Work machine

Abstract

[Problem] To provide a work machine which comprises both an imaging device and an optical detection device and can prevent a failure of the imaging device. [Solution] A hydraulic excavator 1 comprises an upper turning body 22, and an object detection device 100 which is provided on the upper turning body 22 and detects an object present around the upper turning body 22. The object detection device 100 comprises an imaging device 200 which images the surroundings of the upper turning body 22, and an optical detection device 300 which is disposed adjacent to the imaging device 200 and detects an object present around the upper turning body 22. The imaging device 200 has an image capture lens 200B which is disposed facing outward of the upper turning body 22 so as to image the outside of the upper turning body 22. The optical detection device 300 has a projection light emission surface 300B which is disposed facing outward of the upper turning body 22 so as to project a light beam outward of the upper turning body 22, and is disposed farther outward of the upper turning body 22 than the photographing lens 200B of the imaging device 200.

Description

Work machinery

[0001] The present invention relates to a work machine equipped with a detection device.

[0002] Patent Document 1 discloses a hydraulic excavator having a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, an image sensor which is a CCD, CMOS or monocular camera attached to the upper rotating body and which takes an image of a first space around the excavator, an object detection sensor which is an ultrasonic sensor, a laser radar sensor, a millimeter wave sensor, a pyroelectric infrared sensor, a bolometer infrared sensor or an infrared camera attached to the upper rotating body and which detects an object in a second space at the end of the first space, a first determination unit which determines the presence or absence of a person based on the output of the image sensor, and a second determination unit which determines the presence or absence of an object based on the output of the object detection sensor. In addition, in recent years, the irradiation angle of the light beam that can be irradiated by a single object detection sensor has become wider, and the range that can be detected by a single object detection sensor has become wider.

[0003] Patent No. 6689669

[0004] However, in a configuration such as that disclosed in Patent Document 1, in which an image sensor such as a camera and an object detection sensor such as an infrared sensor are both provided, if light from the object detection sensor is directly incident on the image sensor, there is a risk of the image sensor failing. For example, when an image sensor that captures images over a wide angle and an object detection sensor that detects objects over a wide angle are used in order to detect a wide area around the vehicle body while reducing the number of sensors, such a problem is likely to occur. Patent Document 1 does not necessarily take such a point into sufficient consideration.

[0005] The present invention has been made in consideration of the above circumstances, and its object is to provide a work machine that can prevent failure of the imaging device when it is equipped with both an imaging device that images the area around the vehicle body and an optical detection device that optically detects objects that exist around the vehicle body.

[0006] In order to achieve the above object, the present invention provides a work machine comprising a vehicle body and an object detection device mounted on the vehicle body and detecting objects present around the vehicle body, wherein the object detection device comprises an imaging device that captures images of the area around the vehicle body, and an optical detection device that is positioned adjacent to the imaging device and detects objects present around the vehicle body, wherein the imaging device has a photographing lens that is positioned facing outward from the vehicle body so as to capture images of the area outside the vehicle body, and the optical detection device has a projection light-emitting surface that is positioned facing outward from the vehicle body so as to project light rays toward the area outside the vehicle body, and the projection light-emitting surface is positioned further outward from the vehicle body than the photographing lens of the imaging device.

[0007] According to the present invention, when a vehicle is equipped with both an imaging device that captures images of the area around the vehicle body and an optical detection device that optically detects objects present around the vehicle body, it is possible to prevent failure of the imaging device.

[0008] Fig. 2(b) is a perspective view showing an example of a hydraulic excavator as a work machine to which an object detection device according to an embodiment of the present invention is applied. Fig. 2(c) is an enlarged top view showing the detailed arrangement of each object detection device in Fig. 1. Fig. 2(b) is a schematic external view of an object detection device corresponding to the arrow view from the direction A in Fig. 2(a), the arrow view from the direction B in Fig. 2(b), and the arrow view from the direction C in Fig. 2(c), respectively. Fig. 2(c) is a schematic external view showing an example configuration of an object detection device in a modified example in which an optical detection device and an imaging device are arranged one above the other. Fig. 2(c) is a vertical cross-sectional view showing an example specific structure of an object detection device when an optical detection device and an imaging device are arranged one above the other.

