WO2020189578A1 - Work machine - Google Patents

Abstract

Provided is a work machine that can more suitably detect objects in the vicinity thereof. A work machine according to an embodiment of the present invention is provided with a lower traveling body 1, an upper rotating body 3 that can be instructed to rotate freely on the lower traveling body 1, and a LIDAR 40 mounted to the lower traveling body 1. The LIDAR 40 detects objects in the vicinity of the lower traveling body 1 via a predetermined member mounted to the lower traveling body 1. For example, the LIDAR 40 detects objects in blind spot areas BSL, BSR in the vicinity of the lower traveling body 1 via a mirror member 42.

Description

Work machine

This disclosure relates to work machines.

For example, a working machine in which a sensor for detecting an object around the own machine is mounted on an upper swing body is known (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2014-181508

However, when the sensor is mounted on the upper swing body, it is necessary to detect an object in a region relatively close to the own machine, and it is necessary to set the detection direction of the sensor diagonally downward. Therefore, a region relatively distant from the own machine may be out of the detection range, and an object in the region may not be detected properly.

Therefore, in view of the above problems, it is an object of the present invention to provide a work machine capable of more appropriately detecting an object around the own machine.

In order to achieve the above object, in one embodiment of the present disclosure,
With the lower running body,
An upper swivel body that is rotatably supported by the lower traveling body and
A sensor attached to the lower traveling body and detecting an object around the lower traveling body is provided.
Work machines are provided.

According to the above-described embodiment, it is possible to provide a work machine capable of more appropriately detecting an object around the own machine.

It is a side view which shows an example of a crawler crane. It is a top view which shows an example of a crawler crane. It is a front view which shows an example of a crawler crane. It is a figure which shows an example of the configuration of the peripheral monitoring device. It is a flowchart which shows typically an example of the peripheral monitoring processing by the peripheral monitoring device. It is a top view which shows another example of a crawler crane.

Hereinafter, embodiments will be described with reference to the drawings.

[Overview of crawler crane]
First, the outline of the crawler crane 100 (an example of a work machine) according to the present embodiment will be described with reference to FIGS. 1A to 1C.

1A to 1C are a side view, a top view, and a front view showing an example of the crawler crane 100 according to the present embodiment. Hereinafter, in the present embodiment, one end side on which the traveling hydraulic motor 1M (that is, the starting wheel) of the crawler 1C is provided is referred to as "rear" of the lower traveling body 1, and the opposite side is referred to as "front" of the lower traveling body 1. ..

Note that in FIGS. 1B and 1C, the drawing of the boom 4, mast 5, backstop 6, etc. shown in FIG. 1A is omitted.

The crawler crane 100 includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1 via a turning mechanism 2, a boom 4, a mast 5, a back stop 6, and a main winding rope. 7, a hook 8, a counterweight 9, and a cabin 10.

The lower traveling body 1 includes a track frame 1TF that supports the upper turning body 3 and a pair of left and right crawlers 1C (left crawler 1CL and right crawler 1CR) that are attached to the left and right sides of the track frame 1TF.

The crawlers 1C (crawler 1CL, 1CR) include a crawler frame 1CF (left crawler frame 1CFL and right crawler frame 1CFR), a traveling hydraulic motor 1M (left traveling hydraulic motor 1ML and right traveling hydraulic motor 1MR), and a crawler. Includes shoe 1CS (left crawler shoe 1CSL and right crawler shoe 1CSR).

The crawler frames 1CFL and 1CFR are attached to the left and right sides of the track frame 1TF, respectively. The crawler frames 1CFL and 1CFR support the crawler shoe via the upper and lower rollers, the floating wheel at the front end, and the starting wheel at the rear end.

The traveling hydraulic motors 1ML and 1MR are attached to the rear ends of the crawler frames 1CFL and 1CFR, respectively, and drive the crawler shoes 1CSL and 1CSR via the starting wheels. That is, the lower traveling body 1 travels by hydraulically driving the crawlers 1CL and 1CR by the traveling hydraulic motor 1ML and the traveling hydraulic motor 1MR).

The upper swivel body 3 swivels with respect to the lower traveling body 1 by hydraulically driving the swivel mechanism 2 with a swivel hydraulic motor.

The boom 4 is undulatingly attached to the center of the front part of the upper swing body 3. The main winding rope 7 hangs down from the tip of the boom 4, and the hook 8 is attached to the tip of the main winding rope 7.

The mast 5 is rotatably attached around a rotation axis parallel to the rotation axis of the boom 4 slightly behind the base end of the boom 4 of the upper swing body 3. The tip of the mast 5 is connected to the tip of the boom 4 via the pendant rope 5a, and the boom 4 is wound and unwound by the hydraulically driven boom undulating winch 5c. Is ups and downs.

The backstop 6 is rotatably attached around a rotation axis parallel to the rotation axis of the boom 4 at a portion of the upper swing body 3 whose base end is behind the base end of the boom 4, and its tip is rotatably attached. At the rear surface portion between the base end and the tip end of the boom 4, it is rotatably attached around a rotation shaft parallel to the rotation shaft of the boom 4. The backstop 6 expands and contracts according to the undulating motion of the boom 4, and has a function of supporting the boom 4 from behind when the boom 4 is in a substantially upright state, for example.

The base end of the main winding rope 7 is attached to the main winding winch 7a attached to the rear surface portion between the base end and the tip of the boom 4, and the tip thereof is attached to the hook 8. The hook 8 can be moved up and down by winding and unwinding the main winding rope 7 by the hydraulically driven main winding winch 7a.

The hook 8 is attached to the tip of the main winding rope 7 and is used to suspend the suspended load.

The counter weight 9 is provided at the rear end of the upper swing body 3 and has a function of balancing the weight with the weight of the boom 4 and the suspended load.

Cabin 10 (an example of the driver's cab) is the driver's cab on which the operator boarded. The cabin 10 is attached to the right front end of the upper swing body 3. Inside the cabin 10, an operating device (for example, an operating lever, an operating pedal, etc.) for operating a cockpit and a hydraulic actuator (for example, a traveling hydraulic motor 1ML, 1MR, a turning hydraulic motor, a hydraulic motor for driving various winches, etc.) Is provided.

[Configuration of peripheral monitoring device]
Next, in addition to FIGS. 1A to 1C, the configuration of the peripheral monitoring device 200 mounted on the crawler crane 100 according to the present embodiment will be described with reference to FIG.

FIG. 2 is a block diagram showing an example of the configuration of the peripheral monitoring device 200 according to the present embodiment.

