Work machine and periphery monitoring device

Abstract

The present disclosure provides a work machine better suited for avoiding detection of an additional member, which is attached to a machine body, as an obstacle. A work machine (1) comprises: a machine body (MB); an external environment sensor (ES) attached to the machine body (MB); and a periphery monitoring device (9) that excludes, from the detection results of the external environment sensor (ES), a detection result that satisfies a predetermined condition.

Description

Work machine, peripheral monitoring device

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

[0002] Conventionally, a guide information display device that assists an operator in crane work is known (see Patent Document 1 below). The guide information display device described in Patent Document 1 includes a camera, a laser scanner, a data processing unit, and a data display unit, and executes the following processes for a crane.

[0003] In the guide information display device of Patent Document 1, first, the camera photographs a part of the working area of the crane. Next, the laser scanner acquires point cloud data of the working area photographed by the camera. Next, the data processing unit excludes the point cloud data existing between the suspended load suspended by the crane and the tip of the boom of the crane from the point cloud data acquired by the laser scanner. Further, the data processing unit estimates the upper surface of the suspended load, the ground surface of the working area, and the upper surfaces of the ground objects existing in the working area based on the remaining point cloud data. Furthermore, the data processing unit generates a guide frame image surrounding the upper surface of the suspended load and the upper surface of the ground object, respectively, and overlays the guide frame image on the video photographed by the camera and displays it on the data display unit.

[0004] Patent Document 1 states that according to the above guide information display device, information regarding the shape and position of the suspended load and the ground objects existing around the suspended load can be accurately presented regardless of the posture and operating conditions of the crane.

[0005] Japanese Unexamined Patent Application Publication No. 2019-024151

[0006] When a user attaches additional members to the body of a work machine such as a crane as needed. In such a case, a peripheral monitoring device that monitors the periphery of the work machine using the detection results of an external sensor attached to the body of the work machine may detect the attached members on the body as obstacles.

[0007] The guide information display device described in Patent Document 1 above can exclude point cloud data present between the suspended load and the tip of the crane boom, but there is a risk that it may mistakenly estimate additional members attached to the crane body as geographical features present in the work area.

[0008] This disclosure provides a work machine and a surrounding monitoring device that are better suited to avoiding the detection of additional components attached to the machine body as obstacles.

[0009] One aspect of the present disclosure provides a machine comprising an aircraft body, an external sensor attached to the aircraft body, and a machine that excludes from the detection results of the external sensor those that satisfy predetermined conditions.

[0010] Another aspect of this disclosure provides a peripheral monitoring device that excludes detection results from external sensors attached to the body of a work machine that meet predetermined conditions.

[0011] According to each of the above embodiments of this disclosure, it is possible to provide a work machine and a surrounding monitoring device that are more suitable for avoiding the detection of additional members attached to the machine body as obstacles.

[0012] This is a side view showing a crane, which is an embodiment of the work machine according to the present disclosure. This is a top view of the crane body shown in Figure 1. This is a side view showing the tower specifications of the crane shown 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 in the crane shown in Figure 1. This is a flowchart showing an example of processing by each part of the surrounding monitoring device shown in Figure 5. This is an example of an image generated by the surrounding monitoring device shown in Figure 5. This is a functional block diagram of the surrounding monitoring device provided in the crane shown in Figure 1. This is a flowchart showing an example of processing by each part of the surrounding monitoring device shown in Figure 8. This is a schematic plan view showing another example of an additional member provided in the crane shown in Figure 1. This is a schematic plan view showing an example of predetermined conditions set for the surrounding monitoring device. This is an example of an image generated by the surrounding monitoring device shown in Figure 8. This is another example of an image generated by the surrounding monitoring device shown in Figure 8. This is a schematic perspective view showing an example of an exclusion range, which is a predetermined condition in Figure 11. This is a schematic perspective view showing another example of an exclusion range, which is a predetermined condition in Figure 11. This is another example of an image generated by the surrounding monitoring device shown in Figure 8. This is another example of an image generated by the surrounding monitoring device shown in Figure 8. This is another example of an image generated by the surrounding monitoring device shown in Figure 8. This is a schematic plan view showing another example of predetermined conditions set for the surrounding monitoring device. This is a schematic plan view showing another example of predetermined conditions set for the surrounding monitoring device. This is a schematic plan view showing another example of predetermined conditions set for the surrounding monitoring device. This is a schematic plan view showing another example of predetermined conditions set for the surrounding monitoring device. This is a schematic plan view showing another example of predetermined conditions set for the surrounding monitoring device. This is a side view showing a shovel, which is an embodiment of the work machine according to this disclosure.

[0013] Hereinafter, embodiments of the work machine and peripheral monitoring device related to this disclosure will be described with reference to the drawings.

[0014] 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.

[0015] [Embodiment 1] Hereinafter, Embodiment 1 of the work machine and peripheral monitoring device according to the present disclosure will be described with reference to Figures 1 to 7. Figure 1 is a side view showing a crane 1, which is an embodiment of the work machine according to the present disclosure. Figure 2 is a top view of the machine body MB 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.

[0016] As will be described in detail later, the crane 1 is characterized by comprising a machine body MB, an external sensor ES (see Figure 5) attached to the machine body MB, and a surrounding monitoring device 9 (see Figure 5) that excludes items that meet predetermined conditions from the detection results of the external sensor ES. The configuration of the crane 1 of this embodiment will be described in detail below.

[0017] The crane 1 comprises, for example, a main body MB and an attachment AT mounted on the main body MB. The crane 1 shown in Figure 1 is a mobile crane in which the main body MB includes a lower traveling body 2 and an upper slewing body 3. The crane 1 shown in Figure 1 is a mobile crane in crane specifications, which includes a lower boom 61, an intermediate boom 62, and an upper boom 63 as attachment AT.

[0018] The main body MB of crane 1 is fitted with additional members AM1 and AM2. The additional members AM1 and AM2 are attached to the main body MB in its initial form, such as during the design phase or at the time of shipment. In the example shown in Figures 1 and 2, additional member AM1 is attached to the upper slewing body 3, and additional member AM2 is attached to the lower traveling body 2.

[0019] 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 hydraulic fluid, and by rotating the crawlers 21 back and forth, the crane 1 is moved back and forth. The additional member AM2 is attached, for example, to the front end of the lower traveling body 2.

[0020] 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. The additional member AM1 is attached, for example, to the rear end of the upper rotating body 3.

[0021] As shown in Figures 1 and 2, the additional member AM2 is, for example, a safety bar that prevents workers around the crane 1 from approaching the front of the left and right crawlers 21. The additional member AM2 has, for example, a base that is fixed to the lower traveling body 2 and an intrusion prevention part that prevents workers from entering the front of the crawlers 21 of the lower traveling body 2. Note that the additional member AM2 shown in Figures 1 and 2 is just one example of an additional member AM2 that is attached to the lower traveling body 2, and the mounting position, use, and shape of the additional member AM2 are not particularly limited.

[0022] In the examples shown in Figures 1 and 2, the base of the add-on member AM2 is fixed to the inner part of the structure of the lower traveling body 2 that rotatably supports the left and right crawlers 21, and extends inward in the width direction of the crane 1. The intrusion prevention portion of the add-on member AM2 has an L-shape that extends forward from the tip of the base of the add-on member AM2 toward the front of the crane 1 and is bent outward in the width direction. The intrusion prevention portion of the add-on member AM2 may have, for example, a sign to draw the attention of workers, such as a "No Entry" sign, below the portion that extends in the width direction in front of the crawler 21.

[0023] The upper rotating body 3 has, for example, a rotating frame 31 and beds 32 and 33, as shown in Figure 2. Specifically, the upper rotating body 3 has a rotating 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 rotating frame 31.

[0024] 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.

[0025] The slewing device 35 is a hydraulic actuator including a slewing hydraulic motor driven by hydraulic pressure from a hydraulic fluid, which slewingly rotates a 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. For example, a plurality of additional members AM1 are attached to the counterweight 36.

[0026] As shown in Figures 1 and 2, the additional member AM1 is an elongated plate-shaped member that extends from the rear end surface of the lower end of the counterweight 36 toward the rear of the crane 1. The additional member AM1 has, for example, a marking indicating that the area behind the crane 1 is a restricted area, thereby alerting workers around the crane 1. Note that the additional member AM1 shown in Figures 1 and 2 is an example of an additional member AM1 attached to the upper slewing body 3, and the mounting position, use, and shape of the additional member AM1 are not particularly limited.

