Periphery monitoring device and work machine

Abstract

The present disclosure provides a periphery monitoring device that enables an operator to check, during work, the detection states of external sensors attached to a work machine. This periphery monitoring device causes a display device to display an image DI indicating the detection states of external sensors (a rear sensor ES1 and a right sensor ES2) attached to the work machine. The detection states of the external sensors may include a detection area DA in which objects can be detected by the external sensors. The detection states of the external sensors may also include a blind spot area BA in which objects cannot be detected by the external sensors.

Description

Peripheral monitoring device, working machine

[0001] The present disclosure relates to a peripheral monitoring device and a working machine.

[0002] Conventionally, there is known a technique capable of ensuring safety in a range where dead zones from imaging devices, distance sensors, etc. around a shovel overlap with dead zones from the operator (see Patent Document 1 below).

[0003] The shovel described in Patent Document 1 includes a lower traveling body, an upper revolving body that is rotatably mounted on the lower traveling body, and an attachment that is attached to the upper revolving body. Further, this shovel includes an imaging device mounted on the upper revolving body and capable of acquiring information regarding the situation around the shovel, and a display device that provides information capable of confirming the situation around the shovel based on the output of the imaging device.

[0004] Furthermore, the above-mentioned shovel includes a sound output device that gives a notification to prompt the operator's attention to a predetermined range. This sound output device gives the above-mentioned notification when the lower traveling body travels toward a predetermined range that may be a dead zone of the operator outside the acquisition range of information regarding the situation around the shovel by the imaging device. Also, this sound output device gives the above-mentioned notification when the upper revolving body revolves so that the attachment approaches the aforementioned predetermined range.

[0005] Japanese Unexamined Patent Application Publication No. 2022 - 157923

[0006] The position and orientation of an external sensor attached to a working machine such as a crane or a shovel may be different from those during the previous operation, for example, due to errors during attachment of the external sensor or changes over time. Therefore, it is desirable for the operator to be able to confirm the detection state of the external sensor attached to the working machine during operation.

[0007] The present disclosure provides a peripheral monitoring device that allows an operator to confirm the detection state of an external sensor attached to a working machine during operation, and a working machine equipped with the peripheral monitoring device.

[0008] One aspect of this disclosure provides a peripheral monitoring device that causes an image indicating the detection status of an external sensor attached to a work machine to be displayed on a display device.

[0009] Another aspect of the present disclosure provides a work machine comprising: a peripheral monitoring device according to the above aspect; a disassemblable and reassemblable body; an external sensor attached to the body and connected to the peripheral monitoring device; and a display device connected to the peripheral monitoring device.

[0010] According to the above aspects of this disclosure, it is possible to provide a peripheral monitoring device that allows an operator to check the detection status of an external sensor attached to a work machine during operation, and a work machine equipped with the peripheral monitoring device.

[0011] This is a side view showing a crane, which is an embodiment of the work machine according to this disclosure. This is a top view of the upper rotating body of the crane shown in Figure 1. This is a side view showing the tower specifications of the crane in Figure 1. These are perspective views of the inside of the operator's cab of the crane shown in Figures 1 to 3. This is a functional block diagram of the surrounding monitoring device provided by the crane in Figure 1. This is a perspective view showing an example of an external sensor attached to the crane in Figure 1. This is a flowchart showing an example of processing by each part of the surrounding monitoring device in Figure 5. This is a conceptual diagram explaining the comparison processing and estimation processing in Figure 7. This is an example of an image showing the detection state of the external sensor in Figure 6. This is an example of the detection area and blind spot area in the detection state of the external sensor in Figure 9. This is another example of an image showing the detection state of the external sensor in Figure 9. This is yet another example of an image showing the detection state of the external sensor in Figure 9. This is yet another example of an image showing the detection state of the external sensor in Figure 9. This is yet another example of an image showing the detection state of the external sensor in Figure 9. This is yet another example of an image showing the detection state of the external sensor in Figure 9. This is yet another example of an image showing the detection state of the external sensor in Figure 9. This is yet another example of an image showing the detection state of the external sensor in Figure 9. This is yet another example of an image showing the detection state of the external sensor in Figure 9. This is yet another example of an image showing the detection state of the external sensor in Figure 9. This is a side view showing a shovel, which is an embodiment of the work machine according to this disclosure.

[0012] The embodiments of the peripheral monitoring device and work machine related to this disclosure will be described below with reference to the drawings.

[0013] The embodiments described below are illustrative and not limiting to the invention. Not all features and combinations thereof in the embodiments of this disclosure are necessarily essential to the invention. In each drawing, the same or corresponding components are denoted by the same or corresponding reference numerals, and redundant descriptions may be omitted.

[0014] Figure 1 is a side view showing a crane 1, which is an embodiment of a work machine according to the present disclosure. The crane 1 comprises, for example, a lower traveling body 2, an upper slewing body 3, and an attachment AT. The crane 1 shown in Figure 1 is a mobile crane with crane specifications, including a lower boom 61, an intermediate boom 62, and an upper boom 63 as attachment AT.

[0015] The lower traveling body 2 includes, for example, left and right crawlers 21 and left and right traveling devices 22. The crawlers 21 are driven by the traveling devices 22 to rotate back and forth. The traveling devices 22 are hydraulic actuators including a travel hydraulic motor driven by the hydraulic pressure of the hydraulic fluid, and by rotating the crawlers 21 back and forth, they cause the crane 1 to move back and forth.

[0016] The upper rotating body 3 is rotatably mounted on the lower traveling body 2. The upper rotating body 3 also has a driver's cab 4 located to the side of the attachment AT.

[0017] Figure 2 is a top view of the upper slewing body 3 of the crane 1 shown in Figure 1. Note that in Figure 2, some components of the crane 1 shown in Figure 1, such as the attachment AT, are not shown. As shown in Figure 2, the upper slewing body 3 has, for example, a slewing frame 31 and beds 32 and 33. Specifically, the upper slewing body 3 has a slewing frame 31 that is rotatably mounted on the lower traveling body 2, and left and right beds 32 and 33 connected to both sides of the slewing frame 31.

[0018] The slewing frame 31 has a slewing device 35 at its front end and a counterweight 36 mounted at its rear end. The slewing frame 31 is also equipped with, for example, a front winch 37f, a rear winch 37r, a third winch 37t, and a boom luffing winch 37b. However, the crane 1 does not necessarily have to have a third winch 37t.

[0019] The slewing device 35 is a hydraulic actuator including, for example, a slewing hydraulic motor driven by the hydraulic pressure of a hydraulic fluid, which slewingly rotates the slewing frame 31, which is slewingly attached to the lower traveling body 2, relative to the lower traveling body 2. The counterweight 36 can be, for example, a fabricated metal counterweight or a cast metal counterweight.

[0020] The front winch 37f, rear winch 37r, third winch 37t, and boom luffing winch 37b are hydraulic actuators, including a hydraulic motor driven by hydraulic pressure from a hydraulic fluid. These winches wind up the front drum wire rope 83, rear drum wire rope 85, boom luffing wire rope 69, etc., as shown in Figure 1.