The peripheral monitoring device 200 monitors the intrusion of a predetermined object (hereinafter, simply “monitored target”) to be monitored into a predetermined range around the crawler crane 100, and when the monitored target is detected, the inside of the cabin 10 The operator and the workers around the crawler crane 100 are notified. Further, when the peripheral monitoring device 200 detects a monitoring target, the operation of the crawler crane 100 may be restricted to ensure the safety around the crawler crane 100. The monitoring target may include "persons" such as workers working around the crawler crane 100 and supervisors at the work site. In addition, the monitoring targets include materials temporarily placed at the work site, fixed (non-moving) obstacles such as temporary offices at the work site, and moving obstacles such as vehicles including trucks. Obstacles can be included. Hereinafter, in the present embodiment, the description will be continued focusing on the case where the monitoring target is a person.

The peripheral monitoring device 200 includes a controller 30, a LIDAR (Light Detection and Ringing) 40, a camera 45, a camera 47, a display device 50, an operation input device 52, a voice output device 54, and a hydraulic control valve 60. including.

The controller 30 is a control device that controls the functions of the peripheral monitoring device 200. The controller 30 is mounted in the cabin 10, for example.

The function of the controller 30 may be realized by any hardware, or a combination of any hardware and software. The controller 30 includes, for example, a memory device (main storage device) such as a CPU (Central Processing Unit) and a RAM (Random Access Memory), an auxiliary storage device such as a ROM (Read Only Memory), and an interface for input / output to / from the outside. It is mainly composed of a microcomputer including a device and the like. The controller 30 includes, for example, a detection unit 301, a display processing unit 302, and an adjustment unit 303 as functional units realized by executing one or more programs installed in the auxiliary storage device on the CPU.

Note that some or all of the functions of the controller 30 may be realized by another controller. That is, the function of the peripheral monitoring device 200 may be realized by being shared by a plurality of controllers. Further, the controller 30 may perform control related to the crawler crane 100 other than control related to the function of the peripheral monitoring device 200. That is, the controller 30 may be a dedicated control device specialized for the functions of the peripheral monitoring device 200, or a general-purpose control device that controls various functions of the crawler crane 100 including the functions of the peripheral monitoring device 200. There may be.

The LIDAR 40 (an example of a sensor) is attached to the lower traveling body 1 and recognizes (detects) an object existing in the three-dimensional space around the crawler crane 100, and the distance from the LIDAR 40 or the crawler crane 100 to the recognized object. Etc. to measure position information. For example, as shown in FIGS. 1B and 1C, the LIDAR 40 is attached to the central portion of the front end of the track frame 1TF of the lower traveling body 1, recognizes an object in front of the lower traveling body 1, and is a distance to the recognized object. Etc. are measured. The output information (detection information) of the LIDAR 40 is taken into the controller 30.

As shown in FIG. 1B, the LIDAR 40 is, for example, a scanning type. The LIDAR 40 is equipped with a scanning mechanism for at least the lower traveling body 1 in the left-right direction to irradiate the laser in the horizontal direction, and has an angle of view VA detection range toward the front of the lower traveling body 1 in a top view. That is, the LIDAR 40 may be a two-dimensional scanning type laser scanner capable of scanning in the horizontal direction. The angle of view VA includes an angle region VA1 including an anteroposterior axis passing through the LIDAR 40, an angle region VA2 at the left end portion, and an angle region VA3 at the right end portion in a top view. Further, when the installation height of the LIDAR 40 is higher than the expected monitoring target, the LIDAR 40 may be installed so that the irradiation angle in the vertical direction of the laser is inclined downward. As a result, the LIDAR 40 can appropriately detect the monitoring target. Further, the LIDAR 40 may have a scanning mechanism for scanning the laser in the vertical direction. That is, the LIDAR 40 may be a three-dimensional scanning type laser scanner. Further, the LIDAR 40 may be a so-called flash type in which a laser is irradiated from a light emitting module over a wide range in three dimensions and the reflected light (laser) is imaged by a three-dimensional distance image sensor.

The angle region VA1 corresponds to a detection range in which an object around (front) the lower traveling body 1 can be directly detected without becoming a blind spot of the crawlers 1CL and 1CR when viewed from the LIDAR 40 in the angle of view VA.

The angle region VA2 is a blind spot of the crawler 1CL on the left side when viewed from the LIDAR 40 in the angle of view VA, and is a detection range in which an object around the lower traveling body 1 cannot be directly detected, in other words, the crawler on the left side. It corresponds to the detection range in which 1CL is detected.

The angle region VA3 is a blind spot of the crawler 1CR on the right side when viewed from the LIDAR 40 in the angle of view VA, and the detection range in which the periphery of the lower traveling body 1 cannot be directly detected, in other words, the crawler 1CR on the right side. It corresponds to the detection range to be detected.

A mirror member 42 (mirror member 42L on the left side and mirror member 42R on the right side) is provided in each angle range of the angle area VA2 and the angle area VA3.

The mirror member 42 (an example of a predetermined member) reflects the laser emitted from the LIDAR 40 toward a predetermined range including the blind spot region seen from the LIDAR 40 around the lower traveling body 1, and also from an object in the predetermined range. The reflected laser is reflected toward the LIDAR 40. For example, the mirror members 42L and 42R are attached to the inner side surfaces of the crawler frame 1CFL on the left side and the crawler frame 1CFR on the right side, respectively.

Specifically, the mirror member 42L reflects the laser radiated from the LIDAR 40 to the angle region VA2 to a predetermined range including the blind spot region BSR facing the front (forward direction) of the crawler 1CR on the right side. Further, the mirror member 42L reflects the laser reflected from the predetermined range including the blind spot region BSR toward the LIDAR 40. As a result, the LIDAR 40 indirectly delivers the laser to the blind spot region BSR where the laser cannot be delivered directly via the mirror member 42L, and transmits the reflected light (laser) of the object in the blind spot region BSR via the mirror member 42L. Can receive light. Therefore, the LIDAR 40 can indirectly detect the object in the blind spot region BSR via the mirror member 42L. Further, the LIDAR 40 provides information regarding the relative positional relationship between the LIDAR 40 and the mirror member 42L (hereinafter, “relative positional relationship information”) in a non-volatile internal memory or an external non-volatile storage device (for example, an auxiliary of the controller 30). It can be referred from a storage device, etc.). Therefore, when the LIDAR 40 recognizes (detects) an object based on the reflected light from the angle region VA2, it and the distance information based on the time from the laser irradiation to the light reception (for example, the distance information by the TOF (Time of Flight) method). , Acquires (calculates) the actual position information of the recognized object based on the relative positional relationship information. As a result, in the LIDAR 40, since the laser is reflected by the mirror member 42L, the actual position of the recognized object cannot be specified only by the distance information, but the laser irradiates the angle region VA2 based on the relative positional relationship information. Based on this, the actual position of the detected object can be specified.