[0027] The front winch 37f, rear winch 37r, third winch 37t, and boom luffing winch 37b shown in Figure 2 are hydraulic actuators, including a hydraulic motor, which is mounted on the slewing frame 31 and driven by the hydraulic pressure of the hydraulic fluid. These winches wind up the front drum wire rope 83, rear drum wire rope 85, boom luffing wire rope 69, etc., shown in Figure 1.

[0028] 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.

[0029] House 5 has a removable left cover 51L that covers electrical equipment and other items 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] Figure 3 is a side view showing the tower specifications of the crane 1 in FIG. 1. In the tower-specification crane 1, the 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.

[0041] The lower tower boom 61t is attached to the slewing frame 31 of the upper slewing body 3 so as to be rotatable back and forth. The intermediate tower boom 62t is attached to the tip of the lower tower boom 61t. The upper tower boom 63t has a tower strut 63ts and is attached to the tip of the intermediate tower boom 62t. By increasing or decreasing the number of intermediate tower booms 62t between the lower tower boom 61t and the upper tower boom 63t, the height of the attachment AT can be changed.

[0042] The lower tower jib 61j has a tower jib backstop 61js and is attached to the upper tower boom 63t so as to be able to rise and fall. The intermediate tower jib 62j is attached to the tip of the lower tower jib 61j. The upper tower jib 63j is attached to the tip of the intermediate tower jib 62j.

[0043] Further, the tower-specification crane 1 shown in FIG. 3 has a tower jib pendant rope 66j, a tower jib upper spreader 67j, a tower jib lower spreader 68j, and a tower jib hoisting wire rope 69j.

[0044] The tower jib pendant rope 66j is respectively stretched between the tip of the upper tower jib 63j and the tower strut 63ts, and between the tower strut 63ts and the tower jib upper spreader 67j. The tower jib lower spreader 68j is attached to the rear part of the intermediate tower boom 62t connected to the tip of the lower tower boom 61t. The tower jib hoisting wire rope 69j is stretched between the tower jib upper spreader 67j and the tower jib lower spreader 68j and is wound around the rear winch 37r.

[0045] By winding up the tower jib hoisting 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 backward and upward with respect to the tower boom including the lower tower boom 61t, the intermediate tower boom 62t, and the upper tower boom 63t and stands up. At this time, the backward rotation of the tower jib is restricted by the tower jib backstop 61js. Also, by paying out the tower jib hoisting wire rope 69j with the rear winch 37r, the tower jib rotates forward and downward.

[0046] Further, the crane 1 with the tower specification shown in FIG. 3 has a tower pendant rope 66t, a tower upper spreader 67t, a tower lower spreader 68t, and a tower hoisting wire rope 69t.

[0047] One end of the tower pendant rope 66t is connected to the rear part of the upper tower boom 63t, and the other end is connected to the tower upper spreader 67t. The tower lower spreader 68t is attached to the tip of a gantry 71 provided on the slewing frame 31 so as to be able to move up and down. The tower hoisting wire rope 69t is stretched between the tower upper spreader 67t and the tower lower spreader 68t and is wound around the boom hoisting winch 37b.

[0048] With the gantry 71 erected by the gantry lifting cylinder 72, by winding up the tower hoisting wire rope 69t with the boom hoisting winch 37b, the attachment AT can be rotated backward and upward and stood up. At this time, the backward rotation of the attachment AT is restricted by the backstop 73. Also, by paying out the tower hoisting wire rope 69t with the boom hoisting winch 37b, the attachment AT can be rotated forward and downward and tilted forward.

[0049] Furthermore, the tower-type crane 1 shown in Figure 3, like the crane-type crane 1 shown in Figure 1, has a boom hook 81, a front drum wire rope 83, and a hook overwinding prevention device 84. This allows the boom hook 81 to be raised and the load lifted by winding up the front drum wire rope 83 with the front winch 37f. At this time, the hook overwinding prevention device 84 prevents excessive winding of the boom hook 81. Also, the boom hook 81 can be lowered and the load lowered by unwinding the front drum wire rope 83 with the front winch 37f.

[0050] Figure 4 is a perspective view of the interior of the operator's cab 4 of the crane 1 shown in Figures 1 to 3. Inside the operator's cab 4 is an operator's seat 41 where the operator of the crane 1 sits. In this embodiment, the front-to-back, left-to-right, and up-and-down directions of the crane 1 are, for example, the front-to-back, left-to-right, and up-and-down directions as seen from the perspective of the operator seated in the operator's seat 41. Various operating devices for operating the crane 1 are provided around the operator's seat 41.

[0051] Specifically, the operating device of crane 1 includes, 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 luffing winch operation lever 44b. The operating device of crane 1 also includes, 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.

[0052] The display device 42, for example, includes a touch panel and displays images of the area around the crane 1 and information regarding overload prevention. The switch panel 43 accepts various operations from the operator. The slewing operation lever 44s is used to operate the slewing mechanism 35 to rotate the upper slewing body 3.

[0053] The front winch operating lever 44f is used to raise and lower the boom hook 81 using the front winch 37f. The rear winch operating lever 44r is used to raise and lower the jib hook 82 using the rear winch 37r, and to luff the tower jib in the tower-type attachment AT. The boom luffing winch operating lever 44b is used to luff the lower boom 61, intermediate boom 62, and upper boom 63, or the lower tower boom 61t, intermediate tower boom 62t, and upper tower boom 63t.

[0054] The front winch operating lever 44f and the rear winch operating lever 44r may each have a changeover switch 44fs and a changeover switch 44rss. The changeover switch 44fs of the front winch operating lever 44f is used to switch the brake mode of the front winch 37f, and the changeover switch 44rs of the rear winch operating lever 44r is used to switch the brake mode of the rear winch 37r.

[0055] The slewing brake pedal 45s is used to brake the slewing of the upper slewing body 3. The front winch brake pedal 45f is used to brake the rotation of the front winch 37f when lowering the boom hook 81 with the front winch 37f free to rotate. The rear winch brake pedal 45r is used to brake the rotation of the rear winch 37r when lowering the jib hook 82 with the rear winch 37r free to rotate. The left travel lever 46L is used to operate the left travel device 22 that makes up the lower travel body 2. The right travel lever 46R is used to operate the right travel device 22 that makes up the lower travel body 2.

[0056] Figure 5 is a functional block diagram of the peripheral monitoring device 9 installed in the crane 1 shown in Figure 1.

[0057] The peripheral monitoring device 9 is a device capable of excluding items that meet predetermined conditions from the detection results of the external sensor ES attached to the machine body MB of the crane 1, which is a work machine. Specifically, the peripheral monitoring device 9 recognizes the shape of the additional members AM1 and AM2 attached to the machine body MB, for example, based on the detection results of the external sensor ES. 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 composed of 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. Furthermore, the peripheral monitoring device 9 may be composed of one controller, or it may be composed of multiple controllers.

[0058] 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, display device 42, input device 47, and speaker 48 via wireless or wired communication lines. Alternatively, the surrounding monitoring device 9 may be located outside the crane 1 and connected to the external sensor ES via a wireless communication line. The crane 1 is equipped with, for example, multiple external sensor ES mounted on the machine body MB, but for simplification, only one external sensor ES is shown in Figure 5.

[0059] The peripheral monitoring device 9 includes, for example, a shape recognition unit 91, a shape generation unit 92, and an object recognition unit 93. The peripheral monitoring device 9 may also further include an image generation unit 94 and a collision detection unit 95. Each of these parts of the peripheral monitoring device 9 represents a function realized, for example, 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 6.

[0060] The external sensor ES is, for example, detachably attached to the body MB of the crane 1. Specifically, the external sensor ES is detachably attached to at least one of the lower traveling body 2 or the upper slewing body 3. More specifically, the external sensor ES is detachably attached to the upper, side, or lower part of the operator's cab 4, house 5, or counterweight 36 provided on the upper slewing body 3 by fastening members such as bolts and nuts. Alternatively, the external sensor ES is detachably attached to the structure of the lower traveling body 2 that rotatably supports the upper slewing body 3.

[0061] The external sensor ES is, for example, a LiDAR (Light Detection and Ranging) sensor. The type of external sensor ES is not particularly limited; any sensor capable of detecting surrounding objects, including the crane body MB and the additional components AM1 and AM2, is acceptable. The external sensor ES may also be, for example, a monocular camera, a stereo camera, a millimeter-wave radar, an ultrasonic sensor, or any combination thereof.

