WO2023135916A1 - Work machine, and method and system for controlling work machine - Google Patents

Abstract

This work machine comprises a vehicle body, traveling wheels, a steering actuator, an articulate actuator, a steering angle sensor, an articulate angle sensor, an object sensor, and a controller. The vehicle body includes a rear frame and a front frame. The front frame is connected to the rear frame so as to be rotatable to the left and right. The steering actuator steers the traveling wheels to the left and right. The articulate actuator changes the articulate angle between the rear frame and the front frame. The object sensor detects an object around the work machine, and outputs a signal indicating the presence or absence of the object. The controller sets a detection range around the work machine. The controller sets the detection range according to the steering angle and the articulate angle.

Description

WORK MACHINE, METHOD AND SYSTEM FOR CONTROLLING WORK MACHINE

The present invention relates to work machines, methods and systems for controlling work machines.

Conventionally, work machines have used technology to detect surrounding people or obstacles using sensors such as radar. For example, Patent Document 1 discloses a forklift equipped with an object detection system. The object detection system includes radar equipment such as millimeter wave radar. A radar device detects the presence or absence of an object by transmitting radio waves or ultrasonic waves and receiving radio waves or ultrasonic waves reflected by the object.

In the above object detection system, when all objects that have entered the measurable range of the radar device are detected and an alarm is output, the alarm will be issued frequently. Therefore, in the above object detection system, the controller sets a detection range around the forklift, and issues an alarm when an object is detected within the detection range. Further, the detection range is changed according to the vehicle speed and steering angle of the forklift.

Japanese Patent Application Laid-Open No. 2021-28266

The above object detection system is said to be able to appropriately determine whether or not an object exists around the forklift by changing the detection range according to the vehicle speed and steering angle. However, in a working machine such as a motor grader, which has a large degree of freedom in the posture of the vehicle body, it is not enough to apply the above-described technique. An object of the present invention is to appropriately determine whether or not an object exists around a working machine.

A work machine according to a first aspect of the present invention includes a vehicle body, running wheels, a steering actuator, an articulate actuator, a steering angle sensor, an articulate angle sensor, an object sensor, and a controller. The vehicle body includes a rear frame and a front frame. The front frame is connected to the rear frame so as to be rotatable to the left and right. The running wheels are supported by the vehicle body. The steering actuator steers the running wheels left and right. The articulated actuator changes the articulated angle between the rear frame and the front frame. The steering angle sensor detects the steering angle of the running wheels. The articulate angle sensor detects an articulate angle. The object sensor detects an object around the work machine and outputs a signal indicating the presence or absence of the object. The controller sets a detection range around the work machine. The controller determines the presence or absence of an object within the detection range based on the signal from the object sensor. The controller sets the detection range according to the steering angle and articulate angle.

A method according to a second aspect of the present invention is a method for controlling a working machine. The work machine includes a rear frame, a vehicle body, running wheels, a steering actuator, and an articulated actuator. The vehicle body includes a rear frame and a front frame. The front frame is connected to the rear frame so as to be rotatable to the left and right. The running wheels are supported by the vehicle body. The steering actuator steers the running wheels left and right. The articulated actuator changes the articulated angle between the rear frame and the front frame. The method includes detecting a steering angle, detecting an articulate angle, receiving a signal indicating the presence or absence of an object in the vicinity of the work machine, and performing a task according to the steering angle and the articulate angle. Setting a detection range around the machine and determining the presence or absence of an object within the detection range based on a signal from an object sensor.

A system according to a third aspect of the present invention is a system for controlling a working machine. The work machine includes a rear frame, a vehicle body, running wheels, a steering actuator, and an articulated actuator. The vehicle body includes a rear frame and a front frame. The front frame is connected to the rear frame so as to be rotatable to the left and right. The running wheels are supported by the vehicle body. The steering actuator steers the running wheels left and right. The articulated actuator changes the articulated angle between the rear frame and the front frame. The system comprises a steering angle sensor, an articulate angle sensor, an object sensor and a controller. The steering angle sensor detects the steering angle of the running wheels. The articulate angle sensor detects an articulate angle. The object sensor detects an object around the work machine and outputs a signal indicating the presence or absence of the object. The controller sets a detection range around the work machine. The controller determines the presence or absence of an object within the detection range based on the signal from the object sensor. The controller sets the detection range according to the steering angle and articulate angle.

In the present invention, the detection range of objects around the work machine is set according to the steering angle and the articulate angle. Accordingly, it is possible to appropriately determine whether or not an object exists around the work machine.

1 is a perspective view of a working machine according to an embodiment; FIG. It is a side view of a working machine. Figure 3 is a top view of the front portion of the work machine; 1 is a front view of the front portion of the working machine; FIG. 1 is a schematic diagram showing the configuration of a control system for a working machine; FIG. It is a top view which shows an example of a detection range. 4 is a flowchart showing processing for setting a detection range; 4 is a flowchart showing processing for setting a detection range; FIG. 11 is a top view showing a detection range according to the processing of Modification 1; FIG. 11 is a top view showing a detection range according to the processing of modification 2; FIG. 11 is a top view showing a detection range according to the process of modification 3; FIG. 11 is a top view showing a detection range according to the process of modification 3; FIG. 12 is a top view showing a detection range according to the processing of Modification 4; FIG. 13 is a top view showing a detection range according to the process of modification 5; FIG. 13 is a top view showing a detection range according to the process of modification 5; FIG. 11 is a top view showing a detection range according to the process of modification 6; FIG. 10 is a top view showing a detection range according to the process of modification 7; FIG. 10 is a top view showing a detection range according to the process of modification 7; FIG. 11 is a top view showing a detection range according to the processing of Modification 8; FIG. 11 is a top view showing a detection range according to the processing of Modification 8; FIG. 11 is a top view showing a detection range according to the processing of modification 9; FIG. 11 is a top view showing a detection range according to the processing of modification 9; FIG. 11 is a top view showing a detection range according to the processing of modification 9; FIG. 11 is a top view showing a detection range according to the processing of modification 9; It is a top view which shows the detection range which concerns on a modification.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of a working machine 1 according to an embodiment. FIG. 2 is a side view of the work machine 1. FIG. As shown in FIG. 1, the working machine 1 includes a vehicle body 2, running wheels 3A, 3B, 4A-4D, and a working machine 5. As shown in FIG. The vehicle body 2 includes a front frame 11 , a rear frame 12 , a cab 13 and a power room 14 .

The rear frame 12 is connected to the front frame 11. The front frame 11 is connected to the rear frame 12 so as to be rotatable with respect to the rear frame 12 . As will be described later, the front frame 11 can rotate left and right with respect to the rear frame 12 .

In the following description, the front, rear, left, and right directions are the state in which the articulated angle of the front frame 11 with respect to the rear frame 12 is zero, that is, the state in which the front frame 11 and the rear frame 12 are straight. Front, back, left, and right directions are defined.

The cab 13 and power chamber 14 are arranged on the rear frame 12 . A driver's seat (not shown) is arranged in the cab 13 . The power chamber 14 is arranged behind the cab 13 . The front frame 11 extends forward from the rear frame 12 .