Similarly, the mirror member 42R reflects the laser radiated from the LIDAR 40 to the angle region VA3 to a predetermined range including the blind spot region BSL facing the front (forward direction) of the crawler 1CL on the left side. Further, the mirror member 42R reflects a laser reflected from a predetermined range including the blind spot region BSL toward the LIDAR 40. As a result, the LIDAR 40 indirectly delivers the laser to the blind spot region BSL where the laser cannot be delivered directly via the mirror member 42R, and transmits the reflected light (laser) of the object in the blind spot region BSL via the mirror member 42R. Can receive light. Therefore, the LIDAR 40 can indirectly detect the object in the blind spot region BSL via the mirror member 42R. Further, the LIDAR 40 can refer to the relative positional relationship information between the LIDAR 40 and the mirror member 42R from the non-volatile internal memory or the external non-volatile storage device. Therefore, when the LIDAR 40 recognizes (detects) an object based on the reflected light from the angle region VA3, the actual recognized object is based on the distance information based on the time from the laser irradiation to the light reception and the relative positional relationship information. Acquires (calculates) the position information of. Thereby, the LIDAR 40 can specify the actual position of the object detected based on the laser irradiated to the angle region VA3 by using it for the relative positional relationship information.

Note that the actual position information of the object recognized by the LIDAR 40 may be calculated by the controller 30 (for example, the detection unit 301) based on the distance information output from the LIDAR 40.

The camera 45 (an example of an imaging device) is attached to the lower traveling body 1, specifically, the vicinity of the LIDA R40 at the center of the front end portion of the truck frame 1TF, and shows the surroundings of the crawler crane 100 including the detection range of the LIDA R40. Take an image. The camera 45 is, for example, a monocular camera, a stereo camera, a distance image camera, a depth camera, or the like. Hereinafter, the same applies to the camera 47. The camera 45 outputs a captured image at predetermined intervals (for example, 1/30 second) between the start and stop of the crawler crane 100, and the output captured image is captured by the controller 30.

The camera 47 (an example of an imaging device) is attached to the upper front end of the upper swing body 3, for example, the cabin 10, and is installed so that its optical axis faces diagonally downward toward the ground of the crawler crane 100 (own machine). To. As a result, the camera 47 can take an image of an object in a relatively close region around the own machine. The camera 47 outputs a captured image at predetermined intervals (for example, 1/30 second) from the start to the stop of the crawler crane 100, and the output captured image is captured by the controller 30.

Note that at least one of the cameras 45 and 47 may be omitted.

The display device 50 is provided around the driver's seat in the cabin 10, specifically, at a position easily visible to the operator seated in the driver's seat, and displays various image information to be notified to the operator. The display device 50 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display, and may be a touch panel type that also serves as an operation input device 52. For example, under the control of the controller 30, the display device 50 displays an image (hereinafter, “surveillance image”) showing the surroundings of the crawler crane 100 (own machine) based on the images captured by the camera 45 and the camera 47. ..

The operation input device 52 receives operation inputs related to various functions of the peripheral monitoring device 200 from the operator and outputs them to the controller 30. The operation input device 52 includes, for example, an operation means of any hardware such as a touch panel, a touch pad, a button, a toggle, and a rotary knob. Further, the operation input device 52 may include software operation means that can be operated through hardware operation means, such as a virtual button icon on the operation screen displayed on the display device 50.

The operation input device 52 includes a setting operation unit 52a.

The setting operation unit 52a is used to perform a setting operation regarding the detection range of the LIDAR 40. By operating the setting operation unit 52a, the user can adjust the detection range of the monitoring target by the detection unit 301 through the adjustment unit 303.

The voice output device 54 is provided around the driver's seat in the cabin 10 and outputs a sound for notifying the operator. The audio output device 54 is, for example, a speaker, a buzzer, or the like. For example, the voice output device 54 outputs a voice related to an alarm sound or a warning from the controller 30 based on a control command.

The detection unit 301 detects the monitoring target in a predetermined monitoring area around the crawler crane 100 based on the output information of the LIDAR 40.

The detection unit 301 is, for example, in the horizontal direction (hereinafter, simply “horizontal direction”) as seen from the crawler crane 100, that is, the plane on which the crawler crane 100 is working (the lower traveling body 1 is in contact with the ground) (hereinafter, the present invention). For convenience, the monitoring target is detected in the monitoring area extending in the direction along the "work plane"). Specifically, the detection unit 301 detects the monitoring target within the monitoring area where the horizontal distance D from the crawler crane 100 is within a predetermined distance Dth (for example, 5 meters).

For example, the detection unit 301 determines whether or not an object is detected based on the output information of the LIDAR 40, and also determines whether the detected object is a monitoring target, whether the object is located in the monitoring area, and the like. By doing so, the monitoring target in the monitoring area may be detected.

Further, when the detection unit 301 detects a monitoring target in the monitoring area, the detection unit 301 may output an alarm to the inside or the outside of the cabin 10. As a result, the peripheral monitoring device 200 invades the operator, workers around the crawler crane 100, supervisors, etc., into the monitoring area around the crawler crane 100 (for example, a person such as a worker). You can make them recognize what you have done. Therefore, the peripheral monitoring device 200 can urge the operator to confirm the safety status around the crawler crane 100, and also urge the workers in the monitoring area to evacuate from the monitoring area. it can.

For example, the detection unit 301 outputs an auditory method, that is, a sound alarm. Specifically, the detection unit 301 outputs a control command to the voice output device 54 to output a warning sound.

It should be noted that the detection unit 301 may make the pitch, sound pressure, timbre, etc. of the warning sound different, or the sounding cycle when the warning sound (for example, buzzer sound) is periodically sounded, depending on various conditions. Good.

Further, for example, the detection unit 301 outputs an alarm by a visual method, that is, a display on the display device 50. Specifically, the detection unit 301 outputs an alarm request to the display processing unit 302. Then, the display processing unit 302 responds to the alarm request on the monitoring image displayed on the monitoring image displayed on the display device 50 and on the monitoring image corresponding to the position of the detected monitoring target crawler crane 100. You may emphasize the position of. More specifically, the display processing unit 302 superimposes and displays a frame surrounding the monitoring target displayed on the monitoring image, or markers at a position on the monitoring image corresponding to the detected actual position of the monitoring target. May be superimposed and displayed. As a result, the display device 50 can output a visual alarm to the operator. Further, the display processing unit 302 may generate a crawler crane obstacle map image based on the actual position information of the object recognized by the detection unit 301, superimpose the illustration of the vehicle body, and display it on the display device 50. .. As a result, the alarm can be output in a manner that makes it easier to visually recognize the relative position of the object recognized as the crawler crane 100.