[0021] The left bed 32 is connected to the left side of the slewing frame 31 and constitutes the left side of the upper slewing body 3. The right bed 33 is connected to the right side of the slewing frame 31 and constitutes the right side of the upper slewing body 3. In the example shown in Figure 2, the right bed 33 is located on the side of the upper slewing body 3 where the driver's cab 4 is provided. The left and right beds 32 and 33 are provided with houses 5 for housing various equipment mounted on the upper slewing body 3.

[0022] House 5 has a removable left cover 51L that covers electrical equipment and the like mounted on the left bed 32. House 5 also has a removable right cover 51R that covers various devices mounted on the right bed 33, for example.

[0023] The driver's cab 4 is located, for example, at the front end of the right bed 33 and to the right of the attachment AT. The driver's cab 4 is also called a cabin or cab. Alternatively, the driver's cab 4 may be located at the front end of the left bed 32 and to the left of the attachment AT.

[0024] The attachment AT is mounted on the upper slewing body 3 so as to be able to rise and fall. Specifically, the attachment AT is attached to the front end of the slewing frame 31, for example, via a boom foot pin parallel to the width direction of the upper slewing body 3. In the crane 1 of the crane specifications shown in Figure 1, the attachment AT includes a lower boom 61, an intermediate boom 62, and an upper boom 63.

[0025] The lower boom 61 is mounted to the slewing frame 31 of the upper slewing body 3 so as to be rotatable forward and backward. The intermediate boom 62 is mounted to the tip of the lower boom 61. The upper boom 63 has guide sheaves 64 and auxiliary sheaves 65 and is mounted to the tip of the intermediate boom 62. The height of the attachment AT can be changed by increasing or decreasing the number of intermediate booms 62 between the lower boom 61 and the upper boom 63.

[0026] Furthermore, the crane 1 shown in Figure 1 has a pendant rope 66, an upper spreader 67, a lower spreader 68, a boom luffing wire rope 69, a gantry 71, a gantry lifting cylinder 72, and a backstop 73.

[0027] The pendant rope 66 has one end connected to the rear of the tip of the upper boom 63 and the other end connected to the upper spreader 67. The lower spreader 68 is attached to the tip of the gantry 71, which is mounted on the slewing frame 31 so as to be luffable. The gantry lifting cylinder 72 is mounted on the slewing frame 31 and luffs the gantry 71. The boom luffing wire rope 69 is stretched between the upper spreader 67 and the lower spreader 68 and is wound around the boom luffing winch 37b.

[0028] With the gantry 71 raised by the gantry lifting cylinder 72, the boom luffing winch 37b can be used to wind up the boom luffing wire rope 69, thereby rotating the attachment AT backward and upward to raise it. At this time, the backstop 73 restricts the backward rotation of the attachment AT. Furthermore, by unwinding the boom luffing wire rope 69 with the boom luffing winch 37b, the attachment AT can be rotated forward and downward to tilt it forward.

[0029] Furthermore, the crane 1 shown in Figure 1 has a boom hook 81, a jib hook 82, a front drum wire rope 83, a hook overwinding prevention device 84, and a rear drum wire rope 85.

[0030] The front drum wire rope 83 is stretched across the boom hook 81 and wound around the front winch 37f. A hook overwinding prevention device 84 is provided on the front drum wire rope 83. The rear drum wire rope 85 is connected to the jib hook 82 and wound around the rear winch 37r.

[0031] By winding up the front drum wire rope 83 with the front winch 37f, the boom hook 81 can be raised to lift the load. At this time, the hook overwinding prevention device 84 prevents the boom hook 81 from being wound up excessively. Also, by unwinding the front drum wire rope 83 with the front winch 37f, the boom hook 81 can be lowered to lower the load.

[0032] Similarly, the jib hook 82 can be raised and the load lifted by winding up the rear drum wire rope 85 with the rear winch 37r. Conversely, the jib hook 82 can be lowered and the load lowered by unwinding the rear drum wire rope 85 with the rear winch 37r.

[0033] Figure 3 is a side view showing the tower configuration of crane 1 in Figure 1. In the tower configuration of crane 1, attachment AT includes a lower tower boom 61t, an intermediate tower boom 62t, an upper tower boom 63t, a lower tower jib 61j, an intermediate tower jib 62j, and an upper tower jib 63j.

[0034] The lower tower boom 61t is mounted to the slewing frame 31 of the upper slewing body 3 so as to be rotatable forward and backward. The intermediate tower boom 62t is mounted to the tip of the lower tower boom 61t. The upper tower boom 63t has tower struts 63ts and is mounted to the tip of the intermediate tower boom 62t. The height of the attachment AT can be changed by increasing or decreasing the number of intermediate tower booms 62t between the lower tower boom 61t and the upper tower boom 63t.

[0035] The lower tower jib 61j has a tower jib backstop 61js and is mounted to the upper tower boom 63t in a luffable manner. The intermediate tower jib 62j is mounted to the tip of the lower tower jib 61j. The upper tower jib 63j is mounted to the tip of the intermediate tower jib 62j.

[0036] Furthermore, the tower-type crane 1 shown in Figure 3 has a tower jib pendant rope 66j, a tower jib upper spreader 67j, a tower jib lower spreader 68j, and a tower jib luffing wire rope 69j.

[0037] The tower jib pendant rope 66j is stretched between the tip of the upper tower jib 63j and the tower strut 63ts, and between the tower strut 63ts and the upper tower jib spreader 67j. The lower tower jib spreader 68j is attached to the rear of the intermediate tower boom 62t, which is connected to the tip of the lower tower boom 61t. The tower jib luffing wire rope 69j is stretched between the upper tower jib spreader 67j and the lower tower jib spreader 68j and is wound around the rear winch 37r.

[0038] By winding up the tower jib luffing wire rope 69j with the rear winch 37r, the tower jib, including the lower tower jib 61j, the intermediate tower jib 62j, and the upper tower jib 63j, rotates rearward and upward relative to the tower boom, including the lower tower boom 61t, the intermediate tower boom 62t, and the upper tower boom 63t, and stands upright. At this time, the rearward rotation of the tower jib is restricted by the tower jib backstop 61js. Also, by unwinding the tower jib luffing wire rope 69j with the rear winch 37r, the tower jib rotates forward and downward.

[0039] Furthermore, the tower-type crane 1 shown in Figure 3 has a tower pendant rope 66t, a tower upper spreader 67t, a tower lower spreader 68t, and a tower luffing wire rope 69t.

[0040] The tower pendant rope 66t has one end connected to the rear of the upper tower boom 63t and the other end connected to the upper tower spreader 67t. The lower tower spreader 68t is attached to the tip of the gantry 71, which is provided on the slewing frame 31 so as to be able to luff. The tower luffing wire rope 69t is stretched between the upper tower spreader 67t and the lower tower spreader 68t and is wound around the boom luffing winch 37b.