The running wheels 3A, 3B, 4A-4D are rotatably supported by the vehicle body 2. The running wheels 3A, 3B, 4A-4D include front wheels 3A, 3B and rear wheels 4A-4D. The front wheels 3A and 3B are arranged apart from each other in the left-right direction. The front wheels 3A, 3B are attached to the front frame 11. As shown in FIG. The rear wheels 4A-4D are attached to the rear frame 12. As shown in FIG.

The work machine 5 is movably connected to the vehicle body 2. Work implement 5 includes a support member 15 and a blade 16 . The support member 15 is movably connected to the vehicle body 2 . Support member 15 supports blade 16 . Support member 15 includes drawbar 17 and circle 18 . The drawbar 17 is arranged below the front frame 11 .

The drawbar 17 is connected to the front portion 19 of the front frame 11 . The drawbar 17 extends rearward from the front portion 19 of the front frame 11 . The drawbar 17 is supported by the front frame 11 so as to be swingable at least in the vertical and horizontal directions of the vehicle body 2 . For example, front portion 19 includes a ball joint. The drawbar 17 is rotatably connected to the front frame 11 via a ball joint.

The circle 18 is connected to the rear of the drawbar 17. Circle 18 is rotatably supported with respect to drawbar 17 . Blades 16 are connected to circle 18 . A blade 16 is supported by a drawbar 17 via a circle 18 . As shown in FIG. 2, the blade 16 is supported by the circle 18 so as to be rotatable around the tilt shaft 21. As shown in FIG. The tilt shaft 21 extends in the left-right direction.

FIG. 3 is a top view of the front portion of the working machine 1. FIG. As shown in FIG. 3, the work machine 1 includes a first steering shaft 43A and a second steering shaft 43B. The first steering shaft 43A and the second steering shaft 43B are provided on the front frame 11 . The first steering shaft 43A and the second steering shaft 43B extend vertically. The front wheels 3A are rotatably supported around the first steering shaft 43A. The front wheel 3B is rotatably supported around the second steering shaft 43B. That is, the front wheels 3A and 3B are steerable running wheels.

The work machine 1 includes a plurality of steering actuators 41A, 41B for steering the front wheels 3A, 3B. A plurality of steering actuators 41A, 41B are used to steer the front wheels 3A, 3B. For example, the steering actuators 41A and 41B are hydraulic cylinders. A plurality of steering actuators 41A, 41B are connected to the front wheels 3A, 3B, respectively. The plurality of steering actuators 41A, 41B expand and contract by hydraulic pressure. In the following description, the expansion and contraction of the hydraulic cylinder including the steering actuators 41A, 41B is referred to as "stroke operation".

The plurality of steering actuators 41A, 41B include a left steering cylinder 41A and a right steering cylinder 41B. The left steering cylinder 41A and the right steering cylinder 41B are arranged apart from each other in the left-right direction.

The left steering cylinder 41A is connected to the front frame 11 and the front wheel 3A. The right steering cylinder 41B is connected to the front frame 11 and the front wheel 3B. The front wheels 3A and 3B are steered by stroke operations of the left steering cylinder 41A and the right steering cylinder 41B.

The work machine 1 includes an articulated shaft 44. The articulated shaft 44 is provided on the front frame 11 and the rear frame 12 . The articulate shaft 44 extends vertically. The front frame 11 and the rear frame 12 are connected to each other so as to be rotatable about the articulate shaft 44 .

In the following description, the state in which the vehicle body 2 is bent due to the front frame 11 and the rear frame 12 rotating about the articulate shaft 44 is referred to as an "articulated state". Also, a state in which the front frame 11 and the rear frame 12 are not in the articulated state, ie, the state in which the front frame 11 and the rear frame 12 are aligned in a straight line, will be referred to as a "straight line state."

The work machine 1 includes a plurality of articulated actuators 27,28. A plurality of articulated actuators 27 and 28 are used to rotate the front frame 11 with respect to the rear frame 12 . For example, the articulated actuators 27, 28 are hydraulic cylinders. A plurality of articulated actuators 27 and 28 are connected to the front frame 11 and the rear frame 12 . The plurality of articulated actuators 27, 28 expand and contract by hydraulic pressure.

The plurality of articulated actuators 27, 28 includes a left articulated cylinder 27 and a right articulated cylinder 28. The left articulated cylinder 27 and the right articulated cylinder 28 are arranged apart from each other in the left-right direction.

The left articulated cylinder 27 is connected to the front frame 11 and the rear frame 12 on the left side of the vehicle body 2 . The right articulated cylinder 28 is connected to the front frame 11 and the rear frame 12 on the right side of the vehicle body 2 . The stroke motion of the left articulated cylinder 27 and the right articulated cylinder 28 causes the front frame 11 to rotate left and right with respect to the rear frame 12 .

4 is a front view of the front part of the working machine 1. FIG. As shown in FIG. 4 , the work machine 1 has a lean mechanism 6 . The lean mechanism 6 tilts the front wheels 3A, 3B left and right. The lean mechanism 6 includes an axle beam 56 , a leaning rod 57 and a leaning actuator 60 . The axle beam 56 extends left and right from the front frame 11 . Axle beam 56 is rotatably supported on front frame 11 about pivot shaft 58 .

The axle beam 56 is connected to the front wheel 3A via a wheel bracket 59A. Axle beam 56 supports front wheel 3A rotatably around leaning shaft 54A. Axle beam 56 is connected to front wheel 3B via wheel bracket 59B. Axle beam 56 supports front wheel 3B rotatably around leaning shaft 54B. The leaning shafts 54A, 54B extend in the front-rear direction.

The leaning rod 57 extends left and right through the front frame 11 . The leaning rod 57 connects the front wheels 3A and 3B to each other. The leaning rod 57 is connected to the front wheel 3A via a wheel bracket 59A. The leaning rod 57 is connected to the front wheel 3B via a wheel bracket 59B.

The leaning actuator 60 is used to lean (lean) the front wheels 3A and 3B. For example, leaning actuator 60 is a hydraulic cylinder. The leaning actuator 60 is connected to the front frame 11 and the front wheels 3A, 3B. The leaning actuator 60 expands and contracts by hydraulic pressure. That is, by extending and contracting the leaning actuator 60, the front wheels 3A, 3B rotate around the leaning shafts 54A, 54B. As a result, the front wheels 3A and 3B tilt left and right.

As shown in FIG. 2, the work machine 1 includes a plurality of actuators 22-26 for changing the attitude of the work machine 5. For example, actuators 22-25 are hydraulic cylinders. Actuator 26 is a rotary actuator. In this embodiment, actuator 26 is a hydraulic motor. Actuator 26 may be an electric motor.

A plurality of actuators 22 - 25 are connected to the work machine 5 . A plurality of actuators 22-25 expand and contract by hydraulic pressure. The actuators 22 to 25 extend and contract to change the attitude of the work implement 5 with respect to the vehicle body 2 .

Specifically, the plurality of actuators 22 - 25 includes a left lift cylinder 22 , a right lift cylinder 23 , a drawbar shift cylinder 24 and a blade tilt cylinder 25 .

The left lift cylinder 22 and the right lift cylinder 23 are arranged apart from each other in the left-right direction. The left lift cylinder 22 and the right lift cylinder 23 are connected to the drawbar 17 . Left lift cylinder 22 and right lift cylinder 23 are connected to front frame 11 via lifter bracket 29 . The draw bar 17 swings up and down due to stroke operations of the left lift cylinder 22 and the right lift cylinder 23 . Thereby, the blade 16 moves up and down.

