Surroundings monitoring system for work machine, work machine, and surroundings monitoring method for work machine

Abstract

This surroundings monitoring system for a work machine comprises: an object detection device capable of detecting objects in the surroundings of the work machine; an alarm device disposed so as to output an alarm to an operator operating the work machine; and a processor. The processor sets the operation mode of the alarm device to an activated mode, in which a function related to object detection is activated, and a deactivated mode, in which the function related to object detection is deactivated, controls the alarm device on the basis of the operation mode, authenticates the operator operating the work machine, and sets the operation mode to the activated mode when the authentication is revoked.

Description

Surrounding area monitoring system for work machine, work machine, and surrounding area monitoring method for work machine

[0001] The present disclosure relates to a work machine periphery monitoring system, a work machine, and a work machine periphery monitoring method.

[0002] In the technical field related to work machines, there is known a perimeter monitoring system such as that disclosed in Patent Document 1. Patent Document 1 discloses a technology in which, when an operator operates an input device, the operation mode of an alarm device is set to either an enabled mode or an disabled mode.

[0003] Japanese Patent Application Laid-Open No. 2023-045973

[0004] In some cases, multiple operators operate a single work machine in sequence. In other cases, after a first operator who has operated the work machine dismounts from the work machine, a second operator gets on the work machine and operates the work machine. If operators can arbitrarily set the operation mode of the alarm device, there is a possibility that the operation mode of the alarm device will be set inappropriately.

[0005] The present disclosure aims to appropriately set the operation mode of an alarm device.

[0006] According to the present disclosure, there is provided a work machine periphery monitoring system including an object detection device capable of detecting objects in the periphery of a work machine, an alarm device arranged to output an alarm to an operator operating the work machine, and a processor. The processor sets the operation mode of the alarm device to an enabled mode that enables a function related to object detection and a disabled mode that disables the function related to object detection, controls the alarm device based on the operation mode, authenticates the operator operating the work machine, and sets the operation mode to the enabled mode when authentication is deactivated.

[0007] According to the present disclosure, the operation mode of the alarm device is set appropriately.

[0008] FIG. 1 is a side view showing a work machine according to an embodiment. FIG. 2 is a diagram schematically showing a shooting area and a detection area of ​​an object detection device according to an embodiment. FIG. 3 is a hardware configuration diagram showing a computer mounted on a work machine according to an embodiment. FIG. 4 is a block diagram showing a work machine according to an embodiment. FIG. 5 is a diagram showing an example of a perimeter monitoring monitor according to an embodiment. FIG. 6 is a diagram for explaining icons according to an embodiment. FIG. 7 is a diagram for explaining a login operation according to an embodiment. FIG. 8 is a diagram for explaining a logout operation according to an embodiment. FIG. 9 is a flowchart showing a perimeter monitoring method according to an embodiment. FIG. 10 is a diagram for explaining the display form of a perimeter monitoring monitor according to an embodiment.

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0010] [Working Machine] Figure 1 is a side view showing a working machine 1 according to an embodiment. In this embodiment, the working machine 1 is a wheel loader, which is a type of articulated working machine. The working machine 1 works at a work site. Examples of work performed by the working machine 1 include excavation work and loading work. The working machine 1 is equipped with a cab 3 having a cab 3R, and wheels 5 on which tires 6 are mounted. The working machine 1 is operated by an operator seated in the cab 3R.

[0011] In the following description, the terms "up-down direction," "vehicle width direction," and "front-rear direction" are used to describe the positional relationship of each part. The "up-down direction" refers to the direction perpendicular to the contact surface of the tire 6 that contacts the ground RS. The "vehicle width direction" refers to the direction parallel to the rotation axis of the wheel 5. The "front-rear direction" refers to the direction perpendicular to the "up-down direction" and the "vehicle width direction."

[0012] As shown in FIG. 1 , the work machine 1 includes a vehicle body 2 , a cab 3 , a traveling device 4 , a transmission 7 , a work implement 10 , a boom cylinder 15 , and a bucket cylinder 16 .

[0013] The vehicle body 2 includes a front frame 2F and a rear frame 2R disposed rearward of the front frame 2F. The front frame 2F and the rear frame 2R are flexibly connected via a joint mechanism 9.

[0014] The cab 3 is supported by the vehicle body 2. A cab 3R is provided in the cab 3. The work machine 1 is operated by an operator who sits in the cab 3R.

[0015] The traveling device 4 supports the vehicle body 2 and travels on the ground surface RS. The traveling device 4 has wheels 5, an engine 4A, a brake 4B, and a steering cylinder 4C. Tires 6 are attached to the wheels 5.

[0016] The wheels 5 include two front wheels 5F rotatably supported on the front frame 2F and two rear wheels 5R rotatably supported on the rear frame 2R. The tires 6 include front tires 6F attached to the front wheels 5F and rear tires 6R attached to the rear wheels 5R. When the work machine 1 travels in a straight line, the rotation axis FX of the front wheels 5F and the rotation axis RX of the rear wheels 5R are parallel to each other.

[0017] The steering cylinder 4C is a hydraulic cylinder that generates power to turn the work machine 1. The steering cylinder 4C is provided to the joint mechanism 9. When the steering cylinder 4C extends and contracts, the front frame 2F bends relative to the rear frame 2R. When the front frame 2F bends relative to the rear frame 2R, the work machine 1 turns and the traveling direction of the work machine 1 is adjusted.

[0018] The transmission 7 has a plurality of gear stages. By changing the gear stage of the transmission 7, the gear ratio, which indicates the ratio between the rotation speed of the input shaft and the rotation speed of the output shaft of the transmission 7, is changed. The transmission 7 also switches the rotation direction of the output shaft relative to the rotation direction of the input shaft. By switching the rotation direction of the output shaft of the transmission 7, the work machine 1 moves forward or reverse.