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] <Overall Appearance of Hydraulic Excavator> FIG. 1 is a perspective view showing an example of a hydraulic excavator 1 as a work machine to which an object detection device according to this embodiment is applied. It should be noted that the present invention may be applied to other machines besides hydraulic excavators, such as wheel loaders, dump trucks, and crawler cranes. The following description of the present invention will be described with reference to an example in which the present invention is applied to a hydraulic excavator. In FIG. 1 , the hydraulic excavator 1 includes a front work implement 10, a lower traveling body 21 (car body), and an upper rotating body 22 (car body) rotatably mounted above the lower traveling body 21. A cab 23 is provided on the upper rotating body 22. In the following description, the up-down direction, the front-rear direction, and the left-right direction correspond to the directions of arrows appropriately shown in each drawing, such as FIG. 1 . In other words, the illustrated "up," "down," "front," "rear," "left," and "right" correspond to the up-down, left-right, and front-rear directions as seen from an operator seated in the cab 23.

[0011] The front working implement 10 has a boom 11 pivotally supported at the front of an upper rotating structure 22 so as to be able to tilt up and down, an arm 12 pivotally supported at the end of the boom, and a bucket 13 pivotally supported at the end of the arm. The boom 11, arm 12, and bucket 13 are supported by a boom cylinder 14, an arm cylinder 15, and a bucket cylinder 16, respectively, and are driven by the extension and contraction of each cylinder 14 to 16. The lower running structure 21 travels by having tracks 21A rotated by a pair of left and right traveling hydraulic motors 24. The upper rotating structure 22 swings relative to the lower running structure 21 by being driven by a swing hydraulic motor (not shown).

[0012] <Object Detection Device> The upper rotating body 22 has an upper surface 22U, a left side surface 22L, a rear surface 22B, and a right side surface 22R. The upper surface 22U is provided with a right object detection device 100R for detecting an object present on the right side of the periphery of the upper rotating body 22, a left object detection device 100L for detecting an object present on the left side of the periphery of the upper rotating body 22, and a rear object detection device 100B for detecting an object present behind the periphery of the upper rotating body 22.

[0013] 1, each of the object detection devices 100L, 100R, and 100B is configured with an imaging device 200 and an optical detection device 300. In this example, the imaging device 200 and the optical detection device 300 are arranged side by side in a substantially horizontal direction (in other words, when viewed from above) on the upper surface 22U of the upper rotating body 22, adjacent to each other.

[0014] The optical detection device 300 performs detection using a known method by projecting an appropriate light beam onto an object present around the upper rotating body 22. Specifically, the optical detection device 300 is, for example, a reflective infrared sensor that projects infrared rays as the light beam.

[0015] The imaging device 200 captures images of the surroundings of the upper rotating body 22. Specifically, the imaging device 200 is, for example, a camera having an appropriate imaging element, and when the power is on, constantly captures video of the surroundings of the hydraulic excavator 1. The imaging device 200 faces in approximately the same direction as the detection direction of the optical detection device 300, and can capture images of the above-mentioned objects detected by the optical detection device 300 with the imaging device 200.

[0016] <Details of Optical Detection Device and Imaging Device> Figures 2(a), 2(b), and 2(c) are enlarged top views showing the detailed arrangement of each object detection device 100R, 100L, and 100B (hereinafter, when appropriate, these will be simply referred to as "object detection device 100") in Figure 1. The imaging device 200 includes a device main body 200A and a photographing lens 200B that protrudes from the device main body 200A in the imaging direction. The optical detection device 300 includes a device main body 300A and a projection light-emitting surface 300B that protrudes from the device main body 300A in the light projection direction. The imaging device 200 is arranged on the upper surface 22U of the upper rotating body 22 with the photographing lens 200B facing outward from the upper rotating body 22 so as to image the area outside the upper rotating body 22, and the optical detection device 300 is arranged on the upper surface 22U of the upper rotating body 22 with the projection light emitting surface 300B facing outward from the upper rotating body 22 so as to project light rays outward from the upper rotating body 22.

[0017] <Specific arrangement of each object detection device> Figure 3 shows schematic external views of object detection devices 100R, 100L, and 100B, which correspond to the arrow view from the direction A in Figure 2(a), the arrow view from the direction B in Figure 2(b), and the arrow view from the direction C in Figure 2(c), respectively.