The drawbar shift cylinder 24 is connected to the drawbar 17 and the front frame 11 . The drawbar shift cylinder 24 is connected to the front frame 11 via a lifter bracket 29 . The drawbar shift cylinder 24 extends obliquely downward from the front frame 11 toward the drawbar 17 . The stroke operation of the drawbar shift cylinder 24 swings the drawbar 17 left and right.

The blade tilt cylinder 25 is connected to the circle 18 and the blade 16. The stroke operation of the blade tilt cylinder 25 rotates the blade 16 around the tilt shaft 21 .

The actuator 26 is connected to the drawbar 17 and the circle 18. Actuator 26 rotates circle 18 relative to drawbar 17 . Thereby, the blade 16 rotates around the rotation axis extending in the vertical direction.

FIG. 5 is a schematic diagram showing the configuration of the control system of the work machine 1. FIG. As shown in FIG. 5 , work machine 1 includes a drive source 31 , a hydraulic pump 32 and a power transmission device 33 . The work machine 1 includes a steering valve 42A, an articulate valve 42B, a leaning valve 42C, and a work machine valve 34. The drive source 31 is, for example, an internal combustion engine. Alternatively, the drive source 31 may be an electric motor or a hybrid of an internal combustion engine and an electric motor.

The hydraulic pump 32 is driven by the drive source 31 to discharge hydraulic oil. The hydraulic pump 32 supplies hydraulic fluid to the steering valve 42A, the articulate valve 42B, the leaning valve 42C, and the working machine valve 34. As a result, the plurality of steering actuators 41A, 41B, the plurality of articulated actuators 27, 28, the leaning actuator 60, and the plurality of actuators 22-26 are operated. Although only one hydraulic pump 32 is shown in FIG. 5, a plurality of hydraulic pumps may be provided.

The steering valve 42A is connected to the hydraulic pump 32 and a plurality of steering actuators 41A and 41B via hydraulic circuits. The steering valve 42A controls the flow rate of hydraulic fluid supplied from the hydraulic pump 32 to the steering actuators 41A and 41B. A plurality of steering actuators 41A and 41B perform a stroke operation by supplying the hydraulic fluid of the hydraulic pump 32 to the steering valve 42A.

The articulated valve 42B is connected to the hydraulic pump 32 and the plurality of articulated actuators 27, 28 via hydraulic circuits. The articulated valve 42B controls the flow rate of hydraulic fluid supplied from the hydraulic pump 32 to the plurality of articulated actuators 27,28. The plurality of articulate actuators 27 and 28 perform stroke operations by supplying hydraulic fluid from the hydraulic pump 32 to the articulate valve 42B.

The leaning valve 42C is connected to the hydraulic pump 32 and the leaning actuator 60 via a hydraulic circuit. The leaning valve 42</b>C controls the flow rate of hydraulic oil supplied from the hydraulic pump 32 to the leaning actuator 60 . The leaning actuator 60 performs a stroke operation by supplying the hydraulic oil of the hydraulic pump 32 to the leaning valve 42C.

The working machine valve 34 is connected to the hydraulic pump 32 and the plurality of actuators 22-26 via a hydraulic circuit. The work implement valve 34 includes a plurality of valves connected to each of the plurality of actuators 22-26. The work machine valve 34 controls the flow rate of hydraulic oil supplied from the hydraulic pump 32 to the actuators 22-26.

The power transmission device 33 transmits the driving force from the drive source 31 to the rear wheels 4A-4D. The power transmission device 33 may include a torque converter and/or multiple transmission gears. Alternatively, the power transmission device 33 may be a transmission such as HST (Hydraulic Static Transmission) or HMT (Hydraulic Mechanical Transmission).

The work machine 1 includes a steering operation member 45 , an articulate operation member 46 , a leaning operation member 47 , a work machine operation member 48 , a shift operation member 49 and an accelerator operation member 50 .

The steering operation member 45 can be operated by the operator to steer the front wheels 3A, 3B. The steering operation member 45 is a lever such as a joystick. Alternatively, the steering operation member 45 may be a member other than a lever. For example, the steering operation member 45 may be a steering wheel. The steering operation member 45 outputs a steering operation signal indicating the operation of the steering operation member 45 by the operator.

The articulated operating member 46 is operable by the operator to rotate the front frame 11 with respect to the rear frame 12 . The articulated operating member 46 is a lever such as a joystick. Alternatively, the articulate operating member 46 may be a member other than a lever. The articulate operation member 46 outputs an articulate operation signal indicating the operation of the articulate operation member 46 by the operator.

The leaning operation member 47 can be operated by the operator to tilt the front wheels 3A, 3B. The leaning operation member 47 is a lever such as a joystick. Alternatively, the leaning operation member 47 may be another member such as a switch or a touch panel. The leaning operation member 47 outputs a leaning operation signal indicating the operation of the leaning operation member 47 by the operator.

The work machine operating member 48 can be operated by the operator to change the attitude of the work machine 5 . The work machine operating member 48 includes, for example, a plurality of work machine levers. Alternatively, the work machine operation member 48 may be another member such as a switch or a touch panel. The work machine operating member 48 outputs a signal indicating the operation of the work machine operating member 48 by the operator.

The shift operation member 49 can be operated by an operator for switching between forward and reverse travel of the work machine 1 . The shift operating member 49 includes, for example, a shift lever. Alternatively, the shift operation member 49 may be another member such as a switch or a touch panel. The shift operation member 49 outputs a signal indicating the operation of the shift operation member 49 by the operator.

The accelerator operation member 50 can be operated by an operator to make the work machine 1 run. The accelerator operating member 50 includes, for example, an accelerator pedal. Alternatively, the accelerator operation member 50 may be another member such as a switch or a touch panel. The accelerator operation member 50 outputs a signal indicating the operation of the accelerator operation member 50 by the operator.

As shown in FIG. 5, the work machine 1 includes a controller 37. Controller 37 includes storage device 38 and processor 39 . The processor 39 is a CPU, for example, and executes a program for controlling the work machine 1 . The storage device 38 includes memories such as RAM and ROM, and auxiliary storage devices such as SSD or HDD. The storage device 38 stores programs and data for controlling the work machine 1 .

The controller 37 controls the power transmission device 33 according to the operation of the shift operation member 49. As a result, the traveling direction of the work machine 1 is switched between forward and reverse. Also, the speed stage of the power transmission device 33 is switched. Alternatively, the shift operating member 49 may be mechanically connected to the power transmission device 33 . By mechanically transmitting the operation of the shift operation member 49 to the power transmission device 33, the forward and reverse gears of the power transmission device 33 or the transmission gear may be switched.

The controller 37 controls the drive source 31 and the power transmission device 33 according to the operation of the accelerator operation member 50. As a result, the work machine 1 travels. The controller 37 also controls the hydraulic pump 32 and the work machine valve 34 according to the operation of the work machine operation member 48 . As a result, the working machine 5 operates.

The controller 37 acquires the operation amount of the steering operation member 45 based on the steering operation signal from the steering operation member 45 . The controller 37 expands and contracts the steering actuators 41A and 41B by controlling the steering valve 42A according to the steering operation signal. Thereby, the controller 37 changes the steering angle θs of the front wheels 3A and 3B.