[0062] The display device 42 is installed inside the driver's cab 4, as shown in Figure 4, and is positioned in front of the driver's seat 41. The display device 42 may be the display screen of a tablet-type portable information terminal that can be taken outside the driver's cab 4, or it may be a monitor installed outside the crane 1.

[0063] The input device 47 is comprised of, for example, the operating section of a display device 42 installed inside the driver's cab 4, or a switch panel 43, as shown in Figure 4. The input device 47 may also be a touch panel of a tablet-type portable information terminal that can be taken outside the driver's cab 4, or a keyboard and mouse installed outside the crane 1.

[0064] The speaker 48 is installed, for example, on the wall or ceiling inside the driver's cab 4 and outputs sounds such as voices and warning sounds. The speaker 48 may be a speaker built into a tablet-type portable information terminal that can be taken outside the driver's cab 4, or it may be a speaker of an information terminal installed outside the crane 1.

[0065] Figure 6 is a flowchart showing an example of processing performed by each part of the peripheral monitoring device 9 in Figure 5.

[0066] 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 shape recognition unit 91 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 machine body MB to which the additional members AM1 and AM2 are attached.

[0067] Next, the peripheral monitoring device 9 performs a process P2 to acquire the initial shape of the machine body MB of the crane 1, and a process P3 to recognize the additional shape added to the machine body MB. In this process P2, the initial shape of the machine body MB is acquired, for example, by the shape recognition unit 91 of the peripheral monitoring device 9. The initial shape of the machine body MB is information including the shape and dimensions of the machine body MB at the time of design or shipment of the crane 1, and is stored in advance in the auxiliary storage device of the peripheral monitoring device 9. Specifically, the initial shape of the machine body MB is, for example, design information obtained using 3D CAD (3-Dimensional Computer Aided Design).

[0068] Furthermore, in processing P3, the shape recognition unit 91 compares the shape of the machine MB included in the detection result of the external sensor ES with the initial shape of the machine MB that is held in advance, and recognizes the added shape attached to the machine MB. For example, if the external sensor ES is LiDAR, the detection result of the external sensor ES is three-dimensional point cloud information indicating the distance and direction from the external sensor ES to the machine MB including the added members AM1 and AM2. In other words, the detection result of the external sensor ES is three-dimensional information representing the shape and dimensions of a part of the machine MB including the added members AM1 and AM2.

[0069] In this case, in processing P3, the shape recognition unit 91 compares the initial shape of the machine MB, which is the three-dimensional information of the entire machine MB excluding the attached members AM1 and AM2, with the detection result of the external sensor ES, which is the three-dimensional information of a part of the machine MB including the attached members AM1 and AM2. As a result of this comparison, the shape recognition unit 91 recognizes the added shape, which is the shape of the attached members AM1 and AM2 that are not included in the initial shape of the machine MB but have been newly attached to the machine MB of its initial shape. Specifically, for example, the shape recognition unit 91 recognizes the shape of an object that is not included in the initial shape of the machine MB and is continuous with the initial shape of the machine MB from among the detection results of the external sensor ES as an added shape attached to the initial shape of the machine MB.

[0070] Furthermore, in this embodiment, the body MB of the crane 1 includes a lower traveling body 2 and an upper slewing body 3 that is rotatably mounted on the lower traveling body 2. An additional member AM2 having an additional shape is attached to the lower traveling body 2, and an external sensor ES is attached to the upper slewing body 3. Similarly, an external sensor ES is attached to the lower traveling body 2, and an additional member AM1 having an additional shape is attached to the upper slewing body 3.

[0071] In such cases, the shape recognition unit 91 may, in processing P3, recognize the added shapes of the added members AM1 and AM2 using multiple detection results from the external sensor ES obtained by rotating the upper slewing body 3. In this case, the slewing device 35 may be controlled by a controller that controls each part of the crane 1 to automatically rotate the upper slewing body 3, or the operator of the crane 1 may manually rotate the upper slewing body 3 by operating the slewing operation lever 44s. The external sensor ES detects the shape of a part of the machine body MB, including the added members AM1 and AM2, each time the upper slewing body 3 rotates by a predetermined angle.

[0072] Next, the peripheral monitoring device 9 executes a process P4 to select an additional shape, for example. In this process P4, the image generation unit 94 of the peripheral monitoring device 9 generates an image that distinguishes between the initial shape and the additional shape of the crane 1's body MB and displays it on the display device 42. Specifically, the image generation unit 94 generates an image in which the color used to display the initial shape of the crane 1's body MB and the color used to display the additional shapes of the additional members AM1 and AM2 are different, and displays it on the display device 42. The image that distinguishes between the initial shape and the additional shape of the crane 1's body MB is not particularly limited and may be an image generated by means other than differentiating the colors. The image generation unit 94 may, for example, generate an image in which the contour lines of the additional shape are thicker and emphasized than the contour lines of the initial shape.

[0073] Furthermore, in this process P4, the shape generation unit 92 of the peripheral monitoring device 9 accepts the operator's selection of additional shapes via the input device 47. Specifically, the shape generation unit 92 displays, for example, the recognized additional shapes of additional members AM1 and AM2, and a notification confirming their addition or exclusion, on the display device 42. The operator of the crane 1 selects, for example, the additional shapes of additional members AM1 and AM2 displayed on the display device 42 via an input device 47 such as a touch panel provided on the display device 42. The shape generation unit 92 identifies the additional shapes selected by the operator via the input device 47 and the additional shapes that were not selected. Note that in this process P4, the operator's selection may be omitted, and the shape generation unit 92 may automatically select the additional shapes.

[0074] Next, the surrounding monitoring device 9 executes a process P5 to generate the current shape of the crane body MB of the crane 1. In this process P5, the shape generation unit 92 generates the current shape of the crane body MB by adding the shapes of the additional members AM1 and AM2 to the initial shape of the crane body MB of the crane 1. For example, the shape generation unit 92 generates the current shape of the crane body MB by adding the additional shape selected by the operator via the input device 47 to the initial shape of the crane body MB. Alternatively, the shape generation unit 92 generates the current shape of the crane body MB by adding the additional shape automatically selected by the shape recognition unit 91 in the previous process to the initial shape of the crane body MB.

[0075] Next, the surrounding monitoring device 9 performs a process P6 to recognize objects present around the crane body MB of the crane 1. In this process P6, the object recognition unit 93 of the surrounding monitoring device 9 recognizes objects excluding the current shape of the crane body MB from the detection results of the external sensor ES. The objects recognized by the object recognition unit 93 include, for example, the ground surface of the work site, trees, rocks, buildings, fences, safety fences, workers, vehicles, and construction machinery.

[0076] Next, the surrounding monitoring device 9 executes process P7, which generates the current shape of the machine body MB generated in the aforementioned process P5 and an image of the object recognized in the previous process P6. In this process P7, the image generation unit 94 of the surrounding monitoring device 9 generates an image of the current shape of the machine body MB of the crane 1 and an image of the object recognized by the object recognition unit 93, and displays them on the display device 42.

[0077] Figure 7 is an example of an image DI generated by the image generation unit 94 of the peripheral monitoring device 9 and displayed on the display device 42. The current shape CG of the crane 1's body MB is displayed in the center of the image DI. The current shape CG of the crane 1's body MB includes, for example, the initial shape IG of the body MB at the time of shipment or design, the added shape AG1 which is the shape of the added member AM1, and the added shape AG2 which is the shape of the added member AM2.

[0078] Furthermore, the image DI includes, for example, an image showing the mounting positions of the rear sensor ES1 and the right sensor ES2, which are external sensors ES attached to the body MB of the crane 1. The image DI also includes, for example, a circle with radius r1 showing the field of view FOV1 of the rear sensor ES1 and a circle with radius r2 showing the field of view FOV2 of the right sensor ES2. The image DI also includes, for example, an image of objects OB1-OB4 present around the body MB of the current shape CG, including additional shapes AG1 and AG2.

[0079] Next, the surrounding monitoring device 9 executes the collision determination process P8 shown in Figure 6. In this process P8, the collision determination unit 95 of the surrounding monitoring device 9 determines whether there is a collision between the objects OB1-OB4 recognized by the object recognition unit 93 and the current shape CG of the aircraft MB. Specifically, the collision determination unit 95 determines, for example, whether the distance between the current shape CG of the aircraft MB and each of the objects OB1-OB4 is less than or equal to a predetermined value.

[0080] In this process P8, the collision determination unit 95 may, for example, have different collision determination criteria for the additional shapes AG1 and AG2 of the aircraft MB and for the initial shape IG of the aircraft MB. Specifically, for example, the distance threshold, which is the collision determination criterion for the additional shapes AG1 and AG2 of the aircraft MB, can be made larger or smaller than the distance threshold, which is the collision determination criterion for the initial shape IG of the aircraft MB.