[0019] The work implement 10 is supported by the front frame 2F. At least a portion of the work implement 10 is disposed forward of the front frame 2F. The work implement 10 has a boom 11, a bucket 12, a bell crank 13, and a link 14.

[0020] The boom 11 is rotatably connected to the front frame 2F. The bell crank 13 is connected to the bucket 12 via a link 14. The bucket 12 is rotatably connected to the tip of the boom 11. The bucket 12 is a work member having a tip 12B including a cutting edge. The bucket 12 is positioned forward of the front tires 6F.

[0021] The boom cylinder 15 is a hydraulic cylinder that generates power to operate the boom 11. The boom cylinder 15 extends and retracts, causing the boom 11 to move up and down.

[0022] The bucket cylinder 16 is a hydraulic cylinder that generates power to operate the bucket 12. The bucket 12 performs a dumping operation or a tilting operation when the bucket cylinder 16 extends and retracts. When the bucket 12 performs a tilting operation, the bucket 12 scoops up the excavated material. When the bucket 12 performs a dumping operation, the excavated material held in the bucket 12 is ejected from the bucket 12.

[0023] [Object Detection Device] The work machine 1 is equipped with a periphery monitoring system 100 that monitors the periphery of the work machine 1 and makes the driver aware of the situation around the work machine 1. The periphery monitoring system 100 is equipped with an object detection device 20 that is capable of detecting objects around the work machine 1.

[0024] Fig. 2 is a diagram schematically showing the photographing area and detection area of ​​the object detection device 20 according to the embodiment. The object detection device 20 detects objects in the vicinity of the work machine 1. As shown in Figs. 1 and 2 , the object detection device 20 includes a camera 21 that photographs objects in the vicinity of the work machine 1, and a non-contact sensor 22 that detects objects in the vicinity of the work machine 1 in a non-contact manner.

[0025] A plurality of cameras 21 are mounted on the work machine 1 and capture images of objects in the vicinity of the work machine 1. The cameras 21 are provided on the outer surface of the body 2 of the work machine 1. The cameras 21 include a camera 21A provided on the front frame 2F, and a camera 21B, a camera 21C, a camera 21D, a camera 21E, and a camera 21F provided on the rear frame 2R. The imaging area of ​​each camera 21 may partially overlap with the imaging area of ​​an adjacent camera 21.

[0026] Camera 21A is provided on the front outer surface of the front frame 2F and photographs a shooting area SA defined in front of the vehicle body 2. Camera 21B is provided in the front portion of the outer surface of the right side of the rear frame 2R and photographs a shooting area SB defined to the right of the vehicle body 2. Camera 21C is provided in the rear portion of the outer surface of the right side of the rear frame 2R and photographs a shooting area SC defined to the right and right rear of the vehicle body 2. Camera 21D is provided on the outer surface of the rear side of the rear frame 2R and photographs a shooting area SD defined to the rear of the vehicle body 2. Camera 21E is provided in the rear portion of the outer surface of the left side of the rear frame 2R and photographs a shooting area SE defined to the left and left rear of the vehicle body 2. Camera 21F is provided in the front portion of the outer surface of the left side of the rear frame 2R and photographs a shooting area SF defined to the left of the vehicle body 2.

[0027] A plurality of non-contact sensors 22 are mounted on the work machine 1 and detect objects in the vicinity of the work machine 1 in a non-contact manner. The non-contact sensors 22 scan the periphery of the work machine 1 to detect objects. Detection data from the non-contact sensors 22 includes data on the presence or absence of an object and object position data. The object position data indicates the relative position of the work machine 1 and the object. The relative position of the object includes the distance to the object. The non-contact sensors 22 include radar devices that can detect objects by scanning the periphery of the work machine 1 with radio waves. The non-contact sensors 22 may also include laser scanner devices that can detect objects by scanning the periphery of the work machine 1 with laser light. The non-contact sensors 22 may also include ultrasonic sensor devices that can detect objects by scanning the periphery of the work machine 1 with ultrasonic waves. The non-contact sensors 22 are not limited to radar devices, laser scanner devices, and ultrasonic sensor devices. In the following description, energy waves that are scanned to detect objects, such as radio waves, laser light, and ultrasonic waves, will be referred to as detection waves as appropriate.

[0028] The non-contact sensors 22 are provided on the outer surface of the vehicle body 2 of the work machine 1. The non-contact sensors 22 include non-contact sensors 22A, 22B, 22C, and 22D, which are provided on the rear frame 2R. The detection areas DA to DD of the respective non-contact sensors 22A to 22D may partially overlap with the detection areas of adjacent non-contact sensors 22.

[0029] The non-contact sensor 22A is provided at the rear of the right outer surface of the rear frame 2R and detects objects in a detection area DA defined to the right of the vehicle body 2. The detection area DA extends radially to the right from the non-contact sensor 22A. The non-contact sensor 22B is provided at the right part of the rear outer surface of the rear frame 2R and detects objects in a detection area DB defined to the rear and right rear of the vehicle body 2. The detection area DB extends radially to the right rear from the non-contact sensor 22B. The non-contact sensor 22C is provided at the left part of the rear outer surface of the rear frame 2R and detects objects in a detection area DC defined to the rear and left rear of the vehicle body 2. The detection area DC extends radially to the left rear from the non-contact sensor 22C. The non-contact sensor 22D is provided at the rear of the left outer surface of the rear frame 2R and detects objects in a detection area DD defined to the left of the vehicle body 2. The detection area DD extends radially to the left from the non-contact sensor 22D.