As shown in FIG. 3, the steering angle θs is the angle at which the front wheels 3A and 3B rotate with respect to the front frame 11 about the first steering shaft 43A and the second steering shaft 43B. Specifically, the steering angle θs is the rotation angle of the front wheels 3A and 3B with respect to the first center line L1 of the front frame 11. As shown in FIG. The first center line L1 extends in the front-rear direction of the front frame 11 .

The steering angle θs changes left and right from the neutral position due to stroke operations of the steering actuators 41A and 41B. The steering angle θs at the neutral position is zero degrees. The front wheels 3A, 3B are arranged parallel to the first center line L1 of the front frame 11 at the neutral position. In FIG. 3, 3A' and 3B' indicate the front wheels steered rightward from the neutral position by the steering angle .theta.s.

The controller 37 acquires the operation amount of the articulate operation member 46 based on the articulate operation signal from the articulate operation member 46 . Controller 37 controls articulated valve 42B. For example, the controller 37 expands and contracts the left articulated cylinder 27 and the right articulated cylinder 28 by controlling the articulated valve 42B according to the articulated operation signal. Thereby, the controller 37 changes the articulate angle θa.

As shown in FIG. 3, the articulate angle θa is the angle at which the front frame 11 rotates with respect to the rear frame 12 about the articulate shaft 44 . Specifically, the articulate angle θa is the angle between the first center line L1 of the front frame 11 and the second center line L2 of the rear frame 12 .

The second center line L2 extends in the longitudinal direction of the rear frame 12. The second center line L2 passes through the articulate shaft 44 when the work machine 1 is viewed from above. The articulate angle θa changes left and right from the neutral position. The articulate angle θa in the neutral position is zero. The articulate angle .theta.a to the left is a positive value and the articulate angle .theta.a to the right is a negative value.

When the articulate angle θa is zero, the direction of the second center line L2 matches the direction of the first center line L1. That is, when the articulate angle θa is zero, the vehicle body 2 is straight. Note that FIG. 3 shows a state in which the front frame 11 is rotated about the articulate shaft 44 by the articulate angle θa.

The controller 37 acquires the operation amount of the leaning operation member 47 based on the leaning operation signal from the leaning operation member 47 . The controller 37 controls the leaning valve 42C. For example, the controller 37 expands and contracts the leaning actuator 60 by controlling the leaning valve 42C according to the leaning operation signal. Thereby, the controller 37 changes the leaning angle θl according to the operation of the leaning operation member 47 by the operator.

As shown in FIG. 4, the leaning angle θl is the tilt angle of the front wheels 3A, 3B in the left-right direction when the vehicle body 2 is viewed from the front. For example, the leaning angle θl is a tilting angle at which the front wheels 3A, 3B tilt around the leaning shafts 54A, 54B when the vehicle body 2 is viewed from the front.

In the following description, the state in which the front wheels 3A, 3B stand upright with respect to the horizontal plane (3A, 3B indicated by solid lines) is called the neutral position of the front wheels 3A, 3B. The front wheels 3A and 3B are in the neutral position and the leaning angle θl is zero degrees. In FIG. 4, 3A' and 3B' indicate the front wheels tilted leftward from the neutral position by the leaning angle .theta.l.

The work machine 1 includes a steering angle sensor 51 , an articulate angle sensor 52 and a leaning angle sensor 53 . A steering angle sensor 51 is used to detect the steering angle θs of the front wheels 3A and 3B. The steering angle sensor 51 outputs a signal indicating the steering angle θs.

The articulate angle sensor 52 is used to detect the articulate angle of the front frame 11 with respect to the rear frame 12. The articulate angle sensor 52 outputs a signal indicating the articulate angle θa. The leaning angle sensor 53 is used to detect the leaning angle θl of the front wheels 3A, 3B. The leaning angle sensor 53 outputs a signal indicating the leaning angle θl.

The steering angle sensor 51, articulate angle sensor 52, and leaning angle sensor 53 may each be an IMU (inertial measurement unit). Alternatively, the steering angle sensor 51, articulate angle sensor 52, and leaning angle sensor 53 may each be a camera. In that case, the controller 37 may calculate the steering angle θs, the articulate angle θa, and the leaning angle θl by analyzing the images acquired by the sensors 51-53.

Alternatively, the steering angle sensor 51, articulate angle sensor 52, and leaning angle sensor 53 detect the stroke amounts of the steering actuators 41A and 41B, the stroke amounts of the articulate cylinders 27 and 28, and the stroke amount of the leaning actuator 60, respectively. It may be a sensor that In this case, the controller 37 calculates the steering angle θs, the articulate angle θa, and the leaning angle θl from the stroke amounts of the steering actuators 41A and 41B, the stroke amounts of the articulated cylinders 27 and 28, and the stroke amount of the leaning actuator 60, respectively. and may be calculated.

Alternatively, the steering angle sensor 51 may directly detect the steering angle θs. The articulate angle sensor 52 may directly detect the articulate angle θa. The leaning angle sensor 53 may directly detect the leaning angle θl.

As shown in FIG. 5, the work machine 1 includes object sensors 61 and 62 and an output device 63. Object sensors 61 and 62 detect objects around work machine 1 . The object sensors 61 and 62 are, for example, radar devices such as millimeter wave radars. Alternatively, the object sensors 61, 62 may be other types of sensors such as ultrasonic sensors, cameras, LIDAR (Light Detection and Ranging) devices. The object sensor outputs a signal indicating the presence or absence of an object around the working machine 1 .

The object sensors 61 and 62 include a first object sensor 61 and a second object sensor 62. The first object sensor 61 detects an object in front of the vehicle body 2 . The first object sensor 61 is attached to the front frame 11, for example. Alternatively, first object sensor 61 may be mounted elsewhere, such as on cab 13 . The second object sensor 62 detects an object behind the vehicle body 2 . The second object sensor 62 may be mounted, for example, on the rear frame 12 , or the second object sensor 62 may be mounted on the cab 13 or elsewhere such as the power compartment 14 .

The output device 63 is, for example, a display. The output device 63 displays images according to command signals from the controller 37 . Alternatively, output device 63 may be a speaker. The output device 63 may output sound according to command signals from the controller 37 .

The controller 37 sets detection ranges 71 and 72 around the work machine 1, and determines the presence or absence of objects within the detection ranges 71 and 72 based on signals from the object sensors 61 and 62. For example, as shown in FIG. 6 , the controller 37 sets a first detection range 71 in front of the vehicle body 2 . The controller 37 sets a second detection range 72 behind the vehicle body 2 . The controller 37 causes the output device 63 to output an alarm when the object 100 is detected within the detection ranges 71 and 72 .

The controller 37 stores a first reference range 73 of the first detection range 71 and a second reference range 74 of the second detection range 72 . The first reference range 73 and the second reference range 74 are set based on the width of the vehicle body 2 (hereinafter referred to as "vehicle width") L0. The width of the first reference range 73 and the width of the second reference range 74 are the same as the maximum vehicle width L0 of the work machine 1 excluding the work machine 5, respectively.

The controller 37 sets detection ranges 71 and 72 according to the steering angle θs, articulate angle θa, and leaning angle θl. The controller 37 changes the detection ranges 71, 72 from the reference ranges 73, 74 according to the steering angle θs, articulate angle θa, and leaning angle θl. A method of setting the detection ranges 71 and 72 by the controller 37 will be described below. 7 and 8 are flowcharts showing the processing for setting the detection ranges 71 and 72 executed by the controller 37. FIG.