[0041] With the gantry 71 raised by the gantry lifting cylinder 72, the attachment AT can be rotated backward and upward by winding up the tower luffing wire rope 69t with the boom luffing winch 37b, thereby raising it to an upright position. At this time, the backward rotation of the attachment AT is restricted by the backstop 73. Furthermore, by unwinding the tower luffing wire rope 69t with the boom luffing winch 37b, the attachment AT can be rotated forward and downward, thereby tilting it forward.

[0042] Further, the crane 1 with the tower specification shown in FIG. 3 has a boom hook 81, a front drum wire rope 83, and a hook overwind prevention device 84, similar to the crane 1 with the crane specification shown in FIG. 1. Thus, by winding up the front drum wire rope 83 with the front winch 37f, the boom hook 81 can be raised to lift the suspended load. At this time, the hook overwind prevention device 84 prevents the boom hook 81 from being overly wound up. Also, by paying out the front drum wire rope 83 with the front winch 37f, the boom hook 81 can be lowered to lower the suspended load.

[0043] FIG. 4 is a perspective view of the interior of the cab 4 of the crane 1 shown in FIGS. 1 to 3. Inside the cab 4, a driver's seat 41 on which an operator of the crane 1 sits is installed. The front-back, left-right, and up-down directions of the crane 1 in the present embodiment are, for example, the front-back, left-right, and up-down as seen from the operator sitting on the driver's seat 41. Various operating devices for operating the crane 1 are provided around the driver's seat 41.

[0044] Specifically, the operating devices of the crane 1 include, for example, a display device 42, a switch panel 43, a slewing operation lever 44s, a front winch operation lever 44f, a rear winch operation lever 44r, and a boom hoisting winch operation lever 44b. Also, the operating devices of the crane 1 include, for example, a slewing brake pedal 45s, a front winch brake pedal 45f, a rear winch brake pedal 45r, a left travel lever 46L, and a right travel lever 46R.

[0045] The display device 42 is provided with, for example, a touch panel, and displays an image around the crane 1 or information regarding overload prevention. The switch panel 43 receives various operations by the operator. The slewing operation lever 44s is used for the slewing operation of the upper slewing body 3 by the slewing device 35.

[0046] The front winch operation lever 44f is used for the lifting operation of the boom hook 81 by the front winch 37f. The rear winch operation lever 44r is used for the lifting operation of the jib hook 82 by the rear winch 37r and the pitching operation of the tower jib in the tower-type attachment AT. The boom pitching winch operation lever 44b is used for the pitching operation of the lower boom 61, the intermediate boom 62, and the upper boom 63, or the lower tower boom 61t, the intermediate tower boom 62t, and the upper tower boom 63t.

[0047] The front winch operation lever 44f and the rear winch operation lever 44r may each have a changeover switch 44fs and a changeover switch 44rs. The changeover switch 44fs of the front winch operation lever 44f is used for switching the brake mode of the front winch 37f, and the changeover switch 44rs of the rear winch operation lever 44r is used for switching the brake mode of the rear winch 37r.

[0048] The slewing brake pedal 45s is used for the operation of braking the slewing of the upper slewing body 3. The front winch brake pedal 45f is used for the operation of braking the rotation of the front winch 37f when lowering the boom hook 81 with the rotation of the front winch 37f made free. The rear winch brake pedal 45r is used for the operation of braking the rotation of the rear winch 37r when lowering the jib hook 82 with the rotation of the rear winch 37r made free. The left travel lever 46L is used for the operation of the left travel device 22 constituting the lower travel body 2, and the right travel lever 46R is used for the operation of the right travel device 22 constituting the lower travel body 2.

[0049] Figure 5 is a functional block diagram of the peripheral monitoring device 9 provided in the crane 1 of FIG. 1.

[0050] The peripheral monitoring device 9 is a device that displays an image on the display device 42 indicating the detection status of the external sensor ES attached to the crane 1, which is a work machine. The peripheral monitoring device 9 includes, for example, an auxiliary storage device such as ROM (Read-Only Memory), a memory device such as RAM (Random Access Memory), a processing device such as a CPU (Central Processing Unit), and an interface device for communication with other devices. The peripheral monitoring device 9 may be configured by a controller that controls each part of the crane 1, or it may be provided separately from the controller that controls each part of the crane 1.

[0051] The surrounding monitoring device 9 is mounted, for example, on the upper rotating body 3 of the crane 1 and connected to the external sensor ES and the display device 42 via a communication line. Alternatively, the surrounding monitoring device 9 may be located outside the crane 1 and connected to the external sensor ES and the display device 42 via a wireless communication line.

[0052] The peripheral monitoring device 9 includes, for example, an estimation unit 91, a calculation unit 92, and an image generation unit 93. The peripheral monitoring device 9 may also include, for example, an object detection unit 94. Each of these parts of the peripheral monitoring device 9 represents a function of the peripheral monitoring device 9, which is realized by loading a program stored in an auxiliary storage device into a memory device via the CPU and executing it. The processing performed by each of these parts of the peripheral monitoring device 9 will be described later with reference to the flowchart in Figure 7.

[0053] Figure 6 is a perspective view showing an example of an external sensor ES attached to the crane 1 in Figure 1. The external sensor ES is attached to the body of the work machine and connected to the surrounding monitoring device 9. Specifically, the crane 1, which is an example of a work machine, has a body that can be disassembled and assembled. The body of the crane 1 includes a lower traveling body 2 and an upper rotating body 3 that can be disassembled during transport and assembled at the work site. The external sensor ES is, for example, detachably attached to the upper rotating body 3 of the crane 1.

[0054] More specifically, in the example shown in Figure 6, one external sensor ES is detachably attached to the left and right lower ends of the counterweight 36 mounted on the rear of the upper rotating body 3, using fastening members such as bolts and nuts. In the example shown in Figure 6, the external sensor ES is a LiDAR (Light Detection and Ranging) sensor. The type of external sensor ES is not particularly limited; any sensor capable of detecting surrounding objects is acceptable. The external sensor ES may be, for example, a monocular camera, a stereo camera, a millimeter-wave radar, or an ultrasonic sensor.

[0055] Figure 7 is a flowchart showing an example of processing performed by each part of the peripheral monitoring device 9 in Figure 5.

[0056] When the peripheral monitoring device 9 starts the processing flow shown in Figure 7, it first executes a process P1 to acquire the detection results of the external sensor ES. In this process P1, the detection results of the external sensor ES are acquired, for example, by the estimation unit 91 and the object detection unit 94 of the peripheral monitoring device 9. The detection results of the external sensor ES include, for example, the detection results of objects present around the crane 1 to which the external sensor ES is attached, and the detection results of a part of the crane 1 to which the external sensor ES is attached. Next, the peripheral monitoring device 9 executes a process P2 to compare the partial shape of the crane 1 with the pre-held shape of the crane, and a process P3 to estimate the position and orientation of the external sensor ES.