[0081] In this process P8, if the collision determination unit 95 determines that the distance between the aircraft MB and any of the objects OB1-OB4 is below a threshold (YES), it executes process P9 to output a warning. In this process P9, the collision determination unit 95 outputs an audio signal to, for example, the speaker 48 to output a warning sound or voice guidance warning of a collision. The collision determination unit 95 also outputs an image signal to, for example, the display device 42 to display an image warning of a collision on the display device 42.

[0082] Subsequently, the surrounding monitoring device 9 terminates the processing flow shown in Figure 7. Also, in the aforementioned processing P8, if the collision determination unit 95 determines that the distance between the current shape CG's machine MB and all objects OB1-OB4 exceeds a threshold (NO), the surrounding monitoring device 9 terminates the processing flow shown in Figure 7.

[0083] The operation of the work machine and the surrounding monitoring device 9 of this embodiment will be described below.

[0084] As described above, the crane 1, which is a work machine in this embodiment, comprises a machine body MB, an external sensor ES attached to the machine body MB, and a surrounding monitoring device 9 that excludes items that meet predetermined conditions from the detection results of the external sensor ES.

[0085] With this configuration, when objects such as additional members AM1 and AM2 that are not obstacles are installed around the crane 1, predetermined conditions can be set in the surrounding monitoring device 9, and the surrounding monitoring device 9 can exclude the detection results of the additional members AM1 and AM2 from the detection results of the external sensor ES. As a result, even if the external sensor ES detects the additional members AM1 and AM2 attached to the crane 1, the surrounding monitoring device 9 can avoid detecting these objects as obstacles.

[0086] In the crane 1, which is a work machine of this embodiment, the surrounding monitoring device 9 recognizes the additional shapes AG1 and AG2 attached to the machine body MB based on the detection results of the external sensor ES.

[0087] With this configuration, the external sensor ES attached to the body MB of the crane 1 detects not only objects around the crane 1, but also the shape of a part of the body MB and the shapes of the attached members AM1 and AM2 attached to the body MB. Therefore, the surrounding monitoring device 9 can recognize the attached shapes AG1 and AG2, which are the shapes of the attached members AM1 and AM2 attached to the body MB, based on the detection results obtained from the external sensor ES. Thus, with the crane 1, which is the work machine of this embodiment, it is possible to distinguish between the attached members AM1 and AM2 attached to the body MB and obstacles around the body MB, and it is possible to avoid detecting the attached members AM1 and AM2 as obstacles.

[0088] Furthermore, in the crane 1, which is a work machine of this embodiment, the surrounding monitoring device 9 includes a shape recognition unit 91, a shape generation unit 92, and an object recognition unit 93. The shape recognition unit 91 compares the shape of the machine body MB included in the detection results of the external sensor ES with the initial shape IG of the machine body MB that is held in advance, and recognizes the additional shapes AG1 and AG2. The shape generation unit 92 generates the current shape CG of the machine body MB by adding the additional shapes AG1 and AG2 to the initial shape IG of the machine body MB. The object recognition unit 93 recognizes objects OB1-OB4 by excluding the current shape CG from the detection results of the external sensor ES.

[0089] With this configuration, the crane 1, which is the work machine of this embodiment, can recognize the added shapes AG1 and AG2 of the added members AM1 and AM2 that have been added to the initial shape IG of the machine body MB by the shape recognition unit 91 of the surrounding monitoring device 9. Furthermore, the crane 1 can generate the current shape CG of the machine body MB with the added shapes AG1 and AG2 added to the initial shape IG of the machine body MB by the shape generation unit 92 of the surrounding monitoring device 9. In addition, the crane 1 can recognize objects around the machine body MB by excluding the current shape CG of the machine body MB, which includes the added shapes AG1 and AG2, from the detection results of the external sensor ES by the object recognition unit 93 of the surrounding monitoring device 9.

[0090] Furthermore, the crane 1, which is the work machine of this embodiment, is further equipped with a display device 42. The surrounding monitoring device 9 is further equipped with an image generation unit 94 that generates the current shape CG of the machine body MB and image DI of objects OB1-OB4 recognized by the object recognition unit 93 and displays them on the display device 42.

[0091] With this configuration, the operator of the crane 1 can visually check the display device 42 to confirm the current shape CG of the crane 1's body MB, including the added shapes AG1 and AG2 of the additional members AM1 and AM2, and the positional relationship between it and the surrounding objects OB1-OB4. Therefore, it is possible to avoid the crane 1, to which the additional members AM1 and AM2 are attached to the body MB, from coming too close to the surrounding objects OB1-OB4, thereby improving the safety of the crane 1.

[0092] Furthermore, the crane 1, which is the work machine of this embodiment, is equipped with a display device 42 as described above. The surrounding monitoring device 9 is equipped with an image generation unit 94 that generates an image DI that distinguishes between the initial shape IG of the machine body MB and the added shapes AG1 and AG2, and displays it on the display device 42.

[0093] With this configuration, the operator of the crane 1 can visually identify the initial shape IG of the machine body MB and the additional shapes AG1 and AG2 attached to the initial shape IG by viewing the image DI displayed on the display device 42. As a result, the operator of the crane 1 can recognize the additional members AM1 and AM2 that are additionally attached to the machine body MB of the crane 1 through the image DI on the display device 42.

[0094] Furthermore, the machine body MB of the crane 1, which is a work machine in this embodiment, includes a lower traveling body 2 to which an additional member AM2 having an additional shape AG2 is attached, and an upper rotating body 3 that is rotatably mounted on the lower traveling body 2 and to which an external sensor ES is attached.

[0095] With this configuration, the external sensor ES attached to the upper rotating body 3 can detect the additional shape AG2 of the additional member AM2 attached to the lower traveling body 2. This makes it easier to detect the additional shape AG2 compared to when the external sensor ES attached to the lower traveling body 2 detects the additional shape AG2 of the additional member AM2 attached to the lower traveling body 2.

[0096] Furthermore, the machine body MB of the crane 1, which is a work machine in this embodiment, includes a lower traveling body 2 to which an external sensor ES is attached, and an upper rotating body 3 that is rotatably mounted on the lower traveling body 2 and to which an additional member AM1 having an additional shape AG1 is attached.

[0097] With this configuration, the external sensor ES attached to the lower traveling body 2 can detect the additional shape AG1 of the additional member AM1 attached to the upper rotating body 3. This makes it easier to detect the additional shape AG1 compared to when the external sensor ES attached to the upper rotating body 3 detects the additional shape AG1 of the additional member AM1 attached to the upper rotating body 3.

[0098] Furthermore, in the crane 1, which is a work machine of this embodiment, the shape recognition unit 91 recognizes the additional shapes AG1 and AG2 using multiple detection results from the external sensor ES obtained by rotating the upper rotating body 3.

[0099] With this configuration, the upper rotating body 3 is rotated, and the external sensor ES attached to the upper rotating body 3 can detect the additional member AM2 attached to the lower traveling body 2 from multiple different angles. Similarly, the external sensor ES attached to the lower traveling body 2 can detect the additional member AM1 attached to the upper rotating body 3 from multiple different angles. In addition, the shape recognition unit 91 can recognize the shape of an object that rotates in synchronization with the machine body MB of the initial shape IG as additional shapes AG1 and AG2. Therefore, the shape recognition unit 91 can more accurately recognize the additional shapes AG1 and AG2 of the additional members AM1 and AM2.

[0100] Furthermore, in the crane 1, which is a work machine of this embodiment, the surrounding monitoring device 9 further includes a collision determination unit 95 that performs collision determination between objects OB1-OB4 recognized by the object recognition unit 93 and the current shape CG of the machine body MB.

[0101] With this configuration, the object recognition unit 93 of the surrounding monitoring device 9 can determine a collision between the aircraft MB and surrounding objects OB1-OB4 based on the current shape CG of the aircraft MB, which is formed by adding the additional shapes AG1 and AG2 of the additional members AM1 and AM2 to the initial shape IG of the aircraft MB. This allows for collision determination between the aircraft MB and the additional members AM1 and AM2, and instead determines a collision between the aircraft MB including the additional members AM1 and AM2 and the surrounding objects OB1-OB4.

[0102] Furthermore, in the crane 1, which is a work machine of this embodiment, the collision determination unit 95 has different collision determination criteria for the additional shapes AG1 and AG2 of the machine body MB and for the initial shape IG of the machine body MB.