Even if the detection unit 301 outputs an alarm to workers and supervisors around the crawler crane 100 by a visual method through an external display device that may be separately provided in the house unit of the upper swing body 3. Good. Further, the detection unit 301 may output an alarm through a tactile method, for example, a vibration generator that vibrates the cockpit in which the operator sits.

Further, the detection unit 301 may change the type of alarm (alarm level) according to the positional relationship between the monitoring target detected in the monitoring area and the crawler crane 100.

For example, when the monitoring target detected in the monitoring area is located at a position relatively far from the crawler crane 100, the detection unit 301 has a relatively low alarm level to alert the operator or the like to the monitoring target. (Hereinafter, "attention level alarm") may be output. Specifically, the detection unit 301 issues a caution level alarm when the horizontal distance D between the detected monitoring target and the crawler crane 100 exceeds a predetermined distance D1 (when D1 <D≤Dth). You may output it. Hereinafter, the area of the monitoring area where the distance D from the crawler crane 100 exceeds the predetermined distance D1 is referred to as a “caution area” for convenience. On the other hand, when the monitoring target detected in the monitoring area is relatively close to the crawler crane 100, the detection unit 301 notifies the relative that the monitoring target approaches the crawler crane 100 and the risk is increasing. An alarm with a high alarm level (hereinafter, "alert of alert level") may be output. Specifically, the detection unit 301 may output a warning level alarm when the horizontal distance D between the detected monitoring target and the crawler crane 100 is a predetermined distance D1 or less (when D ≦ D1). .. Hereinafter, the area of the monitoring area where the distance D from the crawler crane 100 is equal to or less than the predetermined distance D1 is referred to as a “warning area”.

In this case, the detection unit 301 may make the pitch, sound pressure, timbre, sounding cycle, etc. of the sound output from the voice output device 54 different between the caution level alarm and the alert level alarm. Further, the detection unit 301 has a color, shape, such as a marker that emphasizes the monitoring target and the position of the monitoring target included in the monitoring image displayed on the display device 50 between the caution level alarm and the alert level alarm. The size, the presence / absence of blinking, the blinking cycle, etc. may be different. As a result, the peripheral monitoring device 200 grasps the alarm level, that is, the degree of approach to the crawler crane 100 to be monitored, by the difference in the alarm sound and the marker that emphasizes the monitoring target displayed on the display device 50. Can be made to.

Further, the detection unit 301 cancels the alarm output when the monitoring target is no longer detected after the alarm output is started, or when a predetermined operation for canceling the alarm is received through the operation input device 52. Good.

Further, the detection unit 301 may limit the operation of the crawler crane 100 when it detects a monitoring target in the monitoring area. At this time, the detection unit 301 may limit all the operations of the hydraulic actuator, that is, the operations of all the driven elements driven by the hydraulic actuator, or may limit some operations.

For example, when a hydraulic actuator is operated by a hydraulic pilot type operating device, the detection unit 301 controls a hydraulic control valve (for example, a gate lock valve) arranged in a pilot line between the pilot pump and the operating device. , The pilot line may be cut off. As a result, since hydraulic oil is not supplied to the operating device, the operating device cannot output the pilot pressure corresponding to the operation content, and the operation of all hydraulic actuators can be restricted. Further, the detection unit 301 controls a hydraulic control valve (for example, a pressure reducing valve) arranged on the pilot line on the secondary side of the operating device to reduce the pilot pressure on the secondary side corresponding to the operation content of the operating device. You may. As a result, the pilot pressure corresponding to the operation content of the operating device is reduced, so that the operation of the hydraulic actuator that operates according to the pilot pressure can be restricted. Further, for example, when the hydraulic actuator is operated by an electric operation device, the detection unit 301 invalidates the operation on the operation device or adjusts the control signal corresponding to the operation content so that the operation is restricted. You may. The detection unit 301 can limit the operation of the hydraulic actuator that operates in response to the control signal from the controller 30.

Further, the detection unit 301 releases the operation restriction when the monitoring target is no longer detected after the operation restriction starts, or when a predetermined operation for releasing the operation restriction is received through the operation input device 52. Good.

Further, when the detection unit 301 detects the monitoring target in the monitoring area, the monitoring image based on the captured image of the camera 45 or the camera 47, that is, the place where the monitoring target is detected is displayed via the display processing unit 302. The image is displayed on the display device 50. As a result, even when the monitoring image based on the captured image of the camera 45 or the camera 47 is not displayed on the display device 50, the image showing the detected monitoring target is displayed, so that the operator monitors. When a target is detected, the detected monitoring target can be confirmed immediately. Therefore, the convenience of the operator can be improved, and the safety of the crawler crane 100 can be improved.

In addition, the detection unit 301 detects the monitoring target in the monitoring area around the crawler crane 100 by using the output information of another sensor that can be mounted on the crawler crane 100 instead of or in addition to the LIDAR 40. You may. For example, the detection unit 301 may detect a monitoring target in the monitoring area around the crawler crane 100 based on output information of a stereo camera, a millimeter wave radar, or the like as another sensor.

The display processing unit 302 causes the display device 50 to display a monitoring image showing the surrounding state (situation) of the crawler crane 100 based on the images captured by a plurality of cameras mounted on the crawler crane 100 including the camera 45 and the camera 47. ..

For example, the display processing unit 302 causes the display device 50 to display a part or the whole of each captured image of a plurality of cameras including the camera 45 and the camera 47 as a monitoring image. At this time, the display processing unit 302 may display the captured images of two or more cameras among the plurality of cameras on the display device 50 at the same time.

Further, for example, the display processing unit 302 generates a composite image obtained by synthesizing the images of the plurality of cameras based on the captured images of the plurality of imaging devices including the camera 45 and the camera 47, and displays the monitoring image including the composite image. Display at 50.