[0057] Figure 8 is a conceptual diagram illustrating the comparison process P2 and estimation process P3 in Figure 7. In process P2, the estimation unit 91 acquires, for example, the shape of a part of the crane 1 detected by the external sensor ES as the partial shape PG of the work machine. The estimation unit 91 also acquires the shape of the crane 1 body, excluding the attachment AT, which has been previously stored in the auxiliary storage device of the peripheral monitoring device 9, as the shape WG of the work machine.

[0058] The partial shape PG of the work machine shown in Figure 8 is, for example, the shape of a part of the crane 1 acquired by the external sensor ES. In this embodiment, the external sensor ES is a LiDAR. Therefore, the partial shape PG of the work machine shown in Figure 8 is point cloud information that includes information on the distance and direction from the external sensor ES to the part of the crane 1, and represents the shape and dimensions of the part of the crane 1.

[0059] More specifically, the partial shape PG of the working machine shown in Figure 8 is point cloud information including information on the distance and direction from the external sensor ES attached to the lower right of the counterweight 36 of the crane 1, and represents the shape and dimensions of a part of the lower traveling body 2. Also, the shape WG of the working machine shown in Figure 8 is design information from 3D CAD (3-Dimensional Computer Aided Design), and is three-dimensional information including the shape and dimensions of the crane 1 body, which includes the lower traveling body 2 and the upper slewing body 3. In the example shown in Figure 8, the shape WG of the crane 1 is the overall shape of the crane 1 body, but the shape WG may also be a partial shape of the body, that is, the shape of a part of the body.

[0060] In processes P2 and P3, the estimation unit 91 estimates the position and orientation PI of the external sensor ES based on the partial shape PG of the crane 1 detected by the external sensor ES and the pre-held shape WG of the crane 1, as shown in Figure 8. Specifically, in process P2, the estimation unit 91 matches the partial shape PG of the crane 1, obtained by the external sensor ES attached to the lower right of the counterweight 36, with the shape WG of the crane 1, including the lower traveling body 2 and the upper slewing body 3.

[0061] Furthermore, in processing P3, the estimation unit 91 estimates the position and attitude PI of the external sensor ES relative to the three-dimensional Cartesian coordinate system of the crane 1, based on the matching results of the comparison processing P2. The attitude of the external sensor ES includes, for example, the roll angle, pitch angle, and yaw angle relative to the three-dimensional Cartesian coordinate system of the crane 1.

[0062] Next, the peripheral monitoring device 9 completes the processing flow shown in Figure 7 by executing the following processes: process P4 for calculating the detection state of the external sensor ES, process P5 for generating an image showing the detection state, and process P6 for outputting the image showing the detection state. Specifically, in process P4, the calculation unit 92 of the peripheral monitoring device 9 shown in Figure 5 calculates the detection state of the external sensor ES based on the position and orientation PI of the external sensor ES estimated by the estimation unit 91 in the previous process P3. In processes P5 and P6, the image generation unit 93 of the peripheral monitoring device 9 shown in Figure 5 generates an image showing the detection state of the external sensor ES and outputs it to the display device 42.

[0063] Figure 9 is an example of an image DI showing the detection state of the external sensor ES. In the example shown in Figure 9, the external sensor ES includes a rear sensor ES1 attached to the rear of the upper slewing body 3 of the crane 1, and a right sensor ES2 attached to the right side of the upper slewing body of the crane 1. In the example shown in Figure 9, the detection state of the external sensor ES includes circles indicating the fields of view FOV1 and FOV2 of these multiple external sensor ES. The calculation unit 92 of the peripheral monitoring device 9 calculates the detection state of the external sensor ES based, for example, on the specifications of the external sensor ES stored in advance in the auxiliary storage device, and the position and orientation PI of the external sensor ES.

[0064] In the example shown in Figure 9, an image G1 of the crane 1 is displayed in the center of image DI. The field of view (FOV1) of the rear sensor ES1 is shown as a dashed circle with radius r1 centered on the position coordinates of the rear sensor ES1. Similarly, the field of view (FOV2) of the right sensor ES2 is shown as a dashed circle with radius r2 centered on the position coordinates of the right sensor ES2. The fields of view (FOV1) and (FOV2) of the multiple external sensor ES shown in Figure 9 do not take into account the blind spots of the external sensor ES caused by the crane 1's body and surrounding objects OB1-OB4.

[0065] The image DI shown in Figure 9 is an overhead view of the crane 1 and its surroundings, and therefore the fields of view FOV1 and FOV2 of the rear sensor ES1 and the right sensor ES2 are displayed as circles. However, the field of view of the external sensor ES is actually spherical. Therefore, the image generation unit 93 of the peripheral monitoring device 9 may generate an image DI that can display the fields of view FOV1 and FOV2 of the external sensor ES three-dimensionally by changing the viewpoint.

[0066] Figure 10 shows an example of the detection area DA and blind spot area BA included in the detection state of the external sensor ES in Figure 9. As shown in Figure 10, the detection state of the external sensor ES may include a detection area DA in which objects can be detected by the external sensor ES. The detection state of the external sensor ES may also include a blind spot area BA in which objects cannot be detected by the external sensor ES. In the examples shown in Figures 9 and 10, the image generation unit 93 of the peripheral monitoring device 9 generates an image DI by superimposing the objects OB1-OB4 detected by the external sensor ES and the detection state of the external sensor ES, and outputs it to the display device 42.

[0067] Specifically, the detection area DA shown in white in Figure 10 is the area where the field of view FOV1, FOV2 of any of the multiple external sensors ES, including the rear sensor ES1 and the right sensor ES2, is not obstructed by the crane 1 body and surrounding objects OB1-OB4. The blind spot area BA shown in diagonal hatching in Figure 10 is the area where the field of view FOV1, FOV2 of all of the multiple external sensors ES is obstructed by the crane 1 body or surrounding objects OB1-OB4. The objects OB1-OB4 surrounding the crane 1 include, for example, workers, vehicles, machinery, buildings, safety fences, terrain, trees, rocks, etc.

[0068] Furthermore, the surrounding monitoring device 9 detects objects OB1-OB4 present around the crane 1 based on the detection results of the external sensor ES, for example. Specifically, the object detection unit 94 of the surrounding monitoring device 9 shown in Figure 5 acquires the detection results of the external sensor ES and calculates information including the shape, size, distance, and direction of objects OB1-OB4 present around the crane 1.

[0069] The calculation unit 92 calculates the detection state of the external sensor ES, including the detection area DA and the blind spot area BA, based on information such as the specifications, position and orientation PI of the external sensor ES, the shape WG of the crane 1, and information on objects OB1-OB4, which are stored in an auxiliary storage device or memory device. The image generation unit 93 generates an image DI by superimposing the information on objects OB1-OB4 detected by the external sensor ES and the detection state of the external sensor ES calculated by the calculation unit 92, and outputs it to the display device 42.