[0018] <Right Object Detection Device> As shown in Figures 2(a) and 3, the right object detection device 100R is provided near the right outer edge 22a of the upper surface 22U of the upper revolving structure 22, which is a curved surface with a substantially arc-shaped cross section and is located at the boundary between the upper surface 22U and the right side surface 22R. The position of the imaging device 200 including the photographing lens 200B when viewed from above (hereinafter simply referred to as the "top view position") is located inside the upper revolving structure 22 (in the direction of the dashed arrow a in Figures 2(a) and 3) relative to the top view position of the outer edge of the upper revolving structure 22 (in this case, the position of the right side surface 22R). Similarly, the top view position of the optical detection device 300 including the projection light-emitting surface 300B is located inside (in the direction a) relative to the top view position of the outer edge of the upper revolving structure 22 (the position of the right side surface 22R). The top view position of the projection light emitting surface 300B is further outward (towards a') from the upper rotating body 22 than the top view position of the photographing lens 200B, thereby resulting in an arrangement in which light rays from the optical detection device 300 do not enter the photographing field of view of the imaging device 200.

[0019] <Left Object Detection Device> As shown in Figures 2(b) and 3, the left object detection device 100L is provided on the upper surface 22U of the upper revolving structure 22 near the left outer edge 22b, which is a curved surface with a substantially arc-shaped cross section and is located at the boundary between the upper surface 22U and the left side surface 22L. The top view position of the imaging device 200, including the photographing lens 200B, is located inward of the upper revolving structure 22 (in this case, the position of the left side surface 22L) from the top view position of the outer edge of the upper revolving structure 22 (in the direction of the dashed arrow b in Figures 2(b) and 3). Similarly, the top view position of the optical detection device 300, including the projection light-emitting surface 300B, is located inward (in the direction b) from the top view position of the outer edge of the upper revolving structure 22 (the position of the left side surface 22L). The top view position of the projection light emitting surface 300B is further outward (towards b') from the upper rotating body 22 than the top view position of the photographing lens 200B, thereby resulting in an arrangement in which light rays from the optical detection device 300 do not enter the photographing field of view of the imaging device 200.

[0020] <Rear Object Detection Device> As shown in Figures 2(c) and 3, the rear object detection device 100B is provided on the upper surface 22U of the upper revolving body 22 near a rear outer edge portion 22c, which is a curved surface with a substantially arc-shaped cross section and is located at the boundary between the upper surface 22U and the rear surface 22B. The top view position of the imaging device 200, including the photographing lens 200B, is located inside the upper revolving body 22 (in the direction of the dashed arrow c in Figures 2(c) and 3) with respect to the top view position of the outer edge of the upper revolving body 22 (in this case, the position of the rear surface 22B). Similarly, the top view position of the optical detection device 300, including the projection light-emitting surface 300B, is located inside (in the direction c) with respect to the top view position of the outer edge of the upper revolving body 22 (the position of the rear surface 22B). The top view position of the projection light emitting surface 300B is further outward (towards c') from the upper rotating body 22 than the top view position of the photographing lens 200B, thereby resulting in an arrangement in which light rays from the optical detection device 300 do not enter the photographing field of view of the imaging device 200.

[0021] In any of the object detection devices 100, the image pickup device 200 is disposed so that the optical axis K of the photographing lens 200B is horizontal, as shown in FIG.

[0022] <Effects of the Embodiment> As described above, in the present embodiment, the object detection device 100 includes the imaging device 200 and the optical detection device 300, which are provided adjacent to each other. The imaging device 200 captures an image of the area around the upper rotating body 22. The optical detection device 300 detects objects around the upper rotating body 22 by projecting light rays onto them. While imaging has the advantage of making it easy to identify an imaged object by performing image recognition or the like, it has the disadvantage of low accuracy in detecting the distance to the object and being easily affected by the external environment. While optical detection, for example, using an infrared sensor, has the disadvantage of making it difficult to identify the object, it has the disadvantage of making it difficult to identify the object. In the present embodiment, by performing both imaging and optical detection on a single common object, the above-mentioned disadvantages are compensated for, and both object identification and distance detection to the object can be performed with high accuracy. Here, when both the imaging device 200 and the optical detection device 300 are used as described above, if light rays projected by the optical detection device 300 enter the imaging device 200, there is a risk of the imaging device 200 malfunctioning. Therefore, in this embodiment, the projection light-emitting surface 300B of the optical detection device 300 is positioned so that the emitted light rays do not enter the imaging field of view of the imaging device 200, that is, positioned further outward on the upper rotating body 22 than the imaging lens 200B of the imaging device 200. This makes it possible to prevent light rays from the optical detection device 300 from entering the imaging device 200. Furthermore, in this case, there is no need to provide a light-shielding wall between the optical detection device 300 and the imaging device 200, and therefore no blind spots in detection occur, which may occur if a light-shielding wall is provided. As described above, according to this embodiment, when both an imaging device 200 that takes images of the area around the upper rotating body 22 and an optical detection device 300 that optically detects objects present around the upper rotating body 22 are provided, failure of the imaging device 200 can be prevented.