Specifically, the display processing unit 302 performs a known viewpoint conversion process, a composite process, and the like based on captured images of a plurality of cameras including the camera 45 and the camera 47 as a composite image, so as to be viewed from a virtual viewpoint. A viewpoint conversion image may be generated and displayed on the display device 50. Further, when displaying the composite image on the display device 50, the display processing unit 302 schematically represents an image of the crawler crane 100 (hereinafter,) in order to clearly indicate the relative positional relationship between the imaging ranges of the plurality of cameras and the crawler crane 100. , "Crane image") may also be displayed on the display device 50. That is, the display processing unit 302 generates a monitoring image including the crane image and the viewpoint conversion image arranged around the crane image according to the relative positional relationship between the crawler crane 100 and the imaging ranges of the plurality of cameras. It may be displayed on the display device 50.

The function of the display processing unit 302 may be built into the display device 50.

The adjustment unit 303 makes adjustments related to the object detection function of the LIDAR 40.

For example, the adjusting unit 303 adjusts the detection range of the LIDAR 40.

As shown in FIG. 1B, the laser irradiated to the angle region VA2 of the angle of view VA is a blind spot facing the crawler 1CR on the opposite side (right side) in the forward direction (forward direction) via the mirror member 42L on the left side. Reflected towards the region BSR. Therefore, if the installation angle of the mirror member 42L viewed from above is shifted clockwise in top view, the laser irradiated at an angle corresponding to the outer end of the angle region VA2 is emitted through the crawler 1CR via the mirror member 42L. As a result, the front end of the crawler 1CR is detected. Similarly, for a laser irradiated at an angle corresponding to the outer end of the angle region VA3, if the installation angle of the mirror member 42R on the right side shifts counterclockwise in the top view, the crawler 1CL is passed through the mirror member 42R. As a result, the front end of the crawler 1CL is detected. Therefore, the adjusting unit 303 prevents the crawlers 1CL and 1CR from being detected when the LIDAR 40 detects the front end portions of the crawlers 1CL and 1CR due to a shift in the installation angle of the mirror members 42L and 42R in the top view. Adjust the detection range of LIDAR40. Further, since the relative positional relationship between the LIDAR 40 and the mirror members 42L and 42R is also deviated, the adjusting unit 303 also updates the above-mentioned relative positional relationship information.

The adjusting unit 303 adjusts the angle of view VA (specifically, the angle width of the angle regions VA2 and VA3) and changes the laser irradiation range of the LIDAR 40 (that is, the scanning angle in the horizontal direction) to detect the LIDAR. You may adjust the range. Further, the adjusting unit 303 does not change the irradiation range of the laser, and detects an object in the angle region where the crawlers 1CL and 1CR are detected (specifically, the angle width of a part of the outer ends of the angle regions VA2 and VA3). The mask processing may be performed to exclude from the target of. Thereby, even if the installation angle of the mirror members 42L and 42R in the top view is deviated, the LIDAR 40 can prevent the crawlers 1CL and 1CR from being detected.

The adjustment process of the detection range of the LIDAR 40 may be automatically performed or may be manually performed according to the operation of the operator. For example, the adjusting unit 303 determines whether or not the crawlers 1CL and 1CR are detected by the LIDAR 40 by monitoring the output information of the LIDAR 40. When the adjusting unit 303 determines that at least one of the crawlers 1CL and 1CR is detected by the LIDAR 40, the adjusting unit 303 notifies the operator through the display device 50, the voice output device 54, etc. that the detection range of the LIDAR 40 needs to be automatically adjusted. To do. At this time, the adjusting unit 303 notifies that a person or the like is evacuated from the periphery of the crawler crane 100 automatically or in response to a predetermined operation on the setting operation unit 52a from the operator. Then, the adjusting unit 303 may automatically adjust the detection range of the LIDAR 40 when an operation indicating that the evacuation of a person or the like is completed and the preparation for automatic adjustment is completed is performed through the operation input device 52.

Instead of adjusting the detection range of the LIDAR 40 and updating the relative positional relationship information, the mirror members 42L and 42R are provided with a movable mechanism capable of adjusting the installation angle in the top view, and the movable mechanism is controlled. Therefore, the installation angles of the mirror members 42L and 42R may be adjusted. The same applies to the update of relative positional relationship information described later. Further, instead of adjusting the detection range of the LIDAR 40, the detection range of the detection unit 301 may be adjusted. That is, the detection unit 301 detects the monitoring target for the information corresponding to the angle region (specifically, a part of the angle regions VA2 and VA3) in which the crawlers 1CL and 1CR are detected in the output information of the LIDAR 40. The mask processing to be excluded from the target may be performed.

Further, the laser is intentionally applied to the front end portions of the crawlers 1CR and 1CL via the mirror members 42L and 42R so that the laser irradiated at an angle corresponding to the outer end portions of the angle regions VA2 and VA3 of the angle of view VA is applied to the mirror. The installation angle and angle of view VA of the members 42L and 42R may be initially set. In this case, the adjusting unit 303 determines that the installation angle of the mirror member 42L is shifted clockwise in the top view when the angle region in which the front end portion of the crawler 1CR is detected by the LIDAR 40 increases in the angle region VA2. You can judge. Similarly, the adjusting unit 303 determines that the installation angle of the mirror member 42R is shifted counterclockwise in the top view when the angle region in which the front end portion of the crawler 1CL is detected by the LIDAR 40 increases in the angle region VA3. You can judge. On the other hand, the adjusting unit 303 mirrors when the angle region in the angle region VA2 where the front end portion of the crawler 1CR is detected by the LIDAR 40 decreases (typically, when the LIDAR 40 does not detect the crawler 1CR). It can be determined that the member 42L has been displaced counterclockwise in the top view. Similarly, the adjusting unit 303 reduces the angle region in the angle region VA3 where the front end portion of the crawler 1CL is detected by the LIDAR 40 (typically, when the LIDAR 40 does not detect the crawler 1CL). It can be determined that the mirror member 42R has been displaced clockwise in the top view. Therefore, in the adjusting unit 303, the angle region in which the LIDAR 40 of the angle of view VA detects the front end portion of the crawlers 1CL and 1CR increases or decreases due to a shift in the installation angle of the mirror members 42L and 42R in the top view. In such a case, the relative positional relationship information may be updated due to the deviation of the relative positional relationship between the LIDAR 40 and the mirror members 42L and 42R.

The function of the adjusting unit 303 may be built into the LIDAR 40.

[Processing of peripheral monitoring device]
Next, with reference to FIG. 3, a process related to peripheral monitoring of the crawler crane 100 by the controller 30 (hereinafter, “peripheral monitoring process”) will be described.

For example, FIG. 3 is a flowchart schematically showing an example of peripheral monitoring processing by the peripheral monitoring device 200. This flowchart is repeatedly executed at predetermined processing cycles from the start to the stop of the crawler crane 100 when the monitoring target is not detected by the detection unit 301.