[0103] This configuration allows for setting collision detection criteria corresponding to the initial shape IG of the machine body MB and the additional shapes AG1 and AG2. Specifically, for example, the collision detection criteria for the additional shapes AG1 and AG2 of the machine body MB can be relaxed compared to the collision detection criteria for the initial shape IG of the machine body MB. This is because, for example, if the additional members AM1 and AM2 are "no entry" signs or safety bars, the risk of affecting the safety of the crane 1 and the workers is low. Conversely, the collision detection criteria for the additional shapes AG1 and AG2 of the machine body MB can be made stricter than the collision detection criteria for the initial shape IG of the machine body MB. This allows for more reliable suppression of objects OB1-OB4 approaching the machine body MB of the crane 1 by providing additional members AM1 and AM2 to parts of the machine body MB that require particular attention.

[0104] Furthermore, the crane 1, which is the work machine of this embodiment, is further equipped with an input device 47. The shape generation unit 92 adds the additional shapes AG1 and AG2 selected by the operator via the input device 47 to the initial shape IG of the machine MB to generate the current shape CG of the machine MB.

[0105] With this configuration, the operator of crane 1 can refer to the additional shapes AG1 and AG2 and the initial shape IG of the machine MB, which are displayed separately on the display device 42, and select the additional shapes AG1 and AG2 to be registered as part of the current shape CG of the machine MB via the input device 47. This prevents the shapes of components temporarily attached to the machine MB or the shapes of components that are incorrectly recognized from being incorporated as the current shape CG of the machine MB.

[0106] Furthermore, the surrounding monitoring device 9 of this embodiment excludes detection results from external sensors ES attached to the machine body MB of a work machine such as a crane 1 that meet predetermined conditions.

[0107] With this configuration, the surrounding monitoring device 9 can set predetermined conditions and exclude the detection results of the additional members AM1 and AM2 from the detection results of the external sensor ES when objects such as additional members AM1 and AM2 that are not obstacles are installed around the crane 1. Therefore, according to the surrounding monitoring device 9 of this embodiment, even if the external sensor ES detects the additional members AM1 and AM2 attached to the crane 1, it is possible to avoid detecting these objects as obstacles.

[0108] Furthermore, the peripheral monitoring device 9 of this embodiment recognizes the added shapes AG1 and AG2 attached to the machine body MB based on the detection results of the external sensor ES.

[0109] With this configuration, the external sensor ES attached to the machine body MB of the crane 1 or other work machine detects not only objects around the crane 1, but also the shape of a part of the machine body MB and the shapes of the attached members AM1 and AM2 attached to the machine body MB. Therefore, the surrounding monitoring device 9 can recognize the attached shapes AG1 and AG2, which are the shapes of the attached members AM1 and AM2 attached to the machine body MB, based on the detection results obtained from the external sensor ES. Thus, according to the surrounding monitoring device 9 of this embodiment, it is possible to distinguish between the attached members AM1 and AM2 attached to the machine body MB of the work machine and obstacles around the machine body MB, and it is possible to avoid detecting the attached members AM1 and AM2 as obstacles.

[0110] As described above, this embodiment provides a work machine such as a crane 1 or a shovel 1A, and a surrounding monitoring device 9, that are more suitable for avoiding the detection of the additional members AM1 and AM2 attached to the machine body MB as obstacles.

[0111] [Embodiment 2] Next, with reference to Figures 1 to 4 and Figures 8 to 23, Embodiment 2 of the work machine and surrounding monitoring device according to the present disclosure will be described. Figure 8 is a functional block diagram of the surrounding monitoring device 9 provided by the crane 1 in Figure 1.

[0112] The crane 1, which is the work machine of this embodiment, is equipped with a machine body MB, an external sensor ES attached to the machine body MB, and an external monitoring device 9 that excludes those that meet predetermined conditions from the detection results of the external sensor ES, similar to the crane 1 of Embodiment 1 described above.

[0113] The peripheral monitoring device 9 of this embodiment shown in Figure 8 has an object recognition unit 93A, an image generation unit 94A, and a collision determination unit 95A, similar to the peripheral monitoring device 9 of Embodiment 1 shown in Figure 5. Furthermore, the peripheral monitoring device 9 of this embodiment also has, for example, an exclusion range setting unit 96, a determination criterion setting unit 97, and a processing setting unit 98. As described above, each of these parts of the peripheral monitoring device 9 represents a function of the peripheral monitoring device 9 that is realized by loading a program stored in an auxiliary storage device into a memory device by the CPU and executing it.

[0114] Figure 9 is a flowchart showing an example of processing by each part of the peripheral monitoring device 9 in Figure 8. Figure 10 is a schematic plan view showing other examples of the additional members AM1 and AM2 provided by the crane 1 in Figure 1. Figure 11 is a schematic plan view showing an example of an exclusion range ER1, which is a predetermined condition set for the peripheral monitoring device 9.

[0115] When the peripheral monitoring device 9 starts the processing flow shown in Figure 9, it first executes process P10 to determine whether or not to perform initial setup.

[0116] In the example shown in Figure 10, an additional member AM3 is attached to the main body MB of the crane 1. The additional member AM3 is, for example, attached to the lower traveling body 2 when the crane 1 is in a drivable state, and is a safety fence or barricade that prevents people from entering the area around the crane 1. The additional member AM3 consists of a plurality of rod-shaped support members SP that are attached to the frame of the lower traveling body 2 and extend outward, poles PL attached to the ends of each support member SP, and ropes RP stretched between adjacent poles PL.

[0117] The additional member AM3 is detected by the external sensor ES attached to the body MB of the crane 1, similar to the first embodiment described above. However, the additional member AM3 is not an obstacle that could potentially collide with the crane 1. Therefore, it is necessary to exclude the detection result of the additional member AM3 from the detection result of the external sensor ES and exclude the additional member AM3 from the collision determination. The operator of the crane 1 can set an exclusion range ER1, for example, as shown in Figure 11, as a predetermined condition for excluding the detection result of the additional member AM3 from the detection result of the external sensor ES.

[0118] When the operator of crane 1 performs initial settings, including setting the exclusion range ER1, they input an instruction to perform initial settings to the peripheral monitoring device 9 via the input device 47. The peripheral monitoring device 9 then determines in process P10 shown in Figure 9 that initial settings should be performed (YES), and executes processes P11 to P13 below.

[0119] In process P11, the surrounding monitoring device 9 sets an exclusion range ER1. Specifically, the exclusion range setting unit 96 sets an exclusion range ER1 around the machine MB, which is the range in which the detection results of the external sensor ES satisfy predetermined conditions. As a result, the detection results of objects detected by the external sensor ES within the exclusion range ER1 around the machine MB will satisfy predetermined conditions for being excluded from the detection results of the external sensor ES.

[0120] The exclusion range setting unit 96 can set an exclusion range ER1 of any shape and height based on information input via the input device 47. The exclusion range setting unit 96 displays options for selecting the shape of the exclusion range ER1, such as a circle, ellipse, square, polygon, or a combination of these shapes, on the display device 42 via the image generation unit 94A. The operator of the crane 1 inputs the selected shape of the exclusion range ER1 to the exclusion range setting unit 96 via the input device 47, for example, while referring to the display device 42.

[0121] The operator may also input the center position or corner position of the exclusion range ER1, or its radius, diameter, length of each side, or height, to the exclusion range setting unit 96 via the input device 47. Alternatively, the operator may input the position, size, and shape of the exclusion range ER1 to the exclusion range setting unit 96 using an input device 47 such as a touch panel integrated with the display device 42. The exclusion range setting unit 96 sets the shape, size, and position of the exclusion range ER1 around the crane 1 based on the information input via the input device 47.

[0122] Furthermore, the exclusion range setting unit 96 may set the height of the exclusion range ER1 based on the attitude of the machine body MB. The crane 1 has an attitude sensor that detects the attitude of the machine body MB, including the attachment AT. The attitude sensor includes, for example, a boom luffing sensor that detects the inclination angle of the lower boom 61 or the lower tower boom 61t, and a tower jib luffing sensor that detects the inclination angle of the lower tower jib 61j relative to the upper tower boom 63t. The exclusion range setting unit 96 sets the height of the exclusion range ER1 to include, for example, the height of the attachment AT calculated based on the detection results of the attitude sensor.