As shown in FIG. 7, in step S1, the controller 37 acquires the steering angle θs. The controller 37 acquires the steering angle θs from the signal from the steering angle sensor 51 . At step S2, the controller 37 acquires the articulate angle θa. The controller 37 acquires the articulate angle θa from the signal from the articulate angle sensor 52 . In step S3, the controller 37 acquires the leaning angle θl. The controller 37 acquires the leaning angle θl from the signal from the leaning angle sensor 53 .

At step S4, the controller 37 determines whether the steering angle θs is 0 degrees. In step S5, the controller 37 determines whether the articulate angle θa is 0 degrees. In step S6, the controller 37 determines whether the leaning angle θl is 0 degrees.

When the steering angle θs, the articulate angle θa, and the leaning angle θl are 0 degrees, the controller 37 sets the reference ranges 73 and 74 as the detection ranges 71 and 72 in step S7. That is, the controller 37 sets the reference ranges 73 and 74 as the detection ranges 71 and 72 when the work machine 1 is not steered, is not leaning, and is traveling straight. Specifically, as shown in FIG. 6 , the controller 37 sets the first reference range 73 as the first detection range 71 . Also, the controller 37 sets the second reference range 74 as the second detection range 72 .

In step S6, if the leaning angle θl is not 0 degrees, the process proceeds to step S8. In step S8, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of change 1. FIG. FIG. 9 is a top view showing detection ranges 71 and 72 according to the modification 1 process.

As shown in FIG. 9, in the process of modification 1, the controller 37 moves the detection ranges 71 and 72 to the same side in the left-right direction as the direction in which the front wheels 3A and 3B are leaning (hereinafter referred to as the "leaning direction"). to expand. That is, the controller 37 expands the detection ranges 71 and 72 in the same direction as the leaning direction when the work machine 1 is not steered and moves straight while leaning.

For example, when the front wheels 3A and 3B are leaning to the left, the controller 37 expands the first detection range 71 from the first reference range 73 to the left. The controller 37 expands the second detection range 72 leftward from the second reference range 74 . Also, the controller 37 does not expand the detection ranges 71 and 72 to the right. In this case, the width Lall of the detection ranges 71 and 72 is represented by the following formula (1).
Lall = L0 + Ll (1)

Ll is the increment of detection range when leaning. The leaning increment Ll indicates the amount of lateral outward displacement of the front wheels 3A and 3B due to leaning. The increment Ll during leaning is represented by the following equation (2).
Ll=D×cos θl (2)

As shown in Fig. 4, D is the outer diameter of the front wheels 3A, 3B. Although illustration is omitted, in the processing of modification 1, when the front wheels 3A and 3B are leaning to the right, the controller 37 expands the first detection range 71 from the first reference range 73 to the right. Then, the second detection range 72 is expanded rightward from the second reference range 74 .

In step S5, if the articulate angle θa is not 0 degrees, the process proceeds to step S9. In step S9, the controller 37 determines whether the leaning angle θl is 0 degrees. In step S9, if the leaning angle θl is 0 degrees, the process proceeds to step S10.

In step S10, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of change 2. FIG. 10 is a top view showing detection ranges 71 and 72 according to the modification 2 process. As shown in FIG. 10 , in the process of modification 2, the controller 37 curves the detection ranges 71 and 72 according to the turning radius of the work machine 1 according to the articulate angle θa. That is, when the work machine 1 is not steered, is not leaning, and turns in an articulated state, the detection ranges 71 and 72 are curved in accordance with the turning trajectories A1 and A2 of the work machine 1. Let

For example, when the work machine 1 turns leftward in the articulated state, the controller 37 curves the detection ranges 71 and 72 leftward. The controller 37 stores data indicating the relationship between the articulate angle θa and the turning radius of the work machine 1, and may calculate the turning radius from the articulate angle θa by referring to the data. The width Lall of the detection ranges 71 and 72 is the same as the width of the reference ranges 73 and 74 and is represented by the following formula (3).
Lall=L0 (3)

Although illustration is omitted, in the processing of modification 2, when the work machine 1 turns rightward in the articulated state, the controller 37 curves the detection ranges 71 and 72 rightward.

In step S9, if the leaning angle θl is not 0 degrees, the process proceeds to step S11. In step S11, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the change 3 process. 11 and 12 are top views showing detection ranges 71 and 72 according to the process of modification 3. FIG.

As shown in FIGS. 11 and 12, in the process of modification 3, the controller 37 curves the detection ranges 71 and 72 according to the turning radius of the work machine 1 according to the articulate angle θa and the leaning angle θl. At the same time, the detection ranges 71 and 72 are expanded on the same side as the leaning direction. That is, when the work machine 1 is not being steered and the work machine 1 is leaning and turning in an articulated state, the controller 37 detects the turning trajectory of the work machine 1 in accordance with the turning trajectory in the same manner as the processing of the modification 2. While curving the ranges 71 and 72, the detection ranges 71 and 72 are expanded on the same side as the leaning direction. For example, the controller 37 stores data indicating the relationship between the articulate angle θa, the leaning angle θl, and the turning radius of the work machine 1. By referring to the data, the controller 37 can obtain the articulate angle θa, the leaning angle θl, and the like. The turning radius of the work machine 1 may be calculated from

For example, as shown in FIG. 11 , when the work machine 1 turns leftward while leaning leftward, the controller 37 bends the detection ranges 71 and 72 leftward, The detection ranges 71 and 72 are expanded leftward by the increment Ll. As shown in FIG. 12, when the work machine 1 is leaning to the right and turning to the left in an articulated state, the controller 37 bends the detection ranges 71 and 72 to the left and 71 and 72 are expanded rightward by the increment Ll. The width Lall of the detection ranges 71 and 72 is represented by the formula (1) described above.

Although illustration is omitted, in the processing of modification 3, when the work machine 1 turns to the right due to the articulated state, the controller 37 bends the detection ranges 71 and 72 to the right and The detection ranges 71 and 72 are expanded on the same side as .

In step S4, if the steering angle θs is not 0 degrees, the process proceeds to step S12 shown in FIG. In step S12, the controller 37 determines whether the articulate angle θa is 0 degrees. In step S13, the controller 37 determines whether the leaning angle θl is 0 degrees. If both the articulate angle θa and the leaning angle θl are 0 degrees, the process proceeds to step S14.

In step S14, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of change 4. FIG. 13 is a top view showing detection ranges 71 and 72 according to the processing of modification 4. FIG. As shown in FIG. 13, in the process of modification 4, the controller 37 curves the detection ranges 71 and 72 according to the turning radius of the work machine 1 according to the steering angle θs. That is, when the work machine 1 is not leaning and is in a straight line and turns by steering, the detection ranges 71 and 72 are curved according to the locus of the turn of the work machine 1 .

For example, as shown in FIG. 13, when the work machine 1 is turned left by steering, the controller 37 curves the detection ranges 71 and 72 leftward. For example, the controller 37 may store data indicating the relationship between the steering angle θs and the turning radius of the work machine 1, and refer to the data to calculate the turning radius from the steering angle θs. The width Lall of the detection ranges 71 and 72 is the same as the width of the reference ranges 73 and 74, and is expressed by Equation (3) above. Although illustration is omitted, in the processing of modification 4, when the work machine 1 is turned rightward by steering, the controller 37 curves the detection ranges 71 and 72 rightward.