[0023] Furthermore, particularly in this embodiment, the top view position of the projection light-emitting surface 300B of the optical detection device 300 is located further outward from the top view position of the photographing lens 200B of the image capture device 200 on the upper revolving body 22 (see FIGS. 2(a) to 2(c) and dashed arrows a, b', and c' in FIG. 3). As a result, when viewed from the center of the upper revolving body 22 toward the outside, the projection light-emitting surface 300B is positioned so as to protrude forward from the photographing lens 200B on the upper revolving body 22. As a result, it is possible to reliably prevent light rays projected from the projection light-emitting surface 300B of the optical detection device 300 from entering the photographing lens 200B, thereby preventing malfunction of the image capture device 200.

[0024] Furthermore, particularly in this embodiment, the imaging device 200 and the optical detection device 300 are disposed on the upper surface of the upper revolving body 22 and further inward of the outer edge of the upper revolving body 22. By disposing the photographing lens 200B and the projection light emitting surface 300B so that they do not protrude from the outer edge of the upper revolving body 22, it is possible to reduce the possibility that the photographing lens 200B and the projection light emitting surface 300B will be damaged by surrounding obstacles, flying objects, etc.

[0025] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit and technical concept of the present invention. Such modifications will be described below. The same reference numerals will be used to designate parts equivalent to those in the above-described embodiment, and descriptions will be omitted or simplified as appropriate.

[0026] (1) When the optical detection device and the image capture device are arranged one above the other: That is, in the object detection device 100, the image capture device 200 and the optical detection device 300 are not arranged side by side in a substantially horizontal direction on the upper revolving body 22, but the optical detection device 300 is arranged above the image capture device 200 so that they are vertically overlapping. Fig. 4 is a schematic external view similar to Fig. 3, showing an example of the configuration of the object detection device 100 of this modified example.

[0027] 4, in the right object detection device 100R, the top view position of the image capture device 200 including the photographing lens 200B is located inward of the upper revolving body 22 (in the direction of the dashed arrow a in FIG. 4) from the top view position of the outer edge of the upper revolving body 22 (in this case, the position of the right side surface 22R). Meanwhile, the top view position of at least a portion of the projection light-emitting surface 300B of the optical detection device 300 is located outward of the upper revolving body 22 (in the direction of the dashed arrow a' in FIG. 4) from the top view position of the outer edge of the upper revolving body 22 (the position of the right side surface 22R). The top view position of the projection light-emitting surface 300B is located outward of the upper revolving body 22 (in the direction of the dashed arrow a') from the top view position of the photographing lens 200B, thereby resulting in an arrangement in which light rays from the optical detection device 300 are not incident on the field of view of the image capture device 200.

[0028] 4, in the left object detection device 100L, the top view position of the image capture device 200 including the photographing lens 200B is located inward of the upper revolving body 22 (in the direction of the dashed arrow b in FIG. 4 ) from the top view position of the outer edge of the upper revolving body 22 (in this case, the position of the left side surface 22L). Meanwhile, the top view position of at least a portion of the projection light-emitting surface 300B of the optical detection device 300 is located outward of the upper revolving body 22 (in the direction of the dashed arrow b' in FIG. 4 ) from the top view position of the outer edge of the upper revolving body 22 (the position of the left side surface 22L). The top view position of the projection light-emitting surface 300B is located outward of the upper revolving body 22 (in the direction of the dashed arrow b' in FIG. 4 ) from the top view position of the photographing lens 200B, thereby resulting in an arrangement in which light rays from the optical detection device 300 are not incident on the field of view of the image capture device 200.