In step S102, the detection unit 301 determines whether or not the monitoring target has been detected. When the detection target is detected, the detection unit 301 proceeds to step S104, and when the monitoring target is not detected, the detection unit 301 ends the current process.

In step S104, the detection unit 301 is located in the region (hereinafter, “inter-crawler region”) A1 (see FIG. 1B) between the left and right crawlers 1CL and 1CR in the width direction (horizontal direction) of the detected monitoring target. Judge whether or not. The detection unit 301 proceeds to step S106 when the detected monitoring target is located in the inter-crawler region A1, and proceeds to step S108 in other cases.

In step S106, the detection unit 301 (an example of the control unit) issues an alarm to at least one of the inside and the outside of the cabin 10 through the display device 50 (an example of the notification means) and the voice output device 54 (an example of the notification means). Notice. As a result, the operator, the workers around the crawler crane 100, and the like can grasp the existence of the monitoring target existing in the inter-crawler region A1. At the same time, the detection unit 301 causes the display device 50 to display a monitoring image based on the captured image of the camera 45 or the camera 47. As a result, the operator can grasp the position and the state of the monitoring target existing in the inter-crawler area A1. Therefore, the safety of the crawler crane 100 can be improved.

On the other hand, in step S108, the detection unit 301 is located in the region (hereinafter, "pre-crawler region") A2 (see FIG. 1B) where the detected monitoring target faces the front (forward direction) of the crawlers 1CL and 1CR. Determine if it is. When the detected monitoring target is located in the crawler front region A2, the detection unit 301 proceeds to step S110, and in other cases, that is, the detected monitoring target is in the width direction (horizontal direction) from the crawlers 1CL and 1CR. If it is located in the outer region (hereinafter, "crawler outer region") A3, the current process is terminated.

In step S110, the detection unit 301 limits the traveling operation of the crawler crane 100 (lower traveling body 1). This is to prevent the lower traveling body 1 from approaching and colliding with the monitored object at a position facing the front (forward direction) of the crawlers 1CL and 1CR. In particular, in the large crawler crane 100, the height of the crawlers 1CL and 1CR may be the same as or higher than the expected height of a person (for example, about 1600 mm to 1700 mm) or higher (for example, 1700 mm or more), and the cabin. It may not be possible for the 10 operators to visually recognize the monitoring target (for example, the operator W in FIG. 1A) in front of the crawlers 1CL and 1CR. Therefore, the controller 30 ensures the safety of the crawler crane 100 even in a situation where a monitoring target exists in the crawler front region A2 facing the front (forward direction) of the crawlers 1CL and 1CR. Can be done. At the same time, the detection unit 301 causes the display device 50 to display a monitoring image based on the captured image of the camera 45 or the camera 47. As a result, the operator can grasp the position and the state of the monitoring target existing in the crawler front area A2.

In step S108, when the detection unit 301 determines that the detected monitoring target is located in the crawler outer region A3, the detection unit 301 displays a monitoring image based on the captured image of the camera 45 or the camera 47 on the display device 50. You may let me. As a result, the operator can grasp the position and the state of the monitoring target existing in the crawler outer region A3.

As described above, in this example, the controller 30 divides the monitoring area into the inter-crawler area A1, the crawler front area A2, and the crawler outer area A3, and the detected monitoring target is located in any of the areas A1 to A3. Depending on the situation, the control mode for ensuring safety is different. As a result, for example, when the lower traveling body 1 travels, the possibility of collision with the monitored object existing in the crawler front region A2 is the highest, and then the collision with the monitored object existing in the inter-crawler region A1 is possible. The control mode can be changed according to the situation of high sex. That is, the controller 30 has a very high possibility of collision during traveling, and in a highly urgent situation, the operation of the lower traveling body 1 is restricted with the highest priority given to safety, while the possibility of collision during traveling is relative. In a situation where the urgency is low, although it is high, it is possible to keep the alarm and achieve both workability. Therefore, the controller 30 can suppress a decrease in work efficiency while ensuring the safety of the crawler crane 100.

In the detection unit 301, when the lower traveling body 1 is traveling, or when the lower traveling body 1 may travel (for example, the operator is touching the lever device of the lower traveling body 1). The process according to the above-mentioned flowchart may be adopted only when this is detected by an indoor camera, a contact sensor, or the like). Further, when the crane operation is being performed, the detection unit 301 may adopt a control process different from the above flowchart. In the crawler crane 100, normally, the crane operation of suspending the suspended load on the hook 8 and the traveling operation of the lower traveling body 1 are rarely performed at the same time. When the crane operation is performed, the suspended load and the surroundings This is because it is better to consider the possibility of collision with the monitored object. For example, the detection unit 301 detects that the smaller the distance between the position of the suspended load (that is, the position of the tip of the boom) and the position of the detected object when viewed from above, the more the suspended load or the like is detected. It may be judged that the possibility of collision with the monitored object increases.

[Action]
Next, the operation of the crawler crane 100 (peripheral monitoring device 200) according to the present embodiment will be described.

In the present embodiment, the LIDAR 40 is attached to the lower traveling body 1 and detects an object around the lower traveling body 1.

For example, by using the camera 47 mounted on the upper swing body 3, it is possible to detect an object (for example, an operator W) in a close region around the crawler crane 100, including the blind spot regions BSR and BSL. On the other hand, in order to detect (imaging) an object close to the crawler crane 100, the camera 47 has to be installed with the detection direction largely obliquely downward, and as a result, a region relatively distant from the crawler crane 100. Object may not be detected.

On the other hand, in the present embodiment, since the LIDAR 40 is provided on the lower traveling body 1, the LIDAR 40 installed at a relatively low position does not significantly change the detection direction from the horizontal direction, and is around the crawler crane 100. Objects in the adjacent area can be detected. Therefore, the peripheral monitoring device 200 can detect an object in a region relatively distant from the crawler crane 100.

Further, when the camera 47 is used, the detection range changes with the turning operation of the upper swing body 3, and for example, the object in front of the lower traveling body 1 may be out of the detection range. On the other hand, in the present embodiment, since the LIDAR 40 provided in the lower traveling body 1 is used for detecting an object around the crawler crane 100, the peripheral monitoring device 200 responds to the turning operation of the upper swivel body 3 by the LIDAR 40. The detection range can be prevented from changing. Therefore, the objects around the crawler crane 100 (own machine) can be detected more appropriately.