[0123] In the subsequent process P12, the surrounding monitoring device 9 sets, for example, judgment criteria. Specifically, the judgment criteria setting unit 97 sets judgment criteria for determining the possibility of collision between the crane 1 and objects around the crane 1 detected by the external sensor ES. The judgment criteria setting unit 97 sets, for example, the initial shape of the machine body MB, which is 3D CAD design information, as the judgment criterion for the obstacles around the crane 1, in accordance with the selection made by the operator via the input device 47, similar to the embodiment 1 described above.

[0124] Furthermore, the judgment criterion setting unit 97 may, for example, set the outer edge of the exclusion range ER1 as the judgment criterion for distinguishing it from obstacles around the crane 1, depending on the selection made by the operator via the input device 47. Alternatively, the judgment criterion setting unit 97 may, for example, set a virtual shape of the machine body MB, obtained by replacing the machine body MB with a simple three-dimensional shape such as a cylinder or a rectangular parallelepiped, as the judgment criterion for distinguishing it from obstacles around the crane 1, depending on the selection made by the operator via the input device 47.

[0125] In the subsequent process P13, the surrounding monitoring device 9 sets the process to be executed when a collision is determined, for example, when a possibility of collision between an object detected by the external sensor ES and the crane 1 is determined. Specifically, the process setting unit 98 sets the process to be executed when a collision is determined, for example, according to a selection made by the operator via the input device 47. The process set by the process setting unit 98 includes, for example, a process to display an image on the display device 42 to draw attention, and a process to output a warning sound, alarm sound, or voice from the speaker 48 to draw attention. The image to be displayed on the display device 42 includes an arrow pointing to the object for which a collision is determined to be possible based on the collision determination criteria, and a warning display that notifies the content of the warning.

[0126] Once processes P11 through P13 are completed, the peripheral monitoring device 9 executes process P14 to generate an image. Furthermore, if the operator of the crane 1 does not input an instruction to perform initial settings via the input device 47 in process P10, the peripheral monitoring device 9 determines that initial settings will not be performed (NO) and executes process P14 to generate an image. If the initial settings from processes P11 through P13 are not performed, the peripheral monitoring device 9 maintains the initial settings or the previous settings.

[0127] In process P14, the peripheral monitoring device 9 generates an image to be displayed on the display device 42. Specifically, the image generation unit 94A displays an image indicating the exclusion range on the display device.

[0128] Figure 12 shows examples of images DI1 and DI2 generated by the peripheral monitoring device 9 in Figure 8. In processing P14, the image generation unit 94A generates an image ERG indicating the exclusion range ER1 and displays it on the display device 42.

[0129] In the example shown in Figure 12, the image generation unit 94A generates images DI1 and DI2, which include the initial shape IG of the crane body MB and an image ERG of the exclusion area ER1 surrounding the initial shape IG, and displays them on the display device 42. In addition, in the example shown in Figure 12, the image generation unit 94A displays an image ERG with yellow and black stripes to improve the visibility of the image ERG of the exclusion area ER1. Note that the display mode of the image ERG shown in Figure 12 is just one example and is not particularly limited.

[0130] Furthermore, in the example shown in Figure 12, the upper image DI1 is in the form of a plan view or perspective view of the crane 1 viewed from above, and the lower image DI2 is in the form of a side view or perspective view of the crane 1 viewed from the side. The image generation unit 94A, for example, displays a frame-shaped image ERG indicating the exclusion area ER1 in the side view or perspective view image DI2 at a position about 1 to 2 m higher than the image GS showing the ground surface. As a result, the operator of the crane 1 can easily recognize the image ERG indicating the exclusion area ER1 in the side view or perspective view image DI2.

[0131] After the completion of process P14, which generates images DI1 and DI2, the surrounding monitoring device 9 executes process P15, which acquires the detection results of the external sensor ES. Note that process P15 may be executed before process P14. In this process P15, the object recognition unit 93A acquires the object detection results from the external sensor ES. The object recognition unit 93A also recognizes objects around the machine body MB from the detection results of the external sensor ES. Here, the external sensor ES detects objects around the crane 1, including the additional member AM3, and the object recognition unit 93A recognizes objects around the machine body MB, including the additional member AM3, from the detection results of the external sensor ES.

[0132] Subsequently, the surrounding monitoring device 9 executes a process P16 to exclude the detection results of the machine body MB and a process P17 to exclude the detection results included in the exclusion range ER1. In process P16, the collision determination unit 95A obtains the object recognition result based on the detection result of the external sensor ES from the object recognition unit 93A. Furthermore, the collision determination unit 95A excludes the initial shape IG of the machine body MB of the crane 1 from the object recognition result obtained from the object recognition unit 93A.

[0133] Furthermore, in process P17, the collision determination unit 95A obtains information on the exclusion range ER1 from the exclusion range setting unit 96. In addition, the collision determination unit 95A excludes the recognition results of objects included in the exclusion range ER1 from the object recognition results obtained from the object recognition unit 93A. Note that the surrounding monitoring device 9 may omit the aforementioned process P16. In this case, in process P17, the collision determination unit 95A excludes the recognition results of objects included in the exclusion range ER1, including the recognition result of the aircraft MB.

[0134] Next, the surrounding monitoring device 9 executes a process P18 that determines whether the object recognized based on the detection result of the external sensor ES satisfies predetermined conditions. Specifically, in process P18, the collision determination unit 95A determines the possibility of a collision between the object recognized by the object recognition unit 91A outside the exclusion range ER1 and the aircraft MB. This determination by the collision determination unit 95A is made based on the determination criteria set in the process P12 described above. The determination criteria are, for example, the initial shape IG of the aircraft MB, the outer edge of the exclusion range ER1, or the virtual shape of the aircraft MB.

[0135] In process P18, the collision determination unit 95A determines that the condition is met (YES) if the distance between the object recognized by the object recognition unit 91A outside the exclusion range ER1 and the determination criterion is less than or equal to a threshold. Then, the collision determination unit 95A executes a pre-set process in process P19. The processes executed by the collision determination unit 95A in process P19 include, for example, displaying an image to draw attention on the display device 42 set in the aforementioned process P13, or outputting a warning sound, alarm sound, or voice from the speaker 48 to draw attention.

[0136] In the example shown in Figure 12, objects OB5 and OB6 are detected outside the frame-shaped image ERG, which shows the outer edge of the exclusion range ER1, based on the detection results of the external sensor ES. Object OB5 is, for example, a point cloud representing the rear of a truck, detected by the external sensor ES and recognized by the object recognition unit 93A. Object OB6 is, for example, a point cloud representing people around the crane 1, detected by the external sensor ES and recognized by the object recognition unit 93A.

[0137] In the example shown in Figure 12, the criterion for determining the possibility of collision between objects OB5 and OB6 outside the image ERG, which shows the outer edge of the exclusion range ER1, and the machine body MB is the initial shape IG of the machine body MB. In this case, the collision determination unit 95A determines the possibility of collision between objects OB5 and OB6 and the machine body MB based on the distance between objects OB5 and OB6 recognized by the object recognition unit 93A outside the exclusion range ER1 and the outer edge of the initial shape IG. The collision determination unit 95A displays arrows AR1 and AR2 on the display device 42, pointing from the outer edge of the initial shape IG to the point cloud representing objects OB5 and OB6, to alert the operator of the crane 1 to the possibility of collision.

[0138] Figure 13 shows another example of image DI3 generated by the collision determination unit 95A in process P19. In the example shown in Figure 13, the criterion for determining the possibility of collision between objects OB5 and OB6 outside the image ERG, which shows the outer edge of the exclusion range ER1, and the machine MB is the outer edge of the exclusion range ER1. In this case, the collision determination unit 95A determines the possibility of collision between objects OB5 and OB6 and the machine MB based on the distance between the objects recognized by the object recognition unit 93A outside the exclusion range ER1 and the outer edge of the exclusion range ER1. The collision determination unit 95A displays arrows AR3 and AR4 on the display device 42, pointing from the image ERG showing the outer edge of the exclusion range ER1 to the point cloud representing objects OB5 and OB6, to alert the operator of the crane 1 to the possibility of collision.

[0139] After the completion of process P19, the peripheral monitoring device 9 terminates the processing flow shown in Figure 9 and repeats at a predetermined cycle. Also, in process P18, the collision determination unit 95A determines that the condition is not met (NO) if the distance between the object recognized by the object recognition unit 91A outside the exclusion range ER1 and the determination criterion is greater than the threshold. Then, the peripheral monitoring device 9 terminates the processing flow shown in Figure 9 and repeats at a predetermined cycle.