[0029] 4, in the rear object detection device 100B, the top view position of the image capture device 200 including the photographing lens 200B is located inward of the upper revolving body 22 (in the direction of the dashed arrow c in FIG. 4) from the top view position of the outer edge of the upper revolving body 22 (in this case, the position of the rear surface 22B). Meanwhile, the top view position of at least a portion of the projection light-emitting surface 300B of the optical detection device 300 is located outward of the upper revolving body 22 (in the direction of the dashed arrow c' in FIG. 4) from the top view position of the outer edge of the upper revolving body 22 (the position of the rear surface 22B). The top view position of the projection light-emitting surface 300B is located outward of the upper revolving body 22 (in the direction of the dashed arrow c' in FIG. 4) from the top view position of the photographing lens 200B, thereby resulting in an arrangement in which light rays from the optical detection device 300 are not incident on the field of view of the image capture device 200.

[0030] In any of the object detection devices 100, as shown in FIG. 4, the image pickup device 200 is disposed so that the optical axis K of the photographing lens 200B points downward from the horizontal direction.

[0031] <Specific structural example of vertically overlapping arrangement> FIG. 5 shows a specific structural example of the object detection device 100 when the optical detection device 300 and the image capture device 200 are arranged to overlap each other as described above.

[0032] In this example, the optical detection device 300 shown in FIG. 5 includes a light-emitting housing 300C. Specifically, the light-emitting housing 300C is comprised of a bracket 300Ca and a cover 300Cb, which are engaged to form a generally box-like shape. The cover 300Cb integrally includes side panels on the front and rear sides of the figure, which form the generally box-like shape. The bracket 300Ca integrally includes a bottom panel on the lower side of the figure, which also forms the generally box-like shape. The device main body 300D, which includes the projection light-emitting surface 300B, is supported on the end face of the bracket 300Ca on the right side of the figure. In other words, the projection light-emitting surface 300B is supported by the light-emitting housing 300C.

[0033] The imaging device 200 includes an imaging housing 200C. Specifically, the imaging housing 200C is comprised of a bracket 200Ca and a cover 200Cb, which are engaged to form a generally box-like shape. The cover 200Cb integrally includes a bottom plate portion on the lower side in the figure and side plates on the front and rear sides in the figure, which form the generally box-like shape. The bracket 200Ca also integrally includes a bottom plate portion on the lower side in the figure, which also forms the generally box-like shape. The device main body 200D, which includes the photographing lens 200B, is supported on the end face on the right side in the figure of the bracket 200Ca.

[0034] The wiring (or harness, etc.) H routed to the projection light emitting surface 300B and the imaging lens 200B is housed within the light emitting housing 300C or the imaging housing 200C.

[0035] At this time, the light emitting housing 300C is fixed to the imaging housing 200C by fastening the bracket 300Ca to the cover 200Cb with fastening members 250 (first fastening members) such as bolts, thereby uniting the optical detection device 300 and the imaging device 200. Note that, as shown in the figure, the fastening members 250 are configured to be accessible only from the inside of the imaging housing 200C.

[0036] Furthermore, the imaging housing 200C is attached to the upper surface 22U of the upper rotating body 22 by fastening the bracket 200Ca to the upper surface 22U of the upper rotating body 22 with a fastening member 50 (second fastening member). As shown in the figure, the fastening member 50 is configured to be accessible only from below the upper surface 22U, in other words, only from the inside of the upper rotating body 22. When attaching with the fastening member 50, an appropriate vibration damping member J is interposed between the bracket 200Ca and the upper surface 22U of the upper rotating body 22.

[0037] <Assembly Procedure> An example of the assembly procedure for the above structure will be described below.

[0038] First, the device body 300D of the optical detection device 300 is fixed to the bracket 300Ca. Then, the bracket 300Ca and the cover 300Cb are fixed together to complete the optical detection device 300. Note that, for example, bolts can be used as fasteners (not shown in FIG. 5). Note that the cover 300Cb may be made of resin, and the cover 300Cb may be fixed by engaging claws provided on the cover 300Cb with the bracket 300Ca.

[0039] Thereafter, the bracket 300Ca and the cover 200Cb of the imaging device 200 are fixed together with the fastening members 250. Then, the device main body 200D is fixed to the bracket 200Ca.