[0070] In this case, the image generation unit 93 may generate an image DI that distinguishes blind spot areas BA caused by, for example, the body of the crane 1 and each of the objects OB1-OB4. Specifically, the image generation unit 93 may assign an identification number to each blind spot area BA for each of the body of the crane 1 and each of the objects OB1-OB4, and generate an image DI that displays each blind spot area BA in a different color according to its identification number. Alternatively, the image generation unit 93 may generate an image DI in which the color of blind spot areas BA whose distance from the crane 1 is below a threshold is different from the color of blind spot areas BA whose distance from the crane 1 is above a threshold.

[0071] The image generation unit 93 may also generate a first image DI1 including a blind spot area BA as shown in Figure 10, and a second image DI2 not including a blind spot area BA as shown in Figure 9, and output them to the display device 42. In this case, the display device 42 may have an operation unit that can switch between displaying the first image DI1 and the second image DI2. The first image DI1 may include only the blind spot area BA. The second image DI2 may include a detection area DA instead of, or together with, the fields of view FOV1 and FOV2.

[0072] Furthermore, the image generation unit 93 may generate an image DI that can display the detection state of the external sensor ES, which includes at least one of the field of view FOV1, FOV2, detection area DA, or blind spot area BA, in three dimensions from a different viewpoint. In this case, the display device 42 may have an operation unit that can change the viewpoint in the image DI. The operation unit of the display device 42 may include, for example, a touch panel or operation buttons that are integrated with the display device 42. The image generation unit 93 may also generate an image showing the installation state of the external sensor ES, i.e., the position and orientation PI of the external sensor ES, and output it to the display device 42.

[0073] Figure 11 is another example of image DI showing the detection state of the external sensor ES in Figure 9. In the example shown in Figure 11, the image generation unit 93 generates a three-dimensional boundary surface image BS surrounding the area in which an object can be detected by the external sensor ES and outputs it to the display device 42. The image DI3 shown in Figure 11 includes a machine body image G1 displayed in the center and a cylindrical boundary surface image BS showing the area detectable by a plurality of external sensors ES attached to the upper rotating body 3 of the crane 1.

[0074] The height of the interface image BS corresponds to the height at which the external sensor ES can detect an object. Alternatively, the height of the interface image BS may correspond to the height at which the external sensor ES can detect an object with a predetermined accuracy. Similarly, the distance from the aircraft image G1 to the interface image BS may be set to a distance at which the external sensor ES can detect an object with a predetermined accuracy. Furthermore, the shape of the interface image BS is not limited to a cylindrical shape, but can have any three-dimensional shape corresponding to the region at which the external sensor ES can detect an object.

[0075] Figure 12 is yet another example of the image DI showing the detection state of the external sensor ES in Figure 9. In the example shown in Figure 12, the image generation unit 93 generates a two-dimensional detection surface image DS showing the area in which an object can be detected by the external sensor ES and outputs it to the display device 42. The image DI4 shown in Figure 12 includes a machine image G1 displayed in the center and a circular detection surface image DS on the ground surface showing the area detectable by a plurality of external sensors ES attached to the upper rotating body 3 of the crane 1.

[0076] The radius of the detection surface image DS corresponds to the distance at which objects can be detected by the external sensor ES. Furthermore, the detection surface image DS is displayed in a different manner from the surrounding ground surface image. Specifically, the detection surface image DS is displayed in a different color from the ground surface image. In addition, the shape of the detection surface image DS is not limited to a circle, but can have any two-dimensional shape corresponding to the area in which objects can be detected by the external sensor ES. The detection surface image DS may also be displayed at a predetermined height with a gap between it and the image representing the ground surface.

[0077] Figure 13 is yet another example of image DI showing the detection state of the external sensor ES in Figure 9. In the example shown in Figure 13, the image generation unit 93 generates a three-dimensional boundary surface image BS surrounding the area in which the external sensor ES can detect an object, and a two-dimensional detection surface image DS showing the area in which the external sensor ES can detect an object, and outputs them to the display device 42. In image DI 5 shown in Figure 13, the radius ra of the boundary surface image BS and the detection surface image DS represents the maximum distance at which each external sensor ES can detect an object with a predetermined accuracy.

[0078] Figure 14 is yet another example of image DI showing the detection state of the external sensor ES in Figure 9. In the example shown in Figure 14, the image generation unit 93 generates blind spot images BA1, BA2, and BA3 that indicate areas where objects cannot be detected by the external sensor ES by superimposing them on the detection surface image DS, and outputs them to the display device 42. Also in the example shown in Figure 14, the image generation unit 93 generates a three-dimensional boundary surface image BS that surrounds the area where objects can be detected by the external sensor ES, and outputs it to the display device 42.

[0079] In the image DI6 shown in Figure 14, the blind spot images BA1, BA2, and BA3 represent the shape of the shadows projected onto the ground surface when light emitted from each external sensor ES is blocked by objects OB5, OB6 around the crane 1 or the crane 1's body. The blind spot images BA1, BA2, and BA3 are, for example, darker than the detection surface image DS. The blind spot images BA1, BA2, and BA3 represent the blind spots of the external sensor ES caused by objects OB5, OB6 detected by the external sensor ES and the crane 1's body.

[0080] Specifically, as described above, the calculation unit 92 calculates the detection state, including the blind spots and the range in which objects can be detected by the external sensor ES, based on the specifications, position and orientation PI of the external sensor ES, the shape WG of the crane 1, and information on objects OB5 and OB6. The image generation unit 93 generates an image DI6 by superimposing the information on objects OB5 and OB6 detected by the external sensor ES with the boundary surface image BS, detection surface image DS, and blind spot images BA1, BA2, and BA3 based on the detection state of the external sensor ES calculated by the calculation unit 92.

[0081] Figures 15 to 17 show yet another example of the image DI indicating the detection state of the external sensor ES in Figure 9. In the example shown in Figures 15 to 17, the image generation unit 93 generates a scan image SI that periodically moves over the entire area in which the external sensor ES can detect an object, and outputs it to the display device 42.

[0082] In the example shown in Figure 15, the image generation unit 93 displays an image DI7 on the display device 42, which includes a cylindrical interface image BS, a circular detection surface image DS, a machine body image G1 representing the crane 1, and a scan image SI. In the example shown in Figure 15, the scan image SI is a planar image that rotates around a circular area where an object can be detected by the external sensor ES.

[0083] More specifically, in the example shown in Figure 15, the scanned image SI is a roughly right-angled triangular plane having a base that extends radially from the aircraft image G1 to the outer edge of the detection surface image DS, having the same height as the boundary surface image BS, and gradually decreasing in height toward the aircraft image G1. The scanned image SI rotates around the aircraft image G1 in the circumferential direction of the circular detection surface image DS, thereby periodically orbiting a circular region where objects can be detected by the external sensor ES.

[0084] In the example shown in Figure 16, the image generation unit 93 displays an image DI8 on the display device 42, which includes a cylindrical interface image BS, a circular detection surface image DS, a machine body image G1 representing the crane 1, and a scan image SI. In the example shown in Figure 16, the scan image SI is an annular image that moves radially through a circular area where an object can be detected by the external sensor ES.

