIGS. 6 and 7 , the positional relationship between the detected worker and the vehicle body 1B is differentiated. Furthermore, the settings of the notification modes of the first and second notification devices for each notification level correspond to the example of FIG. 6 . In the example of FIG. 13 , similar to the example of FIG. 11 , the second notification device outputs a notification only when the notification level is "high," and when the notification level is "low," the notification of the second notification device is turned off. Therefore, the operator sets the notification level of the second notification device by setting whether or not to notify those in the vicinity using 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."

[0072] Example of Notification Mode (4) FIG. 14 shows another example of table-format data defining the notification modes of the first and second notification devices for each notification level in a modified example. In the data illustrated in FIG. 14 , similar to the example in FIG. 13 , two notification levels, “low” and “high,” are defined for the first and second notification devices, respectively. Furthermore, for each of the “low” and “high” notification levels, the notification modes of the first and second notification devices are determined depending on the positional relationship between the detected worker and the vehicle body 1B. In this example, similar to the examples in FIGS. 6 and 7 , the positional relationship between the detected worker and the vehicle body 1B is differentiated. Furthermore, the settings of the notification modes of the first and second notification devices for each notification level correspond to the example in FIG. 7 . In the example in 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 issues a notification using only an indicator light. Therefore, the operator sets the alarm level of the second alarm device by setting whether or not to alarm the surrounding area with sound from the second alarm device, and the alarm level of the first alarm device is set according to the alarm level of the second alarm device. For example, if the sound alarm of the second alarm device is set to off (alert level "low"), the alarm level of the first alarm device is set to "high," and if the sound alarm of the second alarm device is set to on (alert level "high"), the alarm level of the first alarm device is set to "low."

[0073] Example of Notification Setting (1) Fig. 15 is a flowchart showing the procedure for setting the notification modes of the first notification device and the second notification device by the notification control device 100 according to a modified example. The notification control device 100 periodically and repeatedly executes the flow of Fig. 15 while power is being supplied. The flowchart of Fig. 15 corresponds to the setting of the pattern of steps S201-S203 in the flowchart of Fig. 10 according to the first embodiment, and the processing related to notification control before and after is the same as that of Fig. 10.

[0074] 15 starts, first, in step S210, the notification control device 100 determines whether the notification level of the second notification device has been changed by the touch panel 15. If the notification level of the second notification device has not been changed (No), the notification control device 100 repeats the process of step S210.

[0075] If the notification level of the second notification device has been changed (Yes), the notification control device 100 proceeds from step S210 to step S211 and determines whether the change increases the notification level of the second notification device. If the notification level setting of the second notification device has been increased (Yes), the notification control device 100 proceeds from step S211 to step S212, and if the notification level setting of the second notification device has been decreased (No), the notification control device 100 proceeds from step S211 to step S213.

[0076] If the procedure proceeds to step S212, the notification control device 100 refers to a data table (e.g., FIG. 11 ) to lower the notification level setting of the first notification device from the current setting in response to an increase in the notification level of the second notification device, and proceeds to step S214. If the procedure proceeds to step S213, the notification control device 100 refers to a data table (e.g., FIG. 11 ) to raise the notification level setting of the first notification device from the current setting in response to a decrease in the notification level of the second notification device, and proceeds to step S214.

[0077] When the procedure proceeds to step S214, the notification control device 100 notifies the operator by outputting to the monitor 12 that the notification setting has been changed, and then returns to step S210 to repeat the above procedure, and when the power is turned off, performs delay processing as appropriate and then ends the flow of Fig. 15. Notification control is performed under the notification setting performed in step S212 or S213.

[0078] Example of Notification Setting (2) Figure 16 is a flowchart showing the procedure for changing the notification mode of the first notification device by the notification control device 100 according to a modified example. As in 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. However, the operator is not completely prevented from setting the notification level of the first notification device using the touch panel 15; rather, it can be permitted if certain conditions are met. Specifically, in this example, the notification level of the first notification device can be set using the touch panel 15, and when an operation to set the notification level of the first notification device is performed using the touch panel 15, the notification control device 100 permits the setting of the notification level of the first notification device only if the notification level of the first notification device is higher than the already set notification level of the second notification device. The flowchart of Figure 16 is executed periodically in parallel with the flowchart of Figure 10 or Figure 15, and is executed when an operation to change the notification level of the first notification device is performed using the touch panel 15, with the notification level of the first notification device being set together with the notification level of the second notification device according to the notification level of the second notification device or by standard settings.

[0079] 16 starts, the notification control device 100 first determines in step S220 whether an operation to change the notification level of the first notification device has been performed via the touch panel 15. If an operation to change the notification level of the first notification device has not been performed (No), the notification control device 100 repeats the processing of step S220.

[0080] If an operation to change the notification level of the first notification device has been performed (Yes), the notification control device 100 proceeds 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 currently set notification level of the second notification device. If the notification level of the first notification device related to the operation is lower than the currently set notification level of the second notification device (Yes), the notification control device 100 proceeds from step S221 to step S222, and if the notification level of the first notification device related to the operation is equal to or higher than the currently set notification level of the second notification device (No), the notification control device 100 proceeds from step S221 to step S223.