[0030] The object detection device 20 is capable of detecting objects present in different areas around the work machine 1 using a plurality of cameras 21 and a plurality of non-contact sensors 22 .

[0031] [Computer] Figure 3 is a hardware configuration diagram showing a computer 30 mounted on a work machine 1 according to an embodiment. The computer 30 has a processor 31 such as a CPU (Central Processing Unit), a main memory 32 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 33, an input / output interface 34 including an input / output circuit, and a communication interface 35 including a communication circuit. The functions of the computer 30 are stored in the storage 33 as a computer program 36. The processor 31 reads the computer program 36 from the storage 33, loads it into the main memory 32, and executes processing in accordance with the computer program 36. The computer program 36 may be distributed to the computer 30 via a network.

[0032] [Periphery Monitoring System] Figure 4 is a block diagram showing a work machine 1 according to an embodiment. The work machine 1 is equipped with a controller unit 40, an object detection device 20, a periphery monitoring monitor 52, an on-board monitor 23, a start switch 24, an accessory power supply 17, an ignition power supply 18, and an engine 4A. The controller unit 40 has a periphery monitoring controller 41, a start controller 42, a vehicle body controller 43, and a power supply controller 44. The controller unit 40 includes the computer 30 described above.

[0033] The perimeter monitoring system 100 includes a perimeter monitoring controller 41, an object detection device 20, and a perimeter monitoring monitor 52. The perimeter monitoring controller 41 includes the computer 30 described above. As described above, the object detection device 20 includes the camera 21 and the non-contact sensor 22. The perimeter monitoring monitor 52 is disposed in the driver's cab 3R. The perimeter monitoring monitor 52 has a display device that provides display data to an operator in the driver's cab 3R, an audio output device that outputs audio, and an input device operated by the operator in the driver's cab 3R. The display device includes a flat panel display such as a liquid crystal display or an organic EL display. The audio output device includes a buzzer that can output an alarm sound. The input device includes an input device such as a touch panel, a computer keyboard, or a button.

[0034] The display device and audio output device of the perimeter monitoring monitor 52 are an example of an alarm device that is arranged to output an alarm to the operator operating the work machine 1. In an embodiment, when the operator operates the input device of the perimeter monitoring monitor 52, the operation mode of the display device and audio output device of the perimeter monitoring monitor 52 is set to either an enabled mode or a disabled mode. The enabled mode is an operation mode that enables functions related to object detection. The disabled mode is an operation mode that disables functions related to object detection. In an embodiment, the enabled mode is an operation mode that outputs an alarm when the object detection device 20 detects an object. The disabled mode is an operation mode that does not output an alarm even if the object detection device 20 detects an object.

[0035] The on-board monitor 23 is disposed in the cab 3R. The on-board monitor 23 has a display device that provides display data to the operator in the cab 3R, and an input device that is operated by the operator in the cab 3R. The display device includes a flat panel display such as a liquid crystal display or an organic EL display. The input device includes an input device such as a touch panel, a computer keyboard, or a button.

[0036] In the embodiment, after getting into the cab 3R, the operator of the work machine 1 performs a login operation to start the engine 4A of the work machine 1. Once the login operation is complete, the operator can begin operating the work machine 1. If the login operation is not performed, the engine 4A of the work machine 1 will not start, and the operator will not be able to operate the work machine 1. In other words, if the login operation is not performed, the work machine 1 (traveling device 4 and work implement 10) will not operate. By performing the login operation, the engine 4A will be in a startable state, and the work machine 1 (traveling device 4 and work implement 10) will be in an operable state. Furthermore, when the operator has finished operating the work machine 1, he or she will perform a logout operation. In the embodiment, the on-board monitor 23 is a user interface that allows the operator to perform login and logout operations.

[0037] The start switch 24 is disposed in the operator's cab 3R. When the start switch 24 is operated by the operator, at least a part of the work machine 1 starts. In this embodiment, the start switch 24 is a rotary switch.

[0038] The accessory power supply 17 outputs power for operating the electronic devices of the work machine 1. The accessory power supply 17 can supply power to the electronic devices when the engine 4A is not running. In this embodiment, the electronic devices of the work machine 1 include a controller unit 40, a periphery monitoring monitor 52, and an on-board monitor 23.

[0039] The ignition power supply 18 outputs electric power for driving the engine 4 A. When the ignition power supply 18 starts and the engine 4 A starts, the traveling device 4 and the work implement 10 enter an operable state.

[0040] The vehicle body controller 43 includes the computer 30 described above. The vehicle body controller 43 outputs control commands for controlling the traveling device 4 and the work implement 10. Operation devices (not shown) operated by the operator are arranged in the cab 3R. The operation devices include a traveling system operation device for operating the traveling device 4 and a work implement operation device for operating the work implement 10. Examples of the traveling system operation device include an accelerator pedal for accelerating the traveling device 4, a brake pedal for decelerating the traveling device 4, a steering wheel for changing the traveling direction of the traveling device 4, and a forward / reverse switch lever for switching between forward and reverse travel of the traveling device 4. Examples of the work implement operation device include a boom lever for operating the boom 11 and a bucket lever for operating the bucket 12. The vehicle body controller 43 outputs control commands for operating the work machine 1 based on operation signals from the operation devices.

[0041] The power supply controller 44 includes the above-mentioned computer 30. The power supply controller 44 outputs control commands to control the accessory power supply 17 and the ignition power supply 18 based on an operation signal from the start switch 24.