[0140] Figure 14 is a schematic perspective view showing an example of an exclusion range ER1. In the example shown in Figure 14, in the process P11 for setting the exclusion range ER1, the height of the exclusion range ER1 is not set, and the exclusion range ER1 has an infinite height. In this case, the outer edge of the exclusion range ER1 is set as the collision determination criterion by the judgment criterion unit 97, and the object OB7 is detected by the external sensor ES. Then, the outer edge of the exclusion range ER1 and the object OB7 interfere, and since the distance is zero (below the threshold), the collision determination unit 95A always determines the possibility of a collision between the crane 1 and the object OB7.

[0141] Figure 15 is a schematic perspective view showing another example of the exclusion range ER1. In the example shown in Figure 15, in the process P11 for setting the exclusion range ER1 described above, the height H of the exclusion range ER1 is set by the exclusion range setting unit 96. Alternatively, the exclusion range setting unit 96 may set the height H of the exclusion range ER1 to include the height of the attachment AT calculated based on the attitude of the aircraft MB detected by the attitude sensor, as described above.

[0142] In this case, the judgment criterion setting unit 97 sets the outer edge of the exclusion range ER1 as the collision judgment criterion. Then, the collision judgment unit 95A determines the possibility of a collision between the crane 1 and the object OB7 if the distance between the upper surface of the cylindrical exclusion range ER1 and the object OB7 detected by the external sensor ES is less than or equal to a threshold.

[0143] Figures 16 to 18 show other examples of images generated by the surrounding monitoring device 9.

[0144] In the example shown in Figure 16, the image generation unit 94A displays image DI4 on the display device 42, which includes point clouds of objects OB5 and OB6 detected by the external sensor ES outside the exclusion range ER1. In addition, the image generation unit 94A displays image DI4 on the display device 42, which includes point cloud images AMG and OBG representing additional members AM3 and pylons detected by the external sensor ES inside image ERG, which shows the exclusion range ER1. However, the detection results from the external sensor ES inside image ERG, which shows the exclusion range ER1, are excluded from the detection results of the external sensor ES by the collision determination unit 95A in the aforementioned process P17, and no collision determination is performed.

[0145] Furthermore, in the example shown in Figure 16, in the aforementioned process P12, the criterion for collision determination is set to the initial shape IG of the machine MB by the determination criterion setting unit 97. Therefore, in image DI4, the collision determination unit 95A displays arrows AR5 and AR6 on the display device 42 that extend from the image of the initial shape IG toward objects OB5 and OB6, drawing attention to the possibility of collision with the crane 1.

[0146] In the example shown in Figure 17, similar to the example shown in Figure 16, the image generation unit 94A displays image DI5 on the display device 42, which includes point cloud images AMG and OBG representing the additional member AM3 and pylons, etc., inside image ERG, which represents the exclusion range ER1. However, the detection results of these additional member AM3 and pylons by the external sensor ES are excluded from the collision determination by the collision determination unit 95A. Furthermore, the collision determination unit 95A displays a warning indicator ALT on the display device 42 instead of the arrows AR5 and AR6 in Figure 16 as an image to draw attention to the possibility of collision between the crane 1 and objects OB5 and OB6 detected by the external sensor ES outside the exclusion range ER1.

[0147] In the example shown in Figure 18, in the aforementioned process P12, the judgment criterion for collision determination is set by the judgment criterion setting unit 97 to a virtual shape VM, which is a simple cylindrical three-dimensional shape. Therefore, in image DI6, the collision determination unit 95A displays arrows AR7 and AR8 on the display device 42 that extend from the outer edge of the virtual shape VM of the judgment criterion toward objects OB5 and OB6, drawing attention to the possibility of collision with the crane 1.

[0148] Figures 19 to 23 are schematic plan views showing another example of the exclusion range ER1, which is a predetermined condition set for the peripheral monitoring device 9.

[0149] In the example shown in Figure 19, the exclusion range setting unit 96 sets a rectangular exclusion range ER2 surrounding the additional member AM3 and the machine body MB in the aforementioned process P11. In the example shown in Figure 20, the exclusion range setting unit 96 sets a hexagonal exclusion range ER3 surrounding the additional member AM3 and the machine body MB in the aforementioned process P11. In this way, the exclusion range setting unit 96 can set any shape other than a circle as an exclusion range.

[0150] In the example shown in Figure 21, the exclusion range setting unit 96 sets exclusion ranges ER4 and ER5 of different shapes at different heights in the aforementioned process P11. Specifically, a rectangular exclusion range ER4 is set up to a height of 1 meter from the ground surface, surrounding the additional member AM3 and the machine body MB, and a hexagonal exclusion range ER5 is set up to a height of more than 1 meter from the ground surface. The exclusion range setting unit 96 can combine different sizes and shapes, for example, by setting a circular exclusion range with a radius of 5 meters at a height including the lower traveling body 2 from the ground surface, and a circular exclusion range with a radius of 3 meters including the upper rotating body 3 at a height including the upper rotating body 3.

[0151] In the example shown in Figure 22, the exclusion range setting unit 96 combines multiple rectangular exclusion ranges ER6, ER7, ER8, and ER9 in the aforementioned process P11 to set exclusion ranges ER6, ER7, ER8, and ER9 that surround the additional member AM3 and the machine body MB. Also, in the example shown in Figure 23, the exclusion range setting unit 96 combines multiple elliptical exclusion ranges ER10 and ER12 with multiple rectangular exclusion ranges ER11 and ER13 in the aforementioned process P11. As a result, the exclusion range setting unit 96 sets exclusion ranges ER10, ER11, ER12, and ER13 that surround the additional member AM3 and the machine body MB.

[0152] The operation of the work machine and the surrounding monitoring device 9 of this embodiment will be described below.

[0153] The crane 1, which is a work machine in this embodiment, comprises a machine body MB, an external sensor ES attached to the machine body MB, and a surrounding monitoring device 9 that excludes items that meet predetermined conditions from the detection results of the external sensor ES.

[0154] With this configuration, when objects such as the additional member AM3, which are not obstacles, are installed around the crane 1, the surrounding monitoring device 9 can set predetermined conditions that these objects must satisfy, thereby excluding the detection result of the additional member AM3 from the detection result of the external sensor ES. As a result, even if the external sensor ES detects an object that is not an obstacle, such as the additional member AM3 attached to the crane 1, the surrounding monitoring device 9 can avoid detecting that object as an obstacle.

[0155] Furthermore, in the crane 1, which is a work machine of this embodiment, the surrounding monitoring device 9 includes an exclusion range setting unit 96 that sets an exclusion range ER1-ER13 around the machine body MB, which is the range in which the detection results of the external sensor ES satisfy predetermined conditions.

[0156] With this configuration, the surrounding monitoring device 9 can set an exclusion range ER1-ER13 around the main body MB of the crane 1 so that objects that are not obstacles, such as the additional member AM3 attached to the main body MB of the crane 1, are included in the exclusion range ER1-ER13. As a result, the detection result of the additional member AM3 etc. by the external sensor ES satisfies the predetermined conditions and is excluded from the object detection result by the external sensor ES by the surrounding monitoring device 9. Consequently, even if an object such as the additional member AM3 included in the exclusion range ER1-ER13 is detected by the external sensor ES, it is possible to avoid detecting that object as an obstacle by the surrounding monitoring device 9.

[0157] Furthermore, in the crane 1, which is the work machine of this embodiment, the surrounding monitoring device 9 includes an object recognition unit 93A and a collision determination unit 95A. The object recognition unit 93A recognizes objects OB5-OB7 around the machine MB from the detection results of the external sensor ES. The collision determination unit 95A determines the possibility of a collision between the machine MB and the objects OB5-OB7 recognized by the object recognition unit 93A outside the exclusion range ER1-ER13.

[0158] With this configuration, the object recognition unit 93A can recognize objects OB5-OB7 outside the exclusion range ER1-ER13 based on the detection results of objects OB5-OB7 by the external sensor ES, which excludes detection results of non-obstacle objects such as the additional member AM3. The collision determination unit 95A determines the possibility of a collision between the objects OB5-OB7 outside the exclusion range ER1-ER13 recognized by the object recognition unit 93A and the machine body MB. This prevents collisions between objects OB5-OB7 and the machine body MB, thereby improving the safety of the work machine such as the crane 1.

[0159] Furthermore, in the crane 1, which is a work machine of this embodiment, the surrounding monitoring device 9 includes an image generation unit 94A that displays images DI1-DI6, which indicate the exclusion ranges ER1-ER13, on the display device 42.