[0085] More specifically, in the example shown in Figure 16, the scanned image SI is an annular image centered on the aircraft image G1, and its diameter expands over time as it moves from the center outward across the detection surface image DS. Alternatively, the scanned image SI may shrink in diameter over time as it moves from the outside to the center across the detection surface image DS. The annular scanned image SI moves radially across the circular detection surface image DS, centered on the aircraft image G1.

[0086] In the example shown in Figure 16, the color of the scanned image SI differs from the color of the detection surface image DS; the smaller the diameter, the darker the color or the brighter the lighter the color or the brighter the larger the diameter. Thus, the display pattern of the scanned image SI may differ depending on the distance from the external sensor ES.

[0087] In the example shown in Figure 17, the image generation unit 93 displays an image DI9 on the display device 42, which includes a cylindrical interface image BS, a circular detection surface image DS, a machine body image G1 representing the crane 1, and a scan image SI. In the example shown in Figure 17, the scan image SI is a three-dimensional image that moves in the height direction of the region where an object can be detected by the external sensor ES.

[0088] More specifically, in the example shown in Figure 16, the scanned image SI has a three-dimensional shape resembling the surface of an inverted frustum of a cone centered on the machine image G1. The outer edge of the scanned image SI moves periodically in the height direction between the lower and upper ends of the boundary surface image BS. When the outer edge of the scanned image SI is higher than the height of the external sensor ES attached to the crane 1, the central part of the scanned image SI is lower than the outer edge. Also, when the outer edge of the scanned image SI is at the height of the external sensor ES, the scanned image temporarily takes on a circular two-dimensional shape. Furthermore, when the outer edge of the scanned image SI is lower than the height of the external sensor ES, the scanned image SI takes on a three-dimensional shape resembling the surface of a frustum of a cone, with the central part being higher than the outer edge.

[0089] Figure 18 is yet another example of image DI showing the detection state of the external sensor ES in Figure 9. In the example shown in Figure 18, the image generation unit 93 generates an upper surface image TS showing the height of the region in which an object can be detected by the external sensor ES by superimposing it on the boundary surface image BS, and outputs it to the display device 42.

[0090] In the example shown in Figure 18, the image generation unit 93 displays an image DI10 on the display device 42, which includes a cylindrical interface image BS, a circular detection surface image DS, a machine body image G1 representing the crane 1, and an upper surface image TS. For example, the image generation unit 93 displays a circular upper surface image TS, which corresponds to the upper surface of the cylindrical interface image BS, at the height of the upper end of the interface image BS.

[0091] In the example shown in Figure 18, the top image TS has a predetermined transmittance. This allows the operator of the crane 1 to recognize the machine body image G1, the detection surface image DS, and the boundary surface image BS, which are covered by the top image TS. The image generation unit 93 can switch between a state in which the top image TS is displayed and a state in which the top image TS is not displayed, for example, in response to the operation of an input device including the control unit of the display device 42 by the operator of the crane 1.

[0092] Figure 19 is yet another example of the image DI showing the detection state of the external sensor ES in Figure 9. In the example shown in Figure 19, the image generation unit 93 generates an image DI 11 showing a part of the region in which an object can be detected by the external sensor ES and outputs it to the display device 42.

[0093] Specifically, in image DI5 shown in Figure 13, the radius ra of the boundary surface image BS and the detection surface image DS represents the maximum distance at which an object can be detected with a predetermined accuracy by each external sensor ES. In contrast, in image DI11 shown in Figure 19, the radius rb of the boundary surface image BS and the detection surface image DS is set to an arbitrary distance smaller than the radius ra. The image generation unit 93 receives input of the radius rb from the operator of the crane 1, for example, via an input device such as the operation unit of the display device 42.

[0094] The image generation unit 93 generates an image DI11 that expands the range of radius rb input via the input device and outputs it to the display device 42. That is, in the image DI11 shown in Figure 19, the height of the boundary surface image BS represents the height at which an object can be detected by the external sensor ES within the set radius rb. Also, in the image DI11 shown in Figure 19, the detection surface image DS represents that an object can be detected by the external sensor ES inside a circle of the set radius rb.

[0095] Figure 20 is a side view of a shovel 1A, which is an example of a work machine different from the crane 1 described above. The surrounding monitoring device 9 of this embodiment can display an image showing the detection status of the external sensor attached to the shovel 1A on a display device, similar to the case of the crane 1 described above. Thus, the type of work machine that the surrounding monitoring device 9 monitors is not particularly limited. Specifically, the work machine that the surrounding monitoring device 9 monitors may include, for example, forestry machinery, recycling machinery, demolition machinery, application machinery, road machinery, forklifts, wheel loaders, bulldozers, dump trucks, etc.

[0096] The operation of the peripheral monitoring device 9 and the work machine of this embodiment will be described below.

[0097] As described above, the peripheral monitoring device 9 of this embodiment displays an image DI on the display device 42 that shows the detection status of the external sensor ES attached to the work machine such as the crane 1 or the shovel 1A.

[0098] With this configuration, the operator of the work machine can check the current detection status of the external sensor ES via the display device 42 during operation. Therefore, even if the position and orientation of the external sensor ES attached to the crane 1, which is transported in a disassembled state and assembled at the work site, change from one work site to another, the operator can grasp the detection status of the external sensor ES in accordance with these changes. Accordingly, the peripheral monitoring device 9 of this embodiment makes it possible for the operator to operate the work machine in accordance with the current detection status of the external sensor ES attached to the work machine during operation, thereby improving the safety of the work machine.

[0099] Furthermore, in the peripheral monitoring device 9 of this embodiment, the detection state of the external sensor ES includes a detection region DA in which an object can be detected by the external sensor ES.

[0100] With this configuration, operators of work machines such as cranes 1 and shovels 1A can operate the work machines within the detection area DA of the external sensor ES, which changes constantly at the work site, while visually confirming this area via the display device 42. As a result, contact with obstacles not detected by the external sensor ES can be avoided during operation of the work machines, thereby improving the safety of the work machines.

[0101] Furthermore, in the surrounding monitoring device 9 of this embodiment, the detection state of the external sensor ES includes a blind spot area BA in which the external sensor ES cannot detect objects.

[0102] With this configuration, operators of work machines such as cranes 1 and shovels 1A can visually confirm the blind spot area BA of the external sensor ES, which changes constantly at the work site, via the display device 42, and avoid working with the work machine within the blind spot area BA. As a result, contact with obstacles not detected by the external sensor ES can be avoided during operation of the work machine, thereby improving the safety of the work machine.

[0103] In particular, with crane 1, since workers may stand on top of the upper slewing body 3 or crawl underneath it, it is effective to display the blind spot area BA, including the vertical direction of crane 1, three-dimensionally on the display device 42. Also, with crane 1, the area above the counterweight 36 tends to be a blind spot area BA for the external sensor ES, so it is effective to display the vertical blind spot area BA of crane 1 on the display device 42.