[0042] The periphery monitoring controller 41 includes the computer 30 described above. The periphery monitoring controller 41 has an object detection unit 41A, an operation mode setting unit 41B, an alarm control unit 41C, a display control unit 41D, and an alarm range storage unit 41E. The functions of the object detection unit 41A, the operation mode setting unit 41B, the alarm control unit 41C, and the display control unit 41D are respectively performed by the processor 31. The function of the alarm range storage unit 41E is performed by the storage 33.

[0043] The object detection unit 41A detects objects present in the vicinity of the work machine 1 based on the detection data of the object detection device 20. Based on the detection data of the object detection device 20, the object detection unit 41A calculates the presence or absence of an object, the position of the object, and the size of the object.

[0044] The operation mode setting unit 41B sets the operation modes of the display device and audio output device of the periphery monitoring monitor 52 to an effective mode in which an alarm is output when an object is detected, and an ineffective mode in which an alarm is not output even when an object is detected, based on first input data input from the input device of the periphery monitoring monitor 52. The input device of the periphery monitoring monitor 52 is operated by an operator to generate the first input data for setting the operation modes of the display device and audio output device of the periphery monitoring monitor 52. The operation mode setting unit 41B sets the operation modes of the display device and audio output device of the periphery monitoring monitor 52 to either the effective mode or the ineffective mode, based on the first input data from the input device of the periphery monitoring monitor 52. For example, the first input data includes a setting value and a setting operation for setting the operation modes to the effective mode or the ineffective mode.

[0045] The alarm control unit 41C controls the display device and audio output device of the periphery monitoring monitor 52, which functions as an alarm device, based on the operation mode set by the operation mode setting unit 41B.

[0046] The display control unit 41D generates display data to be displayed on the display device of the periphery monitoring monitor 52. The display control unit 41D controls the display device of the periphery monitoring monitor 52. The display control unit 41D causes the display device of the periphery monitoring monitor 52 to display the display data.

[0047] The warning range storage unit 41E stores a warning range in which an alarm is requested to be output when the object detection device 20 detects an object.

[0048] The start-up controller 42 includes the computer 30. The start-up controller 42 has a login processing unit 42A, a logout processing unit 42B, and a user data storage unit 42C. The functions of the login processing unit 42A and the logout processing unit 42B are respectively performed by the processor 31. The function of the user data storage unit 42C is performed by the storage 33.

[0049] The user data storage unit 42C stores identification data for each of a plurality of operators. Identification data for a plurality of operators who are capable of performing login operations is registered in advance in the user data storage unit 42C. Operators who are capable of performing login operations include users of the work machine 1 who are capable of operating the work machine 1. Operators who are capable of performing login operations include users who have the authority to operate the work machine 1. Users who are capable of performing login operations are determined in advance. User data is associated with the work machine 1 and a group to which the user belongs, and is registered in advance in the user data storage unit 42C. An example of a group is a construction company that constructs the work site where the work machine 1 operates. The user data is made up of users who belong to, for example, "construction company A."

[0050] The login processing unit 42A performs login processing to authenticate the operator by comparing second input data input from the input device of the in-vehicle monitor 23 with identification data stored in the user data storage unit 42C. The second input data for identifying the operator is generated when the operator operates the input device of the in-vehicle monitor 23. The above-mentioned login operation includes the operator operating the input device of the in-vehicle monitor 23. The operator operates the input device of the in-vehicle monitor 23 to generate second input data for starting the login processing. The second input data includes identification data (user ID) for identifying the operator. The login processing unit 42A performs login processing based on the second input data from the in-vehicle monitor 23.

[0051] The logout processing unit 42B performs logout processing to cancel the authentication of the operator based on third input data input from the input device of the in-vehicle monitor 23. The third input data for canceling the authentication of the operator is generated by the operator operating the input device of the in-vehicle monitor 23. The above-mentioned logout operation includes the operator operating the input device of the in-vehicle monitor 23. The operator operates the input device of the in-vehicle monitor 23 to generate third input data for starting the logout processing. The logout processing unit 42B performs logout processing based on the third input data from the in-vehicle monitor 23.

[0052] When the operator's authentication is cancelled by the logout process, the operation mode setting unit 41B sets the operation mode of the perimeter monitoring monitor 52, which functions as an alarm device, to the valid mode. During the period from the login process to the logout process, the operator can set the operation mode of the perimeter monitoring monitor 52 to either the valid mode or the invalid mode by operating the input device of the perimeter monitoring monitor 52. For example, when the logout process is performed while the operation mode of the perimeter monitoring monitor 52 is set to the invalid mode, the operation mode of the perimeter monitoring monitor 52 is switched to the valid mode. When the logout process is performed while the operation mode of the perimeter monitoring monitor 52 is set to the valid mode, the operation mode of the perimeter monitoring monitor 52 is maintained in the valid mode. In other words, regardless of whether the perimeter monitoring monitor 52 is set to the valid mode or the invalid mode, when the logout process is performed, the operation mode of the perimeter monitoring monitor 52 is set to the valid mode. When the logout process is performed after the logout process, the perimeter monitoring monitor 52 can start operating in the valid mode.

[0053] [Periphery monitoring monitor] Figure 5 is a diagram showing an example of a periphery monitoring monitor 52 according to the embodiment. As shown in Figure 5, the display control unit 41D displays a character image CG and an overhead image BI of the work machine 1 in a first area 52A of the display device of the periphery monitoring monitor 52, and displays an image showing the rear of the work machine 1 captured by camera 21D in a second area 52B of the display device adjacent to the first area 52A. Note that Figure 5 shows an example of the display on the periphery monitoring monitor 52 when the work machine 1 is reversing.

