Patent ID: 11946228
Assignee: KOBELCO CONSTRUCTION MACHINERY CO., LTD.
Field: Civil engineering (Other fields)
Classification: CPC E  B | IPC B  E

Claim 0:
1. A safety apparatus installed on a work machine including a lower traveling body capable of traveling on the ground and an upper revolving body mounted on the lower traveling body so as to be revolvable, the safety apparatus comprising:
an obstacle sensor provided in a specific portion of the upper revolving body to detect an obstacle around the work machine;
a revolving angle detector that detects a revolving angle of the upper revolving body relative to the lower traveling body;
an upper-side coordinate position calculation section that calculates an upper-side coordinate position that is a position of the obstacle detected by the obstacle sensor, the position being a position in a coordinate system using the upper revolving body as a reference;
a lower-side judgment area setting section that sets a lower-side judgment area for judging an approach of the obstacle at least in a periphery of the lower traveling body using the lower traveling body as a reference;
a coordinate transformation section that transforms one position of the upper-side coordinate position and a position of the lower-side judgment area into a position in a coordinate system to which the other position of the upper-side coordinate position and the position of the lower-side judgment area belongs, based on the revolving angle detected by the revolving angle detector, to thereby unify a coordinate system for specifying the position of the obstacle and a coordinate system for specifying the position of the lower-side judgment area;
a lower-side approach judgment section that judges whether or not the obstacle exists within the lower-side judgment area in the coordinate system unified by the coordinate transformation section; and
a safety operation command section that outputs a safety operation command for making the work machine perform a safety operation when the lower-side approach judgment section judges that the obstacle exists within the lower-side judgment area,
wherein: the coordinate transformation section is configured to transform the upper-side coordinate position into a lower-side coordinate position using the lower traveling body as a reference; the lower-side approach judgment section is configured to judge whether or not the lower-side coordinate position is a position within the lower-side judgment area; and the safety operation command section is configured to output the safety operation command when the lower-side approach judgment section judges that the lower-side coordinate position is a position within the lower-side judgment area, and
wherein the work machine further includes a traveling drive device that makes the lower traveling body perform a traveling action, and the safety action command section is configured to output, as the safety action command, a traveling motion restriction command for restricting the traveling motion of the lower traveling body in a direction in which the lower traveling body approaches the obstacle.