[0081] If the procedure proceeds to step S222, the notification control device 100 ignores the operation to change the notification level setting of the first notification device, maintains the current notification level setting of the first notification device, and proceeds to step S224. If the procedure proceeds to step S223, the notification control device 100 accepts the operation to change the notification level setting of the first notification device, changes the notification level setting of the first notification device in accordance with the operation, and proceeds to step S224.

[0082] When the procedure proceeds to step S224, the notification control device 100 notifies the operator by outputting to the monitor 12 that the notification setting has been maintained or changed, and then returns to step S220 to repeat the above procedure.

[0083] In this example, for example, if the notification level of the first notification device is automatically set lower than the operator's intention due to the setting of the notification level of the second notification device, the notification level of the first notification device can be manually increased.

[0084] Example of Notification Setting (3) Figure 17 is a flowchart showing another example of the procedure for setting the notification modes of the first and second notification devices by the notification control device 100 according to a modified example. In the above embodiment, the case where the notification level of the first notification device is automatically changed depending on the notification level of the second notification device was described. However, in this example, when the notification level of the first notification device is lowered depending on the change in the notification level of the second notification device, the notification control device 100 asks the operator whether they agree to lowering 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 on the touch panel 15. The flowchart of Figure 17 is executed periodically, like the flowcharts of Figures 10 and 15.

[0085] The processing contents of steps S210, S211, S212, S213, and S214 in Figure 17 are the same as the processing contents of the same numbers in Figure 15. In the example of Figure 17, if the notification control device 100 determines in step S211 that the notification level setting of the second notification device has been increased (Yes), it proceeds from step S211 to step S211' and displays on the monitor 12 a confirmation screen for confirming whether or not the operator agrees to lowering the notification level of the first notification device. After displaying the confirmation screen, the notification control device 100 determines in the subsequent step S211" whether or not the operator has performed an operation to agree to lowering the notification level of the first notification device, and if an operation to agree has been performed (Yes), it proceeds to step S212, and if an operation to refuse has been performed (No), it proceeds to step S212".

[0086] If the procedure proceeds to step S212, the notification control device 100 lowers the notification level setting of the first notification device from the current setting in response to an increase in the notification level of the second notification device, as in the example of Fig. 15, and proceeds to step S214. If the procedure proceeds to step S212', the notification control device 100 maintains the notification level setting of the first notification device at the current setting, and proceeds to step S214.

[0087] Other steps in Fig. 17 are similar to those in the example of Fig. 15. In 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 can refuse this.

[0088] 1... Hydraulic excavator (work machine), 1A... Front work machine, 1B... Vehicle body, 1f... Cab, 10a-10c... Camera (object detection sensor), 11... Speaker (first notification device), 12... Monitor (first notification device), 15... Touch panel (input device), 18... Surrounding speaker (second notification device), 19... Surrounding indicator light (second notification device), 100... Notification control device (control device)

Claims

1. A work machine comprising: a vehicle body having a driver's cab; a first alarm device provided inside the driver's cab; a second alarm device provided outside the driver's cab; an input device for setting the alarm level of the second alarm device; and a control device for controlling the first alarm device and the second alarm device, wherein the control device changes the alarm level of the first alarm device in accordance with the alarm level of the second alarm device set by the input device.

2. A work machine as described in claim 1, characterized in that the control device increases the notification level of the first notification device when the notification level of the second notification device is lowered by the input device.

3. A work machine as described in 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.

4. A work machine as described in claim 1, further comprising an object detection sensor that detects objects around the vehicle body, and wherein the control device controls the alarm level of the first alarm device and the alarm level of the second alarm device based on the alarm level set by the input device and the detection information of the object detection sensor.

5. A work machine as described in 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.

6. A work machine as described in claim 1, wherein the control device stores the notification modes of the first notification device and the second notification device for each notification level of the second notification device, and the notification mode can be changed by the input device.

7. A work machine as described in claim 1, wherein the control device stores the notification modes of the first notification device and the second notification device for each notification level of the second notification device, and the notification modes include a mode in which one of the first notification device and the second notification device is turned off.

8. A work machine as described in claim 1, wherein the control device stores the notification modes of the first and second notification devices for each notification level of the second notification device, and the notification modes include a mode in which the sound notification of the second notification device is always turned off.

9. A work machine as described in claim 4, characterized in that the control device determines whether an object detected by the object detection sensor is a person, and if it is determined that the detected object is a person, issues an alert using the first alert device and the second alert device.

10. A work machine as described in claim 1, wherein the alarm level of the first alarm device can be set by the input device, and the control device allows the setting of the alarm level of the first alarm device when an operation to set the alarm level of the first alarm device is performed by the input device only if the alarm level of the first alarm device is higher than the alarm level of the second alarm device that has already been set.

11. A work machine as described in claim 1, characterized in that, when the notification level of the first notification device is lowered in response to a change in the notification level of the second notification device, the control device lowers the notification level of the first notification device when an operation is performed on the input device indicating consent to lowering the notification level of the first notification device.

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