[0054] The display control unit 41D displays lines LG indicating boundaries of the shooting areas SBp, SCp, SDp, SEp, and SFp of the multiple cameras 21B, 21C, 21D, 21E, and 21F that acquire image data for generating the overhead image BI, superimposed on the overhead image BI. Note that the lines LG indicating the boundaries do not necessarily have to be displayed.

[0055] The display control unit 41D also displays lines La, Lb, and Lc, which indicate the distance from the outer edge of the work machine 1, superimposed on the overhead image BI. The outer edge of the work machine 1 is the line that forms the outline of the work machine 1 as seen in a plan view from above when the work machine 1 is in a position where it can travel straight ahead. For example, line La indicates that the distance from the outer edge of the work machine 1 is 3 m, line Lb indicates that the distance from the outer edge of the work machine 1 is 5 m, and line Lc indicates that the distance from the outer edge of the work machine 1 is 7 m.

[0056] Furthermore, the display control unit 41D displays a mark 54 indicating the position data of an obstacle detected by the non-contact sensor 22, superimposed on the overhead image BI. For example, when an obstacle present behind the work machine 1 is detected by the non-contact sensor 22, the display control unit 41D displays a mark 54 superimposed on the obstacle displayed in the overhead image BI, based on the obstacle's position data. This emphasizes the presence of the obstacle, allowing the driver of the work machine 1 to quickly recognize the presence or absence and position of the obstacle.

[0057] In the second area 52B, an indicator 55 is displayed that indicates the shooting area of ​​the camera 21 displayed in the second area 52B among the shooting areas of the multiple cameras 21.

[0058] In addition, an icon 56, which is display data indicating the operation mode of the periphery monitoring monitor 52, is displayed in the second area 52B.

[0059] The display control unit 41D displays, in the second area 52B, a peripheral image showing the periphery of the work machine 1 and a reference line Lz indicating the warning range in the peripheral image. In the example shown in Fig. 5, the reference line Lz includes lines Lf, Lg, and Lh that indicate the distance from the rear end of the work machine 1. The reference line Lz is displayed superimposed on the peripheral image.

[0060] FIG. 6 is a diagram illustrating an icon 56 according to an embodiment. As described above, the second area 52B displays an icon 56 indicating the operation mode of the perimeter monitoring monitor 52. The operation mode of the perimeter monitoring monitor 52 includes an effective mode in which an alarm is output when an object is detected and an ineffective mode in which an alarm is not output even when an object is detected. As shown in FIG. 6 , in the effective mode, when no object is detected, an icon 56A in the first display form is displayed. In the effective mode, when an object is detected, an icon 56B in the second display form is displayed. The icon 56A in the first display form is displayed in a first color (e.g., green). The icon 56B in the second display form is displayed in a second color (e.g., red). Furthermore, in the effective mode, when an object is detected, an alarm sound is output from the buzzer of the perimeter monitoring monitor 52. In the ineffective mode, an icon 56C in the third display form is displayed. In the ineffective mode, even if an object is detected, an alarm sound is not output from the perimeter monitoring monitor 52.

[0061] The icon 56 is an example of display data that is displayed on the display device of the periphery monitoring monitor 52 that functions as an alarm device. The alarm sound is an example of audio data that is output from the audio output device of the periphery monitoring monitor 52 that functions as an alarm device.

[0062] [Login Operation] Fig. 7 is a diagram for explaining the login operation according to the embodiment. As shown in Fig. 7, the start switch 24 is a rotary switch. When operated by an operator, the start switch 24 is rotated to any one of the off position (OFF), accessory position (ACC), ignition position (IG), and start position (ST).

[0063] The accessory power supply 17 is started when the operator in the cab 3R turns the start switch 24 from the off position to the accessory position. When the accessory power supply 17 is started, the in-vehicle monitor 23 and the controller unit 40 are started. As shown in FIG. 7 , when the in-vehicle monitor 23 and the start controller 42 are started, a login screen 61 is displayed on the display device of the in-vehicle monitor 23 to prompt the operator to perform a login operation. The operator's login operation includes operating the in-vehicle monitor 23 on which the login screen 61 is displayed. The operator performs a login operation using the input device of the in-vehicle monitor 23 on which the login screen 61 is displayed.

[0064] As described above, the user data storage unit 42C stores user data indicating users who are able to operate the work machine 1. A user list 61A showing a list of multiple users stored in the user data storage unit 42C is displayed on the login screen 61. The login operation includes an operation of selecting a user displayed on the display device of the in-vehicle monitor 23. The operator selects and taps a button indicating the operator himself / herself from the user list 61A. If the operator sitting in the cab 3R is user A, the operator taps button 61A1 indicating the operator himself / herself. When button 61A1 is tapped, input data indicating the user ID of user A is generated. The login processing unit 42A receives second input data indicating the user ID of user A that is generated by tapping button 61A1 in the user list 61A. Button 61A1 is an example of an input device of the in-vehicle monitor 23.

[0065] The login processing unit 42A authenticates that the operator has the authority to operate the work machine 1, based on the second input data entered when the input device of the on-board monitor 23 is operated to log in. The login processing unit 42A compares the second input data indicating the user ID entered from the input device of the on-board monitor 23 with the identification data of each of the multiple operators pre-registered in the user data storage unit 42C, and determines whether the operator in the cab 3R has the authority to operate the work machine 1.

[0066] When the login processing unit 42A authenticates that the operator has the authority to operate the work machine 1, the power supply controller 44 places the ignition power supply 18 in a start-ready state. Putting the ignition power supply 18 in a start-ready state includes putting the work machine 1 in an operable state.