[0160] With this configuration, operators of work machines such as the crane 1 can visually confirm the exclusion ranges ER1-ER13 set by the exclusion range setting unit 96 by visually inspecting the images DI1-DI6 generated by the image generation unit 94A and displayed on the display device 42.

[0161] Furthermore, in the crane 1, which is a work machine of this embodiment, the collision determination unit 95A determines the possibility of a collision based on the distance between the objects OB5-OB7 recognized by the object recognition unit 93A outside the exclusion range ER1-ER13 and the outer edge of the exclusion range ER1-ER13.

[0162] This configuration simplifies distance calculations, reduces the processing load on the surrounding monitoring device 9, and shortens the collision detection processing time compared to determining the possibility of collision based on the actual distance between the aircraft MB or initial shape IG and the objects OB5-OB7. Furthermore, it improves safety compared to determining the possibility of collision based on the actual distance between the aircraft MB or initial shape IG and the objects OB5-OB7.

[0163] Furthermore, in the crane 1, which is a work machine of this embodiment, the exclusion range setting unit 96 sets the height H of the exclusion range ER1-ER13 based on the posture of the machine MB.

[0164] With this configuration, in a work machine such as a crane 1 equipped with an attachment AT whose height changes according to the work, the height H of the exclusion range ER1-ER13 can be automatically and appropriately set.

[0165] Furthermore, in the crane 1, which is a work machine of this embodiment, the exclusion range setting unit 96 can set an exclusion range ER1-ER13 of any shape and height H based on information input via the input device 47.

[0166] With this configuration, operators of work machines such as crane 1 can input information via the input device 47 to set appropriate exclusion ranges ER1-ER13 for the shape and height H according to the state of each work machine.

[0167] Furthermore, the surrounding monitoring device 9 of this embodiment excludes detection results from external sensors ES attached to the machine body MB of a work machine such as a crane 1 that meet predetermined conditions.

[0168] With this configuration, the surrounding monitoring device 9 can set predetermined conditions and exclude the detection result of the additional member AM3 from the detection result of the external sensor ES when an object such as the additional member AM3, which is not an obstacle, is installed around the crane 1. Therefore, according to the surrounding monitoring device 9 of this embodiment, even if the additional member AM3 attached to the crane 1 is detected by the external sensor ES, it is possible to avoid detecting that object as an obstacle.

[0169] Furthermore, the surrounding monitoring device 9 of this embodiment includes an exclusion range setting unit 96 that sets an exclusion range ER1-ER13 around the machine body MB, which is the range in which the detection results of the external sensor ES satisfy predetermined conditions.

[0170] With this configuration, the surrounding monitoring device 9 can set exclusion ranges ER1-ER13 around the main body MB of the crane 1 such that objects that are not obstacles, such as the additional member AM3 attached to the main body MB of the crane 1, are included in the exclusion ranges ER1-ER13. As a result, the surrounding monitoring device 9 can exclude detection results from external sensors ES of additional members such as AM3 that meet predetermined conditions from the object detection results from external sensors ES. Consequently, even if an object such as the additional member AM3 included in the exclusion ranges ER1-ER13 is detected by the external sensors ES, the surrounding monitoring device 9 can avoid detecting that object as an obstacle.

[0171] 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.

[0172] Figure 24 is a side view of a shovel 1A, which shows another example of a work machine according to the present disclosure. Shovel 1A, an example of a work machine, is equipped with a machine body including a lower traveling body and an upper rotating body, an external sensor attached to the machine body, and a surrounding monitoring device that recognizes an additional shape attached to the machine body based on the detection results of the external sensor, similar to the case of the crane 1 described above. Thus, the type of work machine in this embodiment is not particularly limited. Specifically, the work machine may be, for example, forestry machine, recycling machine, demolition machine, application machine, road machine, forklift, wheel loader, bulldozer, dump truck, etc.

[0173] This application claims priority based on Japanese Patent Application No. 2024-230352, filed on 26 December 2024, and the entire contents of that Japanese Patent Application are incorporated herein by reference.

[0174] 1 Crane (working machine) 1A Shovel (working machine) 2 Lower traveling body (machine) 3 Upper rotating body (machine) 42 Display device 47 Input device 9 Surrounding monitoring device 91 Shape recognition unit 92 Shape generation unit 93 Object recognition unit 93A Object recognition unit 94 Image generation unit 94A Image generation unit 95 Collision determination unit 95A Collision determination unit 96 Exclusion range setting unit AG1 Additional shape AG2 Additional shape AM1 Additional member AM2 Additional member CG Current shape DI Image ER1 Exclusion range ER2 Exclusion range ER3 Exclusion range ER4 Exclusion range ER5 Exclusion range ER6 Exclusion range ER7 Exclusion range ER8 Exclusion range ER9 Exclusion range ER10 Exclusion range ER11 Exclusion range ER12 Exclusion range ER13 Exclusion range ES External sensor ES1 Rear sensor (external sensor) ES2 Right sensor (external sensor) H Height IG Initial shape MB Machine OB1 Object OB2 Object OB3 Object OB4 Object OB5 Object OB6 Object

Claims

1. A work machine comprising: a machine body; an external sensor attached to the machine body; and a surrounding monitoring device that excludes items from the detection results of the external sensor that meet predetermined conditions.

2. The work machine according to claim 1, wherein the surrounding monitoring device recognizes an added shape attached to the machine body based on the detection result of the external sensor.

3. The working machine according to claim 2, wherein the surrounding monitoring device comprises: a shape recognition unit that recognizes the added shape by comparing the shape of the machine included in the detection results of the external sensor with the initial shape of the machine that is held in advance; a shape generation unit that generates the current shape of the machine by adding the added shape to the initial shape of the machine; and an object recognition unit that recognizes an object excluding the current shape from the detection results of the external sensor.

4. The work machine according to claim 3, further comprising a display device, wherein the peripheral monitoring device further comprises an image generation unit that generates images of the current shape of the machine and the object recognized by the object recognition unit and displays them on the display device.

5. The work machine according to claim 3, further comprising a display device, wherein the peripheral monitoring device further comprises an image generation unit that generates an image distinguishing the initial shape and the added shape of the machine and displays it on the display device.

6. The work machine according to claim 3, wherein the machine body includes a lower traveling body to which the additional member having the additional shape is attached, and an upper rotating body that is rotatably mounted on the lower traveling body and to which the external sensor is attached.

7. The work machine according to claim 3, wherein the machine body includes a lower traveling body to which the external sensor is attached, and an upper rotating body that is rotatably mounted on the lower traveling body and to which the additional member having the additional shape is attached.

8. The work machine according to claim 6 or claim 7, wherein the shape recognition unit recognizes the additional shape using a plurality of detection results from the external sensor obtained by rotating the upper rotating body.

9. The work machine according to claim 3, wherein the surrounding monitoring device further comprises a collision determination unit that performs collision determination between the object recognized by the object recognition unit and the current shape of the machine.

10. The work machine according to claim 9, wherein the collision determination unit has different collision determination criteria for the added shape and for the initial shape.

11. The work machine according to claim 5, further comprising an input device, wherein the shape generation unit generates the current shape by adding the additional shape selected by the operator via the input device to the initial shape.

12. The work machine according to claim 1, wherein the surrounding monitoring device includes an exclusion range setting unit that sets an exclusion range around the machine body in which the detection result of the external sensor satisfies the predetermined conditions.

13. The work machine according to claim 12, wherein the surrounding monitoring device comprises an object recognition unit that recognizes objects around the machine from the detection results of the external sensor, and a collision determination unit that determines the possibility of a collision between the machine and an object recognized by the object recognition unit outside the exclusion range.

14. The work machine according to claim 12, wherein the surrounding monitoring device comprises an image generation unit that displays an image indicating the exclusion range on a display device.

15. The work machine according to claim 13, wherein the collision determination unit determines the possibility of a collision based on the distance between an object recognized by the object recognition unit outside the exclusion range and the outer edge of the exclusion range.

16. The work machine according to claim 15, wherein the exclusion range setting unit sets the height of the exclusion range based on the posture of the machine.

17. The work machine according to claim 13, wherein the exclusion range setting unit can set the exclusion range of any shape and height based on information input via an input device.

18. A peripheral monitoring device that excludes detection results from external sensors attached to the body of a work machine that meet predetermined conditions.

19. The peripheral monitoring device according to claim 18, which recognizes an additional shape attached to the aircraft based on the detection result of the external sensor.

20. The peripheral monitoring device according to claim 18, further comprising an exclusion range setting unit that sets an exclusion range around the device in which the detection result of the external sensor satisfies the predetermined conditions.

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