In step S13, if the leaning angle θl is not 0 degrees, the process proceeds to step S15. In step S15, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of change 5. FIG. 14 and 15 are top views showing detection ranges 71 and 72 according to the process of modification 5. FIG.

As shown in FIGS. 14 and 15, in the process of modification 5, the controller 37 curves the detection ranges 71 and 72 according to the turning radius of the work machine 1 according to the steering angle θs and the leaning angle θl. , the detection ranges 71 and 72 are expanded on the same side as the leaning direction. That is, when the work machine 1 is in a straight line and leans while turning by steering, the controller 37 bends the detection ranges 71 and 72 in accordance with the turning trajectory of the work machine 1, The detection ranges 71 and 72 are enlarged on the same side. The controller 37 stores data indicating the relationship between the steering angle θs, the leaning angle θl, and the turning radius of the work machine 1. By referring to the data, the controller 37 can determine the working machine from the steering angle θs and the leaning angle θl. A turning radius of 1 may be calculated.

For example, as shown in FIG. 14, when the work machine 1 is leaning leftward and turned leftward by steering, the controller 37 bends the detection ranges 71 and 72 leftward and 71 and 72 are expanded leftward by the increment Ll. As shown in FIG. 15, when the work machine 1 is leaning to the right and turning to the left by steering, the controller 37 bends the detection ranges 71 and 72 to the left and 72 is expanded rightward by the increment Ll. The width Lall of the detection ranges 71 and 72 is represented by the above-described formula (1).

Although illustration is omitted, in the processing of modification 5, when the work machine 1 is turned rightward by steering, the controller 37 curves the detection ranges 71 and 72 rightward and also bends the detection ranges 71 and 72 to the same direction as the leaning direction. The detection ranges 71 and 72 are expanded to the side.

In step S12, if the articulate angle θa is not 0 degrees, the process proceeds to step S16. In step S16, the controller 37 determines whether the steering angle θs and the articulate angle θa are the same (that is, θs=−θa). If the steering angle .theta.s and the articulate angle .theta.a are the same, the process proceeds to step S17. In step S17, the controller 37 determines whether the leaning angle θl is 0 degrees. If the leaning angle θl is 0 degrees, the process proceeds to step S18.

In step S18, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of change 6. FIG. 16 is a top view showing detection ranges 71 and 72 according to the process of modification 6. FIG.

As shown in FIG. 16, when the steering angle θs and the value obtained by inverting the positive and negative of the articulate angle θa are the same, the work machine 1 travels straight in the articulated state. In the process of modification 6, the controller 37 expands the reference ranges 73 and 74 in the horizontal direction according to the articulate angle θa. The controller 37 expands the first detection range 71 from the first reference range 73 in the lateral direction opposite to the bending direction of the front frame 11 with respect to the rear frame 12 (hereinafter referred to as the "articulated direction"). Also, the controller 37 expands the second detection range 72 from the second reference range 74 in the same side as the articulate direction.

For example, as shown in FIG. 16, when the work machine 1 moves straight while the front frame 11 is bent to the left with respect to the rear frame 12, the controller 37 sets the first detection range 71 as the first reference. The range 73 is expanded rightward, and the second detection range 72 is expanded leftward from the second reference range 74 . In this case, the width Lall of the detection ranges 71 and 72 is represented by the following formula (4).
Lall = L0 + La (4)

La is the increment of the detection range in the articulated state. As shown in FIG. 4, the increment La in the articulated state indicates the lateral outward displacement amount of the front wheels 3A and 3B in the articulated state. The increment La in the articulated state is represented by Equation (5) below.
La=Lf×sin θa (5)

　Lf is the distance between the articulate axis 44 and the center P1 of the axle beam 56, as shown in FIG. Although illustration is omitted, in the processing of Modification 6, when the front frame 11 is bent to the right with respect to the rear frame 12 and goes straight, the controller 37 sets the first detection range 71 to the first detection range. The first detection range 73 is expanded leftward, and the second detection range 72 is expanded rightward from the second reference range 74 .

In step S17, if the leaning angle θl is not 0 degrees, the process proceeds to step S19. In step S19, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of change 7. FIG. 17 and 18 are top views showing detection ranges 71 and 72 according to the processing of modification 7. FIG.

As shown in FIG. 17, in the process of modification 7, the controller 37 expands the reference ranges 73 and 74 in the left-right direction according to the articulate angle θa, and extends the detection ranges 71 and 72 on the same side as the leaning direction. Expanding. That is, when the work machine 1 moves straight in an articulated state while leaning, the controller 37 expands the detection ranges 71 and 72 in the lateral direction from the reference ranges 73 and 74 in accordance with the articulated angle θa. , the detection ranges 71 and 72 are expanded from the reference ranges 73 and 74 in the same direction as the leaning direction.

For example, as shown in FIG. 17, when the work machine 1 moves straight while leaning to the left and in an articulated state to the left, the controller 37 moves the first detection range 71 to the right by an increment La. Along with the expansion, the first detection range 71 is expanded leftward by the increment Ll. Further, the controller 37 expands the second detection range 72 leftward by the increment La and expands the second detection range 72 leftward by the increment Ll. In this case, the width Lall of the detection ranges 71 and 72 is represented by the following formula (6).
Lall = L0 + La + Ll (6)

However, as shown in FIG. 18, when the leaning direction is opposite to the articulate direction, the controller 37 does not expand the detection ranges 71 and 72 by the increment Ll during leaning. That is, the controller 37 performs the processing of change 7 described above when the leaning direction is the same as the articulating direction.

Although illustration is omitted, in the processing of modification 7, when the front frame 11 moves straight while leaning to the right while articulating to the right, the controller 37 moves the first detection range 71 to the left. In addition, the first detection range 71 is expanded rightward by an increment Ll. Further, the controller 37 expands the second detection range 72 rightward by the increment La and expands the second detection range 72 rightward by the increment Ll.

In step S16, if the steering angle θs is different from the reversed value of the articulate angle θa (that is, θs≠θa), the process proceeds to step S20.

In step S20, the controller 37 determines whether the leaning angle θl is 0 degrees. If the leaning angle θl is 0 degrees, the process proceeds to step S21. In step S21, the detection ranges 71 and 72 are set by changing the reference ranges 73 and 74 according to the process of change 8. FIG. 19 and 20 are top views showing detection ranges 71 and 72 according to the process of modification 8. FIG.

As shown in FIG. 19, in the process of modification 8, when the turning direction and the articulate direction of the work machine 1 are the same, the controller 37 controls the work machine 1 according to the articulate angle θa and the steering angle θs. The detection ranges 71 and 72 are curved according to one turning radius. That is, when the work machine 1 turns with the articulate angle θa and the steering angle θs in a non-leaning state, the detection ranges 71 and 72 are curved according to the turning trajectory of the work machine 1 .