[0067] After the login process for authenticating the operator is completed, the start switch 24 is rotated from the accessory position to the ignition position IG, which starts the ignition power supply 18 of the work machine 1. The start switch 24 is rotated from the accessory position to the start position via the ignition position, which starts the engine 4A. If the operation of the start switch 24 is released after the start switch 24 has been rotated to the start position, the start switch 24 returns from the start position to the ignition position due to the elastic force of an elastic member, for example. With the start switch 24 in the ignition position, the engine 4A continues to operate.

[0068] After the login process, the operator can operate the input device of the perimeter monitoring monitor 52 to set the operation mode of the perimeter monitoring monitor 52 to either the enabled mode or the disabled mode. For example, if there are walls on both sides of the passageway of the work machine 1 and the work machine 1 is traveling through a narrow passageway, an alarm sound is output from the on-board monitor 23 when the object detection device 20 detects a wall. If the alarm sound is output even though the operator is aware of the presence of a wall, the operator may find the alarm sound annoying. If the operator finds the alarm sound annoying, the operator sets the operation mode of the perimeter monitoring monitor 52 to the disabled mode. By setting the operation mode of the perimeter monitoring monitor 52 to the disabled mode, an alarm sound is not output even if the object detection device 20 detects a wall, which reduces the operator's annoyance.

[0069] [Logout Operation] Figure 8 is a diagram for explaining the logout operation according to this embodiment. When the operator has finished operating the work machine 1, he or she performs the logout operation. To perform the logout operation, the operator turns the start switch 24 from the ignition position to the accessory position. By turning the start switch 24 from the ignition position to the accessory position, as shown in Figure 8, a logout screen 62 is displayed on the display device of the on-board monitor 23, prompting the operator to perform the logout operation. The operator's logout operation includes operating the on-board monitor 23 on which the logout screen 62 is displayed. The operator performs the logout operation on the input device of the on-board monitor 23 on which the logout screen 62 is displayed.

[0070] In the embodiment, a button 62A for executing the logout process is displayed on the logout screen 62. When the operator taps the button 62A, third input data for canceling the authentication of the operator is generated. The button 62A is an example of an input device of the in-vehicle monitor 23.

[0071] The third input data generated in the input device of the in-vehicle monitor 23 is transmitted to the logout processing unit 42B. The logout processing unit 42B performs a logout process to cancel the authentication of the operator based on the third input data from the input device of the in-vehicle monitor 23.

[0072] When the logout process is performed, the operation mode setting unit 41B sets the operation mode of the periphery monitoring monitor 52 to the valid mode. For example, if the logout process is performed when the operation mode of the periphery monitoring monitor 52 is set to the invalid mode, the operation mode of the periphery monitoring monitor 52 is switched to the valid mode. If the logout process is performed when the operation mode of the periphery monitoring monitor 52 is set to the valid mode, the operation mode of the periphery monitoring monitor 52 is maintained in the valid mode. In other words, regardless of whether the periphery monitoring monitor 52 is set to the valid mode or the invalid mode, when the logout process is performed, the operation mode of the periphery monitoring monitor 52 is set to the valid mode.

[0073] The first operator who has been logged out gets out of the cab 3R with the start switch 24 in the accessory position. That is, the first operator gets out of the cab 3R with the accessory power supply 17 maintained in operation. In other words, the first operator gets out of the cab 3R with the on-board monitor 23 maintained in operation. After the first operator who operated the work machine 1 gets out of the cab 3R, the second operator gets into the work machine 1 and performs a login operation. With power being output from the accessory power supply 17, the login process is performed after the logout process. When the second operator who has been logged in starts operating the work machine 1, the operating mode of the periphery monitoring monitor 52 is the active mode. When the second operator gets into the cab 3R, the periphery monitoring monitor 52 starts operating in the active mode.

[0074] [Periphery Monitoring Method] Fig. 9 is a flowchart showing a periphery monitoring method according to an embodiment. After entering the cab 3R, the first operator turns the start switch 24 from the OFF position to the accessory position. Turning the start switch 24 from the OFF position to the accessory position starts the accessory power supply 17. Starting the accessory power supply 17 starts the on-board monitor 23 and the controller unit 40. As shown in Fig. 7 , when the on-board monitor 23 and the start controller 42 start, a login screen 61 for prompting the operator to perform a login operation is displayed on the display device of the on-board monitor 23. The operator performs a login operation on the input device of the on-board monitor 23 on which the login screen 61 is displayed. The login processing unit 42A performs a login process to authenticate the operator based on second input data entered when the input device of the on-board monitor 23 is operated to log in (step S1).

[0075] After the login process for authenticating the operator is completed, the operator rotates the start switch 24 from the accessory position to the ignition position and then to the start position. Rotating the start switch 24 from the accessory position to the ignition position and then to the start position starts the engine 4A. If the operation of the start switch 24 is released after rotating the start switch 24 to the start position, the start switch 24 returns from the start position to the ignition position due to the elastic force of, for example, an elastic member. With the start switch 24 in the ignition position, the engine 4A continues to operate.

[0076] After the login process, the operator can set the operation mode of the periphery monitoring monitor 52 to either the enabled mode or the disabled mode by operating the input device of the periphery monitoring monitor 52. The operation mode setting unit 41B acquires first input data for setting the operation mode of the periphery monitoring monitor 52, which is input from the input device of the periphery monitoring monitor 52 (step S2).

[0077] The operation mode setting unit 41B determines whether the first input data acquired in step S2 is the first input data for setting the operation mode of the periphery monitoring monitor 52 to the disabled mode (step S3).