[0040] Thereafter, the cover 200Cb and the bracket 200Ca are fixed together to form an integrated unit of the optical detection device 300 and the imaging device 200. For example, a bolt may be used as a fastener (not shown in FIG. 5). Alternatively, the cover 200Cb may be made of resin, and the cover 200Cb may be fixed by engaging a claw provided on the cover 200Cb with the bracket 200Ca.

[0041] The unit of the optical detection device 300 and the imaging device 200 produced as described above is fixed to the upper surface 22U of the upper revolving body 22. Note that removal (disassembly) can be achieved by following the above procedure in reverse.

[0042] <Effects of the modified example> In this modified example configured as described above, by arranging the imaging device 200 and the optical detection device 300 in a stacked manner in the upward and downward direction on the upper surface 22U of the upper rotating body 22, it is possible to reduce the space on the upper rotating body 22 required to install the object detection device 100, and it is possible to reliably arrange both the imaging device 200 and the optical detection device 300 even in a small hydraulic excavator 1.

[0043] Furthermore, by positioning the photographic lens 200B so that it does not extend beyond the outer edge of the upper rotating body 22, the possibility of it being damaged by surrounding obstacles or flying objects can be reduced.

[0044] Furthermore, by arranging at least a portion of the projection light-emitting surface 300B to extend beyond the outer edge of the upper revolving body 22, the projection light-emitting surface 300B is reliably positioned to protrude beyond the photographing lens 200B on the upper revolving body 22, thereby reliably preventing light rays from the projection light-emitting surface 300B from entering the photographing lens 200B. In this case, in a configuration in which the optical detection device 300 is arranged so as to overlap the top of the imaging device 200, if not only the photographing lens 200B but also the projection light-emitting surface 300B are arranged so as not to extend beyond the outer edge of the upper revolving body 22, there is a risk that light rays from the projection light-emitting surface 300B will be reflected by the upper revolving body 22 and enter the photographing lens 200B. By arranging at least a portion of the projection light-emitting surface 300B to extend beyond the outer edge of the upper revolving body 22, the adverse effects of the above-mentioned reflection can be suppressed.

[0045] Furthermore, since the optical axis K of the photographing lens 200B is positioned so as to point downward from the horizontal direction, the photographing field of view of the imaging device 200 points downward from the horizontal direction, which makes it possible to more reliably prevent light rays from the projection light-emitting surface 300B from entering the photographing lens 200B.

[0046] In this example, as shown in FIGS. 4 and 5 , not only the photographing lens 200B but also the projection light-emitting surface 300B are arranged facing downward so that detection operations are performed from the upper rotating body 22, which is located at a high position, toward the ground, which is located at a low position. More specifically, the projection light-emitting surface 300B is arranged at an angle such that the center line L (see FIG. 4 ) passing through the center of the detection range in the vertical direction faces downward relative to the horizontal. In this case, it is preferable that the photographing lens 200B be configured to face more downward than the projection light-emitting surface 300B. That is, as shown in FIG. 4 , it is preferable that the angle θ1 that the optical axis K of the photographing lens 200B makes with the horizontal direction is larger than the angle θ2 that the center line L of the detection range of the projection light-emitting surface 300B makes with the horizontal direction.

[0047] Furthermore, by storing the wiring (or harness, etc.) H routed to the photographing lens 200B and the projection light-emitting surface 300B inside the imaging housing 200C and the light-emitting housing 300C, it is not exposed to the outside of the housing, and it is possible to prevent damage due to tampering, etc. Furthermore, the wiring (or harness, etc.) H and the vibration-damping member J that are ultimately led out to the outside below the bracket 200Ca of the imaging housing 200C can also be covered by extending the above-mentioned side plate portion downwards, and are configured not to be exposed, so it is possible to prevent them from being damaged by theft or tampering.

[0048] Furthermore, by fixing the light-emitting housing 300C to the imaging housing 200C, the imaging device 200 and the projection light-emitting surface 300B can be integrated into an imaging / optical unit, which can be attached to and detached from the upper rotating body 22 as an integrated imaging / optical unit. This prevents misalignment between the imaging device 200 and the projection light-emitting surface 300B when attaching or detaching the imaging device 200 to or from the upper rotating body 22. Furthermore, because the fastening member 50 can be accessed and fastened only from the inside (inside the building cover) of the upper rotating body 22, the unitized object detection device 100 cannot be removed from the outside of the upper rotating body 22. The building cover of the upper rotating body 22 can be locked, and locking the building cover prevents anyone without a key from accessing the building. As a result, the object detection device 100 as a whole can be prevented from being stolen.