For example, when the work machine 1 turns leftward due to the articulate angle θa and the steering angle θs (θs>−θa), the controller 37 curves the detection ranges 71 and 72 leftward. The controller 37 stores data indicating the relationship between the articulate angle θa, the steering angle θs, and the turning radius of the work machine 1. By referring to the data, the controller 37 can turn from the articulate angle θa and the steering angle θs. A radius may be calculated. The width Lall of the detection ranges 71 and 72 is the same as the width of the reference ranges 73 and 74, and is expressed by Equation (3) above.

Although illustration is omitted, in the processing of modification 8, the turning direction and the articulate direction of the work machine 1 are the same, and the work machine 1 turns to the right by the articulate angle θa and the steering angle θs. When (θs<−θa), the controller 37 curves the detection ranges 71 and 72 to the right.

As shown in FIG. 20, in the processing of modification 8, when the steering angle θs and the articulate angle θa are different, and the turning direction of the work machine 1 is opposite to the articulating direction. , the controller 37 curves the detection ranges 71 and 72 according to the turning radius of the work machine 1 according to the articulate angle .theta.a and the steering angle .theta.s, and the reference ranges 73 and 73 according to the articulate angle .theta.a. 74 is enlarged in the horizontal direction.

For example, as shown in FIG. 20, when the articulate direction is leftward and the turning direction of work machine 1 is rightward, controller 37 moves first detection range 71 from first reference range 73 to right. While expanding to the right, the first detection range 71 is curved to the right. The controller 37 also expands the second detection range 72 leftward from the second reference range 74 and curves the second detection range 72 rightward. In this case, the width Lall of the detection ranges 71 and 72 is represented by the above-described formula (4).

Although illustration is omitted, in the processing of modification 8, the steering angle θs and the value obtained by inverting the sign of the articulate angle θa are different, the articulate direction is rightward, and the turning direction of the work machine 1 is is to the left, the controller 37 expands the first detection range 71 leftward from the first reference range 73 and curves the first detection range 71 leftward. The controller 37 also expands the second detection range 72 rightward from the second reference range 74 and curves the second detection range 72 leftward.

In step S20, if the leaning angle θl is not 0 degrees, the process proceeds to step S22. In step S22, the controller 37 sets the detection ranges 71 and 72 by changing the reference ranges 73 and 74 according to the process of change 9. FIG. 21 to 24 are top views showing detection ranges 71 and 72 according to the process of modification 9. FIG.

As shown in FIGS. 21 and 22, in the process of modification 9, when the articulate direction and the turning direction of the work machine 1 are the same, the controller 37 sets the articulate angle θa, the steering angle θs, and the leaning angle The detection ranges 71 and 72 are curved according to the turning radius of the work machine 1 corresponding to θl, and the detection ranges 71 and 72 are expanded in the same direction as the leaning direction. That is, when the controller 37 turns with the articulate angle θa and the steering angle θs while leaning, the controller 37 bends the detection ranges 71 and 72 in accordance with the turning trajectory of the work machine 1, The detection ranges 71 and 72 are enlarged on the same side. The controller 37 stores data indicating the relationship between the articulate angle θa, the steering angle θs, the leaning angle θl, and the turning radius of the work machine 1. By referring to the data, the controller 37 can determine the articulate angle θa and the steering angle. The turning radius of the work machine 1 may be calculated from θs and the leaning angle θl.

For example, as shown in FIG. 21, when the work machine 1 leans to the left and turns to the left by the articulate angle θa and the steering angle θs, the controller 37 moves the detection ranges 71 and 72 to the left. While bending to the left, the detection ranges 71 and 72 are expanded leftward by the increment Ll. As shown in FIG. 22, when the work machine 1 leans to the right and turns to the left by the articulate angle θa and the steering angle θs, the controller 37 moves the detection ranges 71 and 72 to the left. Along with bending, the detection ranges 71 and 72 are expanded rightward by the increment Ll. The width Lall of the detection ranges 71 and 72 is represented by the formula (1) described above.

Although illustration is omitted, in the processing of modification 9, when the articulate direction and the turning direction of the work machine 1 are the same and the work machine 1 turns rightward, the controller 37 detects the detection range 71 , 72 are bent to the right, and the detection ranges 71 and 72 are expanded to the same side as the leaning direction.

As shown in FIG. 23, in the process of modification 9, when the articulate direction and the turning direction of the work machine 1 are opposite and the leaning direction is the same as the articulate direction, the controller 37 sets the articulate angle The detection ranges 71 and 72 are curved according to the turning radius of the working machine 1 according to .theta.a, the steering angle .theta.s, and the leaning angle .theta.l, and the reference ranges 73 and 74 are expanded in the horizontal direction according to the articulate angle .theta.a. At the same time, the detection ranges 71 and 72 are expanded on the same side as the leaning direction.

For example, as shown in FIG. 23, when the articulate direction is leftward, the turning direction of the work machine 1 is rightward, and the leaning direction is leftward, the controller 37 detects the first detection range 71 is expanded rightward from the first reference range 73 by an increment La in the articulated state, the first detection range 71 is expanded leftward from the first reference range 73 by an increment Ll during leaning, and the first detection range 71 is bent to the right. The controller 37 expands the second detection range 72 leftward from the second reference range 74 by an increment La, expands the second detection range 72 leftward from the second reference range 74 by an increment Ll, and expands the second detection range 72 leftward from the second reference range 74 by an increment Ll. 2 Curve the detection range 72 to the right. In this case, the width Lall of the detection ranges 71 and 72 is represented by the above-described formula (6).

Although illustration is omitted, when the articulate direction is rightward, the turning direction of the work machine 1 is leftward, and the leaning direction is rightward, the controller 37 sets the first detection range 71 to The first detection range 71 is expanded leftward from the first reference range 73 by the increment La, the first detection range 71 is expanded rightward from the first reference range 73 by the increment Ll, and the first detection range 71 is curved leftward. Further, the controller 37 expands the second detection range 72 rightward from the second reference range 74 by the increment La, increases the second detection range 72 rightward from the second reference range 74 by the increment Ll, 2 Curve the detection range 72 to the left.

However, as shown in FIG. 24, in the processing of modification 9, when the articulate direction and the turning direction of the work machine 1 are opposite and the leaning direction is opposite to the articulate direction, the increment Ll during leaning , the detection ranges 71 and 72 are not expanded. In this case, the width Lall of the detection ranges 71 and 72 is represented by the above-described formula (4).

In the work machine 1 according to the present embodiment described above, detection ranges 71 and 72 for objects around the work machine 1 are set according to the articulate angle θa, the leaning angle θl, and the steering angle θs. Thereby, it is possible to appropriately determine whether or not an object exists around the work machine 1 .

Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

The configuration of the working machine 1 is not limited to the above, and may be changed. For example, the configuration of work machine 5 may be changed. A portion of the control system of work machine 1 may be located external to work machine 1 . For example, the various operating members 46 - 50 and output device 63 of work machine 1 may be located outside of work machine 1 .

The controller 37 may be composed of a plurality of controllers. The processing described above may be distributed to and executed by a plurality of controllers. Some of the multiple controllers may be arranged outside the work machine 1 .

The processing when an object is detected within the detection ranges 71 and 72 is not limited to the above embodiment and may be changed. For example, when an object is detected within the detection ranges 71 and 72, the controller 37 may stop the work implement 3 and/or the vehicle body 2, or perform processing such as restricting the movement.