[0078] In step S3, if it is determined that the first input data is for setting the operation mode of the peripheral monitoring monitor 52 to the disabled mode (step S3: Yes), the operation mode setting unit 41B sets the operation mode of the peripheral monitoring monitor 52 to the disabled mode (step S4).

[0079] In step S3, if it is determined that the first input data is for setting the operation mode of the peripheral monitoring monitor 52 to the effective mode (step S3: No), the operation mode setting unit 41B sets the operation mode of the peripheral monitoring monitor 52 to the effective mode (step S5).

[0080] When the operator has finished operating the work machine 1, the operator performs a logout operation. To perform the logout operation, the operator turns the start switch 24 from the ignition position to the accessory position. By turning the start switch 24 from the ignition position to the accessory position, a logout screen 62 for allowing the operator to perform the logout operation is displayed on the display device of the on-board monitor 23, as shown in FIG. 8 . When the operator taps button 62A, third input data for canceling the authentication of the operator is generated. The logout processing unit 42B performs logout processing for canceling the authentication of the operator based on the third input data from the input device of the on-board monitor 23 (step S6).

[0081] When the logout process is performed, the operation mode setting unit 41B sets the operation mode of the periphery monitoring monitor 52 to the valid mode (step S7). When the logout process is performed with the operation mode of the periphery monitoring monitor 52 set to the invalid mode, the operation mode of the periphery monitoring monitor 52 is switched to the valid mode. When the logout process is performed with the operation mode of the periphery monitoring monitor 52 set to the valid mode, the operation mode of the periphery monitoring monitor 52 is maintained in the valid mode.

[0082] [Display form of perimeter monitoring monitor] Figure 10 is a diagram for explaining the display form of the perimeter monitoring monitor 52 according to the embodiment. As described with reference to Figure 5, the display control unit 41D displays, on the display device of the perimeter monitoring monitor 52, a peripheral image showing the periphery of the work machine 1 and a reference line Lz indicating a warning range in the peripheral image. The display form of the reference line Lz may differ for each of a plurality of operators.

[0083] As described above, the user data storage unit 42C stores the identification data of multiple operators in advance. The user data storage unit 42C also stores the display format of the guide line Lz set for each of the multiple operators. After logging in, for example, the operator can operate the input device of the periphery monitoring monitor 52 to adjust the display format of the guide line Lz as desired and register the adjusted display format of the guide line Lz in the user data storage unit 42C.

[0084] When the display format of the reference line Lz is registered in the user data storage unit 42C, and the operator performs a login operation to complete the login processing by the login processing unit 42A, the reference line Lz is displayed in the second area 52B of the periphery monitoring monitor 52 in a display format corresponding to the operator who has been logged in. That is, the display control unit 41D causes the display device of the periphery monitoring monitor 52 to display the reference line Lz in a display format corresponding to the operator authenticated by the login processing. The reference line Lz in a display format that suits the operator's preferences is displayed on the display device of the periphery monitoring monitor 52. In the example shown in FIG. 10 , when user A is logged in, the reference line Lz is displayed in the second area 52B of the periphery monitoring monitor 52 as a solid line. When user B is logged in, the reference line Lz is displayed in the second area 52B of the periphery monitoring monitor 52 as a dotted line. Note that when user B is logged in, the reference line Lz does not necessarily have to be displayed in the second area 52B of the periphery monitoring monitor 52.

[0085] [Effects] As described above, the controller unit 40 has an operation mode setting unit 41B that sets the operation mode of the perimeter monitoring monitor 52, which is an alarm device, to an effective mode in which an alarm is output when an object is detected by the object detection device 20, or an ineffective mode in which an alarm is not output even when an object is detected, an alarm control unit 41C that controls the perimeter monitoring monitor 52 based on the operation mode set by the operation mode setting unit 41B, a login processing unit 42A that authenticates the operator operating the work machine 1, and a logout processing unit 42B that cancels the authentication of the operator. When the authentication of the operator is canceled, the operation mode setting unit 41B sets the operation mode of the perimeter monitoring monitor 52 to the effective mode.

[0086] According to this embodiment, if the first operator sets the operation mode of the periphery monitoring monitor 52 to the disabled mode, the operation mode of the periphery monitoring monitor 52 is automatically switched from the disabled mode to the enabled mode by performing a logout process. Therefore, when the second operator operates the work machine 1, the operation mode of the periphery monitoring monitor 52 is set appropriately.

[0087] If the operator of the work machine 1 is handed over from a first operator to a second operator while the operation mode of the perimeter monitoring monitor 52 is set to the disabled mode, the second operator may start operating the work machine 1 without realizing that the operation mode of the perimeter monitoring monitor 52 has been set to the disabled mode. If the second operator continues to operate the work machine 1 without realizing that the operation mode of the perimeter monitoring monitor 52 has been set to the disabled mode, even if the object detection device 20 detects an object, it will be difficult for the second operator to recognize that the object detection device 20 has detected an object. In the embodiment, the operation mode of the perimeter monitoring monitor 52 is automatically switched from the disabled mode to the enabled mode when the first operator performs a logout process. Because the operation mode of the perimeter monitoring monitor 52 is in the enabled mode when the second operator starts operating the work machine 1, if the object detection device 20 detects an object, the second operator can recognize that the object detection device 20 has detected an object by the audible alarm output from the perimeter monitoring monitor 52.

[0088] Other Embodiments In the above-described embodiment, the periphery monitoring monitor 52 and the in-vehicle monitor 23 do not have to be provided separately. The periphery monitoring monitor 52 may have the function of the in-vehicle monitor 23. The periphery monitoring monitor 52 and the in-vehicle monitor 23 may be integrated.