[0104] Furthermore, the surrounding monitoring device 9 of this embodiment includes an estimation unit 91 that estimates the position and orientation PI of the surrounding sensor ES based on the partial shape PG of the work machine such as the crane 1 detected by the surrounding sensor ES and the shape WG of the work machine such as the crane 1 that is held in advance. The surrounding monitoring device 9 also includes a calculation unit 92 that calculates the detection state of the surrounding sensor ES based on the position and orientation PI of the surrounding sensor ES, and an image generation unit 93 that generates an image DI showing the detection state and outputs it to the display device 42.

[0105] With this configuration, the peripheral monitoring device 9 of this embodiment can estimate the position and orientation PI of the external sensor ES attached to a work machine such as a crane 1 using the detection results of the external sensor ES via the estimation unit 91. Furthermore, the peripheral monitoring device 9 can calculate the detection state of the external sensor ES using the calculation unit 92 based on the position and orientation PI of the external sensor ES estimated by the estimation unit 91. In addition, the peripheral monitoring device 9 can generate an image DI showing the detection state of the external sensor ES calculated by the calculation unit 92 using the image generation unit 93 and output it to the object detection unit 94. Therefore, according to the peripheral monitoring device 9 of this embodiment, the image DI showing the detection state of the external sensor ES attached to the work machine can be displayed on the display device 42.

[0106] Furthermore, in the surrounding monitoring device 9 of this embodiment, the image generation unit 93 generates a first image DI1 that includes a blind spot area BA in which objects cannot be detected by the external sensor ES, and a second image DI2 that does not include the blind spot area BA, and outputs them to the display device 42.

[0107] With this configuration, the operator of the work machine can display only the first image DI1, which includes the blind spot area BA, only the second image DI2, which does not include the blind spot area BA, or display both the first image DI1 and the second image DI2 simultaneously on the display device 42. This allows the operator to selectively display the first image DI1 and the second image DI2 on the display device 42 according to the work content of the work machine and the surrounding conditions, thereby improving the work efficiency and safety of the work machine.

[0108] Furthermore, in the peripheral monitoring device 9 of this embodiment, the image generation unit 93 generates an image DI by superimposing the objects OB1-OB4 detected by the external sensor ES and the detection state of the external sensor ES, and outputs it to the display device 42.

[0109] With this configuration, operators of work machines such as the crane 1 can visually grasp the relationship between the detection status of the external sensor ES, such as the field of view FOV1, FOV2, detection area DA, and blind spot area BA, and the objects OB1-OB4 present around the work machine, via the display device 42.

[0110] Furthermore, in the peripheral monitoring device 9 of this embodiment, the image generation unit 93 generates a three-dimensional boundary surface image BS that surrounds the area in which an object can be detected by the external sensor ES, and outputs it to the display device 42.

[0111] With this configuration, the operator of the crane 1 or other work machine can refer to the images DI3, DI5-DI11 displayed on the display device 42 and recognize that the area surrounded by the three-dimensional boundary surface image BS is an area where objects can be detected by the external sensor ES. Therefore, if no obstructing objects are displayed inside the boundary surface image BS shown in image DI, the operator can recognize that there are no obstacles within the range where objects can be detected by the external sensor ES. In addition, the operator can recognize that there may be objects outside the area surrounded by the boundary surface image BS that could not be detected by the external sensor ES. Thus, safety can be improved when the operator operates the crane 1 or other work machine.

[0112] Furthermore, in the peripheral monitoring device 9 of this embodiment, the image generation unit 93 generates a two-dimensional detection surface image DS that indicates the region in which an object can be detected by the external sensor ES, and outputs it to the display device 42.

[0113] With this configuration, the operator of the crane 1 or other work machine can recognize that the area on the two-dimensional detection surface image DS is an area where objects can be detected by the external sensor ES by referring to the images DI4-DI11 displayed on the display device 42. Therefore, if no obstructing objects are displayed on the detection surface image DS shown in image DI4, the operator can recognize that there are no obstacles within the range where objects can be detected by the external sensor ES. In addition, the operator can recognize that there may be objects outside the detection surface image DS that could not be detected by the external sensor ES. Thus, safety can be improved when the operator operates the crane 1 or other work machine.

[0114] Furthermore, in the peripheral monitoring device 9 of this embodiment, the image generation unit 93 generates blind spot images BA1, BA2, and BA3 that indicate areas where objects cannot be detected by the external sensor ES, superimposed on the detection surface image DS, and outputs them to the display device 42.

[0115] With this configuration, operators of work machines such as the crane 1 can refer to the image DI6 displayed on the display device 42 to recognize areas where the field of view of the external sensor ES is obstructed by objects OB5, OB6 on the detection surface image DS or by the body of the crane 1, creating blind spots. Therefore, operators can recognize that there may be objects in the areas shown in the blind spot images BA1, BA2, and BA3 that could not be detected by the external sensor ES. Consequently, safety can be improved when operators operate work machines such as the crane 1.

[0116] Furthermore, in the peripheral monitoring device 9 of this embodiment, the image generation unit 93 generates a scan image SI that periodically moves across the entire area where an object can be detected by the external sensor ES, and outputs it to the display device 42.

[0117] With this configuration, operators of work machines such as the crane 1 can refer to the images DI7-DI9 displayed on the display device 42 and confirm the range in which the scanned image SI is moving, thereby more clearly recognizing the range in which objects can be detected by the external sensor ES.

[0118] Furthermore, in the peripheral monitoring device 9 of this embodiment, the scanned image SI is a planar image that rotates over a circular area where objects can be detected by the external sensor ES.

[0119] With this configuration, operators of work machines such as the crane 1 can refer to the image DI7 displayed on the display device 42 and clearly recognize that the circular area around which the planar scan image SI rotates is the range in which objects can be detected by the external sensor ES. Furthermore, by making the scan image SI a plane along the radial and height directions of the circular area, the range in which objects can be detected by the external sensor ES can be shown more clearly.

[0120] Furthermore, in the peripheral monitoring device 9 of this embodiment, the scanned image SI is an annular image that moves radially within a circular area where objects can be detected by the external sensor ES.

[0121] With this configuration, operators of work machines such as the crane 1 can refer to the image DI8 displayed on the display device 42 and clearly recognize that the circular area in which the annular scan image SI moves radially is the range in which objects can be detected by the external sensor ES. Furthermore, by changing the display correspondence such as the color and brightness of the scan image SI according to the distance from the external sensor ES, the operator can be made aware of the relationship between the distance from the external sensor ES and the accuracy of object detection.

[0122] Furthermore, in the peripheral monitoring device 9 of this embodiment, the scanned image SI is a three-dimensional image that moves in the height direction of the region where an object can be detected by the external sensor ES.

[0123] With this configuration, the operator of the crane 1 or other work machine can refer to the image DI9 displayed on the display device 42 and clearly recognize that the three-dimensional area in which the three-dimensional scanned image SI moves in the height direction is within the range in which the external sensor ES can detect an object. Furthermore, as the scanned image SI moves in the height direction, the operator can more clearly recognize the height of the area in which the external sensor ES can detect an object.