The processing for setting the detection ranges 71 and 72 is not limited to the above embodiment, and may be changed. The controller 37 may set the detection range to either the front or the rear of the vehicle body 2 . The controller 37 may set the first detection range 71 in front of the vehicle body 2 when the work machine 1 is moving forward. The controller 37 may set the second detection range 72 behind the vehicle body 2 when the work machine 1 is moving backward.

The thresholds for the articulate angle θa, the steering angle θs, and the leaning angle θl for determining whether to change the detection ranges 71 and 72 are not limited to 0 degrees, and may be other values. For example, the threshold value of the articulate angle θa may be a value so small that the work machine 1 can be considered to be in a straight line state. The threshold value of the steering angle θs may be a value so small that it can be considered that the work machine 1 is not being steered. The threshold value of the leaning angle θl may be a small value at which it can be considered that the work machine 1 is not leaning. The change of the detection ranges 71 and 72 according to the leaning direction may be omitted.

The controller 37 may add an arbitrary margin width considering the detection error to the width Lall of the detection ranges 71 and 72 described above. For example, as shown in FIG. 25 , the controller 37 may set the detection ranges 71 and 72 by adding margin widths Lt to the left and right of the reference ranges 73 and 74 . Similarly, margin widths Lt may be added to the left and right sides of the detection ranges 71 and 72, respectively, for the detection ranges 71 and 72 determined by the processing of changes 1 to 9 described above.

In the above embodiment, the width of the front portion and the width of the rear portion of the vehicle body 2 are the same, but the width of the front portion and the width of the rear portion of the vehicle body 2 may be different. In that case, the controller 37 may calculate the width of the first detection range 71 using the width of the front vehicle as the width of the first reference range 73 . The controller 37 may calculate the width of the second detection range 72 using the width of the second reference range 74 as the width of the rear portion of the vehicle.

According to the present invention, it is possible to appropriately determine whether an object exists around the work machine.

2: vehicle body, 3A, 3B: running wheels, 11: front frame, 12: rear frame, 27, 28: articulated actuator, 37: controller, 41A, 41B: steering actuator, 51: steering angle sensor, 52: articulated Angle sensor 53: leaning angle sensor 60: leaning actuator 61, 62: object sensor 71, 72: detection range 73, 74: reference range θa: articulate angle θl: leaning angle θs: steering angle

Claims (19)

1. a working machine,
   a vehicle body including a rear frame and a front frame connected to the rear frame so as to be rotatable to the left and right;
   a running wheel supported by the vehicle body;
   a steering actuator that steers the running wheels left and right;
   an articulated actuator that changes an articulated angle between the rear frame and the front frame;
   a steering angle sensor that detects a steering angle of the running wheels;
   an articulate angle sensor that detects the articulate angle;
   an object sensor that detects an object around the work machine and outputs a signal indicating the presence or absence of the object;
   a controller that sets a detection range around the work machine and determines the presence or absence of the object within the detection range based on a signal from the object sensor;
   with
   The controller sets the detection range according to the steering angle and the articulate angle.
   working machine.
2. The controller is
   setting a reference range for the detection range based on the width of the vehicle body;
   changing the detection range from the reference range according to the articulate angle;
   A work machine according to claim 1.
3. When the work machine turns according to the articulate angle, the controller curves the detection range according to a turning radius of the work machine according to the articulate angle.
   A work machine according to claim 2.
4. When the direction of the articulate angle and the turning direction of the work machine are opposite to each other, the controller expands the detection range in the horizontal direction from the reference range according to the articulate angle.
   A working machine according to claim 2 or 3.
5. When the detection range is set in front of the front frame, the controller expands the detection range from the reference range to the same side of the front frame as the rear frame in the horizontal direction.
   A working machine according to claim 4.
6. When the detection range is set behind the rear frame, the controller expands the detection range from the reference range to the same side of the rear frame as the front frame in the horizontal direction.
   A working machine according to claim 4.
7. a leaning actuator that changes the leaning angle of the running wheels;
   a leaning angle sensor that detects the leaning angle;
   further comprising
   wherein the controller changes the detection range from the reference range according to the leaning angle;
   A working machine according to claim 2.
8. The controller expands the detection range from the reference range to the same side in the left-right direction as the direction in which the running wheels are leaning.
   A work machine according to claim 7.
9. When the turning direction of the work machine and the direction of the articulate angle are opposite to each other, and the direction in which the running wheels are leaning coincides with the turning direction of the work machine, the controller does not expand the detection range according to the leaning angle,
   A work machine according to claim 8 .
10. A method for controlling a work machine, wherein the work machine includes a vehicle body including a rear frame, a front frame connected to the rear frame so as to be able to rotate left and right, and supported by the vehicle body. The method includes running wheels, a steering actuator that steers the running wheels left and right, and an articulated actuator that changes an articulated angle between the rear frame and the front frame, wherein the method comprises:
    detecting a steering angle of the running wheels;
    detecting the articulate angle;
    receiving a signal indicating the presence or absence of an object in the vicinity of the work machine;
    setting a detection range around the work machine according to the steering angle and the articulate angle;
    Determining the presence or absence of the object within the detection range based on the signal from the object sensor;
    How to prepare.
11. setting a reference range for the detection range based on the width of the vehicle body;
    changing the detection range from the reference range according to the articulate angle;
    further comprising
    11. The method of claim 10.
12. further comprising curving the detection range according to a turning radius of the work machine according to the articulate angle when the work machine turns according to the articulate angle;
    12. The method of claim 11.
13. enlarging the detection range in the horizontal direction from the reference range according to the articulate angle when the direction of the articulate angle and the turning direction of the work machine are opposite;
    further comprising
    13. A method according to claim 11 or 12.
14. Further comprising: when the detection range is set in front of the front frame, expanding the detection range from the reference range to the same side of the front frame as the rear frame in the horizontal direction;
    14. The method of claim 13.
15. further comprising expanding the detection range from the reference range to the same side as the front frame with respect to the rear frame in the left-right direction when the detection range is set behind the rear frame;
    14. The method of claim 13.
16. The work machine further includes a leaning actuator that changes the leaning angle of the running wheels,
    detecting the leaning angle;
    changing the detection range from the reference range according to the leaning angle;
    further comprising
    12. The method of claim 11.
17. Further comprising expanding the detection range from the reference range to the same side in the left-right direction as the direction in which the running wheel is leaning,
    17. The method of claim 16.
18. When the turning direction of the work machine and the direction of the articulate angle are opposite to each other, and the direction in which the running wheels are leaning matches the turning direction of the work machine, the Further comprising not expanding the detection range according to the leaning angle,
    18. The method of claim 17.
19. A system for controlling a work machine, wherein the work machine is supported by a vehicle body including a rear frame, a front frame connected to the rear frame so as to be able to turn left and right, and the vehicle body. The system includes running wheels, a steering actuator that steers the running wheels left and right, and an articulated actuator that changes an articulated angle between the rear frame and the front frame, the system comprising:
    a steering angle sensor that detects a steering angle of the running wheels;
    an articulate angle sensor that detects the articulate angle;
    an object sensor that detects an object around the work machine and outputs a signal indicating the presence or absence of the object;
    a controller that sets a detection range around the work machine and determines the presence or absence of the object within the detection range based on a signal from the object sensor;
    with
    The controller sets the detection range according to the steering angle and the articulate angle.
    system.

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