[0089] In the above-described embodiment, the work machine 1 is a wheel loader. The work machine 1 may be at least one of a shovel, a bulldozer, a motor grader, and a forklift, as long as it has a work implement. The work machine 1 may also be a transport vehicle such as a dump truck, which does not have to have a work implement.

[0090] In the above-described embodiment, the operator operates the work machine 1 by sitting in a cab 3R provided on the work machine 1. The operator may also remotely operate the work machine 1 from a remote cab located outside the work machine 1. The login and logout operations described in the above-described embodiment may be performed in the remote cab.

[0091] In the above-described embodiment, when an object is detected in the valid mode, the icon 56B in the second display form is displayed and an alarm sound is output from the buzzer of the periphery monitoring monitor 52. When an object is detected in the valid mode, only one of displaying the icon 56B in the second display form and outputting an alarm sound from the buzzer of the periphery monitoring monitor 52 may be performed.

[0092] In the above-described embodiment, the invalid mode is an operation mode in which the object detection device 20 does not output an alarm even when it detects an object, but this is not limited to this. In other embodiments, the invalid mode may be an operation mode in which the object detection device 20 does not perform object detection. In this case, the valid mode may be an operation mode in which the object detection device 20 only performs object detection, or an operation mode in which the object detection device 20 performs object detection and also outputs an alarm.

[0093] In the above-described embodiment, the periphery monitoring controller 41, the starting controller 42, the vehicle body controller 43, and the power supply controller 44 of the controller unit 40 may be configured as separate pieces of hardware (computer 30), or may be configured as a single piece of hardware (computer 30). One processor 31 may have all the functions of the controller unit 40, or multiple processors 31 may share multiple functions of the controller unit 40.

[0094] 1...working machine, 2...body, 2F...front frame, 2R...rear frame, 3...driver's cab, 3R...driver's compartment, 4...traveling device, 4A...engine, 4B...brake, 4C...steering cylinder, 5...wheels, 5F...front wheels, 5R...rear wheels, 6...tires, 6F...front tires, 6R...rear tires, 7...transmission, 9...joint mechanism, 10...working machine, 11...boom, 12...bucket, 12B...tip, 13...bell crank, 14...link, 15...boom cylinder , 16...Bucket cylinder, 17...Accessory power supply, 18...Ignition power supply, 20...Object detection device, 21...Camera, 21A...Camera, 21B...Camera, 21C...Camera, 21D...Camera, 21E...Camera, 21F...Camera, 22...Non-contact sensor, 22A...Non-contact sensor, 22B...Non-contact sensor, 22C...Non-contact sensor, 22D...Non-contact sensor, 23...In-vehicle monitor, 24...Start switch, 30...Computer, 31...Processor , 32...main memory, 33...storage, 34...input / output interface, 35...communication interface, 36...computer program, 40...controller unit, 41...periphery monitoring controller, 41A...object detection unit, 41B...operation mode setting unit, 41C...alarm control unit, 41D...display control unit, 41E...alarm range memory unit, 42...start controller, 42A...login processing unit, 42B...logout processing unit, 42C...user data memory unit, 43...vehicle controller, 44...power supply controller, 52...periphery monitoring monitor, 52A...first area, 52B...second area, 54...mark, 55...indicator, 56...icon, 56A...icon, 56B...icon, 56C...icon, 61...login screen, 61A...user list, 61A1...button, 62...logout screen, 62A...button, 100...periphery monitoring system, FX...rotation axis, RX...rotation axis, Lz...guideline.

Claims

1. A surroundings monitoring system for a work machine, comprising: an object detection device capable of detecting objects in the vicinity of a work machine; an alarm device arranged to output an alarm to an operator operating the work machine; and a processor, wherein the processor sets the operation mode of the alarm device to an enabled mode that enables a function related to object detection and a disabled mode that disables the function related to object detection, controls the alarm device based on the operation mode, authenticates the operator operating the work machine, and sets the operation mode to the enabled mode when the authentication is canceled.

2. A periphery monitoring system for a work machine as described in claim 1, wherein the enabled mode is an operating mode in which an alarm is output when the object detection device detects an object, and the disabled mode is an operating mode in which an alarm is not output even if the object detection device detects an object.

3. A periphery monitoring system for a work machine according to claim 1, wherein the processor sets the operation mode of the alarm device based on first input data for setting the operation mode of the alarm device input from an input device.

4. A periphery monitoring system for a work machine according to claim 1, wherein the processor authenticates the operator by comparing second input data for identifying the operator input from an input device with identification data of multiple operators registered in advance.

5. The periphery monitoring system for a work machine according to claim 1, wherein the processor cancels the authentication based on third input data for canceling the authentication input from an input device.

6. A periphery monitoring system for a work machine as described in claim 1, comprising: an accessory power supply that outputs power to operate the processor; and an ignition power supply that outputs power to drive the engine of the work machine, wherein authentication of the operator is performed after the authentication is released while power is being output from the accessory power supply.

7. The periphery monitoring system for a work machine according to claim 1, wherein the processor causes a display device to display guide lines indicating an alarm range in which an alarm is required to be output when the object detection device detects an object, and causes the display device to display the guide lines in a display format corresponding to the authenticated operator.

8. A work machine equipped with the work machine perimeter monitoring system according to claim 1.

9. A method for monitoring the periphery of a work machine, in which an object detection device is capable of detecting objects in the surrounding area, comprising: setting the operation mode of an alarm device that is arranged to output an alarm to an operator operating the work machine to an enabled mode that enables a function related to object detection and a disabled mode that disables the function related to object detection; controlling the alarm device based on the set operation mode; authenticating the operator operating the work machine; and setting the operation mode to the enabled mode when the authentication is canceled.

Images