Further, in the present embodiment, the LIDAR 40 may detect an object around the lower traveling body 1 via the mirror member 42 (42L, 42R) attached to the lower traveling body 1. Specifically, the LIDAR 40 may detect an object in the blind spot region BSL, BSR around the lower traveling body 1 via the mirror member 42 (42L, 42R).

As a result, the peripheral monitoring device 200 can detect an object that cannot be directly seen from the LIDAR 40, that is, an object outside the detection range of the LIDAR 40, through the mirror member 42.

By appropriately arranging the mirror member 42 attached to the lower traveling body 1, the LIDAR 40 may detect an object existing in a blind spot region outside the detection range other than the blind spot region BSL and BSR. For example, a configuration may be adopted in which an object in a place that is blocked by the airframe (upper swivel body 3) or the like and is out of the detection range can be detected via the mirror member 42. Further, when the LIDAR 40 is installed so that the blind spot areas BSL and BSR are included in the detection range, that is, when the LIDAR 40 can deliver the laser directly to the blind spot areas BSL and BSR, the mirror member 42 (42L). , 42R) may be omitted. For example, when a weight for maintaining the balance of the crawler crane 100 is mounted between the left and right crawlers 1CL and 1CR at the front end of the truck frame 1TF, the LIDAR 40 is installed at the front end of the weight and the mirror members 42L and 42R are omitted. You may. This is because the offset between the front end position of the weight and the front end position of the crawler 1C becomes relatively small, and there is a high possibility that the laser can be directly irradiated from the LIDAR 40 to the blind spot areas BSL and BSR.

Further, in the present embodiment, the lower traveling body 1 is attached to each of the track frame 1TF supporting the upper rotating body 3 and the left and right sides of the track frame 1TF, and extends in the traveling direction (traveling direction) from the track frame 1TF. It has a crawler 1C and the like. Further, the mirror member 42 is attached to the inner surface of the crawler frame 1CF constituting the crawler 1C. Then, the LIDAR 40 is an object that is attached to the track frame 1TF and faces in the traveling direction of the crawler 1C on either the left or right side (in other words, the longitudinal direction of the crawler 1C) via the mirror member 42 on either the left or right side. May be detected.

As a result, since the front end of the crawlers 1CL and 1CR protrudes forward from the front end of the track frame 1TF, the laser radiated forward from the LIDAR 40 at the front end of the track frame 1TF is blocked by the crawlers 1CL and 1CR. Where the LIDAR 40 may not be able to detect objects around it, the peripheral monitoring device 200 specifically detects an object facing the crawler 1C that cannot be directly seen from the LIDAR 40 of the track frame 1TF. be able to.

Note that the LIDAR 40 may be attached to a portion of the lower traveling body 1 other than the track frame 1TF. For example, FIG. 4 is a top view showing another example of the crawler crane 100 according to the present embodiment.

As shown in FIG. 4, in this example, the LIDAR 40 is attached to the inner surface of the crawler frame 1CFL on the left side, and the mirror member 42L on the left side is omitted.

LIDAR40 has an angle of view VA4 of about 180 degrees in the horizontal direction, and directly irradiates the front crawler region A2 including the blind spot region BSR in front of the right crawler 1CR and the outer crawler region A3 on the right side with a laser, and these regions. Objects can be detected directly.

Further, the laser irradiating the angle region VA5 of the angle of view VA4 from the LIDAR 40 is reflected by the mirror member 42R, and the crawler front region A2 including the blind spot region BSL in front of the left crawler 1CL and the left crawler outer region A3. To reach. Therefore, the LIDAR 40 can detect objects in the front crawler region A2 including the blind spot region BSL in front of the left crawler 1C and the outer crawler region A3 on the left side via the mirror member 42R.

As described above, in the present embodiment, by appropriately arranging the LIDAR 40 and the mirror member 42 in the space between the left and right crawlers 1CL and 1CR, the blind spot region in the object detection around the lower traveling body 1 is minimized. can do. Therefore, the peripheral monitoring device 200 can more appropriately detect an object around the lower traveling body 1 by using the LIDAR 40.

Further, in the present embodiment, the mirror members 42L and 42R are attached to the inner side surfaces of the left and right crawler frames 1CFL and 1CFR, respectively. Then, the LIDAR 40 can scan in the left-right direction, and may detect an object facing the traveling direction of the left and right crawlers 1CL and 1CR via the left and right mirror members 42L and 42R.

As a result, the peripheral monitoring device 200 can detect an object facing the traveling direction of the left and right crawlers 1CL and 1CR, which cannot be directly seen from the LIDAR 40 of the track frame 1TF, by using one LIDAR 40.

Further, in the present embodiment, the crawler crane 100 includes a detection unit 301 that controls to ensure the safety of the own machine when a monitoring target is detected by the LIDAR 40. Then, the detection unit 301 detects when the monitoring target of the inter-crawler region A1 inside the left and right crawlers 1CL, 1CR in the width direction is detected by the LIDAR 40, and when the monitoring target is detected by either the left or right crawler 1C (crawler 1CL, 1CR). Controls may be different from each other when the monitoring target of the crawler front region A2 facing the traveling direction of the crawler is detected.

As a result, when the lower traveling body 1 travels, the peripheral monitoring device 200 has the highest possibility of collision with the monitoring target existing in the front crawler area A2, and then the monitoring target existing in the inter-crawler area A1. The control mode can be changed according to the situation where there is a high possibility of collision with.

Further, in the present embodiment, when the monitoring target of the inter-crawler region A1 is detected by the LIDAR 40, the detection unit 301 alerts at least one of the inside and the outside of the cabin 10 through the display device 50, the voice output device 54, and the like. When the monitoring target of the crawler front region A2 is detected by the LIDAR 40, the traveling operation of the own machine may be restricted.

As a result, the peripheral monitoring device 200 has a very high possibility of collision, and in a highly urgent situation, the operation of the lower traveling body 1 is restricted with the highest priority given to safety, while the possibility of collision is relatively high. In situations where the urgency is reduced, it is possible to keep the alarm and achieve both safety and workability.

Further, in the present embodiment, the camera 45 is attached to the lower traveling body 1 so that the detection range of the LIDAR 40 can be imaged. Then, when the monitoring target is detected by the LIDAR 40, the display device 50 may display a monitoring image showing the state of the monitoring target based on the image captured by the camera 45.

As a result, the peripheral monitoring device 200 can make the operator grasp the position of the monitoring target and its state when the monitoring target is detected by the LIDAR 40. Therefore, the safety of the crawler crane 100 can be further improved.

Further, in the present embodiment, when a part of the crawlers 1CL and 1CR is detected by the LIDAR 40 via the mirror members 42L and 42R, the adjusting unit 303 sets the detection range of the LIDAR 40 so that the part is out of the detection range. You may adjust.