[0124] Furthermore, in the peripheral monitoring device 9 of this embodiment, the image generation unit 93 generates an upper surface image TS that shows the height of the area in which an object can be detected by the external sensor ES by superimposing it on the boundary surface image BS, and outputs it to the display device 42.

[0125] With this configuration, the operator of the crane 1 or other work machine can refer to the image DI10 displayed on the display device 42 and clearly recognize that the height at which the top image TS is displayed is the upper limit of the range in which the external sensor ES can detect objects. Therefore, the operator can recognize that there may be objects above the top image TS that could not be detected by the external sensor ES. Thus, safety can be improved when the operator operates the crane 1 or other work machine.

[0126] Furthermore, in the surrounding monitoring device 9 of this embodiment, the image generation unit 93 generates an image DI 11 showing a part of the area where an object can be detected by the external sensor ES and outputs it to the display device 42.

[0127] With this configuration, operators of work machines such as the crane 1 can refer to the image DI 11 displayed on the display device 42 and enlarge a portion of the area where objects can be detected by the external sensor ES to confirm it in more detail. As a result, operators of work machines such as the crane 1 can confirm the necessary area in more detail according to the work, thereby improving safety.

[0128] Furthermore, the crane 1, which is a work machine in this embodiment, comprises a surrounding monitoring device 9, a disassembled and assembled machine body including an upper rotating body 3, an external sensor ES attached to the machine body and connected to the surrounding monitoring device 9, and a display device 42 connected to the surrounding monitoring device 9.

[0129] With this configuration, the operator of the work machine can check the current detection status of the external sensor ES via the display device 42 while the work machine is in operation. Therefore, even if the position and orientation of the external sensor ES attached to the machine, which is transported in a disassembled state and assembled at the work site, change from one work site to another, the operator can grasp the detection status of the external sensor ES in accordance with these changes. Accordingly, the crane 1, which is the work machine of this embodiment, makes it possible for the operator to operate the crane 1 according to the current detection status of the external sensor ES attached to the crane 1, thereby improving the safety of the crane 1.

[0130] Furthermore, in the crane 1, which is the work machine of this embodiment, the external sensor ES is a LiDAR.

[0131] With this configuration, the external sensor ES can accurately acquire the three-dimensional partial shape PG of the crane 1, which is the work machine. As a result, the surrounding monitoring device 9 can more accurately estimate the position and orientation PI of the external sensor ES based on the partial shape PG of the crane 1 detected by the external sensor ES and the shape WG of the work machine, such as the crane 1, which is held in advance.

[0132] As described above, according to this embodiment, it is possible to provide a peripheral monitoring device 9 that allows an operator to check the detection status of an external sensor ES attached to a work machine during operation, and a work machine equipped with the peripheral monitoring device 9.

[0133] Preferred embodiments of the present disclosure have been described above. However, the inventions of the present disclosure are not limited to the embodiments described above. Various modifications, substitutions, etc., can be applied to the embodiments described above without departing from the scope of the inventions of the present disclosure. Furthermore, each of the features described with reference to the embodiments described above may be combined as appropriate, as long as they do not contradict each other technically.

[0134] This application claims priority based on Japanese Patent Application No. 2024-230351, filed on 26 December 2024, and the entire contents of that Japanese Patent Application are incorporated herein by reference.

[0135] 1 Crane (working machine) 1A Shovel (working machine) 2 Lower traveling body (machine) 3 Upper rotating body (machine) 42 Display device 9 Surrounding monitoring device 91 Estimation unit 92 Calculation unit 93 Image generation unit BA Blind spot area (detection state) BA1 Blind spot image BA2 Blind spot image BA3 Blind spot image BS Boundary surface image DA Detection area (detection state) DI Image DI1 First image DI2 Second image DI3 Image DI4 Image DI5 Image DI6 Image DI7 Image DI8 Image DI9 Image DI10 Image DI11 Image DS Detection surface image ES Outside sensor ES1 Rear sensor (outside sensor) ES2 Right sensor (outside sensor) FOV1 Field of view (detection state) FOV2 Field of View (Detection State) OB1 Object OB2 Object OB3 Object OB4 Object OB5 Object OB6 Object PG Partial Shape PI Position and Orientation SI Scan Image TS Top View Image WG Shape

Claims

1. A peripheral monitoring device that displays images on a display device indicating the detection status of external sensors attached to a work machine.

2. The surrounding monitoring device according to claim 1, wherein the detection state includes a detection area in which an object can be detected by the external sensor.

3. The surrounding monitoring device according to claim 1, wherein the detection state includes a blind spot area where an object cannot be detected by the external sensor.

4. The peripheral monitoring device according to claim 1, comprising: an estimation unit that estimates the position and orientation of the external sensor based on the partial shape of the work machine detected by the external sensor and the shape of the work machine held in advance; a calculation unit that calculates the detection state based on the position and orientation of the external sensor; and an image generation unit that generates an image showing the detection state and outputs it to the display device.

5. The peripheral monitoring device according to claim 4, wherein the image generation unit generates a first image including a blind spot region in which an object cannot be detected by the external sensor, and a second image not including the blind spot region, and outputs them to the display device.

6. The peripheral monitoring device according to claim 4, wherein the image generation unit generates an image by superimposing the object detected by the external sensor and the detection state and outputs it to the display device.

7. The peripheral monitoring device according to claim 4, wherein the image generation unit generates a three-dimensional boundary surface image surrounding the area in which an object can be detected by the external sensor and outputs it to the display device.

8. The peripheral monitoring device according to claim 4, wherein the image generation unit generates a two-dimensional detection surface image showing an area where an object can be detected by the external sensor and outputs it to the display device.

9. The peripheral monitoring device according to claim 8, wherein the image generation unit generates a blind spot image showing an area where an object cannot be detected by the external sensor by superimposing it on the detection surface image and outputs it to the display device.

10. The peripheral monitoring device according to claim 4, wherein the image generation unit generates a scan image that periodically moves over the entire area in which an object can be detected by the external sensor and outputs it to the display device.

11. The surrounding monitoring device according to claim 10, wherein the scanned image is a planar image that rotates over a circular area in which an object can be detected by the external sensor.

12. The peripheral monitoring device according to claim 10, wherein the scanned image is an annular image moving radially through a circular region in which an object can be detected by the external sensor.

13. The surrounding monitoring device according to claim 10, wherein the scanned image is a three-dimensional image of a region where an object can be detected by the external sensor, moving in the height direction.

14. The peripheral monitoring device according to claim 7, wherein the image generation unit generates a top image indicating the height of the region in which an object can be detected by the external sensor by superimposing it on the boundary surface image and outputs it to the display device.

15. The peripheral monitoring device according to claim 4, wherein the image generation unit generates an image showing a portion of the area in which an object can be detected by the external sensor and outputs it to the display device.

16. A work machine comprising: a peripheral monitoring device according to any one of claims 1 to 15; a disassembled and assembled body; an external sensor attached to the body and connected to the peripheral monitoring device; and a display device connected to the peripheral monitoring device.

17. The work machine according to claim 16, wherein the external sensor is a LiDAR.

Images