[0049] (2) Others For example, in the hydraulic excavator 1, work lights that illuminate objects present around the upper rotating body 22 may be provided at appropriate locations on the upper rotating body 22, the cab 23, or the front work implement 10. When the object detection device 100 is provided on such a hydraulic excavator 1, the work lights may be disposed in locations where the illumination light does not enter the field of view of the imaging device 200.

[0050] By arranging the device in this manner, when excavation work or the like is carried out at night, illumination light from the work light is prevented from entering the imaging device 200, thereby preventing the imaging device 200 from malfunctioning due to the incidence of illumination light.

[0051] It should be noted that the term "equal" in the above description does not have a strict meaning. In other words, "equal" means "substantially equal," allowing for tolerances and errors in design and manufacturing.

[0052] In addition to the above, the methods according to the above embodiments and modifications may be used in appropriate combination.

[0053] Although not specifically illustrated, the present invention can be implemented with various modifications within the scope of the invention.

[0054] DESCRIPTION OF SYMBOLS 1 Hydraulic excavator (work machine) 21 Lower traveling body (vehicle body) 22 Upper rotating body (vehicle body) 22B Rear surface (outer edge) 22L Left side surface (outer edge) 22R Right side surface (outer edge) 22U Upper surface 22a Right outer edge portion 22b Left outer edge portion 22c Rear outer edge portion 50 Fastening member (second fastening member) 100 Object detection device 100B Rear object detection device 100L Left object detection device 100R Right object detection device 200 Imaging device 200B Photographing lens 200C Imaging housing 200Ca Bracket 200Cb Cover 250 Fastening member (first fastening member) 300 Optical detection device 300B Projection light-emitting surface 300C Light-emitting housing 300Ca Bracket 300Cb Cover H Cable J Vibration damping member K Optical axis L Center line passing through the center of the detection range

Claims

1. A work machine comprising: a vehicle body; and an object detection device mounted on the vehicle body and detecting objects present around the vehicle body; wherein the object detection device comprises an imaging device that images the area around the vehicle body; and an optical detection device that is positioned adjacent to the imaging device and detects objects present around the vehicle body; the imaging device has a photographing lens that is positioned facing outward from the vehicle body to capture images of the area outside the vehicle body; and the optical detection device has a projection light-emitting surface that is positioned facing outward from the vehicle body to project light rays toward the area outside the vehicle body, and the projection light-emitting surface is positioned further outward from the vehicle body than the photographing lens of the imaging device.

2. A work machine as described in claim 1, wherein the vehicle body comprises a lower running body capable of traveling, and an upper rotating body that is rotatably mounted on the lower running body and has an object detection device disposed thereon, the photographing lens is disposed on the upper rotating body facing outward from the upper rotating body, and the projection light emitting surface is disposed on the upper rotating body facing outward from the upper rotating body.

3. A work machine according to claim 2, characterized in that the imaging device and the optical detection device are arranged on the upper surface of the upper rotating body and are located inward of the outer edge of the upper rotating body when viewed from above.

4. A work machine according to claim 2, wherein the optical detection device is arranged above the imaging device so as to be overlapped in the vertical direction.

5. A work machine according to claim 4, wherein the photographing lens is positioned so as to be located inward of the upper rotating body relative to the outer edge of the upper rotating body when viewed from above, and at least a portion of the projection light-emitting surface is positioned so as to be located outward of the upper rotating body relative to the outer edge of the upper rotating body when viewed from above.

6. A work machine according to claim 4, wherein the imaging device is arranged so that the optical axis of the photographing lens is directed downward from the horizontal direction.

7. A work machine according to claim 4, wherein the imaging device comprises a substantially box-shaped imaging housing supporting the photographing lens on an end surface thereof, and the optical detection device comprises a substantially box-shaped light-emitting housing supporting the projection light-emitting surface on an end surface thereof, the light-emitting housing being fixed to the imaging housing by a first fastening member, and the imaging housing being attached to the top surface of the upper rotating body by a second fastening member.

Images