As a result, the peripheral monitoring device 200 eliminates the situation where, for example, the installation angles of the mirror members 42L and 42R are displaced and a part of the crawlers 1CL and 1CR is always detected. be able to.

Further, in the present embodiment, the LIDAR 40 may be installed with the detection direction tilted back and forth.

As a result, even when the installation height of the LIDAR 40 is higher than the expected height of the monitoring target (for example, the height of a person), the monitoring target can be appropriately detected.

[Transform / Change]
Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and changes can be made within the scope of the gist described in the claims.

For example, in the above-described embodiment, either one of the mirror members 42L and 42R may be omitted. Since either one of the blind spot area BSL and BSR may be easily visually recognized directly from the cabin 10, one of the mirror members 42L and 42R corresponding to the blind spot area where it is difficult to directly see from the cabin 10 This is because it is possible to install only.

Further, in the above-described embodiment and modification / modification example, the LIDAR 40 may be attached to the central portion of the rear end of the track frame 1TF in place of or in addition to the central portion of the front end. Further, the LIDAR 40 may be provided at the center of the lower surface of the truck frame 1TF and may be configured to be able to detect objects in front of and behind the crawler crane 100 (lower traveling body 1). In these cases, the mirror member 42 is attached to the inner side surface behind the rear end of the track frame 1TF of the crawler frames 1CFL and 1CFR. Thereby, the LIDAR 40 can detect an object in the blind spot region facing the rear (reverse direction) of the crawlers 1CL and 1CR via the mirror member 42. Further, in the latter case, since the objects in front of and behind the crawler crane 100 (lower traveling body 1) can be detected by one LIDAR 40, the safety of the crawler crane 100 can be further improved while suppressing the cost increase.

Further, in the above-described embodiment and modification / modification example, the LIDAR 40 is another sensor (for example, a millimeter wave radar) capable of indirectly detecting an object by reflecting a detection wave by a predetermined member such as a mirror member 42. , Ultrasonic sensor, infrared sensor, etc.). Further, the LIDAR 40 may be replaced with an imaging device (for example, a monocular camera, a stereo camera, a depth camera, etc.) capable of indirectly detecting an object by imaging a mirror image reflected on the mirror member 42. In this case, the mirror member 42 having a high visible light reflectance so that a mirror image recognizable by the image pickup apparatus is projected is adopted.

Further, in the above-described embodiment and the modified / modified example, instead of the mirror member 42 (42L, 42R), another sensor capable of directly detecting an object outside the detection range of the LIDAR 40 such as the blind spot area BSL, BSR, etc. May be provided.

Further, in the above-described embodiment and modification / modification example, the peripheral monitoring device 200 may be mounted on any work machine other than the crawler crane 100. For example, the peripheral monitoring device 200 may be mounted on a shovel (excavator), a lift mug machine to which a lifting magnet is attached as an end attachment, a bulldozer, a wheel loader, an asphalt finisher, a forestry machine, or the like.

Further, in the above-described embodiment and the example of deformation / modification, the work machine (crawler crane 100) is configured to hydraulically drive various driven elements such as the lower traveling body 1, the upper swinging body 3, and various winches. However, a part or all of them may be electrically driven. That is, the configuration of the peripheral monitoring device 200 and the like disclosed in the above-described embodiment may be applied to a hybrid type work machine, a fully electric work machine, and the like.

Finally, this application claims priority based on Japanese Patent Application No. 2019-050203 filed on March 18, 2019, and the entire contents of the Japanese patent application are incorporated herein by reference.

1 Lower traveling body 1C, 1CL, 1CR Crawler 1CF, 1CFL, 1CFR Crawler frame 1CS, 1CSL, 1CSR Crawler shoe 1M, 1ML, 1MR Traveling hydraulic motor 1TF Track frame 3 Upper swivel body 30 controller 40 LIDAR (sensor)
45,47 camera (imaging device)
50 Display device (notification means)
52 Operation input device 52a Setting operation unit (operation unit)
54 Voice output device (notification means)
100 crawler crane (working machine)
200 Peripheral monitoring device 301 Detection unit (control unit)
302 Display processing unit 303 Adjustment unit

Claims (10)

1. With the lower running body,
   An upper swivel body that is rotatably supported by the lower traveling body and
   A sensor attached to the lower traveling body and detecting an object around the lower traveling body is provided.
   Work machine.
2. The sensor detects an object around the lower traveling body via a predetermined member attached to the lower traveling body.
   The work machine according to claim 1.
3. The sensor detects an object in a blind spot region outside the detection range around the lower traveling body via the predetermined member.
   The work machine according to claim 2.
4. The lower traveling body has a first frame that supports the upper rotating body, and crawlers that are attached to the left and right sides of the first frame and extend in the traveling direction from the first frame. ,
   The predetermined member is attached to the inner surface of the second frame constituting the crawler.
   The sensor is attached to the first frame and detects an object facing the crawler on either the left or right side in the traveling direction via the predetermined member on either the left or right side.
   The work machine according to claim 2 or 3.
5. The predetermined member is attached to the inner surface of each of the left and right second frames.
   The sensor can scan in the left-right direction, and detects an object facing the traveling direction of the left and right crawlers via the left and right predetermined members.
   The work machine according to claim 4.
6. Further provided with a control unit that controls to ensure the safety of the own machine when a predetermined object is detected by the sensor.
   When the sensor detects the predetermined object in the first region inside the left and right crawlers in the width direction, the control unit moves in the traveling direction to either the left or right crawler in the traveling direction. The control is performed differently from the case where the predetermined object in the second region facing the above is detected.
   The work machine according to claim 4 or 5.
7. When the predetermined object in the first region is detected by the sensor, the control unit notifies at least one of the inside and the outside of the driver's cab through a predetermined notification means, and the sensor notifies the alarm. When the predetermined object in the second region is detected, the traveling operation of the own machine is restricted.
   The work machine according to claim 6.
8. A camera attached to the lower traveling body and capable of capturing the detection range of the sensor,
   A display device that displays an image showing the state of the predetermined object based on the image captured by the camera when the predetermined object is detected by the sensor is further provided.
   The work machine according to claim 6 or 7.
9. When a part of the crawler is detected by the sensor via the predetermined member, the sensor further includes an adjusting unit that adjusts the detection range of the sensor so that the part is out of the detection range.
   The work machine according to any one of claims 4 to 7.
10. The sensor is installed with the detection direction tilted back and forth.
    The work machine according to any one of claims 1 to 9.

Images